分体式电缆隧道检测机器人的移动结构研究

Research on the Moving Structure of Split Cable Tunnel Inspection Robot

随着城市电缆隧道的不断增加,为确保电缆隧道内环境检测和电缆的安全运行,对电缆隧道检测机器人进行研究具有重要意义,而目前国内外对于电缆隧道检测机器人的研究还处于初期发展阶段。介绍了电缆隧道检测机器人的现状,为采集电缆隧道内部环境图像、温度、有毒气体等信息,需要开发适应复杂环境的机器人移动结构。通过对电缆隧道环境类似的管道机器人移动结构现状分析与综合比较,将履带、轮式、多节机器人移动结构作为设计的重点参考对象。通过进一步分析履带、轮式、多节机器人移动结构的特点,提出了多节分体式机器人的研究思路,并设计了分体式机器人移动结构。通过机器人运动分析,验证了该移动结构的优越性。基于分体式电缆隧道检测机器人移动结构研究,为后续电缆隧道检测机器人的研究提供了有益借鉴和参考。

With the increasing number of the urban cable tunnels, in order to ensure the safety operation of cables and environmental inspection inside tunnels, it is of great value and significance to study on replacing manual operation by the robots for cable tunnel detection. At present, the research on robots for cable tunnel detection at home and abroad is still in the initial stage of development. The current situation of the cable tunnel detection robots is introduced. For the collection of information about environmental image, temperature and toxic gas in the cable tunnel, it is necessary to develop the moving structure of robot, to adapt to the complex environment. Based on the analysis and comparison of the structure of the in - pipe robot, which is similar to the cable tunnel environment, the moving structures of track, wheel and multi - section robots are taken as the key reference object of the design. Based on the analysis of the characteristics of the moving structures of track, wheel and multi - section robots,the research idea of the multi - section split robot is proposed,and the moving structure of the split type robot is designed. The superiority of this moving structure is verified by the analysis of motion of robot. This provides useful reference for subsequent research on cable tunnel detection robots.