Design of a Micro Cable Tunnel Inspection Robot

[摘要] As the ventilation system in cable tunnel is not perfect and the environment is closed, it is easy to accumulate toxic and harmful gas. It is a serious threat to the life safety of inspection staff. Therefore, a micro cable tunnel inspection robot is designed. The whole design plan mainly includes two parts: mechanical structure design and control system design. According to the functional requirements of the tunnel inspection robot, a wheel arm structure with crawler type is proposed. Some sensors are used to collect temperature, gas and image and transmit the information to the host computer in real time. The result shows the robot with crawler wheel arm structure has the advantages of small volume, quick action and high performance-price ratio. Besides, it has high obstacle crossing and avoidance ability and can adapt to a variety of complex cable tunnel environment.

[发布机构] State Grid Chongqing Electric Power CO., Electric Power Research Institute, Chongqing, China^1;Harbin Institute of Technology, Shenzhen Graduate School, Shenzhen, China^2;Shenzhen Institute of Advanced Smart Technology, Shenzhen, China^3

[效力级别] 无线电电子学

[关键词] Arm structures;Cable tunnels;Functional requirement;Host computers;Mechanical structures;Obstacle crossings;Tunnel inspection;Ventilation systems