Development and Experiment of Clamp Type Submarine Cable Inspection Robot

摘要

Relying on the research and development project of an auxiliary device for a submarine cable to cross a steel pipeline, with regard to a long-distance submarine cable crossing a pipeline, combined with a pipe-climbing robot and the laying of the submarine cable, this paper developed a detection robot that walks along the outer wall of the cable inside the submarine casing. The non-enclosed four-bar linkage mechanism is adopted, a stepper motor is used to drive a roller to walk on the submarine cable, the diameter change of the submarine cable is recorded in real-time, the damage of the submarine cable is detected when it is moved along the submarine cable, and the walking experiment is carried out. The submarine cable diameter measurement verification experiment showed that the outer wall detection robot of the submarine cable could stably travel on the submarine cable, and at the same time, could measure the real-time diameter of the submarine cable and record the actual condition of the submarine cable through video.