Design of pint-size cable tunnel inspecting robots

摘要

Cable tunnel inspecting robot is a kind of special robot used for collecting information such as image data,gas concentration and temperature in cable tunnels.Today only manual methods are used for cable tunnel inspection,and there is almost no report on robotic application in this area.In this paper,the system requirements of the cable tunnel inspecting robot were given,and a kind of track-joint robotic structure was presented.Finally,the mechanical system and the control system were described.Experiments prove that the easy-to-take robot not only has the characteristics of compact structure,small size,and light weight,but also has strong adaptability for bad working conditions.