| 一种小型电缆隧道检测机器人设计 |
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| 引用本文： | 姜芸,付庄.一种小型电缆隧道检测机器人设计[J].华东电力,2009,37(1). |
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| 作者姓名： | 姜芸 付庄 |
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| 作者单位： | 1. 上海市电力公司,电缆输配电公司,上海,200122
2. 上海交通大学,上海,200240 |
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| 摘 要： | 电缆隧道检测机器人是一种工作于电缆隧道环境,采集图像、气体浓度、温度等信息的特种机器人.目前电缆隧道检测采用人工方法进行,尚无相关机器人产品投入使用.论述机器人的系统指标,提出了电缆隧道检测机器人的履带关节式行走方式,进而从整体角度介绍了隧道检测机器人的结构与控制系统.实验证明,该机器人具有结构紧凑,体积小,重量轻,便于携带的特点,并有较强的越障能力和环境适应能力.
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| 关 键 词： | 电缆隧道 隧道检测 履带机器人 |
Design of pint-size cable tunnel inspecting robots |
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| JIANG Yun,FU Zhuang.Design of pint-size cable tunnel inspecting robots[J].East China Electric Power,2009,37(1). |
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| Authors: | JIANG Yun FU Zhuang |
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| Affiliation: | 1.Shanghai Cable Transmission & Distribution Co.;SMEPC;Shanghai 200122;China;2.Shanghai Jiaotong Univ.;Shanghai 200240;China |
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| Abstract: | 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 ... |
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| Keywords: | cable tunnel tunnel inspection track mobile robot |
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