Design And Development Of Inspection Robot For Underground Cables-in-pipe

In the urban underground power transmission,the reliability management of underground cable is one of the keys to eliminate accidents,and the temperature of the cable is one of the important factors for the safe operation of the cable.At present,the underground cable temperature detection mainly adopts manual method,which has poor safety,low efficiency,high rate of missing detection,and will be accompanied by certain economic losses.Therefore,combining the actual application requirements and the underground pipe environment,this paper designs and develops a new inspection robot for underground cables-in-pipe.The robot can greatly replace the manual access to the underground pipe for inspection,and collect the cable temperature information,the corresponding position information and the image information.And these information data are transmitted to the ground in real time for reference and analysis by operation personnel.This is of great significance to ensure the safe and reliable operation of underground cable group.This paper first describes the research status of pipeline robot at home and abroad,and briefly analyzed the current representative pipeline robot.Then based on the characteristics of the underground pipe environment,robot performance requirements and industry standards,the overall design plan of the cables-in-pipe inspection robot is proposed,including the movement mode,operation mode and function realization mode.According to the design scheme,a small supporting wheel type robot mechanism is proposed,which has a group of driving wheels,two sets of symmetrical support wheels and a guide wheel.Through the coordination of each mechanism,it can realize the stable walking in the pipe.A virtual prototype model was established based on Solid Works three-dimensional design software,and based on this model,the robot driving ability analysis and towline force analysis were carried out,which proved the rationality and feasibility of the prototype mechanism design.Then the corresponding control system is designed and developed to meet the functional requirements of the inspection robot.Finally,the physical prototype of the robot is developed,and the experiments are carried out in the indoor simulation environment and field environment.It is proved that the robot can operate safely and reliably in the actual field,and can complete a series of functions such as temperature,position and image information acquisition and real-time feedback,which basically meets the performance index and functional requirements of the inspection robot.