Development of a Small-Sized Urban Cable Conduit Inspection Robot
Abstract
:1. Introduction
2. Functional Requirements and Technical Indicators
- Small Size: To ensure that the robot can fit into the confined space of the cable duct, it must be designed to be compact and small.
- Reasonable Drive: When the robot is moving in a circular cross-section cable duct, it is necessary to ensure that each driving force has sufficient power to avoid slipping.
- Comprehensive Inspection: Given the differences in conduit diameters, the inspection device needs to be appropriately adjustable to ensure effective defect detection.
- Stable Operation: When a wheeled robot maneuvers within a circular cross-section cable conduit, the center of gravity often shifts away from the conduit’s center, leading to tilting. In severe instances, this can result in the robot rolling over. Hence, strict control of the tilt angle is crucial to prevent it from becoming excessive.
3. Robot Working Principle and Structural Design
3.1. Robot Overall Structure Design
3.2. Robot Body and Bracing Module Design
3.3. Robot Detection and Vacuuming Module Design
4. Robot Simulation Analysis
4.1. Simulation Analysis of Robot Body and Bracing Module
4.2. Simulation Analysis of Robot Detection and Dust Collection Module
5. Robot Experiment Verification
5.1. Experimental Verification of Robot Body and Bracing Module
5.2. Experimental Verification of Robot Detection and Vacuuming Module
6. Conclusions
Author Contributions
Funding
Data Availability Statement
Conflicts of Interest
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Robot Mass m/kg | Conduit Diameter Range D/mm | Number of Driving Wheels | Detection Angle α0/(°) | Inclination Angle θ/(°) | Vacuuming Negative Pressure p/kPa |
---|---|---|---|---|---|
≤12 | 225–275 | 4 | 360 | ≤8 | ≥3 |
Abbreviation | Direction of Center of Mass | Bracing Mechanism Presence | Operating Speed v/(m/s) |
---|---|---|---|
Case 1 | X | Without bracing | 0.1 |
Case 2 | X | With bracing | |
Case 3 | Y | Without bracing | |
Case 4 | Y | With bracing | |
Case 5 | X | Without bracing | 0.2 |
Case 6 | X | With bracing | |
Case 7 | Y | Without bracing | |
Case 8 | Y | With bracing | |
Case 9 | X | Without bracing | 0.3 |
Case 10 | X | With bracing | |
Case 11 | Y | Without bracing | |
Case 12 | Y | With bracing |
Abbreviation | Types of Forces | Operating Speed v/(m/s) |
---|---|---|
Case 13 | Contact force | 0.1 |
Case 14 | Rolling friction force | |
Case 15 | Contact force | 0.2 |
Case 16 | Rolling friction force | |
Case 17 | Contact force | 0.3 |
Case 18 | Rolling friction force |
Key Parameter | Numerical Value |
---|---|
Robot mass m/kg | 10 |
The traveling speed of the robot v/(km/h) | 0.5–15 |
Driving motor power P/W | 14 |
Adaptable conduit diameter D/mm | 225–275 |
Battery endurance of the robot T/h | 4 |
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You, Y.; Zheng, Y.; Huang, K.; He, Y.; Huang, Z.; Zhan, L. Development of a Small-Sized Urban Cable Conduit Inspection Robot. Actuators 2024, 13, 349. https://doi.org/10.3390/act13090349
You Y, Zheng Y, Huang K, He Y, Huang Z, Zhan L. Development of a Small-Sized Urban Cable Conduit Inspection Robot. Actuators. 2024; 13(9):349. https://doi.org/10.3390/act13090349
Chicago/Turabian StyleYou, Yiqiang, Yichen Zheng, Kangle Huang, Yuling He, Zhiqing Huang, and Lulin Zhan. 2024. "Development of a Small-Sized Urban Cable Conduit Inspection Robot" Actuators 13, no. 9: 349. https://doi.org/10.3390/act13090349