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机器人进入管道内部作业时，需拖带动力及信号传输电缆。本文首先介绍了一种收放线装置，该装置具有结构紧凑、传输转换可靠等特点；然后，对决定机器人管内有效行走距离的关键因素即拖线力的计算方法进行了理论推导。
When the robot enters the pipework, drag the power and signal transmission cable. This paper first introduces a retractable cable device which has the characteristics of compact structure, reliable transfer and conversion. Then, the key factor to determine the effective walking distance in the robot tube is deduced theoretically.