Internal Inspection Robot Cable Retraction Device

Abstract

This utility model discloses a cable winding and unwinding device for an internal inspection robot, comprising a support frame, a reel rotatably mounted on the support frame, and two shafts fixedly mounted at both ends of the reel. Both shafts are rotatably mounted on the support frame, and a rotating end of an optical fiber slip ring is inserted into one of the shafts. The fixed end of the optical fiber slip ring is fixed to the support frame. A pulley is slidably mounted on the support frame above the reel along the axial direction of the reel. The support frame is provided with a first driving structure for driving the reel to rotate and a second driving structure for driving the pulley to slide on the support frame. The purpose is to provide a cable winding and unwinding device for an internal inspection robot, which adopts an active winding and unwinding structure and uses a vertical entry and exit method for cable winding and unwinding. Furthermore, during the winding and unwinding process, the cable can be wound onto or unwound from the reel at a uniform speed and in an orderly manner, improving the robot's working efficiency.

Description

Technical Field

[0001] This utility model relates to the field of pipeline robot technology, and in particular to a cable retraction device for an internal inspection robot. Background Technology

[0002] With the development of pipeline robot technology, various pipeline inspection robots have emerged. These robots need power and external communication during operation. There are generally two solutions: one is to equip the robot with a mobile power source and transmit signals wirelessly via Bluetooth; the other is to use a cable to connect to the power source and transmit signals. Considering various factors, the advantage of the first solution is that the power source increases the robot's overall mass and the friction against the pipe wall. The disadvantage is that underground robots are susceptible to signal interference with surface signals, and it is difficult to retrieve the robot in case of an accident underground. The second solution addresses these shortcomings. Therefore, a suitable cable transceiver device needs to be designed to power and retrieve the robot. Existing robot cable transceivers typically use a passive transmission structure. When transmitting, the robot's own power drives the reel to passively transmit the cable, lacking cable guidance. This results in messy transmission and reception cables, which are easily damaged when using delicate cables such as fiber optic cables, significantly reducing robot efficiency. Furthermore, the messy cable during retraction leads to low reel volume utilization. Utility Model Content

[0003] The technical problem to be solved by this utility model is to provide a cable winding and unwinding device for an internal detection robot. It adopts an active winding and unwinding structure and uses a vertical in-line and out-line method to wind and unwind the cable. During the winding and unwinding process, the cable can be wound on the reel at a uniform speed and in an orderly manner or unwind from the reel, thereby improving the working efficiency of the robot.

[0004] This utility model relates to a cable reel for an internal inspection robot, comprising a support frame on which a reel is rotatably mounted. Two shafts are fixedly mounted at both ends of the reel and are rotatably mounted on the support frame. A rotating end of an optical fiber slip ring is inserted into one of the shafts, and the fixed end of the optical fiber slip ring is fixed to the support frame. A pulley is slidably mounted on the support frame above the reel along the reel's axial direction. The support frame includes a first drive structure for driving the reel's rotation and a second drive structure for driving the pulley to slide on the support frame.

[0005] The support frame is fixedly provided with a first pressure roller shaft arranged along the axial direction of the reel. A pressure roller arm is rotatably mounted on the first pressure roller shaft. A second pressure roller shaft arranged along the axial direction of the reel is fixedly connected to the pressure roller arm. A pressure roller is rotatably mounted on the second pressure roller shaft. A torsion spring is fitted on the first pressure roller shaft. One end of the torsion spring is connected to the pressure roller arm, and the other end of the torsion spring is connected to the support frame. The pressure roller is arranged close to the reel under the action of the torsion spring.

[0006] The present invention relates to a cable retraction device for an internal inspection robot, wherein the first drive structure includes a first motor, the output shaft of the first motor is fixedly connected to the input shaft of a reducer, the reducer is fixedly mounted on a support frame, a first drive wheel is fixedly mounted on the output shaft of the reducer, a first driven wheel matching the first drive wheel is fixedly mounted on one of the two shaft cylinders, and a first synchronous belt connects the first drive wheel and the first driven wheel.

[0007] This utility model relates to a cable winding and unwinding device for an internal inspection robot. The second drive structure includes a lead screw rotatably mounted on a support frame. The lead screw is arranged axially along the reel. A support plate is threaded onto the lead screw. The support plate is slidably mounted on a slide rail parallel to the lead screw. The slide rail is fixedly mounted on the support frame. A pulley is mounted on the support plate. A second driven wheel is fixedly mounted at one end of the lead screw. The second driven wheel is connected to a second driving wheel via a second synchronous belt. The second driving wheel is fixedly mounted on the output shaft of a second motor. The second motor is fixedly mounted on the support frame.

[0008] This utility model relates to a cable handling device for an internal inspection robot. A pulley frame is rotatably mounted on a support plate. The pulley frame includes a first support plate with through holes penetrating two opposite sides. A cable guide tube is fixedly installed at one through hole on one side of the first support plate, with its cavity communicating with the through hole. Two opposing and spaced second support plates are fixedly installed on the other side of the first support plate, with the through hole located between the two second support plates. The cable guide tube is rotatably mounted on the support plate, and the pulley is rotatably mounted between the two second support plates.

[0009] The present invention relates to a cable winding and unwinding device for an internal inspection robot, wherein the pulley is rotatably mounted on the pulley shaft, the two ends of the pulley shaft are respectively fixed on two second support plates, a cable-blocking wheel is provided on the outer side of the pulley rim, the cable-blocking wheel is rotatably disposed between one end of two oppositely arranged baffles, and the other ends of the two baffles are respectively connected to the pulley shaft on both sides of the pulley.

[0010] This utility model relates to a cable retraction device for an internal inspection robot. The device includes a tensioning wheel on a support frame for tensioning a first synchronous belt. The tensioning wheel is rotatably mounted on a tensioning wheel frame. The tensioning wheel frame has a slot, and the tensioning wheel is rotatably mounted on the slot. A gap exists between the tensioning wheel and the bottom wall of the slot, through which the first synchronous belt passes. The end of the tensioning wheel frame furthest from the tensioning wheel is rotatably mounted on the support frame. The tensioning wheel frame has an arc-shaped through hole, the center of which is located at the rotatable mounting position of the tensioning wheel frame and the support frame. Fasteners are inserted into the arc-shaped through hole to fix the tensioning wheel frame to the support frame.

[0011] The present invention relates to a cable retraction device for an internal detection robot, wherein photoelectric sensors are fixedly mounted on the support frames at both ends of the slide rail, and a trigger plate capable of triggering the photoelectric sensors is fixedly mounted on the support plate.

[0012] This utility model relates to a cable reel for an internal inspection robot. The carrier frame includes two opposing and spaced-apart carrier plates, which are fixedly connected by a carrier rod. A reel is located between the two carrier plates, and two shafts of the reel are rotatably mounted on the two carrier plates, which are respectively a first carrier plate and a second carrier plate. A reducer is fixedly mounted on the first carrier plate. A first driven wheel is fixedly mounted on the shaft located on the first carrier plate. The first driving wheel, the first driven wheel, and the tension wheel frame are all located on the side of the first carrier plate away from the second carrier plate. The end of the tension wheel frame away from the tension wheel is rotatably mounted on the first carrier plate. Fasteners for fixing the tension wheel frame to the first carrier plate are inserted into the arc-shaped through hole. A rotating end of an optical fiber slip ring is inserted into the shaft located on the first carrier plate, and the fixed end of the optical fiber slip ring is fixedly mounted on the first carrier plate.

[0013] This utility model relates to a cable retraction device for an internal inspection robot. A first fixed plate is fixedly mounted on the upper end of a first support plate, and a second fixed plate is fixedly mounted on the upper end of a second support plate. The two ends of a lead screw are rotatably mounted on the first and second fixed plates, respectively. A second driven wheel is fixedly mounted on the end of the lead screw located on the second fixed plate. A second motor is fixedly mounted on the second support plate. Both the second driving wheel and the second driven wheel are located on the side of the second support plate away from the first support plate. A slide rail plate parallel to the lead screw is fixedly mounted between the first and second fixed plates. The slide rail is fixedly mounted on the slide rail plate. A slider is fixedly mounted on the support plate and slidably connected to the slide rail. Photoelectric sensors are fixedly mounted on the slide rail plates at both ends of the slide rail.

[0014] This utility model relates to a cable winding and unwinding device for an internal inspection robot. The reel includes a drum and wire-blocking plates fixed at both ends of the drum. A shaft is fixedly provided on the side of the two wire-blocking plates away from the drum. The cavities of the two shafts are connected to the cavity of the drum. The first pressure roller shaft is fixedly connected between the first support plate and the second support plate. The pressure roller, the second pressure roller shaft, and the pressure roller arm are all located between the two wire-blocking plates. The other end of the torsion spring is connected to the first support plate and / or the second support plate. The pressure roller is arranged close to the drum under the action of the torsion spring.

[0015] The difference between this utility model's internal inspection robot cable winding and unwinding device and the prior art is that, in use, one end of the cable is connected to the robot, and the other end of the cable passes over the pulley from above and is wound downwards onto the reel. The other end of the cable extends into the reel and is connected to the rotating end wire of the fiber optic slip ring. The fixed end wire of the fiber optic slip ring is connected to the computer. Furthermore, when the first drive structure drives the reel to rotate to send and receive the cable, the second drive structure can simultaneously drive the pulley to slide back and forth on the support frame along the axis of the reel. That is, the pulley can guide the cable to be wound evenly layer by layer onto or released from the reel.

[0016] When the robot moves into the pipe and is released, the first drive structure drives the reel to rotate forward, dispensing the cable. Simultaneously, the second drive structure drives the pulley to slide back and forth along the reel's axis on the support frame. The cable dispensing direction is: reel → pulley → robot. During cable dispensing, the cable from the reel to the pulley is displaced relative to the reel, moving back and forth between the two ends of the reel. (That is, when the cable moves from one end of the reel to the other, the first layer of cable wound on the reel is dispensed; then, when it moves from one end to the other, the second layer of cable wound on the reel is dispensed. The second layer of cable is closer to the reel's axis than the first layer. This back-and-forth movement ensures that all the cable on the reel is dispensed layer by layer.) Because the pulley slides back and forth along the reel's axis on the support frame, which is essentially sliding between the two ends of the reel, it follows the cable's movement, guiding the cable dispensing process.

[0017] When the robot moves out of the pipe (i.e., when the robot is being retrieved), the first drive structure drives the reel to rotate in the opposite direction, retrieving the cable. Simultaneously, the second drive structure drives the pulley to slide back and forth along the axis of the reel on the support frame. The direction of cable retrieval is: robot → pulley → reel. The pulley sliding back and forth along the axis of the reel means sliding back and forth between the two ends of the reel. In this way, the pulley can guide the cable to be wound layer by layer on the reel (when the pulley slides from one end of the reel to the other, it can guide the cable to be wound on the reel to form the first layer of cable. Then, when it slides from the other end of the reel to one end, it can guide the cable to be wound on the reel to form the second layer of cable. The first layer of cable is arranged closer to the axis of the reel than the second layer of cable. By moving back and forth in this way, the cable can be wound on the reel layer by layer to complete the cable retrieval.

[0018] Therefore, this utility model adopts an active receiving and sending structure and uses a vertical in-and-out cable method for receiving and sending cables. That is, the pulley is located above the reel. In this way, the cable on the reel passes vertically upward around the pulley and connects to the robot (or the cable from the robot passes over the pulley from above and then winds vertically downward around the reel), forming a vertical in-and-out cable method. Furthermore, during the receiving and sending process, the cable can be wound on the reel or released from the reel at a uniform speed and in an orderly manner, which improves the robot's working efficiency.

[0019] The present invention will be further described below with reference to the accompanying drawings. Attached Figure Description

[0020] Figure 1 This utility model provides a three-dimensional cable retraction and deployment device for an internal inspection robot. Figure 1 ;

[0021] Figure 2 This utility model provides a three-dimensional cable retraction and deployment device for an internal inspection robot. Figure 2 ;

[0022] Figure 3 This utility model provides a three-dimensional cable retraction and deployment device for an internal inspection robot. Figure 3 ;

[0023] Figure 4 This utility model provides a three-dimensional cable retraction and deployment device for an internal inspection robot. Figure 4 ;

[0024] Figure 5 This is a perspective view of the reel and the support frame in this utility model;

[0025] Figure 6 For along Figure 5 Sectional view of line AA in the middle;

[0026] Figure 7 for Figure 6A magnified view of a section at point B in the middle;

[0027] Figure 8 for Figure 6 A magnified view of a section at point C;

[0028] Figure 9 This utility model provides a three-dimensional representation of the pulley, pulley frame, and support plate. Figure 1 ;

[0029] Figure 10 This utility model provides a three-dimensional representation of the pulley, pulley frame, and support plate. Figure 2 ;

[0030] Figure 11 This utility model provides a three-dimensional representation of the pulley, pulley frame, and support plate. Figure 3 ;

[0031] Figure 12 The three-dimensional pulley frame of this utility model Figure 1 ;

[0032] Figure 13 The three-dimensional pulley frame of this utility model Figure 2 ;

[0033] Figure 14 This is a perspective view of the first pressure roller, the second pressure roller shaft, the two pressure roller arms, and the first pressure roller shaft of this utility model.

[0034] Figure 15 This utility model provides a three-dimensional representation of the tension wheel and tension wheel frame. Figure 1 ;

[0035] Figure 16 This utility model provides a three-dimensional representation of the tension wheel and tension wheel frame. Figure 2 .

[0036] Figure reference numerals:

[0037] 01. Support plate; 02. Nut; 03. Photoelectric sensor; 04. Trigger plate; 05. Slider; 06. Slide rail; 07. Pulley; 08. Lead screw; 09. Wire guide wheel; 10. First motor; 11. Slide rail plate; 12. Second fixing plate; 13. Second motor; 14. Second synchronous belt; 15. Second driving wheel; 16. Second driven wheel; 17. Bearing frame; 18. Second bearing plate; 19. Reel; 20. Bearing rod; 21. Drum; 22. Pressure roller; 23. First bearing plate; 24. Wire guide plate; 25. Pressure roller arm; 26. First pressure roller 27. Shaft; 28. Torsion spring; 29. ​​Reducer; 30. Tank chain; 31. Pulley frame; 32. First fixed plate; 33. Cable; 34. First driving wheel; 35. Tensioner frame; 36. First driven wheel; 37. Fiber optic slip ring; 38. Positioning plate; 39. First synchronous belt; 40. Tensioner; 41. Anti-loosening nut; 42. Cable through hole; 43. Shaft cylinder; 44. Baffle; 45. Pulley shaft; 46. Cable guide cylinder; 47. First support plate; 48. Second support plate; 49. Second pressure roller shaft; 50. Arc-shaped through hole; 51. Groove; 52. Tensioner shaft. Detailed Implementation

[0038] like Figure 1 As shown, combined with Figure 2-16 As shown, the cable winding and unwinding device for the internal inspection robot of this utility model includes a support frame 17, on which a reel 19 is rotatably mounted. Two shaft cylinders 42 are fixedly mounted at both ends of the reel 19, and both shaft cylinders 42 are rotatably mounted on the support frame 17 via bearings, thereby achieving the purpose of rotatably mounting the reel 19 on the support frame 17. A rotating end of an optical fiber slip ring 36 is fixedly inserted into one of the two shaft cylinders 42, and the fixed end of the optical fiber slip ring 36 is fixedly mounted on the support frame 17. A pulley 07 is slidably mounted on the support frame 17 above the reel 19 along the axial direction of the reel 19. The support frame 17 is provided with a first driving structure for driving the reel 19 to rotate and a second driving structure for driving the pulley 07 to slide on the support frame 17.

[0039] Combination Figure 5-8 As shown, in use, one end of cable 32 is connected to the robot, and the other end of cable 32 extends downwards to reel 19 after passing over pulley 07, and is wound around reel 19. To connect the other end of cable 32 to the computer, the rotating end of fiber optic slip ring 36 is fixedly inserted into one of the cylinders 42, and the fixed end of fiber optic slip ring 36 is fixed on the support frame 17. Then, the other end of cable 32 is inserted into reel 19, then into cylinder 42 where fiber optic slip ring 36 is installed, and then connected to the rotating end wire of fiber optic slip ring 36. Finally, the fixed end wire of fiber optic slip ring 36 is connected to the computer, thereby realizing the connection between the robot and the computer.

[0040] The fiber optic slip ring 36 is existing technology. It includes a fixed end and a rotating end that are connected to each other, and both the fixed end and the rotating end are connected to wires. Even if the rotating end rotates relative to the fixed end, the wires between the two can still be connected. The purpose is to enable the rotating part to communicate with the stationary part. That is, when the reel 19 rotates to send and receive the cable 32 (at this time, the rotating end of the fiber optic slip ring 36 rotates with the reel 19, while the fixed end of the fiber optic slip ring 36 is fixed on the support frame 17 and remains stationary, and the rotating end rotates relative to the fixed end), the robot can also communicate with the computer. The specific structure and working principle of the fiber optic slip ring 36 will not be described in detail.

[0041] The first drive structure drives the reel 19 to rotate, enabling the cable 32 to be retrieved and deployed. During this process, the second drive structure simultaneously drives the pulley 07 to slide along the axial direction of the reel 19 on the support frame 17 to guide the cable 32 to be retrieved and deployed.

[0042] like Figure 1-4 As shown, the present invention relates to a cable retraction device for an internal detection robot. The first drive structure includes a first motor 10, the output shaft of the first motor 10 is fixedly connected to the input shaft of a reducer 28, the reducer 28 is fixedly mounted on a support frame 17, a first drive wheel 33 is fixedly mounted on the output shaft of the reducer 28, a first driven wheel 35 matching the first drive wheel 33 is fixedly mounted on one of the two shaft cylinders 42, and a first synchronous belt 38 is connected between the first drive wheel 33 and the first driven wheel 35.

[0043] In this embodiment, the first driven wheel 35 is fixedly mounted on the shaft cylinder 42 on which the fiber optic slip ring 36 is installed. Alternatively, it can be fixedly mounted on another shaft cylinder 42. When the first motor 10 is started, the first motor 10 drives the first driving wheel 33 to rotate via the reducer 28. The first driving wheel 33 then drives the first driven wheel 35 to rotate via the first synchronous belt 38. Since the reel 19 is rotatably mounted on the support frame 17 via the shaft cylinder 42, the shaft cylinder 42 and the reel 19 rotate together with the first driven wheel 35. That is, the first motor 10 can drive the reel 19 to rotate in order to send and receive the cable 32.

[0044] like Figure 1-4As shown, the present invention relates to a cable winding and unwinding device for an internal inspection robot. The second drive structure includes a lead screw 08 rotatably mounted on a support frame 17. The lead screw 08 is axially arranged along a reel 19. A support plate 01 (a nut 02 is fixedly mounted on the support plate 01 and threadedly connected to the lead screw 08 via the nut 02) is threaded onto the lead screw 08. The support plate 01 is slidably mounted on a slide rail 06 parallel to the lead screw 08. The slide rail 06 is fixedly mounted on the support frame 17. A pulley 07 is mounted on the support plate 01. A second driven wheel 16 is fixedly mounted at one end of the lead screw 08. The second driven wheel 16 is connected to a second driving wheel 15 via a second synchronous belt 14. The second driving wheel 15 is fixedly mounted on the output shaft of a second motor 13, which is fixedly mounted on the support frame 17.

[0045] The second motor 13 is started, which drives the second drive wheel 15 to rotate. The second drive wheel 15 then drives the second driven wheel 16 to rotate via the second synchronous belt 14. Since the lead screw 08 is rotatably mounted on the support frame 17, the lead screw 08 rotates together with the second driven wheel 16. Since the support plate 01 is threadedly connected to the lead screw 08 and is also slidably mounted on the slide rail 06, the support plate 01 will not rotate with the lead screw 08 due to the obstruction of the slide rail 06, but can only slide along the axis of the lead screw 08 on the slide rail 06. Since the lead screw 08 is arranged along the axial direction of the reel 19, and the slide rail 06 is parallel to the lead screw 08, it can be concluded that the support plate 01 slides along the axial direction of the lead screw 08 on the slide rail 06, which means it slides along the axial direction of the reel 19 on the slide rail 06. Thus, the pulley 07 can slide along the axial direction of the reel 19 on the slide rail 06 together with the support plate 01. Since the slide rail 06 is fixed to the support frame 17, it can be concluded that the support frame 17 is equipped with a pulley 07 that slides along the axial direction of the reel 19. Therefore, the second motor 13 can drive the pulley 07 to slide on the support frame 17, meaning the second drive structure can drive the pulley 07 to slide on the support frame 17. Since pulley 07 is located above reel 19, cable 32 on reel 19 extends upward perpendicularly to reel 19, passes around pulley 07, and then extends horizontally toward the robot. In this way, when reel 19 is receiving or sending cable 32, cable 32 can be vertically received and sent relative to reel 19. During this process, pulley 07 can also slide back and forth along the axis of reel 19 to guide cable 32, so that cable 32 can be wound orderly on reel 19 to complete the receiving or sending.

[0046] like Figure 1-4 As shown, combined with Figure 9-13As shown, the present invention relates to a cable retraction device for an internal detection robot. A pulley frame 30 is rotatably mounted on a support plate 01. The pulley frame 30 includes a first support plate 46, which has through holes penetrating two opposite sides. A cable routing cylinder 45 is fixedly mounted at one side through hole of the first support plate 46, with its cavity communicating with the through hole. Two opposing and spaced second support plates 47 are fixedly mounted on the other side of the first support plate 46, with the through hole located between the two second support plates 47. The cable routing cylinder 45 is rotatably mounted on the support plate 01, and the pulley 07 is rotatably mounted between the two second support plates 47.

[0047] The pulley frame 30 is a one-piece molded structure, consisting of the first support plate 46, the cable tray 45, and two second support plates 47. The cable tray 45 is rotatably mounted on the support plate 01 via bearings, thus achieving the purpose of rotatably mounting the pulley frame 30 on the support plate 01. The support plate 01 has bearing through holes. The end of the cable tray 45 away from the first support plate 46 passes through the bearing through hole of the support plate 01 and is threaded with an anti-loosening nut 40, which prevents the cable tray 45 from slipping off the support plate 01. The position of the cable tray 45 near the first support plate 46 is rotatably mounted on the bearing through hole of the support plate 01 via bearings, thus rotatably mounting the cable tray 45 on the support plate 01.

[0048] In this embodiment, the second support plate 47 is L-shaped, with one end fixed on the first support plate 46 and the other end extending downward. The pulley 07 is rotatably installed between the other ends of the two second support plates 47, that is, between the ends away from the first support plate 46.

[0049] The present invention relates to a cable winding and unwinding device for an internal inspection robot, wherein the pulley 07 is rotatably mounted on the pulley shaft 44 via bearings, and the two ends of the pulley shaft 44 are respectively fixed on two second support plates 47. A line-blocking wheel 09 is provided on the outer side of the rim of the pulley 07, and the line-blocking wheel 09 is rotatably disposed between one end of two oppositely arranged baffles 43. The other ends of the two baffles 43 are respectively connected to the pulley shaft 44 on both sides of the pulley 07.

[0050] As described above, the other ends of the two baffles 43 are respectively connected to the pulley shafts 44 on both sides of the pulley 07. Specifically, the two ends of the pulley shafts 44 extend to the outer sides of the two second support plates 47 (since the pulley 07 is located between the two second support plates 47, it can be regarded as the pulley 07 being located inside the two second support plates 47, so the outer side of the second support plate 47 refers to the side of the second support plate 47 away from the pulley 07). The other ends of the two baffles 43 are respectively connected to the pulley shafts 44 on the outer sides of the two second support plates 47.

[0051] The wire-blocking wheel 09 is rotatably mounted on a wire-blocking wheel shaft via bearings. Both ends of the wire-blocking wheel shaft are fixed to two baffles 43, allowing the wire-blocking wheel 09 to rotate between the two baffles 43. The axial direction of the wire-blocking wheel 09 is the same as that of the pulley 07, meaning the axis of the wire-blocking wheel 09 is parallel to the axis of the pulley 07.

[0052] One end of cable 32 is connected to the robot, and the other end of cable 32 enters the cable reel 45 horizontally from the end away from the first support plate 46. It then exits from the end of cable reel 45 closest to the first support plate 46, passes through the through-hole of the first support plate 46, and enters between the two second support plates 47. Next, it passes over pulley 07 from top to bottom. While passing over pulley 07, cable 32 passes through the gap between the rim of pulley 07 and the guide wheel 09. After passing over pulley 07, the other end of cable 32 is wound onto reel 19. The guide wheel 09 holds cable 32 in the groove at the rim of pulley 07, preventing cable 32 from slipping off pulley 07. During the sending and receiving of cable 32, both pulley 07 and guide wheel 09 rotate due to the friction of cable 32. As for the specific position of the line-blocking wheel 09 on the rim of the pulley 07, it can be determined according to the actual situation. For example, the two baffles 43 can be arranged in a direction away from the first support plate 46 and in a horizontal direction, while the line-blocking wheel 09 is rotatably mounted on the two baffles 43.

[0053] In use, the support frame 17 is placed on the ground or other support platform, and the axis of the reel 19 is arranged horizontally. The cable 32, extending vertically upwards from the axis of the reel 19 to the pulley 07, is in a vertical direction. After passing over the pulley 07, the cable 32 passes through the horizontally arranged cable tray 45 and extends towards the robot. To allow the cable 32 to extend horizontally towards the robot, the cable tray 45 is rotatably mounted on the support plate 01. It can be seen that after being guided by the pulley 07, the cable 32 changes from horizontal to vertical, or vice versa. In actual use, the cable 32, which is horizontal and vertical before and after passing over the pulley 07, may move relative to each other. To accommodate this relative movement, the pulley frame 30 is rotatably mounted on the support plate 01. In this way, when the cable 32 in the horizontal and vertical directions moves relative to each other before and after passing the pulley 07, the pulley frame 30 can rotate relative to the support plate 01 to adapt to the relative movement, so that the cable 32 can pass smoothly around the pulley 07 without causing obstruction.

[0054] like Figure 1 , 2As shown in Figure 14, a first pressure roller shaft 26 is fixedly arranged along the axial direction of the reel 19 on the support frame 17. A pressure roller arm 25 is rotatably mounted on the first pressure roller shaft 26. A second pressure roller shaft 48 arranged along the axial direction of the reel 19 is fixedly connected to the pressure roller arm 25. A pressure roller 22 is rotatably mounted on the second pressure roller shaft 48. A torsion spring 27 is fitted on the first pressure roller shaft 26. One end of the torsion spring 27 is connected to the pressure roller arm 25, and the other end of the torsion spring 27 is connected to the support frame 17. The pressure roller 22 is arranged close to the reel 19 under the action of the torsion spring 27.

[0055] Two pressure roller arms 25 are rotatably mounted on the first pressure roller shaft 26. A second pressure roller shaft 48 arranged along the axial direction of the reel 19 is fixedly connected between the two pressure roller arms 25. Torsion springs 27 are respectively fitted on both ends of the first pressure roller shaft 26. One end of each of the two torsion springs 27 is connected to the two pressure roller arms 25, and the other end of each torsion spring 27 is connected to the support frame 17. The pressure roller 22 is arranged close to the reel 19 under the action of the two torsion springs 27.

[0056] The first pressure roller shaft 26 is located on the support frame 17 above the reel 19. The upper ends of the two pressure roller arms 25 are rotatably mounted on the first pressure roller shaft 26 via bearings. A second pressure roller shaft 48 is fixedly connected between the lower ends of the two pressure roller arms 25. A pressure roller 22 is rotatably mounted on the second pressure roller shaft 48 via bearings. The first pressure roller shaft 26 and the second pressure roller shaft 48 are both arranged along the axial direction of the reel 19, that is, the first pressure roller shaft 26, the second pressure roller shaft 48, and the reel 19 are parallel to each other. The two pressure roller arms 25 are also parallel to each other. Thus, the two pressure roller shafts and the two pressure roller arms 25 together form a parallelogram structure.

[0057] Since the upper ends of the two pressure roller arms 25 are rotatably mounted on the first pressure roller shaft 26, the two pressure roller arms 25 can swing around the first pressure roller shaft 26. In this way, the second pressure roller shaft 48 and the pressure roller 22, which are mounted at the lower ends of the two pressure roller arms 25, can swing closer to or further away from the reel 19. When the pressure roller 22 swings away from the reel 19 under the action of an external force, the torsion spring 27 is tightened and stores energy; conversely, when the external force disappears, the tightened torsion spring 27 relaxes and releases energy. Under the action of the torsion spring 27, the pressure roller 22 swings closer to the reel 19. After the energy of the torsion spring 27 is released, the pressure roller 22 stops swinging.

[0058] The function of the pressure roller 22 is to engage with the outermost layer of cable 32 wound on the reel 19 as the reel 19 rotates, preventing the cable 32 from becoming tangled and allowing it to be wound onto or released from the reel 19 in an orderly fashion. In the initial state, when there is no cable 32 on the reel 19, the pressure roller 22 is positioned close to the reel 19 under the action of the torsion spring 27, with a small gap between them. This allows the pressure roller 22 to engage with the cable 32 during the initial winding stage, preventing tangling. As more cable 32 is wound onto the reel 19, it pushes the pressure roller 22 away from the reel 19, causing the torsion spring 27 to tighten and store energy until the cable 32 is completely wound onto the reel 19, completing the cable retrieval process. As cable 32 is released from reel 19, less and less cable 32 remains on the reel 19. This means the force pushing the pressure roller 22 away from the reel 19 gradually decreases. Consequently, the torsion spring 27 gradually relaxes and releases its energy. Under the action of the torsion spring 27, the pressure roller 22 swings closer to the reel 19, always maintaining contact with the outermost cable 32 on the reel 19, until all the cable 32 on the reel 19 is released. At this point, the force pushing the pressure roller 22 away from the reel 19 disappears, the torsion spring 27 relaxes to its initial state, releasing its stored energy, and the pressure roller 22 returns to its initial position close to the reel 19. Therefore, under the action of the torsion spring 27, when the reel 19 is sending and receiving cable 32, the pressure roller 22 can always maintain contact with the outermost cable 32 on the reel 19, preventing the cable 32 from becoming tangled. To improve the effect of pressure roller 22 in preventing cable 32 from becoming tangled, as described above, pressure roller 22 is arranged parallel to reel 19. This allows the pressure roller 22 to apply even pressure to cable 32, thereby achieving a better effect in preventing cable 32 from becoming tangled.

[0059] When the reel 19 rotates to receive the cable 32, the pressure roller 22 rotates due to the friction of the cable 32 as it comes into contact with the cable 32 on the reel 19.

[0060] like Figure 2 , 5As shown in Figures 6, 15, and 16, the cable retraction device for the internal detection robot of this utility model includes a tensioning wheel 39 on the support frame 17 for tensioning the first synchronous belt 38. The tensioning wheel 39 is rotatably mounted on a tensioning wheel frame 34. The tensioning wheel frame 34 has a slot 50, and the tensioning wheel 39 is rotatably mounted on the slot 50. There is a gap between the tensioning wheel 39 and the bottom wall of the slot 50, through which the first synchronous belt 38 passes. The end of the tensioning wheel frame 34 away from the tensioning wheel 39 is rotatably mounted on the support frame 17. The tensioning wheel frame 34 has an arc-shaped through hole 49, the center of which is located at the rotatable mounting position of the tensioning wheel frame 34 and the support frame 17. Fasteners for fixing the tensioning wheel frame 34 to the support frame 17 are inserted into the arc-shaped through hole 49.

[0061] The tensioning wheel frame 34 is L-shaped, with one end attached to the support frame 17 and the other end extending away from the support frame 17. A slot 50 is provided at the end of the tensioning wheel frame 34 away from the support frame 17, and a tensioning wheel shaft 51 is fixedly mounted on the slot 50. The tensioning wheel 39 is rotatably mounted on the tensioning wheel shaft 51 via a bearing, thus rotatably mounting the tensioning wheel 39 onto the slot 50 and achieving the purpose of rotatably mounting the tensioning wheel 39 onto the tensioning wheel frame 34.

[0062] The end of the tensioner frame 34 furthest from the tensioner 39, i.e., the end of the tensioner frame 34 closest to the support frame 17, is rotatably mounted on the support frame 17 via a pin. An arc-shaped through hole 49 is provided at the end of the tensioner frame 34 closest to the support frame 17. The center of the arc-shaped through hole 49 is located at the pin, which is the rotatable mounting position between the tensioner frame 34 and the support frame 17. Bolts are used as fasteners inserted into the arc-shaped through hole 49, which secure the tensioner frame 34 to the support frame 17.

[0063] In this embodiment, the tensioning wheel 39 is located inside the first synchronous belt 38, and the bottom wall of the groove 50 is located outside the first synchronous belt 38. When tensioning the first synchronous belt 38, the bolt in the arc-shaped through hole 49 is loosened, and then the tensioning wheel frame 34 is allowed to swing around the pin, so that the tensioning wheel 39 moves outward from the first synchronous belt 38 to tension the first synchronous belt 38. During this process, since the center of the arc-shaped through hole 49 is located at the pin, the bolt in the arc-shaped through hole 49 will not hinder the tensioning wheel frame 34 from swinging around the pin. After the tensioning wheel 39 tensions the first synchronous belt 38, the bolt is tightened to fix the tensioning wheel frame 34 on the support frame 17, so that the tensioning wheel 39 is always in the position of tensioning the first synchronous belt 38.

[0064] like Figure 1-4As shown, the present invention relates to a cable retraction device for an internal detection robot, wherein photoelectric sensors 03 are fixedly mounted on the support frames 17 at both ends of the slide rail 06, and a trigger plate 04 capable of triggering the photoelectric sensors 03 is fixedly mounted on the support plate 01.

[0065] Both the photoelectric sensor 03 and the trigger plate 04 are existing technologies. The two ends of the slide rail 06 are referred to as the first end and the second end, respectively. The second motor 13 rotates forward to drive the support plate 01 and the pulley 07 to slide from the first end to the second end of the slide rail 06. At this time, the trigger plate 04 triggers the photoelectric sensor 03 at the second end. The photoelectric sensor 03 sends a signal to the control system. After receiving the signal, the control system controls the second motor 13 to rotate in reverse. Then the support plate 01 and the pulley 07 slide from the second end to the first end of the slide rail 06. When they reach the first end, the trigger plate 04 triggers the photoelectric sensor 03 at the first end. The photoelectric sensor 03 sends a signal to the control system. After receiving the signal, the control system controls the second motor 13 to rotate forward. Then the support plate 01 and the pulley 07 slide from the first end to the second end of the slide rail 06 again. This cycle repeats. Since the support plate 01 and pulley 07 slide along the axial direction of the reel 19, the back-and-forth sliding of the support plate 01 and pulley 07 between the two ends of the slide rail 06 can be regarded as the back-and-forth sliding between the two ends of the axial direction of the reel 19. In this way, guided by the pulley 07, the cable 32 can be wound or released back and forth between the two ends of the reel 19 layer by layer in an orderly manner. That is, when the pulley 07 slides from one end of the reel 19 to the other end, it can wind one layer of cable 32 onto the reel 19 or release one layer of cable 32 from the reel 19; then when the pulley 07 slides back from the other end to one end, it can wind another layer of cable 32 onto the reel 19 or release another layer of cable 32 from the reel 19.

[0066] like Figure 1-6As shown, the present invention relates to a cable reeling and unloading device for an internal inspection robot. The support frame 17 includes two opposing and spaced-apart support plates, which are parallel to each other. The two support plates are fixedly connected by support rods 20, the number of which can be determined according to actual conditions. A reel 19 is located between the two support plates, and the two shafts 42 of the reel 19 are rotatably mounted on the two support plates via bearings. The two support plates are a first support plate 23 and a second support plate 18. The reducer 28 is fixedly mounted on the first support plate 23. A first driven wheel 35 is fixedly mounted on the shaft cylinder 42 located on the first support plate 23. The first driving wheel 33, the first driven wheel 35, and the tension wheel frame 34 are all located on the side of the first support plate 23 away from the second support plate 18. The end of the tension wheel frame 34 away from the tension wheel 39 is rotatably mounted on the first support plate 23. Fasteners for fixing the tension wheel frame 34 to the first support plate 23 are inserted into the arc-shaped through hole 49. The rotating end of the fiber optic slip ring 36 is fixedly inserted into the shaft cylinder 42 located on the first support plate 23. The fixed end of the fiber optic slip ring 36 is fixedly mounted on the first support plate 23.

[0067] The fiber optic slip ring 36 is located on the side of the first support plate 23 away from the second support plate 18. The fixed end of the fiber optic slip ring 36 is fixed on a positioning plate 37, which is fixed on the side of the first support plate 23 away from the second support plate 18.

[0068] This utility model relates to a cable retraction device for an internal detection robot. The upper end of the first support plate 23 is fixedly provided with a first fixing plate 31, and the upper end of the second support plate 18 is fixedly provided with a second fixing plate 12. The two ends of the lead screw 08 are rotatably mounted on the first fixing plate 31 and the second fixing plate 12 respectively via bearings. A second driven wheel 16 is fixedly provided at one end of the lead screw 08 located on the second fixing plate 12. The second motor 13 is fixedly provided on the second support plate 18. The second driving wheel 15 and the second driven wheel 16 are both located on the side of the second support plate 18 away from the first support plate 23. A slide rail plate 11 parallel to the lead screw 08 is fixedly provided between the first fixing plate 31 and the second fixing plate 12. The slide rail 06 is fixedly provided on the slide rail plate 11. A slider 05 is fixedly provided on the support plate 01, and the slider 05 is slidably connected to the slide rail 06. Photoelectric sensors 03 are fixedly provided on the slide rail plates 11 at both ends of the slide rail 06.

[0069] Since the first fixed plate 31 and the second fixed plate 12 are both fixed on the support frame 17, and the slide rail plate 11 is fixed between the first fixed plate 31 and the second fixed plate 12, the first fixed plate 31, the second fixed plate 12 and the slide rail plate 11 can be regarded as part of the support frame 17. Then all the components installed on the first fixed plate 31 and the second fixed plate 12 (such as the lead screw 08, the pulley 07 installed on the two fixed plates through the pulley frame 30, the support plate 01 and the lead screw 08, etc.) can be regarded as installed on the support frame 17. All the components installed on the slide rail plate 11 (such as the slide rail 06, the photoelectric sensor 03) can also be regarded as installed on the support frame 17.

[0070] like Figure 1-8 As shown, the reel 19 includes a drum 21 and line-stopping plates 24 fixed at both ends of the drum 21. A shaft cylinder 42 is fixedly provided on the side of the two line-stopping plates 24 away from the drum 21. The cavities of the two shaft cylinders 42 communicate with the cavity of the drum 21. The first pressure roller shaft 26 is fixedly connected between the first support plate 23 and the second support plate 18. The pressure roller 22, the second pressure roller shaft 48, and the two pressure roller arms 25 are all located between the two line-stopping plates 24. As described above, the other end of the torsion spring 27 is connected to the support frame 17, that is, to the first support plate 23 and / or the second support plate 18. In this embodiment, there are two torsion springs 27, so the other ends of the two torsion springs 27 are respectively connected to the support frame 17, specifically, the other ends of the two torsion springs 27 are respectively connected to the first support plate 23 and the second support plate 18. The pressure roller 22 is arranged close to the drum 21 under the action of the two torsion springs 27.

[0071] The reel 19 is existing technology. When it rotates, the cable 32 can be wound onto or released from the drum 21. The cable guide plates 24 at both ends of the drum 21 can prevent the cable 32 on them from slipping off the drum 21. The pressure roller 22 mentioned above is arranged close to the reel 19 under the action of two torsion springs 27, specifically close to the drum 21 of the reel 19. The length of the pressure roller 22 matches the length of the drum 21 to abut the cable 32 wound on the drum 21 and prevent it from becoming tangled during winding or releasing.

[0072] Both line stop plates 24 are circular plates and are coaxially arranged with the drum 21 and the shaft drum 42. Therefore, it should be noted that the axial direction of the reel 19 mentioned above specifically refers to the axial direction of the drum 21 / line stop plate 24 / shaft drum 42.

[0073] When the pressure roller 22 swings closer to or further away from the drum 21, since the pressure roller 22, the second pressure roller shaft 48 and the two pressure roller arms 25 are all located between the two line stop plates 24, the pressure roller 22, the second pressure roller shaft 48 and the two pressure roller arms 25 as a whole swing closer to or further away from the drum 21 between the two line stop plates 24.

[0074] like Figure 5 As shown, and in combination Figure 6-8 As shown, a cable through-hole 41 is provided on the drum 21. One end of the cable 32 wound on the drum 21 can pass through the cable through-hole 41 and enter the drum cavity of the drum 21. Since the drum cavity of the drum 21 is connected to the drum cavity of the shaft 42, the cable 32 entering the drum cavity of the drum 21 can enter the drum cavity of the shaft 42 where the fiber optic slip ring 36 is installed. Then it connects to the rotating end wire of the fiber optic slip ring 36 inserted on the shaft 42, and the fixed end wire of the fiber optic slip ring 36 connects to the computer. Since the end of the cable 32 that is not wound on the drum 21 is connected to the robot, the robot can transmit the signals it detects to the computer through the cable 32 for use.

[0075] As described above, when using this utility model, the support frame 17 is placed on the ground or other support platform, and the axis of the reel 19 is arranged in the horizontal direction, that is, the axis of the drum 21 / line stop plate 24 is arranged in the horizontal direction. Since the first pressure roller shaft 26, the second pressure roller shaft 48, and the lead screw 08 are all arranged in the axial direction of the reel 19, the first pressure roller shaft 26, the second pressure roller shaft 48, and the lead screw 08 are also arranged in the horizontal direction. The pressure roller 22, which is rotatably mounted on the second pressure roller shaft 48, is also arranged in the horizontal direction. The aforementioned pulley 07 slides along the axial direction of the reel 19, which is also sliding in the horizontal direction. The slide rail 06 and the slide rail plate 11 are both parallel to the lead screw 08, that is, they are both arranged in the horizontal direction.

[0076] The difference between this utility model's internal inspection robot cable winding and unwinding device and the prior art is that, in use, one end of the cable 32 is connected to the robot, and the other end of the cable 32 is wound horizontally from above around the pulley 07 and then wound downwards onto the reel 19. The other end of the cable 32 extends into the reel 19 and is connected to the rotating end wire of the fiber optic slip ring 36. The fixed end wire of the fiber optic slip ring 36 is connected to the computer. When the first drive structure drives the reel 19 to rotate to wind and unwind the cable 32, the second drive structure can simultaneously drive the pulley 07 to slide back and forth on the support frame 17 along the axial direction of the reel 19. That is, the pulley 07 can guide the cable 32 to be wound evenly layer by layer onto the reel 19 or released from the reel 19.

[0077] When the robot moves into the pipe and is released, the first drive structure drives the reel 19 to rotate in the forward direction and distribute the cable 32. At the same time, the second drive structure drives the pulley 07 to slide back and forth on the support frame 17 along the axis of the reel 19. The distribution direction of the cable 32 is: reel 19 → pulley 07 → robot. When the reel 19 dispenses the cable 32, the cable 32 from the reel 19 to the pulley 07 will be displaced relative to the reel 19, that is, it will move back and forth between the two ends of the reel 19 (i.e., the two ends of the drum 21). (That is, when the cable 32 from the reel 19 to the pulley 07 moves from one end of the reel 19 to the other end, the first layer of cable 32 wound on the reel 19 can be dispensed. Then, when it moves from the other end of the reel 19 to one end, the second layer of cable 32 wound on the reel 19 can be dispensed. The second layer of cable 32 is arranged closer to the axis of the reel 19 than the first layer of cable 32. By moving back and forth like this, all the layers of cable 32 on the reel 19 can be dispensed.) Since the pulley 07 slides back and forth on the support frame 17 along the axis of the reel 19, the sliding of the pulley 07 along the axis of the reel 19 is equivalent to sliding back and forth between the two ends of the reel 19. Therefore, it can follow the movement of the cable 32 to guide the dispensing of the cable 32.

[0078] When the robot moves out of the pipe, i.e. when the robot is being retrieved, the first drive structure drives the reel 19 to rotate in the opposite direction to retrieve the cable 32. At the same time, the second drive structure drives the pulley 07 to slide back and forth on the support frame 17 along the axis of the reel 19. The direction of cable 32 retrieval is: robot → pulley 07 → reel 19. The pulley 07 slides back and forth along the axis of the reel 19, which means it slides back and forth between the two ends of the reel 19. In this way, the pulley 07 can guide the cable 32 to be wound layer by layer on the reel 19 (when the pulley 07 slides from one end of the reel 19 to the other end, it can guide the cable 32 to be wound on the reel 19 to form the first layer of cable 32. Then, when it slides from the other end of the reel 19 to one end, it can guide the cable 32 to be wound on the reel 19 to form the second layer of cable 32. The first layer of cable 32 is arranged closer to the axis of the reel 19 than the second layer of cable 32. By moving back and forth like this, the cable 32 can be wound layer by layer on the reel 19 to complete the retrieval of the cable 32.

[0079] Therefore, this utility model adopts an active receiving and sending structure and uses a vertical entry and exit method for receiving and sending cables 32. That is, the pulley 07 is located above the reel 19. In this way, the cable 32 on the reel 19 passes vertically upward around the pulley 07 and connects to the robot (or the cable 32 from the robot passes over the pulley 07 from above and then winds vertically downward around the reel 19), forming a vertical entry and exit method. In addition, during the receiving and sending process, the cable 32 can be wound on the reel 19 at a uniform speed and in an orderly manner or be released from the reel 19, which improves the working efficiency of the robot.

[0080] This invention also includes a control system. During operation, the control system controls the first motor 10 to drive the reel 19 to rotate for sending and receiving the cable 32. At this time, the control system sends a linkage signal to the second motor 13. After receiving the linkage signal, the second motor 13 drives the lead screw 08 to rotate, thereby causing the pulley 07 to slide back and forth on the support frame 17 along the axis of the reel 19. Each time the pulley 07 runs to the position of the photoelectric sensor 03 at both ends of the slide rail 06, the trigger plate 04 can trigger the photoelectric sensor 03. The photoelectric sensor 03 sends a limit signal to the control system. After receiving the limit signal, the control system sends a reverse running command to the second motor 13, thereby causing the pulley 07 to run back and forth between the two ends of the reel 19, thereby guiding the cable 32 to be wound evenly and orderly on the reel 19, or evenly and orderly conveying the cable 32 on the reel 19 to the robot, thereby achieving the purpose of sending and receiving the cable 32.

[0081] This invention uses a first motor 10 and a second motor 13 to drive the transmitting and receiving cables 32, enabling independent and precise control. The support frame 17 of this invention is also fixedly equipped with a tank chain 29 to accommodate the wires of various components. This invention has a compact and reasonable structure, low cable loss, and low cost, and can easily realize the transmitting and receiving functions of delicate cables 32 such as optical fibers.

[0082] It should be noted that the terms "center", "upper", "lower", "front", "rear", "left", "right", "middle", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this utility model and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this utility model.

[0083] In the description of this utility model, it should be noted that, unless otherwise explicitly specified and limited, the terms "connected" and "linked" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium. Those skilled in the art can understand the specific meaning of the above terms in this utility model based on the specific circumstances.

[0084] The embodiments described above are merely preferred embodiments of the present utility model and are not intended to limit the scope of the present utility model. Various modifications and improvements made to the technical solutions of the present utility model by those skilled in the art without departing from the spirit of the present utility model should fall within the protection scope defined by the claims of the present utility model.

Claims

1. An internally detecting robot cable pay-off device, characterized by: The device includes a support frame on which a reel is rotatably mounted. Two shafts are fixedly mounted at both ends of the reel, and both shafts are rotatably mounted on the support frame. A rotating end of an optical fiber slip ring is inserted into one of the shafts, and the fixed end of the optical fiber slip ring is fixed to the support frame. A pulley is slidably mounted on the support frame above the reel along the reel's axial direction. The support frame is equipped with a first drive structure for driving the reel to rotate and a second drive structure for driving the pulley to slide on the support frame. The support frame is fixedly provided with a first pressure roller shaft arranged along the axial direction of the reel. A pressure roller arm is rotatably mounted on the first pressure roller shaft. A second pressure roller shaft arranged along the axial direction of the reel is fixedly connected to the pressure roller arm. A pressure roller is rotatably mounted on the second pressure roller shaft. A torsion spring is fitted on the first pressure roller shaft. One end of the torsion spring is connected to the pressure roller arm, and the other end of the torsion spring is connected to the support frame. The pressure roller is arranged close to the reel under the action of the torsion spring.

2. The in-detection robotic cable pay-out device of claim 1, wherein: The first drive structure includes a first motor, the output shaft of the first motor is fixedly connected to the input shaft of the reducer, the reducer is fixedly mounted on a support frame, a first drive wheel is fixedly mounted on the output shaft of the reducer, a first driven wheel matching the first drive wheel is fixedly mounted on one of the two shaft cylinders, and a first synchronous belt connects the first drive wheel and the first driven wheel.

3. The in-detection robotic cable pay-out device of claim 2, wherein: The second drive structure includes a lead screw rotatably mounted on a support frame. The lead screw is arranged along the axial direction of the reel. A support plate is threaded onto the lead screw. The support plate is slidably mounted on a slide rail parallel to the lead screw. The slide rail is fixedly mounted on the support frame. A pulley is mounted on the support plate. A second driven wheel is fixedly mounted at one end of the lead screw. The second driven wheel is connected to a second driving wheel via a second synchronous belt. The second driving wheel is fixedly mounted on the output shaft of a second motor. The second motor is fixedly mounted on the support frame.

4. The in-detection robotic cable pay-out device of claim 3, wherein: A pulley frame is rotatably mounted on the support plate. The pulley frame includes a first support plate with through holes penetrating two opposite sides of the first support plate. A cable tray is fixedly installed at one side through hole of the first support plate, and the cavity of the cable tray communicates with the through hole. Two opposing and spaced second support plates are fixedly installed on the other side of the first support plate, with the through hole located between the two second support plates. The cable tray is rotatably mounted on the support plate, and the pulley is rotatably mounted between the two second support plates.

5. The in-detection robotic cable pay-out device of claim 4, wherein: The pulley is rotatably mounted on the pulley shaft, and the two ends of the pulley shaft are respectively fixed on two second support plates. A line-blocking wheel is provided on the outer side of the pulley rim. The line-blocking wheel is rotatably located between one end of two oppositely arranged baffles. The other ends of the two baffles are respectively connected to the pulley shaft on both sides of the pulley.

6. The in-detection robotic cable pay-out device of claim 5, wherein: The support frame is provided with a tensioning pulley for tensioning the first synchronous belt. The tensioning pulley is rotatably mounted on a tensioning pulley frame. The tensioning pulley frame has a slot, and the tensioning pulley is rotatably mounted on the slot. There is a gap between the tensioning pulley and the bottom wall of the slot. The first synchronous belt passes through the gap. The end of the tensioning pulley frame away from the tensioning pulley is rotatably mounted on the support frame. The tensioning pulley frame has an arc-shaped through hole. The center of the arc-shaped through hole is located at the rotatable mounting position of the tensioning pulley frame and the support frame. Fasteners for fixing the tensioning pulley frame to the support frame are inserted into the arc-shaped through hole.

7. The in-detection robotic cable pay-out device of claim 6, wherein: Photoelectric sensors are fixedly installed on the support frames at both ends of the slide rail, and a trigger plate capable of triggering the photoelectric sensors is fixedly installed on the support plate.

8. The cable take-up and take-down device for the internal inspection robot according to claim 7, characterized in that: The support frame includes two opposing and spaced-apart support plates, which are fixedly connected by a support rod. The reel is located between the two support plates, and the two shafts of the reel are rotatably mounted on the two support plates, which are respectively the first support plate and the second support plate. The reducer is fixedly mounted on the first support plate. A first driven wheel is fixedly mounted on the shaft located on the first support plate. The first driving wheel, the first driven wheel, and the tension wheel frame are all located on the side of the first support plate away from the second support plate. The end of the tension wheel frame away from the tension wheel is rotatably mounted on the first support plate. Fasteners for fixing the tension wheel frame to the first support plate are inserted into the arc-shaped through hole. The rotating end of an optical fiber slip ring is inserted into the shaft located on the first support plate, and the fixed end of the optical fiber slip ring is fixedly mounted on the first support plate.

9. The in-detection robotic cable pay-out device of claim 8, wherein: A first fixed plate is fixedly mounted on the upper end of the first bearing plate, and a second fixed plate is fixedly mounted on the upper end of the second bearing plate. The two ends of the lead screw are respectively rotatably mounted on the first fixed plate and the second fixed plate. A second driven wheel is fixedly mounted on the end of the lead screw located on the second fixed plate. The second motor is fixedly mounted on the second bearing plate. The second driving wheel and the second driven wheel are both located on the side of the second bearing plate away from the first bearing plate. A slide rail plate parallel to the lead screw is fixedly mounted between the first fixed plate and the second fixed plate. The slide rail is fixedly mounted on the slide rail plate. A slider is fixedly mounted on the support plate. The slider is slidably connected to the slide rail. Photoelectric sensors are fixedly mounted on the slide rail plates at both ends of the slide rail.

10. The in-detection robotic cable pay-out device of claim 9, wherein: The reel includes a drum and line-stopping plates fixed at both ends of the drum. A shaft is fixedly provided on the side of the two line-stopping plates away from the drum. The cavities of the two shafts are connected to the cavity of the drum. The first pressure roller shaft is fixedly connected between the first support plate and the second support plate. The pressure roller, the second pressure roller shaft, and the pressure roller arm are all located between the two line-stopping plates. The other end of the torsion spring is connected to the first support plate and / or the second support plate. The pressure roller is arranged close to the drum under the action of the torsion spring.

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