Cable pipeline inspection device

Abstract

The present invention provides a cable pipeline inspection device, comprising a first and a second three-jaw chuck arranged in a mirror image on the left and right, a connecting bracket for fixing the first and the second three-jaw chucks to be connected, a group of walking wheel assemblies fixedly arranged on the three jaws of each of the first and the second three-jaw chucks, a traction connecting piece fixedly arranged at the middle of the upper end surface of the second three-jaw chuck, an industrial camera fixedly arranged at the middle of the upper end surface of the first three-jaw chuck, an LED light strip fixedly arranged on the upper end surface of the first three-jaw chuck, a controller for electrical main control fixedly arranged between the first three-jaw chuck, the second three-jaw chuck and the connecting bracket, and a battery box for providing power; the industrial camera and the LED light strip are electrically connected to the controller respectively, and the controller is electrically connected to the battery box. The present invention can be effectively applied to the inspection of cable pipelines with different inner diameters, has strong traffic capacity, relatively simple structure and low cost.

Description

Technical Field

[0001] The invention relates to the technical field of power cable laying pipeline inspection tools, and in particular to a cable pipeline inspection device. Background Art

[0002] At present, the power cables used in urban distribution networks are generally laid in underground pre-buried MPP pipes (MPP power cable protection pipes), that is, first pre-buried MPP pipes under the ground of the set line, and then the power cables are installed and laid in the pre-buried MPP pipes. The pre-buried MPP pipes may be crushed, damaged, blocked, or have foreign objects in them for various reasons. If new cables are laid without knowing the internal state of the underground MPP pipes, the cables may not be able to move due to the crushing or blockage of the MPP pipes, or the MPP pipes may be damaged or foreign objects may scratch the cables, causing hidden safety hazards in operation. Therefore, it is very important to understand the pre-buried MPP pipes and their internal conditions before laying the cables through the pipes. At present, the inspection of underground pre-buried MPP pipes before the laying of power cables is mainly carried out by devices similar to robots. For example, the Chinese patent document with the authorization announcement number CN205341417U discloses a cable pipeline inspection and cleaning robot, which inspects the internal state of the pipeline through a camera detection component including a pan head arranged on the vehicle body, a camera arranged on the pan head and lighting on both sides. Its movement in the pipeline is realized by a travel drive device driven by a motor arranged on both sides of the vehicle body. The problem is that due to the structural limitations of its multiple sets of travel wheels installed on the vehicle body, its actual ability to pass and overcome obstacles in the circular MPP pipeline is poor, which affects the use effect. At the same time, it is not suitable for the inspection of MPP pipelines of different diameters, and the overall structure of the device, especially the travel drive device, is complex and the cost is high. Therefore, it is necessary to develop a more suitable cable pipeline inspection device. Summary of the invention

[0003] The purpose of the present invention is to provide a cable conduit inspection device with good adaptability to the inner diameter of the cable conduit, strong traffic capacity, relatively simple structure and low cost in view of the problems existing in the prior art.

[0004] The technical solution of the present invention is: the cable pipeline inspection device of the present invention has the following structural features: it includes a first and a second three-jaw chuck which are arranged in a mirror image on the left and right, a connecting bracket for fixing the first and the second three-jaw chucks to be connected, a group of walking wheel assemblies are fixedly arranged on the three jaws of each of the first and the second three-jaw chucks, a traction connecting piece fixedly arranged at the middle of the upper end surface of the second three-jaw chuck, an industrial camera fixedly arranged at the middle of the upper end surface of the first three-jaw chuck, an LED light strip fixedly arranged on the upper end surface of the first three-jaw chuck, a controller for electrical main control fixedly arranged between the first three-jaw chuck, the second three-jaw chuck and the connecting bracket, and a battery box for providing power; the above-mentioned industrial camera and the LED light strip are respectively electrically connected to the controller, and the controller is electrically connected to the battery box;

[0005] The above-mentioned connecting bracket includes a mounting connecting plate, a first connecting support plate and a second connecting support plate; the above-mentioned mounting connecting plate is a square plate body member, the mounting connecting plate is provided with a connecting hole for mounting, and the mounting connecting plate is provided with two pieces of the same structure; the first connecting support plate and the second connecting support plate are long strip plate bodies of the same length, and the two ends of the first and second connecting support plates are respectively vertically fixedly connected or integrally connected with one mounting connecting plate; the first connecting support plate is vertically fixedly connected or integrally connected with the second connecting support plate; there are 4 connecting brackets, and the 4 connecting brackets are respectively fixedly connected to the lower end surfaces of the first and second three-jaw chucks through the mounting connecting plates on both sides thereof;

[0006] The above-mentioned walking wheel assembly includes a guide frame, a roller bracket movably arranged on the guide frame, a roller rotatably arranged on the roller bracket, a spring plug fixedly arranged on the guide frame, and a spring arranged in the guide frame, and the two ends of the above-mentioned spring are respectively abutted against the roller bracket and the spring plug; the walking wheel assembly is fixedly connected with the claws of the first and second three-jaw chucks by its guide frame.

[0007] A further solution is: the above-mentioned guide frame is composed of a main body and two mounting ear plates arranged on both sides of the lower end of the above-mentioned main body, which are integrated or fixedly connected. The main body is a structural member in the shape of a rectangular parallelepiped as a whole. The main body is provided with a through hole in the middle along its length direction. The through hole is composed of a circular hole and a square hole connected to each other. The circular hole is provided with a connecting thread on the inner wall close to the port, and the mounting ear plate is provided with a screw mounting hole; the guide frame is fixedly connected with the claw screws by its two mounting ear plates; the above-mentioned spring plug is a structural member in the shape of a flat cylinder as a whole. The outer peripheral wall of the spring plug is provided with a connecting thread, and the middle of the outer end face of the spring plug is provided with a hexagonal countersunk hole, and the above-mentioned spring is arranged in the circular hole of the main body of the guide frame; the spring plug is threadedly connected to the circular hole and is arranged on the guide frame.

[0008] A further solution is: the above-mentioned roller bracket is composed of a spring abutment part and a roller mounting part which are integrally or fixedly connected, the spring abutment part is a flat cylindrical part, and the outer diameter of the spring abutment part is smaller than the inner diameter of the circular hole of the guide frame; the roller mounting part is a structural part that is an overall rectangular parallelepiped, and the size of the roller mounting part matches the size of the square hole of the guide frame, and a roller mounting groove and two wheel axle mounting holes that are vertically connected to the roller mounting groove are provided on the outer side of the roller mounting part; the spring abutment part of the roller bracket is arranged in the circular hole of the guide frame, and the roller mounting part of the roller bracket extends outward after passing through the square hole of the guide frame, and the roller bracket is abutted against one end of the spring by its spring abutment part; the roller is rotatably arranged in the roller mounting groove of the roller mounting part of the roller bracket by matching its equipped rotating shaft with the two wheel axle mounting holes of the roller mounting part of the roller bracket.

[0009] A further solution is: the above-mentioned traction connection piece is composed of a connecting rod and a connecting ring which are integrally formed or fixedly connected; the traction connection piece is fixedly connected to the center of the lower end surface of the second three-jaw chuck by its connecting rod.

[0010] A further solution is: three LED light strips are provided, and one of the three LED light strips is fixedly disposed between every two jaws on the upper end surface of the first three-jaw chuck.

[0011] A further solution is: the above-mentioned battery box includes a box body and a battery pack arranged in the box body for powering the device; the controller includes a shell and a circuit device arranged in the shell, the above-mentioned circuit device includes an image processing module, a single-chip computer module, a wireless communication module, a GPS positioning module and a power conversion module, the above-mentioned image processing module, wireless communication module and GPS positioning module are electrically connected to the single-chip computer module respectively, the input end of the image processing module is electrically connected to the signal output end of the industrial camera, the power conversion module is used to convert the power output by the battery pack in the battery box into a voltage to provide working power for the controller and the LED light strip; when in use, the single-chip computer module wirelessly sends the video image signal and positioning information to the matching ground background through the wireless communication module.

[0012] The present invention has positive effects: (1) The cable conduit inspection device of the present invention fixes 6 groups of walking wheel assemblies including rollers on 3 claws of each of 2 three-claw chucks, and utilizes the radially adjustable characteristics of the claws. When in use, according to the inner diameter of the cable pipe to be inspected, the positions of the 3 claws of each of the 2 three-claw chucks relative to the chuck body are adjusted radially accordingly, so that the outer peripheral position of the rollers of the walking assembly on each claw fits the inner wall of the cable pipe, so that the device can effectively adapt to the use of cable pipes of different diameters, and has strong applicability. (2) The cable conduit inspection device of the present invention, through the overall structural design of the walking wheel assembly, when in use, the 6 rollers can always maintain the state of elastically connecting with the inner wall of the cable pipe from different directions under the action of the corresponding springs, so that it can always run stably and reliably in the cable pipe. (3) The cable conduit inspection device of the present invention has a cylindrical body structure design as a whole, so that it can be suitable for running in a circular cable conduit. (4) The controller of the cable pipeline inspection device of the present invention is provided with a GPS positioning module. If an obstacle is encountered during the inspection, the precise location of the obstacle in the pipeline can be sent to the ground background for rapid processing by the staff. (5) The cable pipeline inspection device of the present invention is provided with an LED light group at the front, which can provide sufficient lighting for the industrial camera while being relatively power-saving. (6) The cable pipeline inspection device of the present invention has a relatively simple overall structure, low cost and strong applicability. BRIEF DESCRIPTION OF THE DRAWINGS

[0013] Figure 1 It is a structural schematic diagram of the present invention;

[0014] Figure 2 It is a schematic diagram of the structure of the present invention when viewed from the front;

[0015] Figure 3 It is a schematic diagram of the structure of the present invention when viewed from the rear;

[0016] Figure 4 for Figure 1 Schematic diagram of the structure of the three-jaw chuck;

[0017] Figure 5 for Figure 1 A schematic diagram of the structure of the connecting bracket;

[0018] Figure 6 for Figure 1 A schematic diagram of the three-dimensional structure of the travel wheel assembly after removing the roller;

[0019] Figure 7 for Figure 1 A schematic diagram of the planar structure of the travel wheel assembly after removing the roller;

[0020] Figure 8 for Figure 7AA section view;

[0021] Fig. 9 for Figure 6 A schematic diagram of the structure of the guide frame of the mid-travel wheel assembly;

[0022] Fig.10 for Figure 6 A schematic diagram of the structure of the roller bracket of the mid-travel wheel assembly;

[0023] Fig.11 for Figure 6 A schematic diagram of the structure of the spring plug of the middle travel wheel assembly;

[0024] Fig.12 for Figure 3 A structural schematic diagram of a traction connecting piece;

[0025] Fig.13 It is a schematic block diagram of the circuit structure of the present invention;

[0026] Fig.14 The figure is a schematic diagram of the state of the present invention in the cable tube when in use.

[0027] The reference numerals in the above drawings are as follows:

[0028] Three-jaw chuck 1, first three-jaw chuck 11, chuck body 11-1, jaw adjustment operation hole 11-1-1, connecting bracket mounting hole 11-1-2, jaw 11-2, guide frame mounting hole 11-2-1, second three-jaw chuck 12;

[0029] Connecting bracket 2, installing connecting plate 21, connecting hole 21-1, first connecting support plate 22, second connecting support plate 23;

[0030] Travel wheel assembly 3, guide frame 31, body 31-1, round hole 31-1-1, mounting ear plate 31-2, screw mounting hole 31-2-1, roller bracket 32, spring abutment portion 32-1, roller mounting portion 32-2, roller mounting groove 32-2-1, axle mounting hole 32-2-2, roller 33, spring 34, spring plug 35, hexagonal countersunk hole 35-1;

[0031] Traction connecting member 4, connecting rod 41, connecting ring 42;

[0032] Industrial camera 5, LED light strip 6, controller 7, battery box 8;

[0033] Traction member 100 , cable tube 101 . DETAILED DESCRIPTION

[0034] The present invention will be further described in detail below in conjunction with the accompanying drawings and specific embodiments.

[0035] (Example 1)

[0036] See Figures 1 to 3 The cable pipeline inspection device of this embodiment is mainly composed of a three-jaw chuck 1, a connecting bracket 2, a walking wheel assembly 3, a traction connecting piece 4, an industrial camera 5, an LED light strip 6, a controller 7 and a battery box 8.

[0037] The three-jaw chuck 1 is a commercially available part. The three-jaw chuck 1 is provided with two identical parts on the left and right sides. The three-jaw chuck 1 located on the right side (the front side when in use) is called the first three-jaw chuck 11, and the three-jaw chuck 1 located on the left side (the back side when in use) is called the second three-jaw chuck 12. The first three-jaw chuck 11 and the second three-jaw chuck 12 are arranged in a mirror image in the left and right directions. The structure of the three-jaw chuck 1 is briefly described by taking the first three-jaw chuck 11 as an example: see Figure 4 The first three-jaw chuck 11 includes a circular chuck body 11-1, three jaws 11-2 evenly arranged on the upper end of the chuck body 11-1, and a jaw adjustment drive mechanism (not shown in the figure) arranged in the chuck body 11-1. The chuck body 11-1 is provided with a jaw adjustment operation hole 11-1-1 and a connecting bracket mounting hole 11-1-2; the jaw 11-2 is provided with a guide frame mounting hole 11-2-1. The three jaws 11-2 can be adjusted in radial position by driving the jaw adjustment drive mechanism in the chuck body 11-1 through the jaw adjustment operation hole 11-1-1 on the chuck body 11-1 using a hexagonal wrench. The structure and working principle of the three-jaw chuck 1 are mature existing technologies and are not described in detail. The second three-jaw chuck 12 has the same structure as the first three-jaw chuck 11. For the convenience of expression, the end face of the three-jaw chuck 1 provided with the clamping jaws is defined as the upper end face, and the other end face of the three-jaw chuck 1 not provided with the clamping jaws is defined as the lower end face.

[0038] See also Figure 5 As an embodiment, the connecting bracket 2 is mainly composed of a mounting connecting plate 21, a first connecting support plate 22 and a second connecting support plate 23; the mounting connecting plate 21 is a square plate body, and a connecting hole 21-1 for mounting is provided on the mounting connecting plate 21, and the mounting connecting plate 21 is provided with two pieces of the same structure; the first connecting support plate 22 and the second connecting support plate 23 are both long strip plate bodies, and the lengths of the first connecting support plate 22 and the second connecting support plate 23 are the same. The two ends of the first connecting support plate 22 and the second connecting support plate 23 are respectively vertically fixedly connected or integrally connected with one mounting connecting plate 21; the first connecting support plate 22 is vertically fixedly connected or integrally connected with the second connecting support plate 23. In this embodiment, preferably four connecting brackets 2 are provided, and the four connecting brackets 2 are respectively fixedly connected with the lower end surfaces of the first three-jaw chuck 11 and the second three-jaw chuck 12 through the mounting connecting plates 21 on both sides thereof through the corresponding mounting holes by screws.

[0039] The travel wheel assembly 3 includes a guide frame 31, a roller bracket 32, a roller 33, a spring 34 and a spring plug 35. The travel wheel assembly 3 is provided with 6 identical groups, and each of the 6 groups of travel wheel assemblies 3 is fixedly provided with one group on each of the three claws 11-2 of the first three-jaw chuck 11 and the three claws of the second three-jaw chuck 12.

[0040] See also Figures 6 to 9 The guide frame 31 is composed of a body 31-1 and two mounting ear plates 31-2 provided on both sides of the lower end of the body 31-1, which are integrally or fixedly connected. The body 31-1 is a structural member in the shape of a rectangular parallelepiped as a whole. Preferably, inclined surfaces are provided on both sides of the upper end of the body 31-1 to facilitate passage during use. The body 31-1 is provided with a through hole in the middle along its length direction. The through hole of the body 31-1 is composed of a circular hole 31-1-1 and a square hole connected, and the diameter of the circular hole 31-1-1 is greater than the maximum side length of the square hole. The circular hole 31-1-1 is provided with a connection thread on the inner wall near the port to install the spring plug 35; the mounting ear plate 31-2 is provided with a screw mounting hole 31-2-1.

[0041] See also Fig.10 The roller bracket 32 ​​is composed of a spring abutment portion 32-1 and a roller mounting portion 32-2 which are integrally or fixedly connected. The spring abutment portion 32-1 is a flat cylindrical member, and the outer diameter of the spring abutment portion 32-1 is smaller than the inner diameter of the round hole 31-1-1 of the through hole of the main body 31-1; the roller mounting portion 32-2 is a structural member that is an overall rectangular parallelepiped, and the size of the roller mounting portion 32-2 matches the size of the square hole of the through hole of the main body 31-1. The outer side of the roller mounting portion 32-2 is provided with a roller mounting groove 32-2-1 and two wheel axle mounting holes 32-2-2 that are vertically connected to the roller mounting groove 32-2-1. The spring plug 35 is a structural member that is an overall flat cylindrical member, and the outer peripheral wall of the spring plug 35 is provided with a thread for connection, and the middle of the outer end surface of the spring plug 35 is provided with a hexagonal countersunk hole 35-1 for mounting force, such as Fig.11 shown.

[0042] See also Figure 8The spring contact portion 32-1 of the roller bracket 32 ​​is arranged in the round hole 31-1-1 of the through hole of the body 31-1 of the guide frame 31, and the roller mounting portion 32-2 of the roller bracket 32 ​​passes through the square hole of the through hole of the body 31-1 of the guide frame 31 and then extends outward. The spring plug 35 is threadedly matched with the round hole 31-1-1 of the through hole of the body 31-1 of the guide frame 31 and is connected to the body 31-1 of the guide frame 31. The spring 34 is arranged on the guide frame 31 In the circular hole 31-1-1 of the through hole of the main body 31-1, one end of the spring 34 abuts against the spring plug 35, and the other end of the spring 34 abuts against the spring abutment portion 32-1 of the roller bracket 32. The roller 33 is rotatably arranged in the roller mounting groove 32-2-1 of the roller mounting portion 32-2 of the roller bracket 32 ​​by cooperating with the rotating shaft provided therein and the two wheel axle mounting holes 32-2-2 of the roller mounting portion 32-2 of the roller bracket 32.

[0043] The travel wheel assembly 3 is matched with the guide frame mounting holes 31-2-1 of the two mounting ear plates 31-2 of its guide frame 31 and the guide frame mounting holes on the claws of the three-jaw chuck 1, and is fixedly connected to the claws by screws, so that one set of travel wheel assembly 3 is fixedly set on each claw.

[0044] See also Fig.12 The traction connecting member 4 is mainly composed of a connecting rod 41 and a connecting ring 42 which are integrally connected or fixedly connected; the traction connecting member 4 is fixedly connected to the center of the lower end surface of the second three-jaw chuck 12 by its connecting rod 41, such as Figure 3 shown.

[0045] The industrial camera 5 is an industrial-grade camera purchased from the market and has infrared shooting and waterproof functions. The industrial camera 5 is fixed at the center of the upper end surface of the chuck body 11 - 1 of the first three-jaw chuck 11 .

[0046] Still see Figure 1 and Figure 2 The LED light strip 6 is fixedly arranged on the front end surface of the first three-jaw chuck 11. Preferably, three LED light strips 6 are provided, and one of the three LED light strips 6 is fixedly arranged between every two jaws 11-2 on the upper end surface of the first three-jaw chuck 11. The LED light strip 6 is used to provide lighting for the industrial camera 5 when in use, so that the video image captured by the industrial camera 5 is clearer.

[0047] See also Figure 1 and Fig.13, the controller 7 and the battery box 8 are fixedly arranged in the space surrounded by two three-jaw chucks 1 and four connecting brackets 2. The controller 7 and the battery box 8 can be fixedly connected to the three-jaw chuck 1 or the connecting bracket 2 only, or can be fixedly connected to the three-jaw chuck 1 and the connecting bracket 2 at the same time. The battery box 8 includes a box body and a battery pack arranged in the box body for powering the device. The controller 7 is used for the electrical main control of the device. The controller 7 includes a shell and a circuit device arranged in the shell. The circuit device of the controller 7 includes an image processing module, a single-chip computer module, a wireless communication module, a GPS positioning module and a power conversion module. The image processing module, the wireless communication module and the GPS positioning module are electrically connected to the single-chip computer module respectively, and the input end of the image processing module is electrically connected to the signal output end of the industrial camera 5. Among them, the image processing module is used to process the video image sent by the industrial camera 5 and then send it to the single-chip microcomputer module, the GPS positioning module is used to provide positioning information, and the single-chip microcomputer module wirelessly sends the video image signal and positioning information to the supporting ground background (such as smart phones, laptops, etc.) through the wireless communication module, and the power conversion module is used to convert the power output by the battery pack in the battery box 8 into a voltage to provide working power for the controller 7 and the LED light strip 6. It should be specially noted that the various functional modules and electrical connection relationships in the circuit device of the controller 7 are mature existing technologies and will not be described in detail.

[0048] See also Fig.14The cable pipeline inspection device of this embodiment, when in use, fixes the traction member 100 (a tube or rod with certain rigidity and elasticity) to the connecting ring 42 of the traction connecting member 4 of the device, and radially adjusts the position of each of the three claws of the two three-claw chucks 1 relative to the chuck body according to the inner diameter of the cable pipe 101 to be inspected, that is, adjusts the outer peripheral position of the roller 33 of the walking assembly 3 fixedly arranged on each claw accordingly, so that the three rollers 33 on each three-claw chuck 1 are elastically connected to the inner wall of the cable pipe 101 under the action of the corresponding spring 34, then turns on the power supply of the industrial camera 5 and turns on the working power supply of the controller 7, and then places the device into the cable pipe 101 to be inspected, and the staff slowly pushes the device forward through the traction member 100, and under the illumination of the LED light strip 6, the picture taken by the industrial camera 5 is wirelessly transmitted to the ground background in real time through the controller 7 for the staff to view. When checking, if the staff determines that there is an insurmountable obstacle ahead based on the video image, the staff stops pushing the traction member 100. On the one hand, the approximate location of the obstacle can be determined by the length of the traction member 100 pushed into the cable tube 101. On the other hand, the GPS positioning signal transmitted by the controller 7 can be used to accurately locate the location of the obstacle so as to perform corresponding obstacle removal. After encountering an obstacle and determining the location, the staff pulls the traction member 100 backward to withdraw the device from the cable tube 101 and turn off the power, and continue with subsequent inspections after the obstacle is removed; if there is no insurmountable obstacle during the entire operation of the device in the cable tube 101, the device is driven out from the other end of the cable tube 101 under the continuous push of the traction member 100 to complete the inspection. The staff can use the video image received by the ground background to determine whether the cable tube 101 is damaged and whether there are foreign objects that need to be handled, and perform corresponding processing. When the device operates in the cable tube 101 , the three rollers 33 on the front and rear two three-jaw chucks 1 always maintain elastic contact with the inner wall of the cable tube 101 from three different directions under the action of the corresponding springs 34 , so that it can operate stably and reliably in the cable tube 101 .

[0049] The above embodiments are descriptions of specific implementation methods of the present invention rather than limitations of the present invention. Technical personnel in the relevant technical field can make various changes and modifications to obtain corresponding equivalent technical solutions without departing from the spirit and scope of the present invention. Therefore, all equivalent technical solutions should be included in the patent protection scope of the present invention.

Claims

1. A cable pipeline inspection device, characterized in that: It includes a first and a second three-jaw chuck which are arranged in a mirror image on the left and right sides, a connecting bracket for fixing and connecting the first and the second three-jaw chuck, a group of walking wheel assemblies are fixedly arranged on the three jaws of each of the first and the second three-jaw chucks, a traction connecting piece fixedly arranged at the middle of the upper end surface of the second three-jaw chuck, an industrial camera fixedly arranged at the middle of the upper end surface of the first three-jaw chuck, an LED light strip fixedly arranged on the upper end surface of the first three-jaw chuck, a controller for electrical main control fixedly arranged between the first three-jaw chuck, the second three-jaw chuck and the connecting bracket, and a battery box for providing power; the industrial camera and the LED light strip are electrically connected to the controller respectively, and the controller is electrically connected to the battery box; The connecting bracket comprises a mounting connecting plate, a first connecting support plate and a second connecting support plate; the mounting connecting plate is a square plate body, a connecting hole for mounting is provided on the mounting connecting plate, and two mounting connecting plates with the same structure are provided; the first connecting support plate and the second connecting support plate are long strip plate bodies with the same length, and the two ends of the first and second connecting support plates are respectively vertically fixedly connected or integrally connected to one mounting connecting plate; the first connecting support plate is vertically fixedly connected or integrally connected to the second connecting support plate; four connecting brackets are provided, and the four connecting brackets are respectively fixedly connected to the lower end surfaces of the first and second three-jaw chucks through the mounting connecting plates on both sides thereof; The walking wheel assembly includes a guide frame, a roller bracket movably arranged on the guide frame, a roller rotatably arranged on the roller bracket, a spring plug fixedly arranged on the guide frame, and a spring arranged in the guide frame, wherein the two ends of the spring are respectively abutted against the roller bracket and the spring plug; the walking wheel assembly is fixedly connected with the jaws of the first and second three-jaw chucks by its guide frame.

2. The cable conduit inspection device according to claim 1, characterized in that: The guide frame is composed of a main body and two mounting ear plates arranged on both sides of the lower end of the main body, which are integrated or fixedly connected. The main body is a structural member in the shape of a rectangular parallelepiped as a whole. The main body is provided with a through hole in the middle along its length direction. The through hole is composed of a circular hole and a square hole connected to each other. The circular hole is provided with a connecting thread on the inner wall close to the port, and the mounting ear plate is provided with a screw mounting hole; the guide frame is fixedly connected with the claw screw by its two mounting ear plates; the spring plug is a structural member in the shape of a flat cylinder as a whole. The outer peripheral wall of the spring plug is provided with a connecting thread, and the middle of the outer end face of the spring plug is provided with a hexagonal countersunk hole, and the spring is arranged in the circular hole of the main body of the guide frame; the spring plug is threadedly connected to the circular hole and is arranged on the guide frame.

3. The cable conduit inspection device according to claim 2, characterized in that: The roller bracket is composed of a spring abutment part and a roller mounting part which are integrally or fixedly connected. The spring abutment part is a flat cylindrical part, and the outer diameter of the spring abutment part is smaller than the inner diameter of the circular hole of the guide frame; the roller mounting part is a structural part which is a rectangular parallelepiped as a whole, and the size of the roller mounting part matches the size of the square hole of the guide frame. A roller mounting groove and two axle mounting holes which are vertically connected to the roller mounting groove are provided on the outer side of the roller mounting part; the spring abutment part of the roller bracket is arranged in the circular hole of the guide frame, and the roller mounting part of the roller bracket extends outward after passing through the square hole of the guide frame, and the roller bracket is abutted against one end of the spring by its spring abutment part; the roller is rotatably arranged in the roller mounting groove of the roller mounting part of the roller bracket by matching the rotating shaft provided by the roller with the two axle mounting holes of the roller mounting part of the roller bracket.

4. The cable conduit inspection device according to any one of claims 1 to 3, characterized in that: The traction connecting piece is composed of a connecting rod and a connecting ring which are integrally formed or fixedly connected; the traction connecting piece is fixedly connected to the center of the lower end surface of the second three-jaw chuck by its connecting rod.

5. The cable conduit inspection device according to any one of claims 1 to 3, characterized in that: There are three LED light strips, and one of the three LED light strips is fixedly arranged between every two clamping jaws on the upper end surface of the first three-jaw chuck.

6. The cable conduit inspection device according to any one of claims 1 to 3, characterized in that: The battery box includes a box body and a battery pack arranged in the box body for powering the device; the controller includes a shell and a circuit device arranged in the shell, the circuit device includes an image processing module, a single-chip computer module, a wireless communication module, a GPS positioning module and a power conversion module, the image processing module, the wireless communication module and the GPS positioning module are electrically connected to the single-chip computer module respectively, the input end of the image processing module is electrically connected to the signal output end of the industrial camera, and the power conversion module is used to convert the power output by the battery pack in the battery box into a voltage to provide working power for the controller and the LED light strip; when in use, the single-chip computer module wirelessly sends the video image signal and positioning information to a matching ground background through the wireless communication module.

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