Turnable cable duct inspection device

Abstract

The present invention provides a cable pipeline inspection device that can be turned, including a driving component, a four-claw chuck, two three-claw chucks, an installation connection component, a walking wheel component, a camera, a battery box, and a controller. The driving component includes four nam wheels, four motor brackets, four motors, and four connecting flanges. Three sets of walking wheel components are arranged on each three-claw chuck; the installation connection component includes two connecting brackets, two connecting mounting parts, and two connecting pins; the installation connection component rotatably connects two three-claw chucks and a four-claw chuck with one three-claw chuck, the camera is fixed on the three-claw chuck on the right side, the battery box and the controller are separately arranged in two connecting mounting parts, the camera and the four motors are electrically connected to the controller respectively, and the battery box is used to provide working power. When working, the present invention can automatically turn in the cable pipeline, has stable operation and strong traffic capacity, and can solve the problem that similar devices in the prior art cannot be applied to bent cable pipelines.

Description

Technical Field

[0001] The invention relates to the technical field of distribution network cable pipeline inspection, and in particular to a turnable cable pipeline inspection device. Background Art

[0002] After the construction trench of the distribution network is built, an MPP pipe (power cable protection pipe, cable pipe) is buried in the trench, and then the power cable is installed and laid in the MPP pipe. Before laying the power cable, it is necessary to check the situation inside the MPP pipe. To make sure that there is no foreign matter or deformation in the MPP pipe, so that the cable can be laid smoothly. At present, the inspection of underground pre-buried MPP pipes before the laying of power cables is mainly carried out by devices such as robots. For example, the Chinese patent document with 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-tilt head on the vehicle body, a camera on the pan-tilt head, and lighting on both sides. Its movement in the pipeline is realized by a walking drive device driven by a motor on both sides of the vehicle body. The common problems of similar cable pipeline inspection devices at present are: first, the device does not have the ability to turn automatically. When it encounters a bend in the cable pipeline during operation, it is easy to get stuck and cannot move forward, that is, it is impossible to successfully complete the full inspection of the cable pipeline, which greatly limits such devices and application scenarios in the existing technology; second, the operation in the pipeline is unstable and the traffic capacity is not strong. 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 which can automatically turn in a cable conduit during operation, has stable operation and strong traffic capacity, in view of the problems existing in the prior art.

[0004] The technical solution of the present invention is: the cable pipeline inspection device that can be turned includes a driving assembly, a four-claw chuck, a three-claw chuck, a camera, a battery box, and a controller. The driving assembly includes four nam wheels, two forward nam wheels and two reverse nam wheels, four motor brackets fixedly arranged on the four-claw chuck, one motor fixedly arranged on each motor bracket, and four connecting flanges, one end of which is fixedly connected to the nam wheel and the other end of which is transmission-connected to the motor. The structural feature of the cable pipeline inspection device that can be turned includes a mounting connection assembly and a walking wheel assembly, and the three-claw chuck is provided with two; the walking wheel assembly is provided with three sets on each three-claw chuck;

[0005] The above-mentioned installation and connection components include 2 connecting brackets, 2 connecting mounting parts and 2 connecting pins; one connecting bracket is fixed on the right end face of the four-jaw chuck, and the other connecting bracket is fixed on the left end face of the three-jaw chuck on the right side of the two three-jaw chucks; the two connecting mounting parts are fixedly arranged on the left end face and face end face of the three-jaw chuck on the left side of the two three-jaw chucks, and each connecting bracket and the corresponding connecting mounting part are movably pin-connected by a connecting pin; the camera is fixed on the right end face of the three-jaw chuck on the right side; the battery box and the controller are separately arranged in the two connecting mounting parts; the camera and the four motors are electrically connected to the controller respectively, and the battery box is used to provide working power.

[0006] A further solution is: the above-mentioned connecting bracket is composed of a mounting plate and a first connecting plate fixed or integrally connected; the connecting mounting part includes a mounting box and two second connecting plates; the upper end of the mounting box is open, and the two second connecting plates are fixedly arranged in parallel on the same side of the mounting box in an upper and lower direction, and pin holes are provided on the first connecting plate and the second connecting plate; one of the two connecting brackets is fixedly connected to the four-jaw chuck by its mounting plate; the other connecting bracket is fixedly connected to the three-jaw chuck located on the right by its mounting plate; the two connecting mounting parts are each fixedly connected to the three-jaw chuck located in the middle by its mounting box; the connecting bracket on the left side is inserted between the two second connecting plates of the connecting mounting part on the left side by its first connecting plate and is movably pinned by a connecting pin; the connecting bracket on the right side and the connecting mounting part located are movably pinned by another connecting pin; the above-mentioned battery box and controller are separately arranged in the mounting box of the connecting mounting part.

[0007] A further solution is: the turnable cable pipeline inspection device also includes an LED lamp fixed on the right end face of the three-jaw chuck located on the right side, and the LED lamp is electrically connected to the controller; the camera is located in the middle of the LED lamp.

[0008] A further solution is: the above-mentioned walking wheel assembly includes a wheel frame and a roller movably arranged on the wheel frame, the above-mentioned wheel frame includes a docking plate and two support plates vertically fixedly connected to the comparison plate; the above-mentioned three-jaw chuck has three adjustable jaws; the walking wheel assembly is fixedly connected by the docking plate of its wheel frame and the adjustable jaws of the three-jaw chuck, and one set is arranged on each adjustable jaw of the three-jaw chuck.

[0009] The present invention has positive effects: (1) The cable conduit inspection device of the present invention can be turned. The overall structure design of the segmented movable connection enables it to automatically realize segmented turning when encountering the bending of the cable conduit to be inspected during the working process, and smoothly inspect the cable conduit with bending, so as to effectively solve the problem that similar devices in the prior art are prone to jamming when encountering a bent cable conduit and cannot complete the full inspection of the cable conduit. Compared with similar devices in the prior art, the application scenarios of the present device are greatly increased and the applicability is greatly enhanced. (2) The cable conduit inspection device of the present invention can be turned. The outer circumference of the four nam wheels for driving and the two groups of rollers for walking can be adjusted through the structural design, so as to meet the inspection needs of cable conduits with different diameters and have strong applicability. (3) The cable conduit inspection device of the present invention can be turned. The structural design ensures that the two groups of three rollers and the four nam wheels for driving always maintain elastic contact with the inner wall of the cable conduit from different directions during operation, so that the present device can operate stably and reliably in the cable conduit and has strong traffic capacity. BRIEF DESCRIPTION OF THE DRAWINGS

[0010] Figure 1 It is a schematic diagram of the overall structure of the present invention;

[0011] Figure 2 for Figure 1 A top view of

[0012] Figure 3 It is a schematic diagram of the three-dimensional structure of the present invention;

[0013] Figure 4 It is a schematic diagram of the structure of the present invention when turning;

[0014] Figure 5 for Figure 1 Schematic diagram of the structure of the middle four-jaw chuck;

[0015] Figure 6 for Figure 1 A schematic diagram of the structure of the chuck body of the middle three-jaw chuck;

[0016] Figure 7 for Figure 1 A schematic diagram of the structure of the gear of the middle three-jaw chuck;

[0017] Figure 8 for Figure 1 Schematic diagram of the structure of the adjustable jaws of the middle three-jaw chuck;

[0018] Fig. 9 for Figure 1 A schematic diagram of the structure of the connecting bracket;

[0019] Fig.10 for Figure 1 A schematic diagram of the structure of the connecting mounting parts;

[0020] Fig.11 for Figure 1 The structural diagram of the middle wheel frame;

[0021] Fig.12 for Figure 1 The structural diagram of the LED lamp;

[0022] Fig.13 It is a schematic block diagram of the circuit structure of the present invention;

[0023] Fig.14 This is a schematic diagram of the state of the present invention in a cable duct when in use.

[0024] The reference numerals in the above drawings are as follows:

[0025] Driving assembly 1, motor bracket 11, motor 12, connecting flange 13, forward num wheel 14, reverse num wheel 15;

[0026] Four-jaw chuck 2, motor bracket mounting hole 21, connecting bracket mounting hole 22;

[0027] Three-jaw chuck 3, disc body 31, groove 31-1, gear disc mounting groove 31-2, adjustment hole 31-3; gear 32, adjustable jaw 33;

[0028] Install the connection assembly 4, the connection bracket 41, the installation plate 41-1, the first connection plate 41-2, the first pin hole 41-2-1, the connection installation member 42, the installation box 42-1, the second connection plate 42-2, the second pin hole 42-2-1, and the connection pin 43;

[0029] Travel wheel assembly 5, wheel frame 51, docking plate 51-1, support plate 51-2, shaft hole 51-2-1, roller 52;

[0030] LED lamp 6, base 61, LED lamp row 62; camera 7; battery box 8; controller 9;

[0031] Cable duct 101. DETAILED DESCRIPTION

[0032] The present invention will be further described in detail below in conjunction with the accompanying drawings and specific embodiments.

[0033] (Example 1)

[0034] See Figures 1 to 4 The turnable cable pipeline inspection device of this embodiment is mainly composed of a driving component 1, a four-jaw chuck 2, a three-jaw chuck 3, an installation connection component 4, a walking wheel component 5, an LED light 6, a camera 7, a battery box 8 and a controller 9.

[0035] The driving assembly 1 includes 4 motor brackets 11, 4 motors 12, 4 connecting flanges 13, 2 shunt wheels 14 and 2 reverse shunt wheels 15. The motor 12 is a commercially available DC motor, and the shunt wheels 14 and reverse shunt wheels 15 are commercially available. One motor 12 is fixedly arranged in each motor bracket 11; each motor is connected to a connecting flange 13 in a transmission manner; the two shunt wheels 14 and the two reverse shunt wheels 15 are fixedly connected to a connecting flange 13, and the two shunt wheels 14 and the two reverse shunt wheels 15 are arranged opposite to each other. The shunt wheels 14 and the shunt wheels 15 are arranged in such a way that when the motor 12 is driven in the forward and reverse directions during operation, the circumferential forces generated by the two shunt wheels 14 and the two reverse shunt wheels 15 are offset, and only the force of axial forward and backward movement is left, so as to realize the forward and backward movement of the inspection device of this embodiment.

[0036] See also Figure 5 The four-jaw chuck 2 is a commercially available part. The four-jaw chuck 2 includes a chuck body and four radially adjustable jaws. The four jaws are all provided with motor bracket mounting holes 21, and the chuck body of the four-jaw chuck 2 is provided with a connecting bracket mounting hole 22. The four motor brackets 11 of the aforementioned drive assembly 1 are fixedly installed one by one on each of the four jaws of the four-jaw chuck 2 by bolts. As can be seen from the above, since the four jaws of the four-jaw chuck 2 are radially adjustable, the outer circumferences of the two forward num wheels 14 and the two reverse num wheels 15 can be adjusted accordingly, so that they can be used for MPP pipes with different inner diameters.

[0037] See also Figures 6 to 8 The three-jaw chuck 3 is a commercially available part. The three-jaw chuck 3 includes a disc body 31, a gear 32 and three adjustable jaws 33. The disc body 31 is provided with three grooves 31-1, a circular gear mounting groove 31-2 communicating with the three grooves 31-1 and an adjustment hole 31-3 communicating with the gear mounting groove 31-2. The gear 32 is movably mounted in the gear mounting groove 31-2 of the disc body 31; three adjustable jaws 33 are arranged one each in the three grooves 31-1 and all mesh with the gear 32. After the provided adjustment screw (not shown in the figure) is inserted into the adjustment hole 31-3 on the disc body 31 and meshes with the gear 32, the gear 32 is rotated forward and backward, and the gear 32 can drive the three adjustable jaws 33 to move along the radial direction of the disc body 31, thereby adjusting the outer circumferential size of the three adjustable jaws 33 extending out of the disc body 31. The three-jaw chuck 3 is provided with two of the same structure.

[0038] The mounting connection assembly 4 includes two connection brackets 41 , two connection mounting members 42 and two connection pins 43 .

[0039] See also Fig. 9The connecting bracket 41 is composed of a mounting plate 41-1 and a first connecting plate 41-2 which are fixed or integrally connected, and the first connecting plate 41-2 is vertically connected to the mounting plate 41-1; a first pin hole 41-2-1 is provided on the first connecting plate 41-2. The two connecting brackets 41 have the same structure.

[0040] See also Fig.10 The connecting mounting member 42 is mainly composed of a mounting box 42-1 and two second connecting plates 42-2; the upper end of the mounting box 42-1 is open; the two second connecting plates 42-2 have the same structure, and are fixed parallel to and arranged on one side of the mounting box 42-1, and a second pin hole 42-2-1 is provided on the second connecting plate 42-2. The two connecting mounting members 42 have the same structure.

[0041] Still see Figure 1 and Figure 2 One of the two connecting brackets 41 is fixedly connected to the four-jaw chuck 2 by its mounting plate 41-1 and is arranged on the right end surface of the four-jaw chuck 2; the other connecting bracket 41 is fixedly connected to the three-jaw chuck 3 located on the right by its mounting plate 41-1 and is arranged on the left end surface of the three-jaw chuck 3 located on the right; the two connecting mounting parts 42 are respectively fixedly connected to the three-jaw chuck 3 located in the middle by their mounting boxes 42-1 and are respectively arranged on the left end surface and the right end surface of the three-jaw chuck 3 located in the middle; the connecting bracket 41 located on the left side is inserted between the two second connecting plates 42-2 of the connecting mounting part 42 located on the left side by its first connecting plate 41-2, and the connecting bracket 41 located on the left side and the connecting mounting part 42 located on the left side are movably pinned by a connecting pin 43; similarly, the connecting bracket 41 located on the right side and the connecting mounting part 42 located on the right side are movably pinned by another connecting pin 43.

[0042] The running wheel assembly 5 includes a wheel frame 51 and a roller 52. Fig.11 The wheel frame 51 is mainly composed of a docking plate 51-1 and two support plates 51-2 vertically fixedly connected to the contrast plate 51-1. The two support plates 51-2 are arranged in parallel, and a rotating shaft hole 51-2-1 is arranged on the support plate 51-2; the roller 52 is equipped with an axle, and the axle of the roller 52 is inserted into the rotating shaft holes 51-2-1 of the two support plates 51-2, so that the roller 52 can rotate on the wheel frame 51 relying on the axle. There are 6 sets of walking wheel assemblies 5 with the same structure. One set of the 6 sets of walking wheel assemblies 5 is fixedly arranged on each of the 6 adjustable jaws 33 of the two three-jaw chucks 3, and the walking wheel assembly 5 is fixedly connected by the docking plate 51-1 of the wheel frame 51 and the adjustable jaws 33 of the three-jaw chuck 3. As can be seen from the foregoing, since the outer circumferential size of the adjustable claw 33 extending out of the disc body 31 is adjustable, the outer diameters of the three rollers 52 of the travel wheel assembly 5 are correspondingly adjustable, so that it can be suitable for MPP pipes with different inner diameters when in use.

[0043] The LED lamp 6 is mainly composed of a base 61 and one or more LED lamp rows 62 fixed on the base 61; the LED lamp 6 is fixedly connected to the right end surface of the three-jaw chuck 3 on the right side by its base 61. The LED lamp 6 is used for lighting to improve the clarity of video shooting. The LED lamp 6 is set as a preferred method.

[0044] The camera 7 is fixedly mounted on the right end surface of the three-claw chuck 3 on the right side and is located in the middle of the LED lamp 6. The camera 7 is a commercially available component and has waterproof, anti-shake and infrared night shooting functions.

[0045] The battery box 8 is arranged in a mounting box 42-1 connected to a mounting member 42; the controller 9 is arranged in another mounting box 42-1 connected to a mounting member 42; the battery box 8 has a built-in lithium battery (or lithium battery pack); the battery box 8 is used to provide working power for the device.

[0046] See also Fig.13 , the controller 9 is used for the electrical main control of the device. The controller 9 includes a housing and a circuit device arranged in the housing. The circuit device of the controller 9 includes an image processing module, a single-chip computer module, a wireless communication module, a GPS positioning module, a motor control module and a power conversion module. The image processing module, the wireless communication module, the GPS positioning module and the motor control 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 camera 7; the power supply ends of the four motors 12 are all electrically connected to the motor control module. Among them, the image processing module is used to process the video image sent by the camera 7 and then send it to the single-chip computer module, and the GPS positioning module is used to provide positioning information. When in use, the single-chip computer module of the controller 9 interacts with the supporting ground background (such as a smart phone, a laptop computer, etc.) through the wireless communication module. The single-chip computer module controls the power on and off and the forward and reverse rotation of the four motors 12 through the motor control module. The power conversion module is used to convert the power output by the battery box 8 into a voltage to provide working power for the controller 9, the LED light row 62 and the motor 12. It should be noted that the structures of the functional modules in the circuit device of the controller 9, the electrical connection relationship between them, and the functions of the functional modules are all mature existing technologies and will not be described in detail.

[0047] See also Fig.14, the turnable cable conduit inspection device of this embodiment, when in use, according to the inner diameter of the cable conduit 101 to be inspected, the positions of the three adjustable claws 33 of the two three-claw chucks 3 are radially adjusted accordingly, so that the three rollers 52 on the three adjustable claws 33 of the two three-claw chucks 3 are in contact with the inner wall of the cable conduit 101, and the four claws of the four-claw chuck 2 are radially adjusted so that the outer peripheries of the two forward num wheels 14 and the two reverse num wheels 15 are in contact with the inner wall of the cable conduit 101; then turn on the power supply of the camera 7 and turn on the working power supply of the controller 9, put the device into the cable conduit 101 to be inspected, and the four num wheels generate axial thrust under the forward drive of the four motors 12, so that the device moves slowly forward in the cable conduit 101. Under the illumination of the LED light row 6, the picture taken by the camera 7 is wirelessly transmitted to the ground background in real time through the controller 9 for real-time inspection by the staff. If the staff determines that there is something unsafe ahead according to the video image, When encountering an obstacle, the staff wirelessly controls the motor 12 to reverse through the ground background, and the device automatically returns to the starting position. The staff accurately locates the obstacle through the GPS positioning signal transmitted by the controller 9 to perform corresponding obstacle removal processing; if there is no insurmountable obstacle during the entire operation of the device in the cable duct 101, the device is driven out from the other port of the cable duct 101 under the continuous push of the four nam wheels to complete the inspection. The staff can use the video images received by the ground background to determine whether the cable duct 101 is damaged and whether there are foreign objects that need to be handled, and take corresponding measures.

[0048] See also Figure 4 and Fig.14, the turnable cable duct inspection device of this embodiment, when it encounters a bend in the cable duct 101 during its movement in the cable duct 101, is different from similar devices in the prior art that are easily stuck and cannot move forward. In this device, a set of bendable installation connection components 4 are used between the three-jaw chuck 3 located on the right side (the front side during the advancement) and the three-jaw chuck 3 located in the middle, as well as between the three-jaw chuck 3 located in the middle and the four-jaw chuck 2, and two sets of walking wheel components 5 are arranged front and back, so that the device can smoothly pass the bend when encountering the bend in the cable duct 101. Specifically, the device encounters the bend in the cable duct 101 when advancing in the cable duct 101 to illustrate: when advancing When encountering a bend in the cable duct 101, under the push of the four Namu wheels, the connecting bracket 41 located on the front side relies on the connecting pin 43 to rotate relative to the connecting mounting piece 42 located on the front side, so that the three-jaw chuck 3 located on the front side relies on the three rollers 52 thereon to turn first when moving on the inner wall of the cable duct 101, and then the connecting mounting piece 42 located in the middle relies on the connecting pin 43 to rotate relative to the connecting bracket 41 fixed on the four-jaw chuck 2, so that the three-jaw chuck 3 located in the middle relies on the three rollers 52 thereon to turn on the inner wall of the cable duct 101, and finally, under the push of the four Namu wheels, the four-jaw chuck 2 finally turns, thereby passing through the bend in the cable duct 101 smoothly. In short, through the design of the overall structure, the device can automatically achieve segmented bending when encountering a bend in the cable duct 101 during the inspection process, and can smoothly inspect the bent cable duct 101, thereby effectively solving the problem that similar devices in the prior art are prone to getting stuck when encountering a bent cable duct 101 and cannot complete the full inspection of the cable duct 101. That is, compared with similar devices in the prior art, the application scenarios of the device are greatly increased and the applicability is greatly enhanced.

[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 turnable cable pipeline inspection device, comprising a drive assembly, a four-jaw chuck, a three-jaw chuck, a camera, a battery box, and a controller. The drive assembly comprises four nam wheels, two forward nam wheels and two reverse nam wheels, four motor brackets fixedly arranged on the four-jaw chuck, one motor fixedly arranged on each motor bracket, and four connecting flanges, one end of which is fixedly connected to the nam wheel and the other end of which is transmission-connected to the motor, characterized in that: The turnable cable pipeline inspection device also includes a mounting connection assembly and a walking wheel assembly, and the three-jaw chuck is provided with two; three sets of walking wheel assemblies are provided on each three-jaw chuck; The installation connection assembly includes 2 connection brackets, 2 connection mounting parts and 2 connection pins; one connection bracket is fixedly arranged on the right end face of the four-jaw chuck, and the other connection bracket is fixedly arranged on the left end face of the three-jaw chuck located on the right side of the two three-jaw chucks; the two connection mounting parts are fixedly arranged on the left end face and the face end face of the three-jaw chuck located on the left side of the two three-jaw chucks, and each connection bracket and the corresponding connection mounting part are movably pin-connected through a connection pin; the camera is fixedly arranged on the right end face of the three-jaw chuck located on the right side; the battery box and the controller are respectively arranged in the two connection mounting parts; the camera and the four motors are electrically connected to the controller respectively, and the battery box is used to provide working power; The connecting bracket is composed of a mounting plate and a first connecting plate fixed or connected as one body; the connecting mounting part includes a mounting box and two second connecting plates; the upper end of the mounting box is open, and the two second connecting plates are fixedly arranged in parallel on the same side of the mounting box in an upper and lower direction, and pin holes are provided on the first connecting plate and the second connecting plate; one of the two connecting brackets is fixedly connected to the four-jaw chuck by its mounting plate; the other connecting bracket is fixedly connected to the three-jaw chuck located on the right side by its mounting plate; the two connecting mounting parts are each fixedly connected to the three-jaw chuck located in the middle by its mounting box; the connecting bracket on the left side is inserted between the two second connecting plates of the connecting mounting part on the left side by its first connecting plate and is movably pinned by a connecting pin; the connecting bracket on the right side and the connecting mounting part located at are movably pinned by another connecting pin; the battery box and the controller are separately arranged in the mounting box of the connecting mounting part; The turnable cable pipeline inspection device also includes an LED lamp fixed on the right end surface of the three-jaw chuck located on the right side, and the LED lamp is electrically connected to the controller; the camera is located in the middle of the LED lamp.

2. The bendable cable conduit inspection device according to claim 1 is characterized in that: The walking wheel assembly includes a wheel frame and a roller movably arranged on the wheel frame, the wheel frame includes a docking plate and two supporting plates vertically fixedly connected to the comparison plate; the three-jaw chuck has three adjustable jaws; the walking wheel assembly is fixedly connected by the docking plate of its wheel frame and the adjustable jaws of the three-jaw chuck, and one set is arranged on each adjustable jaw of the three-jaw chuck.

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