Automatic take-up winch for a pipe robot

Abstract

The application relates to an automatic winding winch for a pipe robot, which comprises installation frames arranged on two sides for the overall installation of the winch, coaxially arranged winding reels for winding turntable one and winding turntable two, cable capacity adjusting devices arranged between the two winding reels, wire arranging and winding devices arranged in front of the two winding reels, and adjustable double-mode winding devices arranged in front of the wire arranging and winding devices; the length of the drum is set to the end of the winding turntable two; the winding turntable two comprises a second traction motor installed in another installation frame, and a driving disc connected with the output shaft of the second traction motor; the winch in the prior art is provided with only one winding reel, while the winding reels for winding are coaxially arranged as the winding turntable one and the winding turntable two in the application, and the cable capacity adjusting devices are arranged between the two winding reels, so that the power cable and the signal cable can enter the pipe at the same time to provide power and signals for the pipe robot in the walking device.

Description

TECHNICAL FIELD

[0001] The present application belongs to the technical field of winch, in particular to an automatic take-up winch for a pipeline robot. BACKGROUND

[0002] The pipeline robot needs to detect the damage in the pipeline and transmit the pipeline information back to the ground in real time, so as to provide information for the ground pipeline maintenance personnel. This requires the pipeline robot to maintain good communication with the ground control system, so a reliable transmission communication method is needed. The transmission distance of wireless transmission technology in the pipeline is relatively short due to absorption and shielding, and wireless transmission cannot provide a continuous and stable power supply for the crawler, so a cable robot is needed for pipeline detection work. In order to improve the convenience of pipeline detection, an automatic take-up winch for a pipeline robot should be designed.

[0003] The traditional take-up and pay-off device of the pipeline robot is manually adjusted by the construction personnel according to the tension of the cable rope in the actual construction site. This device can only take up and pay off the cable, but the effect is not good, and the cable is dragged during the take-up and pay-off process, which can easily cause the crawler to be tangled.

[0004] The Chinese invention patent application file with publication number CN105923467A discloses an intelligent cable winch device, which includes: a winch reel for taking up and paying off the cable; a motor provided with a motor driver, the motor is electrically connected with the winch reel to control the rotation of the winch reel; a tension sensor electrically connected with the winch reel to collect the tension information of the cable; a controller connected with the motor driver and the tension sensor through a converter, the controller sends a control instruction to the motor driver to control the operation of the motor driver, and sends an adjustment instruction to the motor driver according to the tension information signal of the cable collected by the tension sensor to adjust the rotation speed of the motor driver. The present application can automatically take up and pay off the cable under constant cable tension, and is also provided with a high-precision photoelectric encoder, which indirectly monitors the travel distance of the crawler by measuring and calculating the pay-off length of the cable, automatically adjusts the take-up and pay-off action, saves labor, effectively avoids the dragging of the cable in the pipeline, and ensures the normal walking of the pipeline crawler. This technical solution mainly uses sensors, high-precision photoelectric encoders, converters, preamplifiers and other electronic components to control the rotation of the motor driver by monitoring the tension, so as to stop protection when the cable is dragged in the pipeline during automatic take-up. However, too many electronic components are used in the humid environment underground, which is prone to failure.

[0005] On the other hand, this technical solution only provides the take-up and pay-off of power cables, and with the progress of science and technology, the existing cable robot has become more and more powerful in pipeline detection work, and at the same time, the signal line needs to be followed.

[0006] Another technical problem to be solved is that much water is usually deposited in the pipeline, which will soak the cable, and the prior art directly stores the cable with attached water, which is easy to cause the cable to leak and has safety hazards. SUMMARY

[0007] In view of the defects of the prior art, the technical problems to be solved by the present application are to provide an automatic take-up winch for a pipeline robot, which has two optional modes of continuous take-up and intermittent take-up, and adopts a mechanical structure to achieve disconnect protection when the cable take-up is blocked, and to provide two take-up reels with adjustable rope capacities.

[0008] The application aims to solve the above problems by the following technical scheme: an automatic take-up winch for a pipeline robot, comprising installation frames arranged on both sides for overall installation of the winch, coaxially arranged take-up reels, i.e., take-up disc one and take-up disc two, a cable capacity adjusting device arranged between the two take-up reels, a wire winding collector arranged in front of the two take-up reels, and an adjustable dual-mode take-up device arranged in front of the wire winding collector; the take-up disc one comprises a first traction motor installed in one installation frame, a driving disc one connected to the output shaft of the first traction motor, and a roller coaxially and fixedly connected to the driving disc one; the length of the roller is arranged to the end of the take-up disc two; the take-up disc two comprises a second traction motor installed in the other installation frame and a driving disc two connected to the output shaft of the second traction motor; the driving disc two has an extension ring one extending outward, the extension ring one is tightly and rotatably sleeved on the outer surface of the roller, and the end surface of the extension ring one further has a plurality of connecting rods arranged in a circumferential array extending outward; a handle part is arranged above the first traction motor and the second traction motor; the handle part is composed of handles on both sides and an upper connecting plate in the middle, and the handles on both sides are connected to the installation frames on both sides.

[0009] Preferably, the cable capacity adjusting device comprises a driven disc adjustable base sleeved on the outer surface of the roller, and a driven disc one and a driven disc two rotatably connected to each other in the driven disc adjustable base, wherein the driven disc one is driven by the driving disc one and the driven disc two is driven by the driving disc two; the driven disc two has an extension ring two extending outward, and the extension ring two has a plurality of round holes corresponding to the connecting rods, each connecting rod extends into the corresponding round hole by a distance, which serves as the adjustable range of the cable capacity adjusting device, and the driving disc two transmits power through the connection of the connecting rods and the driven disc two;

[0010] The cable capacity adjusting device further comprises a rope capacity adjusting assembly arranged at the lower part of the upper connecting plate; the screw nut in the rope capacity adjusting assembly is fixedly connected with the driven disc adjustable base, and after the driving motor in the rope capacity adjusting assembly drives the screw to rotate, the screw nut drives the driven disc adjustable base to move transversely, so as to adjust the distance between the driven disc adjustable base and the take-up disc I and the take-up disc II, thereby achieving the adjustment of the rope capacity. Since the pipeline robot enters the pipeline to travel and is arranged with power cables and signal cables, the diameters of the two kinds of cables are inconsistent, and therefore the difference in the rope capacity of several hundred meters in length is relatively large. Therefore, by arranging the cable capacity adjusting device, the corresponding reasonable rope capacity is adjusted, and the problem is overcome.

[0011] As preferred, the cable winding device comprises a first cable winding device arranged to wind the cable corresponding to the take-up disc I, a second cable winding device arranged to wind the cable corresponding to the take-up disc II, and a cable winding device base plate arranged below the center of the drum axis to mount the first cable winding device and the second cable winding device and connected with the two mounting frames at two ends respectively; the cable winding device base plate is in the form of a plate as a whole, has an obtuse angle folded edge along the drum axis direction, and forms upper and lower two areas after the folded edge; the two ends of the upper folded plate are each provided with a group of linear sliding rails, and the lower folded plate is provided with an annular long slot in the form of a long strip; the annular long slot has an arc-shaped cross section, and a sliding follower matching the arc-shaped cross section and capable of closely sliding is arranged in the arc-shaped cross section.

[0012] The center of the sliding follower is in the form of a cylinder, the cylinder center is provided with a through hole for the cable to pass through, the edges at both ends of the hole have a circular arc chamfer, and the circumferential surface of the cylinder is provided with a plurality of flexible support members; when the cable flows in the through hole, the cylinder can have a certain swing under the support of the flexible support members to reduce the vibration caused by the up-and-down flow of the cable.

[0013] The cable winding device further comprises a cable winding assembly mounting frame fixedly connected at one end with the driven disc adjustable base and suspended at the other end in the upper folded plate; the cable winding assembly mounting frame is provided with a first rope capacity adjusting assembly and a second rope capacity adjusting assembly for controlling the moving speed of the first cable winding device and the second cable winding device.

[0014] In the first rope capacity adjusting assembly and the second rope capacity adjusting assembly, the driving source is a servo motor drivingly connected with the cable winding assembly mounting frame, the two fixed seats of the two screws are connected with the sliding tables in the linear sliding rails respectively, and the two screw nuts are fixedly connected with the sliding follower through the connection support. The overall structure of the cable winding device is designed to move correspondingly following the adjustment of the cable capacity adjusting device, so as to ensure the corresponding relationship between the two.

[0015] As preferred, the adjustable double-mode take-up device comprises a synchronous translation assembly arranged on the upper portion of the upper connecting plate, a take-up drive motor arranged on the synchronous translation assembly, and an up-down connecting piece with one end fixedly connected to the slider in the synchronous translation assembly and the other end fixedly connected to the screw nut in the rope capacity adjustment assembly; the up-down connecting piece passes through the upper connecting plate, and a long strip-shaped opening for the movement of the up-down connecting piece is arranged at the corresponding position of the upper connecting plate.

[0016] As preferred, the adjustable double-mode take-up device further comprises a combined transmission mechanism for taking up the take-up disc I and the take-up disc II, and an automatic separation mechanism triggered when the cable is pulled by foreign matters to increase the take-up resistance to a limit value during the taking-up process; the combined transmission mechanism comprises a continuous transmission take-up assembly, an intermittent transmission take-up assembly, and a mode switching assembly for switching the two, and further comprises a take-up execution assembly.

[0017] The continuous transmission take-up assembly comprises a generally H-shaped assembly mounting rack body fixedly connected to the driven disc adjustable base, a movable protection shaft mounted in the assembly mounting rack body, a synchronous transmission wheel I mounted in the movable protection shaft, a synchronous transmission wheel II fixedly connected to the output shaft of the take-up drive motor, and a synchronous transmission belt I for belt transmission connection between the synchronous transmission wheel I and the synchronous transmission wheel II.

[0018] The intermittent transmission take-up assembly comprises a one-way freewheel mounted in the movable protection shaft, a transmission cam fixedly connected to the output shaft of the take-up drive motor, and a rigid chain belt for one-way chain transmission connection between the one-way freewheel and the transmission cam; the one-way freewheel is set to be effective in clockwise rotation and idle in counterclockwise rotation; the rigid chain belt is in the shape of a long strip, one end of which is a single-sided board, and the other end of which is a frame body with a rectangular cross-section and three edges, the frame body is fixedly provided with a chain belt matching the tooth profile of the one-way freewheel, and the frame body has a long waist hole on the side opposite to the board. The whole adjustable double-mode take-up device is also arranged to move correspondingly following the adjustment of the cable capacity adjustment device, so as to ensure the corresponding relationship between the two. The design of two take-up modes sharing multiple components has more advantages in space, material cost, and use convenience.

[0019] As preferred, the mode switching assembly comprises a limit lifting rod slidably connected in the long waist hole, a sliding seat arranged in the assembly mounting rack body, an adjustment switching sliding block mounted in the sliding seat, and a switching adjustment knob arranged above the sliding seat and threadedly connected thereto; the threaded end of the switching adjustment knob is connected to the adjustment switching sliding block, and the other end of the limit lifting rod is connected to the adjustment switching sliding block.

[0020] The mode switching assembly further comprises a tensioning mechanism arranged in the assembly mounting frame body towards the side of the roller, the tensioning mechanism comprising a tensioning wheel abutting on the first synchronous transmission belt, a rotating arm having one end rotatably connected with the tensioning wheel and the other end provided with a roller shaft, and a lifting tensioning structure in gap cooperation with the roller shaft of the rotating arm; the rotating arm is hingedly connected in the middle of the assembly mounting frame body, and an elastic member abutting on the rotating arm is arranged on the side of the hinged point close to the tensioning wheel; the elastic member always abuts the tensioning wheel on the first synchronous transmission belt and makes the roller shaft of the rotating arm in contact with the upper part of the lifting tensioning structure and leaves a gap in the lower part. The gap provides elastic space for the tensioning wheel, so that the tensioning degree can change when the belt force changes; the first synchronous transmission belt is in a relaxed state when it is not pressed enough on the tensioning wheel.

[0021] Preferably, the assembly mounting frame body is provided with a support seat towards the side of the roller, and the movable protection shaft is arranged in front of the support seat.

[0022] The automatic separation mechanism comprises movable separation through holes arranged in the two side walls of the assembly mounting frame body, and a flexible expansion shaft seat hingedly connected in the support seat; the movable separation through holes are used for mounting the movable protection shaft, and the movable separation through holes are generally in the shape of an inclined heart, and the hinged point position of the flexible expansion shaft seat needs to be higher than the axis of the movable protection shaft.

[0023] The automatic separation mechanism further comprises a manual reset assembly in front of the movable protection shaft; the manual reset assembly comprises a reset inclined waist hole arranged on one side wall of the assembly mounting frame body and located obliquely below the movable separation through hole, a reset execution member abutting on the inner side wall of the assembly mounting frame body, a guide rotating shaft having one end penetrating through the reset execution member and partially exposed and the other end movably mounted in the reset inclined waist hole and partially exposed, a reset operating member mounted in front of the assembly mounting frame body, a fixing member for mounting the reset operating member, two reset tension springs arranged at both ends of the guide rotating shaft, and a guide plate arranged at the lower part of the reset execution member and fixed on the inner side wall of the assembly mounting frame body.

[0024] The front of the reset execution piece has an inclined surface, and the lower part is provided with two rollers, which are installed on the upper surface of the guide plate. One end of the two reset tension springs is connected to the two ends of the guide shaft, and the other end of the two reset tension springs is connected to the two ends of the fixed piece. The reset operation piece is hinged with the reset execution piece. The reset inclined waist hole and the guide plate are horizontally arranged at one end close to the reset operation piece, and the other end is also inclined upward at the same angle. The purpose of this setting is that when the automatic separation mechanism is in the disconnected state, i.e. the movable protection shaft falls in the lower part of the movable separation through hole, the reset operation piece is rotated for reset, the reset operation piece pushes the reset execution piece to overcome the tension of the two reset tension springs and moves forward to the inclined surface of the reset execution piece, and the movable protection shaft is contacted. Continue to rotate the reset execution piece to push the movable protection shaft to move forward. At this time, the guide shaft is guided by the guide plate and the reset inclined waist hole, and the reset execution piece as a whole is inclined upward, so as to move the movable protection shaft upward until the movable protection shaft reenters the upper part of the movable separation through hole to complete the reset. Reverse rotation of the reset operation piece makes the reset execution piece return to the initial position. It should be pointed out that in the case of a flexible elastic shaft seat with relatively large elasticity, the manual reset assembly needs to be further provided on the other side of the outer wall of the assembly mounting frame body, so that the reset operation is performed on both sides at the same time to complete the reset more easily.

[0025] As a preferred, the take-up execution assembly comprises a synchronous transmission wheel three installed in the movable protection shaft, a rotating shaft arranged at the lower part of the assembly mounting frame body, a synchronous transmission wheel four installed in the rotating shaft, a synchronous transmission belt two connecting the synchronous transmission wheel three and the synchronous transmission wheel four in belt transmission, a tension pulley arranged below the synchronous transmission belt two, an installation plate arranged at the lower part of the assembly mounting frame body, a synchronous transmission combination arranged between the end of the installation plate and the rotating shaft, and two groups of conveying wheel combinations arranged at both sides of the end of the installation plate.

[0026] As a preferred, the conveying wheel combination comprises a universal joint at one end coaxially connected with the synchronous wheel of the synchronous transmission combination, a conveying wheel rotatably installed on the installation plate, the other end of the universal joint connected with the conveying wheel, an adjusting piece arranged on the side of the conveying wheel facing the drum, a locking operation piece for locking the adjusting piece, and an arc-shaped wire groove arranged below the adjusting piece on the installation plate. The two universal joints enable the two conveying wheels to rotate within a certain range when the cable winder moves, so as to more smoothly transmit the cable.

[0027] As a preferred, a wind drying assembly is arranged between the cable winder and the conveying wheel combination, which comprises a protection shell and a plurality of air blowers installed on the upper part of the protection shell. The top of the protection shell is provided with a long strip-shaped opening for the movement of the first cable winder and the second cable winder, and the bottom of the protection shell is provided with a plurality of drainage holes. The cable entering the protection shell is more easily air-dried in a closed environment, and the drainage holes enable the water droplets blown off to be quickly discharged.

[0028] In summary, the present application has the following advantages compared with the prior art:

[0029] 1. The winch in the prior art is provided with only one winding drum, while the present application coaxially provides the winding drums for winding the cable with winding drum one and winding drum two, and provides the cable capacity adjusting device between the two winding drums, so as to meet the requirement that the power cable and the signal cable enter the pipeline at the same time to provide power and signal for the pipeline robot in the walking device.

[0030] 2. The wire arranging and winding device in front of the two winding drums and the adjustable double-mode winding device in front of the wire arranging and winding device can move correspondingly with the adjustment of the cable capacity adjusting device to ensure that the mutual positional relationship is unchanged and the function is not affected.

[0031] 3. In order to solve the problem of cable adhesion caused by water accumulation in the pipeline, the air drying device is provided, and two winding modes of continuous winding and intermittent winding are provided according to the different adhesion degrees of the water accumulation to the cable, and when the foreign matter winding generates resistance, the two modes will trigger the mechanical automatic separation mechanism to protect the cable from being pulled off, which is obviously more reliable than the protection relying on electronic components in the prior art. BRIEF DESCRIPTION OF DRAWINGS

[0032] Figure 1 is a structural schematic view of the present application;

[0033] Figure 2 is a structural schematic view of the present application after hiding the air drying assembly;

[0034] Figure 3 is a partial structural schematic view of the present application when it is inverted;

[0035] Figure 4 is a structural schematic view of the present application after hiding the winding drum, the roller and the air drying assembly;

[0036] Figure 5 is a structural schematic view of the combination of the wire arranging and winding device and the adjustable double-mode winding device;

[0037] Figure 6 is Figure 5 is an enlarged view of A in FIG. 8;

[0038] Figure 7 is a structural schematic view of the combination of the continuous transmission winding assembly, the intermittent transmission winding assembly, the mode switching assembly and the conveying wheel assembly;

[0039] Figure 8 is a structural schematic view of the combination of the mode switching assembly and the conveying wheel assembly;

[0040] Figure 9 is Figure 8 is an enlarged view of B in FIG. 8;

[0041] Figure 10 Fig. 6 is a schematic view of the structure of the manual reset assembly and the mode switching assembly combined.

[0042] Figure 11 Fig. 7 is a schematic view of the state of the manual reset assembly when in action.

[0043] Fig. 6 is a schematic view of the structure of the manual reset assembly and the mode switching assembly combined.

[0044] mounting frame 01; upper folding plate 02; lower folding plate 03; winding turntable 100; first traction motor 110; driving disc 120; drum 130; winding turntable 200; second traction motor 210; driving disc 220; extension ring 221; connecting rod 222; cable capacity adjusting device 300; driven disc adjustable base 310; driven disc 320; driven disc 330; extension ring 331; rope capacity adjusting assembly 340; wire winding reel 400; first wire winding reel 410; second wire winding reel 420; wire winding reel seat plate 430; straight line sliding rail 431; annular long slot 432; sliding follower 433; wire winding reel assembly mounting frame 440; first rope capacity adjusting assembly 450; second rope capacity adjusting assembly 460; adjustable dual-mode winding device 500; synchronous translation assembly 510; winding drive motor 520; upper and lower connecting piece 530; combined transmission mechanism 540; continuous transmission winding assembly 5410; assembly mounting frame body 5411; movable protection shaft 5412; synchronous transmission wheel 5413; synchronous transmission wheel 5414; synchronous transmission belt 5415; support seat 5416; intermittent transmission winding assembly 5420; one-way flywheel 5421; transmission cam 5422; rigid chain belt 5423; long waist hole 5424; mode switching assembly 5430; limiting lifting rod 5431; sliding seat 5432; adjusting switching sliding block 5433; switching adjusting knob 5434; tensioning mechanism 5400; tensioning wheel upper 5401; rotating arm 5402; lifting tensioning structure 5403; winding execution assembly 5440; synchronous transmission wheel three 5441; rotating shaft 5442; synchronous transmission wheel four 5443; synchronous transmission belt two 5444; tensioning wheel lower 5445; mounting plate 5446; synchronous transmission combination assembly 5447; automatic separation mechanism 550; movable separation through hole 551; elastic telescopic shaft seat 552; manual reset assembly 553; reset inclined waist hole 554; reset execution piece 555; guide rotating shaft 556; reset operating piece 557; fixed piece 558; reset tension spring 559; handle part 600; upper connecting plate 610; conveying wheel combination assembly 700; universal rotating joint 701; conveying wheel 702; adjusting piece 703; locking operating piece 704; wire guide groove 705; wind drying assembly 800; protective shell 801; air blower 802. DETAILED DESCRIPTION

[0045] The application will be further described in connection with the embodiments shown in the accompanying drawings in which:

[0046] Embodiment 1

[0047] As Figures 1-5 shown in the drawings, an automatic take-up winch for a pipeline robot mainly applied to underground pipeline detection and internal damage detection, comprising installation frames 01 arranged on both sides for overall installation of the winch, coaxially arranged wire reels for take-up turntable 100 and take-up turntable 200 for respectively accommodating power cable and signal cable, cable capacity adjusting device 300 arranged between the two wire reels for adjusting the appropriate rope capacity according to the different diameters of the power cable and signal cable, and wire arrangement reel 400 arranged in front of the two wire reels, and adjustable double-mode take-up device 500 arranged in front of the wire arrangement reel 400.

[0048] Take-up turntable 100 comprises a first traction motor 110 installed in an installation frame 01, a driving disc 120 connected to the output shaft of the first traction motor 110, and a drum 130 coaxially and fixedly connected to the driving disc 120; the length of the drum 130 is arranged to the take-up turntable 200;

[0049] Take-up turntable 200 comprises a second traction motor 210 installed in another installation frame 01, and a driving disc 220 connected to the output shaft of the second traction motor 210;

[0050] The driving disc 220 has an extension ring 221 extending outward, the extension ring 221 is tightly rotatably sleeved on the outer surface of the drum 130, and the end face of the extension ring 221 further has a plurality of connecting rods 222 extending outward in a circumferential array;

[0051] A handle part 600 is arranged above the first traction motor 110 and the second traction motor 210; the handle part 600 is composed of handles on both sides and an upper connecting plate 610 in the middle, and the handles on both sides are connected to the installation frames 01 on both sides;

[0052] The cable capacity adjusting device 300 comprises a driven disc adjustable base 310 sleeved on the outer surface of the drum 130, and a driven disc 320 and a driven disc 330 rotatably connected to each other in the driven disc adjustable base 310, wherein the driven disc 320 faces the driving disc 120 and the driven disc 330 faces the driving disc 220; the driven disc 330 has an extension ring 331 extending outward, the extension ring 331 has a plurality of round holes corresponding to the connecting rods 222, each connecting rod 222 extends into the corresponding round hole by a distance, which serves as the adjustable range of the cable capacity adjusting device 300, and the driving disc 220 transmits power through the connecting rods 222 and the driven disc 330;

[0053] The cable capacity adjusting device 300 further comprises a rope capacity adjusting assembly 340 arranged at the lower part of the upper connecting plate 610; the screw nut in the rope capacity adjusting assembly 340 is fixedly connected to the upper part of the driven disc adjustable base 310; after the driving motor in the rope capacity adjusting assembly 340 drives the screw to rotate, the screw nut drives the driven disc adjustable base 310 to move transversely, so as to adjust the distance between the driven disc adjustable base 310 and the take-up disc one 100 and the take-up disc two 200, thereby achieving the adjustment of the rope capacity.

[0054] Since the two take-up discs are arranged to be adjustable in rope capacity, the wire arrangement reel 400 needs to be correspondingly arranged to be adjustable, specifically: the wire arrangement reel 400 comprises a first wire arrangement reel 410 arranged to arrange the wire for the take-up disc one 100, a second wire arrangement reel 420 arranged to arrange the wire for the take-up disc two 200, and a wire arrangement reel seat plate 430 arranged below the axis center of the roller 130 for mounting the first wire arrangement reel 410 and the second wire arrangement reel 420 and connected to the two mounting frames 01 at both ends; the wire arrangement reel seat plate 430 is in the shape of a plate as a whole, has an obtuse angle folded edge along the axis direction of the roller 130, and forms two areas of upper and lower areas after the folded edge; the two ends of the upper folded plate 02 are each provided with a group of straight sliding rails 431, and the lower folded plate 03 is provided with an annular long slot 432 in the shape of a long strip; the annular long slot 432 has an arc shape along the mouth section, and a sliding follower 433 matching the arc shape and capable of closely sliding is arranged in the arc along the mouth.

[0055] The center of the sliding follower 433 is a cylindrical body, the center of the cylindrical body is provided with a through hole for the cable to pass through, the edges at both ends of the hole have a circular arc chamfer, and the peripheral surface of the cylindrical body is provided with a plurality of flexible support members; when the cable flows in the through hole, the cylindrical body can have a certain swing under the support of the flexible support members to reduce the vibration caused by the flow of the cable.

[0056] The wire arrangement reel 400 further comprises a wire arrangement reel assembly mounting frame 440 fixed at one end to the driven disc adjustable base 310 and suspended at the other end in the upper folded plate 02; the wire arrangement reel assembly mounting frame 440 is provided with a first rope capacity adjusting assembly 450 and a second rope capacity adjusting assembly 460 for controlling the moving speed of the first wire arrangement reel 410 and the second wire arrangement reel 420.

[0057] In the first rope capacity adjusting assembly 450 and the second rope capacity adjusting assembly 460: the driving source is a servo motor drivingly connected in the wire arrangement reel assembly mounting frame 440, the two fixed seats of the two screws are respectively connected to the sliding tables in the straight sliding rails 431, and the two screw nuts are fixedly connected to the sliding follower 433 through the connection support.

[0058] The synchronous adjustment steps and principles of the cable capacity adjusting device 300 and the wire arrangement reel 400:

[0059] 1. Figure 3 As shown, after the rope capacity adjustment component 340 is started, it can drive the driven disc adjustable base 310 to move back and forth along the screw axis. By calculating the wire diameter ratio of the power cable and the signal cable, the required rope capacity of both is obtained, and then the corresponding position to be moved is obtained.

[0060] 2. For example Figure 4 As shown, the adjustable base 310 of the driven disc, through its connection with the cable winding assembly mounting bracket 440, can drive the first rope capacity adjustment assembly 450 and the second rope capacity adjustment assembly 460 mounted on the upper part to move synchronously when the adjustable base 310 of the driven disc moves. Correspondingly, the two fixed seats of its two lead screws are respectively connected to the slide table in the linear slide rail 431. After moving synchronously, the positional relationship between the first cable winding device 410 and the second cable winding device 420 and the take-up turntable 100 and the take-up turntable 200 can always correspond, thus realizing the arrangement of two cable winding discs in one winch.

[0061] The adjustable dual-mode take-up device 500 includes a synchronous translation component 510 disposed on the upper part of the upper connecting plate 610, a take-up drive motor 520 disposed on the synchronous translation component 510, and an upper and lower connecting member 530 whose one end is fixedly connected to the slider in the synchronous translation component 510 and the other end is fixedly connected to the screw nut in the rope capacity adjustment component 340; the upper and lower connecting member 530 passes through the upper connecting plate 610, and an elongated opening is provided at a corresponding position on the upper connecting plate 610 for the upper and lower connecting member 530 to move.

[0062] The adjustable dual-mode take-up device 500 also includes a combined transmission mechanism 540 for taking up the cable from the take-up turntable 100 and the take-up turntable 200, and an automatic separation mechanism 550 that is triggered when the cable is pulled by a foreign object during the take-up process, causing the take-up resistance to increase to a limit. The combined transmission mechanism 540 includes a continuous transmission take-up component 5410 and an intermittent transmission take-up component 5420, as well as a mode switching component 5430 for switching between the two, and a take-up execution component 5440.

[0063] The continuous transmission take-up assembly 5410 comprises a generally H-shaped assembly mounting frame body 5411 fixedly connected with the driven disc adjustable base 310, a movable protection shaft 5412 mounted in the assembly mounting frame body 5411, a synchronous transmission wheel one 5413 mounted in the movable protection shaft 5412, a synchronous transmission wheel two 5414 fixedly connected with the output shaft of the take-up drive motor 520, and a synchronous transmission belt one 5415 for belt transmission connection between the synchronous transmission wheel one 5413 and the synchronous transmission wheel two 5414; the synchronous transmission wheel two 5414 is driven to rotate by the take-up drive motor 520, and then the synchronous transmission wheel one 5413 is driven to rotate by the synchronous transmission belt one 5415, and the movable protection shaft 5412 is driven to rotate by the synchronous transmission wheel one 5413, so as to realize continuous transmission.

[0064] The intermittent transmission take-up assembly 5420 comprises a one-way freewheel 5421 mounted in the movable protection shaft 5412, a transmission cam 5422 fixedly connected with the output shaft of the take-up drive motor 520, and a rigid chain belt 5423 for one-way chain transmission connection between the one-way freewheel 5421 and the transmission cam 5422; the one-way freewheel 5421 is set to be effective in clockwise rotation and idle in counterclockwise rotation; the rigid chain belt 5423 is in the shape of a long strip, one end of which is a single-sided board and the other end of which is a frame body with a rectangular cross section and three edges, the frame body is fixedly provided with a chain belt matching the tooth shape of the one-way freewheel 5421 inside, and the frame body has a long waist hole 5424 on the side opposite to the board, which is used for limiting the movement of the rigid chain belt 5423 and the transmission cam 5422, so that the articulation point of the rigid chain belt 5423 and the transmission cam 5422 changes with the rotation position of the transmission cam 5422, that is, the rigid chain belt 5423 moves forward and backward and rotates slightly at the same time under the limitation of the long waist hole 5424, so as to realize intermittent transmission of the one-way freewheel 5421, that is, the one-way freewheel 5421 idles when the rigid chain belt 5423 is pushed forward, and the movable protection shaft 5412 effectively rotates when the rigid chain belt 5423 is pulled backward;

[0065] As Figures 6-9As shown, the mode switching assembly 5430 includes a limiting lifting rod 5431 slidably connected in the long waist hole 5424, a sliding seat 5432 arranged in the assembly mounting frame body 5411, an adjusting switching sliding block 5433 mounted in the sliding seat 5432, and a switching adjusting knob 5434 arranged above the sliding seat 5432 and threadedly connected thereto; the threaded end of the switching adjusting knob 5434 is connected with the adjusting switching sliding block 5433, the other end of the limiting lifting rod 5431 is connected with the adjusting switching sliding block 5433, and rotating the switching adjusting knob 5434 can make the adjusting switching sliding block 5433 slide up and down along the sliding seat 5432, and the limiting lifting rod 5431 moves synchronously, and then drives the rigid chain belt 5423 to move up and down, so as to realize the engagement or disengagement between the rigid chain belt 5423 and the one-way freewheel 5421; the limiting lifting rod 5431 is provided with a spacer piece on the inner side and the outer side matched with the long waist hole 5424, so that the rigid chain belt 5423 can be relatively stable when being pushed and pulled.

[0066] The mode switching assembly 5430 further includes a tensioning mechanism 5400 arranged in the assembly mounting frame body 5411 towards one side of the drum 130, the tensioning mechanism 5400 includes a tensioning wheel 5401 abutting on the synchronous transmission belt 5415, a rotating arm 5402 having one end rotatably connected with the tensioning wheel 5401 and the other end provided with a roller, and a lifting tensioning structure 5403 having a certain gap cooperation with the roller of the rotating arm 5402; the rotating arm 5402 is hinged in the middle in the assembly mounting frame body 5411, and an elastic member 5404 abutting on the rotating arm 5402 is arranged on the side close to the tensioning wheel 5401 at the hinge point; the elastic member 5404 makes the tensioning wheel 5401 always abut on the synchronous transmission belt 5415 and makes the roller of the rotating arm 5402 contact with the upper part of the lifting tensioning structure 5403 and leave a gap in the lower part, and the gap provides an elastic space for the tensioning wheel 5401, so that the tensioning degree can change when the belt force changes; here, the synchronous transmission belt 5415 is in a relaxed state when the tensioning wheel 5401 does not have enough compression;

[0067] The working principle of the mode switching assembly 5430 is as follows:

[0068] The overall function of the mode switching assembly 5430 is to switch between continuous transmission of the continuous transmission take-up assembly 5410 and intermittent transmission of the intermittent transmission take-up assembly 5420, specifically, by rotating the adjustment knob 5434 clockwise, the adjustment switching sliding block 5433 moves upward, the lifting and tensioning structure 5403 abuts against the roller of the rotating arm 5402, and with the continuous upward movement of the adjustment switching sliding block 5433, the roller moves to the inside of the lifting and tensioning structure 5403, at the same time, the tensioning wheel 5401 on the rotating arm 5402 starts to compress the synchronous transmission belt 5415, until the synchronous transmission belt 5415 is compressed tightly, that is, the synchronous transmission wheel 5413 and the synchronous transmission wheel 5414 form effective transmission, in the process of upward movement of the adjustment switching sliding block 5433, the rigid chain belt 5423 is continuously lifted upward by the limiting lifting rod 5431, and when the tensioning wheel 5401 is completely compressed, the rigid chain belt 5423 and the one-way freewheel 5421 are completely separated, at this time, it is in continuous transmission mode, conversely, rotating the adjustment knob 5434 reversely can realize the engagement of the rigid chain belt 5423 and the one-way freewheel 5421 to switch back to intermittent transmission mode, correspondingly, the synchronous transmission belt 5415 returns to loose state, and the synchronous transmission wheel 5413 and the synchronous transmission wheel 5414 return to invalid state.

[0069] The assembly mounting frame body 5411 is provided with a support seat 5416 on the side facing the roller 130, and the movable protection shaft 5412 is arranged in front of the support seat 5416.

[0070] The automatic separation mechanism 550 comprises a movable separation through hole 551 arranged in the two side walls of the assembly mounting frame body 5411, and a flexible expansion shaft seat 552 hinged in the support seat 5416; the movable separation through hole 551 is used for mounting the movable protection shaft 5412, and the movable separation through hole 551 is generally in the shape of an inclined heart shape, and the angle of inclination is a downward extension, which is used to guide the movable protection shaft 5412 to move downward under the action of tension. The hinged point position of the flexible expansion shaft seat 552 needs to be higher than the axis of the movable protection shaft 5412, that is, the flexible expansion shaft seat 552 is pressed against the upper part of the inclined heart-shaped movable separation through hole 551 with a slope from top to bottom under normal circumstances. Further, the flexible expansion shaft seat 552 is arranged between the synchronous transmission wheel one 5413 and the one-way freewheel 5421, so that the imbalance generated when overcoming the flexible expansion shaft seat 552 is relatively small. In the embodiment, since the thrust of the flexible expansion shaft seat 552 on the movable protection shaft 5412 and the tension of the synchronous transmission belt one 5415 and the rigid chain belt 5423 are not in a straight line, when the tension is greater than the supporting force, the movable protection shaft 5412 will fall downward with an inclination. Under the condition that the clamping point at the junction between the upper part and the lower part of the movable separation through hole 551 is relatively small, one end of the movable protection shaft 5412 will be driven to fall into the lower part of the movable separation through hole 551, and the other end will also fall into the lower part of the movable separation through hole 551 under the action of the tension due to the small clamping point.

[0071] The automatic separation mechanism 550 further comprises a manual reset assembly 553 in front of the movable protection shaft 5412; the manual reset assembly 553 comprises a reset inclined waist hole 554 arranged on one side wall of the assembly mounting frame body 5411 and located obliquely below the movable separation through hole 551, a reset execution member 555 abutting against the inner side wall of the assembly mounting frame body 5411, a guide shaft 556 having one end penetrating through the reset execution member 555 and partially exposed and the other end movably mounted in the reset inclined waist hole 554 and partially exposed, a reset operating member 557 arranged in front of the assembly mounting frame body 5411, a fixing member 558 for mounting the reset operating member 557, two reset tension springs 559 arranged at both ends of the guide shaft 556, and a guide plate 555a arranged at the lower part of the reset execution member 555 and fixed to the inner side wall of the assembly mounting frame body 5411.

[0072] The front of the reset execution member 555 has a slope, the lower part is provided with two rollers, the two rollers are installed on the upper surface of the guide plate 555a, one end of the two reset tension springs 559 is connected to the two ends of the guide shaft 556, the other end of the two reset tension springs 559 is connected to the two ends of the fixing member 558; the reset operating member 557 is hinged between the reset execution member 555; the reset inclined waist hole 554 and the guide plate 555a close to one end of the reset operating member 557 are horizontally arranged, and the other end is also inclined upward at the same angle, the purpose of this arrangement is that when the automatic separation mechanism 550 is in the disconnected state, that is, the movable protection shaft 5412 falls in the lower part of the movable separation through hole 551, the reset operating member 557 is rotated to reset, as shown in Figure 10 and Figure 11 The reset operating member 557 pushes the reset execution member 555 to overcome the tension of the two reset tension springs 559 and moves forward to the slope thereof, and Figure 10 The movable protection shaft 5412 is in contact with the dashed line in the figure, the reset execution member 555 is continuously rotated to push the movable protection shaft 5412 to move forward, at this time, the guide shaft 556 is guided by the guide plate 555a and the reset inclined waist hole 554, the reset execution member 555 as a whole is inclined upward, so as to move the movable protection shaft 5412 upward, until the movable protection shaft 5412 reenters the upper part of the movable separation through hole 551 to complete the reset. Reverse rotation of the reset operating member 557 makes the reset execution member 555 return to the initial position. It should be pointed out that in the case that the elastic expansion shaft seat 552 has a large elastic force, the manual reset assembly 553 needs to be further arranged on the other side of the outer wall of the assembly mounting frame body 5411, so that the reset operation is performed on both sides at the same time, so as to more easily complete the reset.

[0073] The action principle of the automatic separation mechanism 550 is as follows:

[0074] When one or two of the two cable lines are restricted by foreign matters during the winding process, the force of the synchronous transmission belt 5415 or the rigid chain belt 5423 will increase, so as to overcome the pressure of the elastic expansion shaft seat 552 and make the movable protection shaft 5412 move upward along the movable separation through hole 551, that is, the movable protection shaft 5412 is separated from the original stable position and enters the lower part of the movable separation through hole 551 under the guidance of the movable separation through hole 551 and the pressure of the elastic expansion shaft seat 552 due to the weight of the components arranged on the upper part, in this process, the elastic pressure tight cooperation between the lower tension pulley 5445 and the synchronous transmission belt two 5444 provides the movement space for this action, after the movable protection shaft 5412 enters the lower part of the movable separation through hole 551, the position of the synchronous transmission pulley three 5441 is lowered, so that the synchronous transmission belt two 5444 is in an invalid state, at this time, the winding is stopped, and the cable is protected.

[0075] The take-up execution assembly 5440 comprises a synchronous transmission wheel three 5441 mounted in the movable protection shaft 5412, a rotating shaft 5442 arranged at the lower part of the assembly mounting frame body 5411, a synchronous transmission wheel four 5443 mounted in the rotating shaft 5442, a synchronous transmission belt two 5444 connecting the synchronous transmission wheel three 5441 and the synchronous transmission wheel four 5443 in a belt transmission manner, a tension pulley lower part 5445 arranged for the synchronous transmission belt two 5444, a mounting plate 5446 arranged at the lower part of the assembly mounting frame body 5411, a synchronous transmission assembly 5447 arranged between the end of the mounting plate 5446 and the rotating shaft 5442, and two groups of conveying wheel assemblies 700 arranged at both sides of the end of the mounting plate 5446.

[0076] The conveying wheel assembly 700 comprises a universal joint 701 coaxially connected with the synchronous wheel of the synchronous transmission assembly 5447 at one end, a conveying wheel 702 rotatably mounted on the mounting plate 5446, the other end of the universal joint 701 connected with the conveying wheel 702, an adjusting member 703 arranged on the side of the conveying wheel 702 facing the drum 130, a locking operation member 704 for locking the adjusting member 703, and an arc-shaped wire guide groove 705 arranged below the adjusting member 703 on the mounting plate 5446. The arrangement of the two universal joints 701 enables the two conveying wheels 702 to rotate within a certain range when the cable arrangement reel 400 moves, so as to more smoothly transmit the cable.

[0077] Since there is often water accumulation at the bottom of the pipeline, which adheres to the cable, the wind drying assembly 800 is arranged between the cable arrangement reel 400 and the conveying wheel assembly 700. The wind drying assembly 800 comprises a protection shell 801 and a plurality of air blowers 802 mounted on the upper part of the protection shell 801. The top of the protection shell 801 is provided with a long strip-shaped opening for the movement of the first cable arrangement reel 410 and the second cable arrangement reel 420, and the bottom of the protection shell 801 is provided with a plurality of drainage holes.

[0078] The overall use process steps are as follows:

[0079] 1. When paying out the cable, loosen the adjusting member 703 so that the conveying wheel 702 only serves as a transitional transmission;

[0080] 2. When taking up the cable, respectively tighten the two adjusting members 703 according to the two different cables, and select the intermittent take-up mode or the continuous take-up mode according to the water adhesion condition on the surface of the cable. The taken-up cable is subjected to air drying treatment by the wind drying assembly 800, and then is stored by the cooperation of the cable arrangement reel 400 and the take-up turntable one 100 and the take-up turntable two 200. Since there is a difference in the diameters of the power cable and the signal cable, the corresponding motor speed needs to be set accordingly.

[0081] 3. When the cable is pulled back, the automatic separation mechanism 550 disconnects the cable according to the action principle as described above, and after the problem is solved, the manual reset assembly 553 is reset according to the operation steps as described above.

[0082] The specific embodiments described herein are merely illustrative of the spirit of the present application. Those skilled in the art can make various modifications or supplements to the specific embodiments described herein or replace them with similar ways, but will not deviate from the spirit of the present application or exceed the scope defined by the appended claims.

Claims

1. An automatic take-up winch for a pipe robot, comprising a mounting frame (01) arranged on both sides for the overall mounting of the winch, characterized in that The winding reel is coaxially arranged as winding reel one (100) and winding reel two (200), a cable capacity adjusting device (300) is arranged between the two winding reels, and a wire arranging reel (400) is arranged in front of the two winding reels, and an adjustable double-mode winding device (500) is arranged in front of the wire arranging reel (400); The winding reel one (100) comprises a first traction motor (110) mounted in a mounting frame (01), a driving disc one (120) connected with the output shaft of the first traction motor (110), and a roller (130) coaxially and fixedly connected with the driving disc one (120); the length of the roller (130) is arranged to the winding reel two (200); The winding reel two (200) comprises a second traction motor (210) mounted in another mounting frame (01), and a driving disc two (220) connected with the output shaft of the second traction motor (210); The driving disc two (220) has an extension ring one (221) extending outward, the extension ring one (221) is tightly and rotatably sleeved on the outer surface of the roller (130), and the end face of the extension ring one (221) further has a plurality of connecting rods (222) extending outward in a circumferential array; A handle part (600) is arranged above the first traction motor (110) and the second traction motor (210); the handle part (600) is composed of handles on both sides and an upper connecting plate (610) in the middle, and the handles on both sides are connected with the mounting frames (01) on both sides; The cable capacity adjusting device (300) comprises a driven disc adjustable base (310) sleeved on the outer surface of the roller (130), a driven disc one (320) and a driven disc two (330) rotatably connected with each other in the driven disc adjustable base (310), wherein the driven disc one (320) faces the driving disc one (120) and the driven disc two (330) faces the driving disc two (220); the driven disc two (330) has an extension ring two (331) extending outward, and the extension ring two (331) has a plurality of round holes corresponding to the connecting rods (222), and each connecting rod (222) extends into the corresponding round hole by a distance; The cable capacity adjusting device (300) further comprises a rope capacity adjusting assembly (340) arranged below the upper connecting plate (610); a screw nut in the rope capacity adjusting assembly (340) is fixedly connected with the upper part of the driven disc adjustable base (310); The adjustable double-mode winding device (500) comprises a synchronous translation assembly (510) arranged on the upper part of the upper connecting plate (610), a winding drive motor (520) arranged on the synchronous translation assembly (510), an up-down connecting piece (530) having one end fixedly connected with the slider in the synchronous translation assembly (510) and the other end fixedly connected with the screw nut in the rope capacity adjusting assembly (340); the up-down connecting piece (530) passes through the upper connecting plate (610), and a long strip-shaped opening is arranged on the corresponding position of the upper connecting plate (610) for the movement of the up-down connecting piece (530); The adjustable dual-mode take-up device (500) further comprises a combined transmission mechanism (540) for taking up the take-up turntable I (100) and the take-up turntable II (200), an automatic disconnecting mechanism (550) triggered when the cable is dragged by foreign matter and the take-up resistance increases to a limit value during the taking-up process; the combined transmission mechanism (540) comprises a continuous transmission take-up assembly (5410), an intermittent transmission take-up assembly (5420), a mode switching assembly (5430) for switching the two, and a take-up execution assembly (5440); The continuous transmission take-up assembly (5410) comprises a generally H-shaped assembly mounting rack (5411) fixedly connected with the driven disc adjustable base (310), a movable protection shaft (5412) mounted in the assembly mounting rack (5411), a synchronous transmission wheel I (5413) mounted in the movable protection shaft (5412), a synchronous transmission wheel II (5414) fixedly connected with the output shaft of the take-up driving motor (520), and a synchronous transmission belt I (5415) for belt transmission connection between the synchronous transmission wheel I (5413) and the synchronous transmission wheel II (5414); The intermittent transmission take-up assembly (5420) comprises a single-stage flywheel (5421) mounted in the movable protection shaft (5412), a transmission cam (5422) fixedly connected with the output shaft of the take-up driving motor (520), and a rigid chain belt (5423) for one-way chain transmission connection between the single-stage flywheel (5421) and the transmission cam (5422); the single-stage flywheel (5421) is set to be effective in clockwise rotation and idle in counterclockwise rotation; the rigid chain belt (5423) is in the shape of a long strip, one end of which is a single-sided board and the other end of which is a frame body with a rectangular cross section and three edges, and a chain belt matching the tooth shape of the single-stage flywheel (5421) is fixedly arranged in the frame body, and the frame body has a long waist hole (5424) on the side opposite to the board.

2. An automatic take-up winch for a pipe robot according to claim 1, characterized in that, The cable arrangement winder (400) comprises a first cable arrangement winder (410) arranged to wind the cable of the take-up turntable I (100), a second cable arrangement winder (420) arranged to wind the cable of the take-up turntable II (200), and a cable arrangement winder seat plate (430) located below the center axis of the drum (130) and used to mount the first cable arrangement winder (410) and the second cable arrangement winder (420), and the two ends of the cable arrangement winder seat plate (430) are connected with the two mounting racks (01), respectively; the cable arrangement winder seat plate (430) is in the shape of a plate, has an obtuse angle folded edge along the axis direction of the drum (130), and forms two areas, i.e., an upper area and a lower area, after the folded edge; the two ends of the upper folded plate (02) are provided with a group of straight sliding rails (431), and the lower folded plate (03) is provided with an annular long slot (432) in the shape of a long strip; the annular long slot (432) has an arc-shaped cross section, and a sliding follower (433) matching the arc-shaped cross section and capable of closely sliding is arranged in the arc-shaped cross section. The center of the sliding follower (433) is a cylinder, a through hole is arranged in the center of the cylinder for the cable to pass through, the edges of the two ends of the hole are provided with arc chamfers, and a plurality of flexible supporting members are arranged on the circumferential surface of the cylinder. When the cable flows in the through hole, the cylinder can have a certain swing under the support of the flexible supporting members to reduce the vibration caused by the flow of the cable. The cable winding device (400) further comprises a cable winding assembly mounting rack (440) which is fixed at one end to the driven disc adjustable base (310) and is suspended at the other end to the upper folding plate (02). The cable winding assembly mounting rack (440) is provided with a first rope capacity adjusting assembly (450) and a second rope capacity adjusting assembly (460) for controlling the moving speed of the first cable winding device (410) and the second cable winding device (420). In the first rope capacity adjusting assembly (450) and the second rope capacity adjusting assembly (460), the driving source is a servo motor respectively driving and fixed in the cable winding assembly mounting rack (440), the two fixed seats of the two lead screws are respectively connected to the sliding table in the linear sliding rail (431), and the two lead screw nuts are fixed to the sliding follower (433) through the setting of the connecting bracket.

3. The automatic take-up winch for a pipe robot according to claim 1, characterized in that, The mode switching assembly (5430) comprises a limiting lifting rod (5431) slidably connected in the long waist hole (5424), a sliding seat (5432) arranged in the assembly mounting rack body (5411), an adjusting and switching sliding block (5433) mounted in the sliding seat (5432), and a switching and adjusting knob (5434) arranged above the sliding seat (5432) and threadedly connected with the sliding seat (5432). The threaded end of the switching and adjusting knob (5434) is connected with the adjusting and switching sliding block (5433), and the other end of the limiting lifting rod (5431) is connected with the adjusting and switching sliding block (5433). The mode switching assembly (5430) further comprises a tensioning mechanism (5400) arranged in the assembly mounting rack body (5411) towards one side of the roller (130). The tensioning mechanism (5400) comprises a tensioning wheel (5401) abutting against the synchronous transmission belt (5415), a rotating arm (5402) having one end rotatably connected with the tensioning wheel (5401) and the other end provided with a roller, and a lifting and tensioning structure (5403) having a certain gap fit with the roller of the rotating arm (5402). The rotating arm (5402) is hinged in the middle in the assembly mounting rack body (5411), and an elastic member (5404) is arranged on the side of the hinged point close to the tensioning wheel (5401) and abutting against the rotating arm (5402). The elastic member (5404) always abuts the tensioning wheel (5401) against the synchronous transmission belt (5415) and makes the roller of the rotating arm (5402) contact the upper part of the lifting and tensioning structure (5403) and leave a gap in the lower part.

4. The automatic take-up winch for a pipe robot according to claim 1, characterized in that, The assembly mounting rack body (5411) is provided with a supporting seat (5416) towards one side of the roller (130), and the movable protection shaft (5412) is arranged in front of the supporting seat (5416). The automatic disconnecting mechanism (550) comprises a movable separation through hole (551) arranged in the two side walls of the assembly mounting frame body (5411), and an elastic telescopic shaft seat (552) hinged in the support seat (5416); the movable separation through hole (551) is used for mounting a movable protection shaft (5412), the movable separation through hole (551) is generally shaped as an inclined heart shape, and the hinged point position of the elastic telescopic shaft seat (552) needs to be higher than the axis of the movable protection shaft (5412); The automatic disconnecting mechanism (550) further comprises a manual reset assembly (553) in front of the movable protection shaft (5412); the manual reset assembly (553) comprises a reset waist hole (554) arranged on one side wall of the assembly mounting frame body (5411) and located obliquely below the movable separation through hole (551), a reset execution member (555) abutting against the inner side wall of the assembly mounting frame body (5411), a guide rotating shaft (556) with one end penetrating through the reset execution member (555) and partially exposed and the other end movably mounted in the reset waist hole (554) and partially exposed, a reset operating member (557) mounted in front of the assembly mounting frame body (5411), a fixing member (558) for mounting the reset operating member (557), two reset tension springs (559) arranged at two ends of the guide rotating shaft (556), and a guide plate (555a) arranged at the lower part of the reset execution member (555) and fixed to the inner side wall of the assembly mounting frame body (5411); The front of the reset execution member (555) has an inclined surface, and the lower part is provided with two rollers mounted on the upper surface of the guide plate (555a); one end of each of the two reset tension springs (559) is connected to the two ends of the guide rotating shaft (556), and the other end of each of the two reset tension springs (559) is connected to the two ends of the fixing member (558); the reset operating member (557) is hinged to the reset execution member (555); the reset waist hole (554) and the guide plate (555a) are horizontally arranged near one end of the reset operating member (557), and the other end is also inclined at the same angle upward.

5. The automatic take-up winch for a pipe robot according to claim 1, characterized in that, The take-up execution assembly (5440) comprises a synchronous transmission wheel three (5441) mounted in the movable protection shaft (5412), a rotating shaft (5442) arranged at the lower part of the assembly mounting frame body (5411), a synchronous transmission wheel four (5443) mounted in the rotating shaft (5442), a synchronous transmission belt two (5444) for belt transmission connection between the synchronous transmission wheel three (5441) and the synchronous transmission wheel four (5443), a tensioner lower (5445) arranged for the synchronous transmission belt two (5444), a mounting plate (5446) arranged at the lower part of the assembly mounting frame body (5411), a synchronous transmission combination assembly (5447) arranged between the end of the mounting plate (5446) and the rotating shaft (5442), and two groups of conveying wheel combination assemblies (700) arranged at the two sides of the end of the mounting plate (5446).

6. An automatic take-up winch for a pipe robot according to claim 5, characterized in that, The conveying wheel assembly (700) comprises a universal joint (701) coaxially connected with a synchronous wheel of the synchronous conveying assembly (5447), a conveying wheel (702) rotatably mounted on a mounting plate (5446), the other end of the universal joint (701) being connected with the conveying wheel (702), an adjusting member (703) arranged on the side of the conveying wheel (702) facing the drum (130), a locking operating member (704) for locking the adjusting member (703), and an arc-shaped wire guide groove (705) arranged below the adjusting member (703) on the mounting plate (5446).

7. An automatic take-up winch for a pipe robot according to claim 6, characterized in that, The wire winding device (400) and the conveying wheel assembly (700) are provided with a wind drying assembly (800), the wind drying assembly (800) is composed of a protective shell (801) and a plurality of air blowers (802) mounted on the upper portion of the protective shell (801), the top of the protective shell (801) is provided with a long strip-shaped opening for the movement of the first wire winding device (410) and the second wire winding device (420), and the bottom of the protective shell (801) is provided with a plurality of drainage holes.

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