A safe wiring system and method based on intelligent construction

Abstract

The present invention discloses a safe wiring system and method based on intelligent construction, including a drive box, a guide sleeve and a creeping assembly, wherein a shaft frame is fixedly installed on the inner side of the drive box, and a driving motor is installed on the surface of the shaft frame, a moving groove is provided on the surface of the drive box, and the creeping assembly includes a plurality of moving plates slidably installed on the inner side of the moving groove, and the plurality of moving plates are evenly distributed on the inner side of the drive box in a circumferential direction, and a shaft rod is sleeved on the inner side of the moving plate by rotation, and a deflection wheel sleeve is sleeved on the surface of the shaft rod. In the present invention, both traction mode and wire feeding mode are provided, and the mode is automatically switched according to different pipeline environments, which greatly improves the adaptability and flexibility of cable wiring, ensures wiring efficiency, realizes automation of wiring work, and is particularly suitable for wiring in complex, narrow or long-distance pipelines, avoids the inefficiency and safety hazards of traditional manual wiring, and significantly improves construction efficiency.

Description

Technical Field

[0001] The present invention relates to the technical field of wiring devices, and in particular to a safe wiring system and method based on intelligent construction. Background Art

[0002] In modern building construction, the wiring of cables, optical fibers and other cables is an important part of building intelligence. Traditional wiring methods mainly rely on manual operation, especially in narrow, complex or long-distance pipelines, manual wiring faces many challenges such as low efficiency, poor safety and difficult operation. Due to the space limitations inside the pipeline, long wiring distances and complex channels, manual wiring is not only prone to cable damage, bending and knotting, but may also cause construction delays and safety hazards. In addition, it is difficult to ensure proper control of cable tension during manual operation, further affecting the quality of cable layout.

[0003] With the rapid development of intelligent construction technology, traditional manual wiring methods can no longer meet the complex wiring requirements of modern buildings. There is an urgent need for an automated and intelligent wiring system that can adapt to different pipeline environments and ensure the efficiency and safety of wiring. In response to the wiring problems inside complex pipelines, a micro traction robot capable of automated operation has been developed, which can significantly reduce the uncertainty caused by manual operation and improve wiring quality and construction efficiency.

[0004] In the existing technology, some wiring equipment has automatic operation functions, but most of them can only work effectively in a single environment and lack the ability to adapt to complex and diverse pipelines. For example, in scenarios where the pipelines are more complex or the distance is longer, traditional equipment can only select a single wiring method based on the wiring preset method, which is less practical.

[0005] In view of this, research and improvement are carried out on the existing problems, and a safe wiring system and method based on intelligent construction is provided to solve the current problems. The purpose is to solve the problems and improve the practical value through this technology. Summary of the invention

[0006] The present invention relates to a safe wiring system and method based on intelligent construction, which aims to solve the problems of low efficiency, many safety hazards and poor adaptability in the traditional manual wiring process. By introducing a micro traction robot, the system can automatically complete the traction and transportation operations of cables, optical fibers and other cables in the pipeline, adapting to the wiring requirements of complex or long-distance pipelines, thereby greatly improving the wiring efficiency and safety.

[0007] The present invention provides a safe wiring system based on intelligent construction, comprising a driving machine box, a guide sleeve and a creeping assembly, wherein a shaft frame is fixedly installed on the inner side of the driving machine box, and a driving motor is installed on the surface of the shaft frame; a moving groove is opened on the surface of the driving machine box, and the creeping assembly comprises a plurality of moving plates slidably installed on the inner side of the moving groove, and the plurality of moving plates are evenly distributed on the inner side of the driving machine box in a circumferential direction. A shaft rod is rotatably sleeved on the inner side of the moving plate, and a deflection wheel sleeve is sleeved on the surface of the shaft rod, and the deflection wheel sleeve is rotatably sleeved on the inner side of the moving plate. Walking pads and conveying teeth are respectively arranged on both sides of the moving plate, and synchronous teeth are arranged at both ends of the plurality of shaft rods, and adjacent shaft rods are meshed and driven by each other through synchronous teeth. The driving motor is used to drive one of the shaft rods to rotate. A planet sleeve is slidably sleeved on the inner side of the guide sleeve, and a planet wheel is sleeved on the inner side of the planet sleeve, and a claw tube is fixedly connected to one end of the planet wheel, and a plurality of inverted tooth springs are arranged on the inner side of the claw tube. Through holes for cables to pass through are arranged on the inner sides of the claw tube, the planet wheel and the guide sleeve.

[0008] In a preferred example, the present invention can be further configured as follows: a guide cone head is fixedly installed at one end of the driver box, and the guide sleeve is fixedly installed at the other end of the driver box, the driver box is a cone structure, and the guide cone head, the driver box and the guide sleeve are located on the same axis. This structural design ensures the stability of the entire wiring system, so that the driver box and the guide sleeve remain coaxial during operation, avoiding wiring errors caused by tilt or offset, and is suitable for wiring work over long distances or in complex pipelines.

[0009] In a preferred example, the present invention can be further configured as follows: the outer circumferential center of the eccentric sleeve deviates from the axial center of the shaft rod, and the outer circumference of the eccentric sleeve is provided with a ball in contact with the moving plate. Through the eccentric design between the eccentric sleeve and the moving plate and the cooperation of the ball, the moving plate can realize reciprocating motion during the wiring process, drive the automatic transportation of the cable, and ensure that the cable is smoothly and accurately delivered to the predetermined position in the wire feeding mode.

[0010] In a preferred example, the present invention can be further configured as follows: the number of the shafts is twice the number of the moving plates, and two shafts are sleeved on the surface of each moving plate, and the eccentricity of the eccentric sleeves on the two shafts is the same. Through the linkage design of the two shafts, the synchronous reciprocating motion of the moving plate under the eccentric effect is achieved, the motion stability and reliability of the entire system are enhanced, and it is particularly suitable for precise wiring in complex pipeline environments.

[0011] In a preferred example, the present invention can be further configured as follows: a plurality of shafts are arranged in a circumferential direction, and adjacent shafts are mutually connected by synchronous teeth on the end faces, and each shaft is rotatably sleeved on the surface of the shaft frame. Through the mutual transmission connection between the shafts, it is ensured that all shafts in the system can rotate synchronously, thereby improving the coordination of the overall operation of the system and ensuring that efficient wiring can be achieved in different pipeline environments.

[0012] In a preferred example, the present invention can be further configured as follows: a buckle groove adapted to a walking pad is provided on one side of the sports board for connecting walking pads of different sizes, and the walking pad is a flexible rubber material component. By designing a replaceable walking pad, the system can adapt to the requirements of pipeline wiring of different diameters, thereby enhancing the versatility of the system and being able to be flexibly applied to pipeline wiring scenarios of various specifications.

[0013] In a preferred example, the present invention can be further configured as follows: the surfaces of the conveying teeth and the inverted tooth spring pieces are both inverted tooth structures and arranged in the same direction, and the inverted tooth spring pieces are metal spring pieces, which are used to clamp and position different cable ends. In the traction mode, the inverted tooth structure of the inverted tooth spring piece can stably clamp the cable end to ensure that the cable is not damaged in a complex pipeline; and in the wire feeding mode, the conveying teeth can smoothly convey the cable through the grabbing action of the inverted teeth to achieve automated wiring.

[0014] A wiring method for a safe wiring system based on intelligent construction comprises the following steps:

[0015] S1: The pipeline is globally scanned to generate a three-dimensional model of the pipeline. Based on the three-dimensional model, the system automatically plans the best path to avoid corners, depressions or obstacles inside the pipeline.

[0016] S2: After connecting the cable to the micro traction robot, the robot enters from the starting point of the pipeline and selects the traction mode or the wire feeding mode according to the instructions of the path planning.

[0017] Traction mode: When the pipeline is complex or long, the robot starts the traction mode and drags the cable forward until it reaches the specified location.

[0018] Wire feeding mode: When the pipeline is short or relatively straight, the robot selects the wire feeding mode, pulls the cable from the supply device into the pipeline, and lays it along the predetermined route.

[0019] S3: The system monitors the status of the robot and cables in real time to ensure that the robot is not affected by obstacles during its movement; the system adjusts the feeding speed and tension of the cable supply device in real time based on the tension data fed back by the sensor to prevent the cable from being too loose or too tight.

[0020] S4: After the robot completes the traction task, the system checks the cable layout inside the pipeline to ensure that the cables have been properly laid. The robot automatically exits the pipeline according to the path and feedbacks the wiring completion status.

[0021] The beneficial effects achieved by the present invention are:

[0022] 1. The present invention has two working states: traction mode and wire feeding mode. The mode is automatically switched according to different pipeline environments (complex or simple, long distance or short distance), which greatly improves the adaptability and flexibility of cable wiring, ensures wiring efficiency, and realizes automation of wiring work. It is especially suitable for wiring in complex, narrow or long-distance pipelines, avoiding the inefficiency and safety hazards of traditional manual wiring, and significantly improving construction efficiency.

[0023] 2. In the present invention, the moving plate and eccentric sleeve structural design in the creeping assembly can effectively utilize the eccentric principle to realize reciprocating motion, thereby improving the overall motion stability and wiring accuracy of the system. Moreover, through the design of replaceable components, the system can adapt to the wiring requirements of pipelines of different diameters, thereby increasing the versatility of the system and enabling it to be applied in a variety of construction scenarios. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] Figure 1 It is a schematic diagram of the overall structure of an embodiment of the present invention;

[0025] Figure 2 A schematic diagram of the structure of a drive box and a creeping assembly according to an embodiment of the present invention;

[0026] Figure 3 A schematic diagram of the structure of a creeping assembly according to an embodiment of the present invention;

[0027] Figure 4 A schematic diagram of a sports board installation structure according to an embodiment of the present invention;

[0028] Figure 5 This is a schematic diagram of the structure of a shaft rod and an eccentric sleeve according to an embodiment of the present invention;

[0029] Figure 6 A schematic diagram of the exploded structure of a guide sleeve according to an embodiment of the present invention;

[0030] Figure 7 A schematic diagram of the structure of a sports board according to an embodiment of the present invention;

[0031] Figure 8 The figure is a schematic diagram of the claw tube structure according to an embodiment of the present invention.

[0032] Reference numerals:

[0033] 100, driving machine box; 110, guide cone head; 120, motion slot; 130, shaft frame; 131, driving motor;

[0034] 200, guide sleeve; 210, claw tube; 220, planetary gear; 230, planetary sleeve; 211, inverted tooth spring; 231, rolling ball; 201, slide groove;

[0035] 300, creeping assembly; 310, moving plate; 320, shaft rod; 330, deflector sleeve; 311, walking pad; 312, conveying tooth; 321, synchronous tooth. DETAILED DESCRIPTION

[0036] To make the purpose, technical solution and advantages of the present invention more clear, the present invention is further described in detail below in combination with specific implementations and with reference to the accompanying drawings. It should be noted that the embodiments of the present invention and the features in the embodiments can be combined with each other without conflict.

[0037] It is to be understood that these descriptions are exemplary only and are not intended to limit the scope of the invention.

[0038] The following is combined with Figure 1-Figure 8 A secure wiring system and method based on intelligent construction provided by some embodiments of the present invention are described.

[0039] Example 1

[0040] The present invention provides a safe wiring system based on intelligent construction, including a driving machine box 100, a guide sleeve 200 and a creeping assembly 300, wherein a shaft frame 130 is fixedly installed on the inner side of the driving machine box 100, and a driving motor 131 is installed on the surface of the shaft frame 130. A motion groove 120 is provided on the surface of the driving machine box 100, and the creeping assembly 300 includes a plurality of motion plates 310 slidably installed on the inner side of the motion groove 120, and the plurality of motion plates 310 are evenly distributed on the inner side of the driving machine box 100 in a circumferential direction. A shaft rod 320 is rotatably sleeved on the inner side of the motion plate 310, and a deflection wheel sleeve 330 is sleeved on the surface of the shaft rod 320, and the deflection wheel sleeve 330 is rotatably sleeved on the inner side of the motion plate 310. A walking pad 311 and a conveying tooth 312 are respectively provided on both sides of the motion plate 310, and synchronous teeth 321 are provided on both ends of the plurality of shaft rods 320, and adjacent shaft rods 320 are mutually meshed and transmitted through the synchronous teeth 321. The driving motor 131 is used to drive one of the shafts 320 to rotate. The inner side of the guide sleeve 200 is slidably sleeved with a planet sleeve 230, and the inner side of the planet sleeve 230 is sleeved with a planet wheel 220. One end of the planet wheel 220 is fixedly connected to a claw tube 210, and the inner side of the claw tube 210 is provided with a plurality of inverted tooth springs 211. The inner sides of the claw tube 210, the planet wheel 220 and the guide sleeve 200 are provided with through holes for cables to pass through.

[0041] In this embodiment, the outer circle center of the eccentric sleeve 330 deviates from the axis center of the shaft 320, and the outer periphery of the eccentric sleeve 330 is provided with a ball in contact with the moving plate 310. Through the eccentric design, the rotation of the shaft 320 drives the moving plate 310 to reciprocate, thereby realizing the movement of the drive box 100 or the transmission of the cable. The surface of the conveying tooth 312 is a reverse tooth structure, and the conveying movement of the internal cable is realized through the reciprocating movement of the moving plate 310. In the cable conveying mode, the reverse tooth structure can effectively grasp and push the cable forward to ensure the smooth transportation of the cable in the pipeline. The reverse tooth structure of the reverse tooth spring 211 is used for clamping the cable, which is suitable for clamping the cable end in the traction mode, ensuring stable traction operation of the cable in a complex pipeline environment, and realizing a precise wiring process.

[0042] In addition, a guide cone head 110 is fixedly installed at one end of the driver box 100, and a guide sleeve 200 is fixedly installed at the other end of the driver box 100. The driver box 100 has a conical structure, and the guide cone head 110, the driver box 100 and the guide sleeve 200 are located on the same axis, thereby ensuring the overall stability and consistency of the system.

[0043] Through the above structure, the system of this embodiment can perform wiring in complex, narrow or long-distance pipelines, and can automatically switch between traction mode and wire feeding mode, greatly improving wiring efficiency and accuracy.

[0044] Example 2

[0045] In this embodiment, the system design is further optimized, the number of shafts 320 is twice the number of motion plates 310, and two shafts 320 are sleeved on the surface of each motion plate 310, and the eccentric directions of the eccentric sleeves 330 on the surfaces of the two shafts 320 are the same. Through the linkage rotation of the two shafts 320, each motion plate 310 can reciprocate under more stable conditions, further improving the motion stability of the system and the accuracy of wiring.

[0046] In this embodiment, a plurality of shafts 320 are arranged in a circumferential direction, and adjacent shafts 320 are connected to each other through synchronous teeth 321 on the end faces, so that the rotation of each shaft 320 can drive the adjacent shafts 320 to work synchronously, ensuring the coordination and consistency of the entire system.

[0047] In order to adapt to pipes of different specifications, a buckle groove adapted to the walking pad 311 is provided on one side of the moving plate 310, through which walking pads 311 of different specifications and sizes can be connected. The walking pad 311 is made of flexible material and can be replaced and adjusted according to the inner diameter of the pipe, adapting to different pipe specifications, thereby increasing the scope of application of the system. This design ensures that the system can maintain an efficient working state in various different pipe environments.

[0048] Through the improvements in this embodiment, the system has better stability and adaptability. It is not only suitable for pipes of different diameters, but also can maintain efficient operation of the system through the linkage structure during the wiring process, avoiding the problem of cable damage or tangling in traditional wiring methods.

[0049] Example 3

[0050] In this embodiment, the system adds a tension adjustment function. The surfaces of the conveying teeth 312 and the inverted tooth spring 211 are both inverted tooth structures. The inverted tooth spring 211 is a metal spring structure used to clamp cable ends of different specifications. Through this design, the system can automatically adjust the tension of the cable during the wiring process to avoid the cable being too tight or too loose, and ensure the safety and stability of the cable during the wiring process.

[0051] In addition, the system also integrates a fault detection and emergency processing module. When the sensor detects an obstacle inside the pipeline or abnormal cable tension, the system will sound an alarm and initiate emergency processing procedures, such as switching and adjusting the wiring path, further improving the reliability and safety of the system.

[0052] The improvements in this embodiment make the system more flexible in practical applications and can make intelligent responses according to the specific conditions in the pipeline, greatly improving the practicality and safety of the system.

[0053] The description of the above embodiments 1, 2 and 3 further demonstrates the practical application of the safe wiring system based on intelligent construction of the present invention. Through the coordination between various structures and the optimization of system functions, the present invention realizes efficient wiring for different pipeline environments, and has multiple functions such as automatic switching mode, adaptation to various pipeline specifications, real-time adjustment of cable tension and emergency handling of faults, ensuring the efficiency, safety and stability of the wiring process.

[0054] The working principle and use process of the present invention:

[0055] The safe wiring system based on intelligent construction of the present invention realizes the automatic wiring of cables, optical fibers and other cables inside pipelines by integrating the micro-traction robot with traction mode and wire feeding mode, combined with the eccentric motion and inverted tooth structure of the creeping component. The core components of the system include the micro-traction robot, the guide component and the creeping component, which can adapt to pipelines of different complexity and length, and automatically complete the traction or delivery of cables.

[0056] Traction mode: In a complex, narrow or long-distance pipeline environment, the system will start the traction mode. At this time, the robot clamps the cable end through the inverted tooth structure of the inverted tooth spring 211, and relies on the robot's own driving force to move forward in the pipeline, dragging the cable through obstacles and corners until it reaches the designated position.

[0057] Wire feeding mode: When the pipeline is relatively simple or straight, the system switches to wire feeding mode. At this time, the moving plate 310 reciprocates, and the conveying teeth 312 on its surface push the cable forward through the grabbing action of the inverted teeth, ensuring that the cable moves smoothly to the target position along the planned path.

[0058] The entire wiring process is monitored in real time by an intelligent control system. Sensors are used to detect cable tension, robot position, and conditions inside the pipeline, and the wiring strategy is automatically adjusted to ensure that the wiring process proceeds smoothly and safely.

[0059] Usage Process

[0060] Preparation and path planning: Before the wiring operation, a laser or ultrasonic scanning system is used to perform a global scan of the inside of the pipeline to generate a 3D model of the pipeline. According to the structural complexity of the pipeline, the system automatically plans the best wiring path, avoids corners, depressions or obstacles, and generates corresponding work instructions.

[0061] Robot startup: Connect the cables to be routed to the micro traction robot. According to the pipeline path planning instructions, the system automatically determines the working mode to be used:

[0062] Traction mode: If the pipeline environment is complex or the distance is long, the robot clamps the cable end through the inverted tooth spring piece 211, starts the traction mode, and drags the cable through the pipeline.

[0063] Wire feeding mode: When the pipeline is relatively straight or simple, the traction robot is fixed to a section of the pipeline, and the moving plate 310 drives the inverted tooth structure conveying teeth 312 to push the cable forward steadily through reciprocating motion.

[0064] Cable conveying or pulling:

[0065] In the wire feeding mode, the eccentric structure of the creeping assembly drives the reciprocating motion, and the conveying teeth 312 grab the wire and push it forward, thereby achieving stable wire feeding.

[0066] In the traction mode, the inverted tooth spring 211 tightly clamps the cable end, and the robot drags the cable through the pipeline by forward momentum, ensuring that the cable is smoothly arranged according to the planned route.

[0067] Real-time monitoring and adjustment: During the entire wiring process, the system uses sensors and monitoring modules to detect cable tension, obstacles inside the pipeline, and the robot's position in real time. When encountering obstacles, abnormal tension, or the robot cannot move forward, the system will sound an alarm and automatically adjust the working mode or wiring strategy, such as switching to manual control or changing the wiring path.

[0068] Wiring completed: When the robot reaches the predetermined end point, the system automatically stops the wiring operation and checks the cable layout inside the pipeline to ensure that the cables are not damaged, bent or tangled. Finally, the robot exits the pipeline according to the original planned path and feedbacks the status information of wiring completion.

[0069] Fault handling and emergency response: During the wiring process, if the sensor detects a fault such as a cable stuck or the robot cannot move forward, the system will immediately start the emergency handling procedure and try to solve the problem by adjusting the path, changing the mode or returning to the initial position to ensure that the wiring work is completed smoothly.

[0070] Through the automatic switching between the pulling mode and the wire feeding mode, the present invention can adapt to various complex pipeline environments and realize efficient and safe wiring operations. At the same time, the intelligent monitoring and path planning functions ensure that the entire process is controllable and adjustable, greatly improving the efficiency and quality of wiring work.

[0071] In the description of this specification, the description of the terms "one embodiment", "some embodiments", "specific embodiments", etc. means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic representation of the above terms does not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described can be combined in any one or more embodiments or examples in a suitable manner.

[0072] Although the embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the claims and their equivalents.

Claims

1. A safe wiring system based on intelligent construction, comprising a drive box (100), a guide sleeve (200) and a creeping assembly (300), wherein a shaft frame (130) is fixedly mounted on the inner side of the drive box (100), and a drive motor (131) is mounted on the surface of the shaft frame (130); a movement groove (120) is opened on the surface of the drive box (100), characterized in that: The creeping assembly (300) comprises a plurality of moving plates (310) slidably mounted on the inner side of the moving groove (120), and the plurality of moving plates (310) are evenly distributed on the inner side of the driving machine box (100) in a circumferential direction; a shaft (320) is rotatably sleeved on the inner side of the moving plate (310), a deflector sleeve (330) is sleeved on the surface of the shaft (320), and the deflector sleeve (330) is rotatably sleeved on the inner side of the moving plate (310); a walking pad (311) and a conveying tooth (312) are respectively provided on both sides of the moving plate (310); and synchronization teeth (321) are provided on both ends of the plurality of shafts (320). , and the shafts (320) on adjacent moving plates are meshed with each other through synchronous teeth (321) for transmission, the driving motor (131) is used to drive one of the shafts (320) to rotate, the inner side of the guide sleeve (200) is slidably sleeved with a planet sleeve (230), the inner side of the planet sleeve (230) is sleeved with a planet wheel (220), one end of the planet wheel (220) is fixedly connected with a claw tube (210), and the inner side of the claw tube (210) is provided with a plurality of inverted tooth spring pieces (211); the inner sides of the claw tube (210), the planet wheel (220) and the guide sleeve (200) are provided with through holes for the passage of cables.

2. A safe wiring system based on intelligent construction according to claim 1, characterized in that: A guide cone head (110) is fixedly mounted on one end of the drive box (100), and the guide sleeve (200) is fixedly mounted on the other end of the drive box (100); the drive box (100) is in a conical structure; and the guide cone head (110), the drive box (100) and the guide sleeve (200) are located on the same axis.

3. A safe wiring system based on intelligent construction according to claim 1, characterized in that: The center of the outer circumference of the deflector sleeve (330) deviates from the center of the axis of the shaft rod (320), and a rolling ball in contact with the moving plate (310) is provided on the outer circumference of the deflector sleeve (330).

4. The secure wiring system based on intelligent construction according to claim 1, characterized in that: The number of the shaft rods (320) is twice the number of the moving plates (310), and two shaft rods (320) are sleeved on the surface of each moving plate (310), and the eccentric directions of the eccentric wheel sleeves (330) on the surfaces of the two shaft rods (320) are the same.

5. The secure wiring system based on intelligent construction according to claim 1, characterized in that: The plurality of shaft rods (320) are arranged in a circumferential direction, and each shaft rod (320) is rotatably sleeved on the surface of the shaft frame (130).

6. The secure wiring system based on intelligent construction according to claim 1, characterized in that: A buckle groove matched with a walking pad (311) is provided on one side of the movement board (310) and is used to connect walking pads (311) of different sizes. The walking pad (311) is a flexible rubber material component.

7. The secure wiring system based on intelligent construction according to claim 1, characterized in that: The surfaces of the conveying teeth (312) and the inverted tooth spring pieces (211) are both inverted tooth structures and are arranged in the same direction; the inverted tooth spring pieces (211) are metal spring pieces and are used to clamp and position different cable ends.

8. A wiring method for a secure wiring system based on intelligent construction according to any one of claims 1 to 7, characterized in that: The following steps are involved: S1: The pipeline is globally scanned by a laser or ultrasonic scanning system to generate a three-dimensional model of the pipeline. Based on the three-dimensional model, the system automatically plans the best path to avoid corners, depressions or obstacles inside the pipeline; S2: After the cable is connected to the micro-traction robot, the robot enters the pipeline from the starting point and selects the traction mode or the wire feeding mode according to the instructions of the path planning; Traction mode: When the pipeline is complex or long, the robot starts the traction mode and drags the cable forward until it reaches the designated location; Wire feeding mode: When the pipeline is short or straight, the robot selects the wire feeding mode, pulls the cable from the supply device into the pipeline, and lays it along the predetermined route; S3: The system monitors the status of the robot and cables in real time to ensure that the robot is not affected by obstacles during its movement. The system adjusts the feeding speed and tension of the cable supply device in real time based on the tension data fed back by the sensor to prevent the cable from being too loose or too tight. S4: After the robot completes the traction task, the system checks the cable layout inside the pipeline to ensure that the cables have been properly laid. The robot automatically exits the pipeline according to the path and feedbacks the wiring completion status.

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