Tension-controlled blade inspection robot multi-gear take-up and pay-off mechanism and method thereof

Abstract

The tension-controlled blade inspection robot multi-gear take-up and pay-off mechanism comprises a winding mechanism and a control mechanism, the winding mechanism comprises a motor and a winding reel, the motor is in transmission connection with the winding reel to drive the winding reel to rotate, the control mechanism comprises an elastic telescopic rod, a movable pulley is installed at one end of the telescopic rod, and the movable pulley is installed at the other end of the telescopic rod. A conductive structure is installed on the telescopic rod, the conductive structure comprises four inner conductive rings fixedly installed on the telescopic rod at intervals and two outer conductive rings fixedly arranged outside the telescopic rod in a sleeving mode, the two outer conductive rings are connected with the positive electrode and the negative electrode of a power source respectively, and the four inner conductive rings are electrically connected with the motor in a pairwise mode. The winding mechanism is used for taking up and paying off, the control mechanism enables the telescopic rod to move axially through the pressure applied to the movable pulley by the cable, so that the winding mechanism is controlled to take up and pay off or stop locking through the conductive structure, and the problem that the take-up and pay-off mechanism cannot take up and pay off and lock dynamically according to the working state of the inspection robot is solved.

Description

Technical Field

[0001] The present invention relates to the technical field of wire retracting and releasing technology for inspection robots, and in particular to a tension-controlled multi-gear wire retracting and releasing mechanism for a blade inspection robot and a method thereof. Background Art

[0002] The use of rotor drones and adsorption robots to inspect axial-flow and mixed-flow turbine blades is an economical, efficient, safe and reliable solution. It avoids a series of manual inspection operations such as setting up a bench and personnel entering, which can save time and improve inspection safety. In this process, the rotor drone is adsorbed to the surface of the turbine blade, and the adsorption robot is released to perform a covering inspection on the surface of the turbine blade. Due to the complex electromagnetic interference environment inside the turbine and the problem of moisture on the blade surface, the adsorption robot and the rotor drone are connected by cables for power and information transmission, which also protects the adsorption robot when it falls. It is a stable and reliable solution. The problem that needs to be solved when using cable connection is the dynamic retraction and locking of the cable under different working conditions such as the adsorption robot moving forward, stopping, retreating, and falling.

[0003] The common retractable and retractable mechanisms in the existing industry often use a coil spring structure control, which uses a coil spring to drive the reel to rotate to achieve reeling. The main problem with this method is that the cable tension fluctuates and is not fully controllable. The Chinese patent 202322115837.8 discloses an enameled wire reeling mechanism that uses the balance between the slider gravity and the cable tension to achieve stable control of the cable tension. For example, the Chinese patent 202110853773.4 discloses a tension-controllable non-slip ring retractable and retractable mechanism for robots. By using a combination of electronic pressure sensors and control algorithms, the rotation of a two-degree-of-freedom robotic arm is controlled to achieve winding, which is relatively costly. Neither of the above two existing patents has a multi-gear adjustment function that dynamically retracts and releases and locks the cable according to the working mode of the adsorption robot. Summary of the invention

[0004] The purpose of the present invention is to provide a tension-controlled blade inspection robot multi-gear wire-retracting and paying-out mechanism and method thereof, so as to overcome the problem that the wire-retracting and paying-out mechanism cannot dynamically retract and pay-out and lock the wire according to the working state of the inspection robot.

[0005] To achieve the above-mentioned objectives, the present invention provides a tension-controlled blade inspection robot multi-speed wire retracting and releasing mechanism, including a winding mechanism and a control mechanism, wherein the winding mechanism and the control mechanism are installed in a shell, the winding mechanism includes a motor and a winding drum, the winding drum is rotatably installed in the shell, the motor is transmission-connected to the winding drum to drive the winding drum to rotate, the control mechanism includes an elastically retractable telescopic rod, a movable pulley is installed at one end of the telescopic rod, a conductive structure is installed on the telescopic rod, the conductive structure includes four inner conductive rings fixedly installed on the telescopic rod and arranged at intervals, and two outer conductive rings are sleeved on the outside of the telescopic rod and fixedly arranged, the two outer conductive rings are respectively connected to the positive and negative poles of the power supply, and the four inner conductive rings are electrically connected to the motor in groups of two; when in use, the cable is wound around the movable pulley and then wound on the winding drum, and when the two outer conductive rings are in contact with and separated from the two inner conductive rings in each group, the forward, reverse and stop of the motor are controlled.

[0006] It also includes a wire arrangement mechanism, which is installed in the shell and includes a wire arrangement frame, which reciprocates in the axial direction of the winding drum. When in use, the cable passes around the movable pulley, passes through the wire arrangement frame, and is then wound around the winding drum.

[0007] The winding drum is hollow inside, the motor is located inside the winding drum, and the motor is fixedly mounted on the housing. A gear ring is arranged inside the winding drum, and the output shaft of the motor is meshed with the gear ring through a gear set for transmission.

[0008] A conductive slip ring is installed at one end of the winding drum, and the cable extends from the outer surface of the winding drum into the inner surface of the winding drum and is connected with the conductive slip ring.

[0009] The wire arranging mechanism also includes a reciprocating screw and a guide column. The guide column and the reciprocating screw are both installed and fixed to the shell along the axial direction of the winding drum. One end of the wire arranging frame is slidably mounted on the guide column, and the other end is mounted on the reciprocating screw and is screwed together with the reciprocating screw. When the reciprocating screw rotates, it drives the wire arranging frame to reciprocate along the axial direction of the reciprocating screw.

[0010] The wire arrangement mechanism also includes an input gear, which is fixedly mounted on the end of the reciprocating screw rod. The outer circumference of the winding drum is also provided with an outer gear ring, which meshes with the input gear for transmission.

[0011] The control mechanism also includes a first bracket and two second brackets, the first bracket and the second bracket are respectively fixed to the shell, the telescopic rod is slidably installed on the first bracket and the second bracket, the telescopic rod is located at one end of the first bracket and a pulley seat is installed, the movable pulley is rotatably installed on the pulley seat, the telescopic rod is sleeved with a spring, one end of the spring abuts against the first bracket, and the other end abuts against the pulley seat; the outer conductive ring is installed on the second bracket.

[0012] The shell body is provided with a guide groove, the pulley seat is provided with a guide rod, and the guide rod extends into the guide groove.

[0013] The control mechanism also includes two fixed pulleys, which are far away from the movable pulley and are rotatably mounted in the housing through a fixed pulley bracket. When in use, the cable passes around one of the fixed pulleys, then around the movable pulley, and then around the other fixed pulley.

[0014] The method of adopting the multi-gear wire-retracting and releasing mechanism of the blade inspection robot controlled by the tension is used to retract and release the cable, and comprises the following steps: After the cable passes over the movable pulley, it is wound on the bobbin; When the cable is subjected to tension, the tension causes the cable to squeeze the movable pulley, thereby causing the telescopic rod to produce axial displacement, thereby changing the positional relationship between the four inner conductive rings and the two outer conductive rings; Four inner conductive rings are installed on the telescopic rod in sequence from an end away from the movable pulley to an end close to the movable pulley; When the first and third inner conductive rings are in contact with the two outer conductive rings respectively, it means that the cable is not pulled and stressed, and the motor rotates to make the winding drum rotate and reel in the cable; When the winding drum rotates to reel in the wire, the cable will eventually squeeze the movable pulley, so that the first and third inner conductive rings are separated from the outer conductive ring respectively, and the motor stops working; When the cable is pulled and stressed, the cable will further squeeze the movable pulley. At this time, when the second and fourth inner conductive rings are in contact with the two outer conductive rings respectively, the motor rotates to make the winding drum rotate to release the wire. When the movable pulley is squeezed to move the telescopic rod to the limit position, that is, the cable tension suddenly increases, and the inspection robot falls, the second and fourth inner conductive rings are separated from the two outer conductive rings respectively, and the motor stops working.

[0015] Compared with the prior art, the present invention has the following technical effects: 1. The winding mechanism of the present invention is used for winding and releasing wires. The control mechanism applies pressure to the movable pulley through the cable to make the telescopic rod move axially, thereby controlling the winding mechanism to wind up, release or stop locking through the conductive structure, thereby overcoming the problem that the winding and releasing mechanism cannot dynamically wind up, release or lock the wire according to the working state of the inspection robot.

[0016] 2. The present invention is suitable for cable power supply and protection of turbine blade inspection robots. Through mechanical design, it can realize multi-gear dynamic retraction and locking of cables under different working conditions of the inspection robot. The cables can be released, stopped, retracted and locked respectively when the inspection robot moves forward, stops, moves backward and falls, effectively improving the power supply reliability and operation safety of the inspection robot.

[0017] 3. The present invention is provided with a cable arrangement mechanism, which can arrange the cables neatly. The gears of the wire taking-up mechanism and the cable arrangement mechanism are synchronized, so that the cables can be stacked and wound on the winding drum in an orderly manner. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the following is a brief introduction to the drawings required for use in the embodiments or the prior art description: Figure 1 It is a schematic diagram of the internal structure of the present invention; Figure 2 This is a schematic diagram of the internal structure of the present invention from another perspective.

[0019] Reference numerals: Shell 11, support rod 12; Motor 21, gear set 22, bobbin 23, conductive slip ring 24; Input gear 31, reciprocating screw 32, wire rack 33, guide column 34; Fixed pulley 41 , pulley bracket 42 , movable pulley 43 , telescopic rod 44 , first bracket 45 , spring 46 , inner conductive ring 47 , first inner conductive ring 471 , second inner conductive ring 472 , third inner conductive ring 473 , fourth inner conductive ring 474 , outer conductive ring 48 , second bracket 49 . DETAILED DESCRIPTION

[0020] Embodiments of the present invention are described in detail below. Examples of the embodiments are shown in the accompanying drawings. The embodiments described below with reference to the accompanying drawings are exemplary and are intended to be used to explain the present invention, but should not be construed as limiting the present invention.

[0021] Embodiment 1: See also Figure 1-2 A tension-controlled blade inspection robot multi-gear wire retracting and releasing mechanism includes a winding mechanism and a control mechanism, wherein the winding mechanism and the control mechanism are installed in a housing 11, wherein the winding mechanism includes a motor 21 and a winding drum 23, wherein the winding drum 23 is rotatably installed in the housing 11, wherein the motor 21 is transmission-connected to the winding drum 23 to drive the winding drum 23 to rotate, wherein the control mechanism includes an elastically retractable telescopic rod 44, wherein a movable pulley 43 is installed at one end of the telescopic rod 44, wherein a conductive structure is installed on the telescopic rod 44, wherein the conductive structure The structure includes four inner conductive rings 47 fixedly mounted on the telescopic rod 44 and spaced apart, and two outer conductive rings 48 sleeved on the outside of the telescopic rod 44 and fixedly arranged, the two outer conductive rings 48 are respectively connected to the positive and negative poles of the power supply, and the four inner conductive rings 47 are respectively electrically connected to the motor 21 in groups of two; when in use, the cable passes around the movable pulley 43 and is wound around the winding drum 23, and when the two outer conductive rings 48 are respectively in contact with and separated from the two inner conductive rings 47 of each group, the forward and reverse rotation and stop of the motor 21 are controlled.

[0022] The winding mechanism is used to reel in and release the wire. The control mechanism applies pressure to the movable pulley 43 through the cable to move the telescopic rod 44 axially, thereby controlling the winding mechanism to reel in, release the wire or stop locking through the conductive structure, thereby overcoming the problem that the reeling and releasing wire mechanism cannot dynamically reel in and release the wire and lock it according to the working status of the inspection robot.

[0023] The housing 11 includes an upper plate and a lower plate, which are connected by a support rod 12 to form a lightweight cavity, in which the remaining components of the present invention can be fixed and installed.

[0024] The inner conductive ring 47 and the outer conductive ring 48 may be graphite copper rings.

[0025] The telescopic rod 44 is elastically installed. When the movable pulley 43 is pressed, Figure 2 The telescopic rod 44 moves to the left together with the four inner conductive rings 47 above. When the pressure on the movable pulley 43 is reduced to a certain extent, the telescopic rod 44 moves to the right together with the four inner conductive rings 47 above. The two outer conductive rings 48 are respectively connected to the two inner conductive rings 47 of each group through the cable to make the pressure on the movable pulley 43 different, so that the two outer conductive rings 48 are respectively in contact with and separated from the two inner conductive rings 47 of each group, thereby controlling the forward, reverse and stop of the motor 21.

[0026] Furthermore, it also includes a wire arrangement mechanism, which is installed in the housing 11, and includes a wire arrangement frame 33, which reciprocates in the axial direction of the winding drum 23. The wire arrangement frame 33 moves up and down, and arranges the wire while the winding drum 23 is winding. When in use, the cable passes around the movable pulley 43, passes through the wire arrangement frame 33, and then is wound on the winding drum 23. The cable passes through the hole of the wire arrangement frame 33 and moves up and down with the wire arrangement frame 33.

[0027] For details, see Figure 1 In this embodiment, the winding drum 23 is hollow inside, the motor 21 is located inside the winding drum 23, and the motor 21 is fixedly installed with the housing 11. A gear ring is provided inside the winding drum 23, and the output shaft of the motor 21 is meshed with the gear ring through the gear set 22 for transmission.

[0028] For further information, see Figure 1 A conductive slip ring 24 is installed at one end of the winding drum 23, and the cable extends from the outer surface of the winding drum 23 into the inner surface of the winding drum 23 and is connected to the conductive slip ring 24 to prevent the output end of the cable from rotating around itself when rotating.

[0029] See also Figure 1 , 2The wire arrangement mechanism also includes a reciprocating screw 32 and a guide post 34. The guide post 34 and the reciprocating screw 32 are both fixed to the housing 11 along the axial direction of the winding drum 23. One end of the wire arrangement frame 33 is slidably mounted on the guide post 34, and the other end is mounted on the reciprocating screw 32 and is screwed with the reciprocating screw 32. When the reciprocating screw 32 rotates, the wire arrangement frame 33 is driven to reciprocate along the axial direction of the reciprocating screw 32. The reciprocating screw 32 is a prior art. One end of the wire arrangement frame 33 that is connected to the reciprocating screw 32 is provided with a nut sleeve structure that cooperates with the reciprocating screw 32. When the reciprocating screw 32 rotates, the wire arrangement frame 33 is driven to reciprocate up and down. In this solution, the reciprocating screw 32 can be rotated synchronously with the winding drum 23 by another motor.

[0030] For further information, see Figure 1 The wire arrangement mechanism further includes an input gear 31, which is fixedly mounted on the end of the reciprocating screw 32. The outer circumference of the winding drum 23 is also provided with an outer gear ring, which meshes with the input gear 31. In this way, the reciprocating screw 32 does not need additional power to drive, and the rotation of the winding drum 23 can drive the reciprocating screw 32 to rotate synchronously.

[0031] For details, see Figure 2 The control mechanism further includes a first bracket 45 and two second brackets 49, the first bracket 45 and the second bracket 49 are respectively fixed to the housing 11, the telescopic rod 44 is slidably mounted on the first bracket 45 and the second bracket 49, the telescopic rod 44 is located at one end of the first bracket 45 and is mounted with a pulley seat, the movable pulley 43 is rotatably mounted on the pulley seat, the telescopic rod 44 is sleeved with a spring 46, one end of the spring 46 abuts against the first bracket 45, and the other end abuts against the pulley seat; the outer conductive ring 48 is mounted on the second bracket 49. Through the above structure, the elastic extension and retraction of the telescopic rod 44 is achieved.

[0032] In this embodiment, the two second brackets 49 and the telescopic rod 44 are made of insulating materials with structural strength, such as engineering nylon or ceramic materials. The interior of the telescopic rod 44 may be hollow for passing a wire, and a hole is provided on the telescopic rod 44 at the position of the inner conductive ring 47 to facilitate the connection between the inner conductive ring 47 and the wire.

[0033] Furthermore, a guide groove is provided on the housing 11, and a guide rod is provided on the pulley seat. The guide rod extends into the guide groove to enable the movable pulley 43 to telescopically move in a directional manner.

[0034] See also Figure 1 , 2The control mechanism further includes two fixed pulleys 41, which are far away from the movable pulley 43 and are rotatably mounted in the housing 11 through a fixed pulley bracket 42; when in use, the cable passes around one of the fixed pulleys 41, then around the movable pulley 43, and then around the other fixed pulley 41. The pressure acting on the movable pulley 43, i.e., the axis of the telescopic rod 44, is twice the cable tension, thereby amplifying the cable tension.

[0035] Embodiment 2: See also Figure 2 The method of using the multi-gear wire-retracting and releasing mechanism of the blade inspection robot controlled by the tension is used to retract and release the cable, and includes the following steps: After the cable passes around the movable pulley 43 , it is wound around the bobbin 23 .

[0036] When the cable is subjected to tension, the tension causes the cable to squeeze the movable pulley 43 , thereby causing the telescopic rod 44 to produce an axial displacement, thereby changing the positional relationship between the four inner conductive rings 47 and the two outer conductive rings 48 .

[0037] The four inner conductive rings 47 are installed on the telescopic rod 44 in sequence from the end farthest from the movable pulley 43 to the end close to the movable pulley 43. The four inner conductive rings 47 are a first inner conductive ring 471, a second inner conductive ring 472, a third inner conductive ring 473 and a fourth inner conductive ring 474.

[0038] When the first and third inner conductive rings 47 are in contact with the two outer conductive rings 48 respectively, that is, the first inner conductive ring 471 and the third inner conductive ring 473 are in contact with the two outer conductive rings 48 respectively, it means that the cable is not pulled and the motor 21 rotates to make the winding drum 23 rotate to reel in the line.

[0039] When the winding drum 23 rotates to reel in the wire, the cable will eventually squeeze the movable pulley 43, so that the first and third inner conductive rings 47 are separated from the outer conductive rings 48, that is, the first inner conductive ring 471 and the third inner conductive ring 473 are separated from the two outer conductive rings 48, and the motor 21 stops working.

[0040] When the cable is pulled and stressed, the cable will further squeeze the movable pulley 43. At this time, the second and fourth inner conductive rings 47 are in contact with the two outer conductive rings 48 respectively, and the second inner conductive ring 472 and the fourth inner conductive ring 474 are in contact with the two outer conductive rings 48 respectively. Since the wiring method of the second inner conductive ring 472 and the fourth inner conductive ring 474 and the motor 21 is opposite to the wiring method of the first inner conductive ring 471 and the third inner conductive ring 473 and the motor 21, the motor 21 rotates in the opposite direction, causing the winding drum 23 to rotate to release the wire.

[0041] When the movable pulley 43 is squeezed to move the telescopic rod 44 to the extreme position, that is, the cable tension suddenly increases, and the inspection robot falls, the second and fourth inner conductive rings 47 are separated from the two outer conductive rings 48 respectively, that is, the second inner conductive ring 472 and the fourth inner conductive ring 474 are separated from the two outer conductive rings 48 respectively, and the motor 21 stops working to protect the inspection robot from continuing to fall.

Claims

1. A tension-controlled blade inspection robot multi-gear wire-reeling mechanism, comprising a winding mechanism and a control mechanism, characterized in that: The winding mechanism and the control mechanism are installed in a housing (11). The winding mechanism comprises a motor (21) and a winding drum (23). The winding drum (23) is rotatably installed in the housing (11). The motor (21) is transmission-connected to the winding drum (23) to drive the winding drum (23) to rotate. The control mechanism comprises an elastic telescopic rod (44). A movable pulley (43) is installed at one end of the telescopic rod (44). A conductive structure is installed on the telescopic rod (44). The conductive structure comprises a spacer fixedly installed on the telescopic rod (44). Four inner conductive rings (47) are provided, and two outer conductive rings (48) are sleeved on the outside of the telescopic rod (44) and fixedly provided, the two outer conductive rings (48) are respectively connected to the positive and negative electrodes of the power supply, and the four inner conductive rings (47) are respectively electrically connected to the motor (21) in groups of two. When in use, the cable passes around the movable pulley (43) and is then wound around the winding drum (23), and when the two outer conductive rings (48) are respectively in contact with and separated from the two inner conductive rings (47) in each group, the forward and reverse rotation and stop of the motor (21) are controlled.

2. The multi-gear pay-off and take-up mechanism of the tension-controlled blade inspection robot according to claim 1 is characterized in that: It also includes a wire arrangement mechanism, which is installed in the housing (11) and includes a wire arrangement frame (33). The wire arrangement frame (33) reciprocates in the axial direction of the winding drum (23). When in use, the cable passes around the movable pulley (43), passes through the wire arrangement frame (33), and is then wound around the winding drum (23).

3. The multi-gear pay-off and take-up mechanism of the tension-controlled blade inspection robot according to claim 1 is characterized in that: The winding drum (23) is hollow inside, the motor (21) is located inside the winding drum (23), and the motor (21) is fixedly mounted on the housing (11). A gear ring is provided inside the winding drum (23), and the output shaft of the motor (21) is meshed with the gear ring through the gear set (22) for transmission.

4. The multi-gear pay-off and take-up mechanism of the tension-controlled blade inspection robot according to claim 1 is characterized in that: A conductive slip ring (24) is installed at one end of the winding drum (23), and a cable extends from the outer surface of the winding drum (23) into the inner surface of the winding drum (23) to be connected to the conductive slip ring (24).

5. The multi-gear pay-off and take-up mechanism of the tension-controlled blade inspection robot according to claim 2 is characterized in that: The wire arrangement mechanism also includes a reciprocating screw (32) and a guide post (34). The guide post (34) and the reciprocating screw (32) are both fixedly mounted on the housing (11) along the axial direction of the winding drum (23). One end of the wire arrangement frame (33) is slidably mounted on the guide post (34), and the other end is mounted on the reciprocating screw (32) and is screwed together with the reciprocating screw (32). When the reciprocating screw (32) rotates, it drives the wire arrangement frame (33) to reciprocate along the axial direction of the reciprocating screw (32).

6. The multi-gear pay-off and take-up mechanism of the blade inspection robot with tension control according to claim 5 is characterized in that: The wire arrangement mechanism further comprises an input gear (31), the input gear (31) being fixedly mounted on the end of the reciprocating screw (32), and an outer gear ring is further provided on the outer circumference of the winding drum (23), the outer gear ring meshing with the input gear (31) for transmission.

7. The multi-gear pay-off and take-up mechanism of the tension-controlled blade inspection robot according to claim 1 is characterized in that: The control mechanism further comprises a first bracket (45) and two second brackets (49), the first bracket (45) and the second bracket (49) being respectively fixedly mounted on the housing (11), the telescopic rod (44) being slidably mounted on the first bracket (45) and the second bracket (49), one end of the telescopic rod (44) being located on the first bracket (45) being mounted with a pulley seat, the movable pulley (43) being rotatably mounted on the pulley seat, the telescopic rod (44) being sleeved with a spring (46), one end of the spring (46) being against the first bracket (45), and the other end being against the pulley seat; the outer conductive ring (48) being mounted on the second bracket (49).

8. The multi-gear pay-off and take-up mechanism of the tension-controlled blade inspection robot according to claim 7 is characterized in that: The housing (11) is provided with a guide groove, the pulley seat is provided with a guide rod, and the guide rod extends into the guide groove.

9. The multi-gear pay-off and take-up mechanism of a blade inspection robot with tension control according to claim 1, characterized in that: The control mechanism further comprises two fixed pulleys (41), the two fixed pulleys (41) being away from the movable pulley (43), and the fixed pulleys (41) being rotatably mounted in the housing (11) via fixed pulley brackets (42); when in use, the cable passes around one of the fixed pulleys (41), then passes around the movable pulley (43), and then passes around the other fixed pulley (41).

10. A method for retracting and releasing cables by using the multi-gear wire-retracting mechanism of a blade inspection robot with tension control as described in any one of claims 1 to 9, characterized in that: The following steps are involved: After the cable passes around the movable pulley (43), it is wound around the winding drum (23); When the cable is subjected to tension, the tension causes the cable to squeeze the movable pulley (43), thereby causing the telescopic rod (44) to produce an axial displacement, thereby changing the positional relationship between the four inner conductive rings (47) and the two outer conductive rings (48); Four inner conductive rings (47) are installed on the telescopic rod (44) in sequence from an end away from the movable pulley (43) to an end close to the movable pulley (43); When the first and third inner conductive rings (47) are in contact with the two outer conductive rings (48) respectively, it indicates that the cable is not being pulled and stressed, and the motor (21) rotates to make the winding drum (23) rotate to reel in the cable; When the winding drum (23) rotates to reel in the wire, the wire will eventually squeeze the movable pulley (43), so that the first and third inner conductive rings (47) are separated from the outer conductive ring (48), respectively, and the motor (21) stops working; When the cable is pulled and stressed, the cable will further squeeze the movable pulley (43), and at this time, when the second and fourth inner conductive rings (47) are in contact with the two outer conductive rings (48) respectively, the motor (21) rotates, causing the winding drum (23) to rotate and release the wire; When the movable pulley (43) is squeezed to move the telescopic rod (44) to the limit position, that is, the cable tension suddenly increases, and the inspection robot falls, the second and fourth inner conductive rings (47) are separated from the two outer conductive rings (48) respectively, and the motor (21) stops working.

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