Electric parallel drive flexible detection cable

Abstract

The invention discloses an electric parallel drive flexible detection cable, belongs to the technical field of search and rescue detection, and aims to solve the problems in the prior art. The device comprises a direction control section, a flexible section, a rigid section, a control box and a control rope connected between the direction control section and the control box which are connected in sequence, and the control box controls the direction of the direction control section through the control rope; the direction control section comprises a first direction pipe and a second direction pipe connected with the first direction pipe through a flexible joint. The control box comprises a box body and two groups of adjusting mechanisms symmetrically arranged on the box body; each group of adjusting mechanism comprises an operating rod; the bracket is arranged in the box body; the tensioning disc is connected with the bracket through a parallel control device; the four groups of euphroes are arranged on the inner surface of the tensioning disc; one ends of the four control ropes are respectively connected with the four groups of euphroes to adjust the tightness; the four spinning rollers are arranged on the outer surface of the tensioning disc, and the four euphroes are adjusted through the four spinning rollers.

Description

Technical Field

[0001] The invention belongs to the technical field of search and rescue detection, and in particular relates to an electrically-driven parallel-driven flexible detection rope equipped with a camera. Background Art

[0002] Natural disasters such as earthquakes, mining accidents and tsunamis are considered unavoidable. When natural disasters occur, they will cause building collapse and casualties. People will not be able to escape in time and will be buried. The most urgent task after a disaster is to search and rescue survivors trapped in the rubble.

[0003] In the prior art, during the rescue process, life detection is performed manually with the help of instruments. Most life detectors use sensors and other means for detection. The detection process is also located in the external space of the ruins. The result obtained is whether there are people buried. The positioning information, physiological information, and environmental information of the buried people and the trapped area cannot be obtained, and it is impossible to provide protection for subsequent rescue work.

[0004] The Chinese patent with the publication number CN102784444A discloses a technical solution named portable life detection flexible rope, which includes five parts: direction control unit, flexible telescopic unit, quick-insert expansion unit, force unit and direction control platform. The direction control units are connected by a cross universal coupling, and a reset unit is also set on the outside; the direction control unit and the flexible telescopic unit adopt a cross universal coupling; the flexible telescopic unit and the quick-insert expansion unit, and the quick-insert expansion unit and the force unit are all connected by quick-insert connectors; the force unit and the direction control platform are mechanically connected. The control part of the flexible rope adopts manual loading, which is laborious to operate; the control handle needs to use the lever principle to amplify the control force, so the overall outline size of the control box is too large, which is not convenient to carry in emergency rescue detection; the control rope tensioning mechanism adopts a ratchet tensioner, which is limited by the ratchet and cannot achieve stepless adjustment, cannot achieve any length adjustment, and has poor adjustment continuity; the direction control section adopts a cross universal coupling, which has a large mass, a large limit on the radial size of the flexible rope, and no angle recovery ability. Summary of the invention

[0005] The purpose of the present invention is to propose an electric parallel driven flexible detection rope to solve the problems of the prior art such as laborious operation, inability to achieve stepless adjustment, large mass, large radial size restrictions on the flexible rope, and no angle recovery capability.

[0006] To achieve the above-mentioned purpose, the electric parallel-driven flexible detection rope of the present invention comprises a direction control section, a flexible section, a rigid section, a control box connected in sequence, and a control rope connected between the direction control section and the control box, and the control box controls the direction of the direction control section through the control rope;

[0007] The direction control section comprises:

[0008] A first directional tube, one end of which is connected to an end of a flexible section via a set of flexible joints;

[0009] A first fixing ring fixedly disposed in the first direction tube;

[0010] A second directional tube having one end connected to the other end of the first directional tube through another set of flexible joints;

[0011] and a second fixing ring fixedly disposed in the second direction tube;

[0012] The control box includes a box body and two sets of adjustment mechanisms symmetrically arranged on the box body; each set of adjustment mechanisms includes:

[0013] A control lever disposed on the upper end surface of the box;

[0014] A bracket installed inside the box;

[0015] A tensioning disk connected to the bracket via a parallel control device, the tensioning disk serving as an end member at one end of the box, the control lever adjusting the angle of the tensioning disk relative to the bracket via the parallel control device;

[0016] Four groups of rope tighteners are arranged on the inner surface of the tensioning disk, and one end of four control ropes are respectively connected to the four groups of rope tighteners to adjust the tension; the other ends of the four control ropes of one group of adjustment mechanisms are evenly fixed on the first fixing ring, and the other ends of the four control ropes of the other group of adjustment mechanisms are evenly fixed on the second fixing ring;

[0017] And four adjusting wheels are arranged on the outer surface of the tensioning disk, and four rope tighteners are adjusted by the four adjusting wheels.

[0018] The control box also includes:

[0019] A battery pack, wherein the battery pack and the parallel control device are connected to supply power;

[0020] And two hanging rings are symmetrically fixedly arranged on the upper surface of the control box.

[0021] The rope tightener comprises:

[0022] The two ends of the rope winding shaft are supported on the tensioning disk by supports, and a worm gear and a groove wheel coaxial with the rope winding shaft are fixed on the rope winding shaft; one end of the control rope is wound in the groove wheel of the rope winding shaft, and the other end enters the detection rope through the wire rope sheath;

[0023] And a worm is arranged on the tensioning disk and meshed with the worm wheel. One end of the four worms of the four rope tighteners on a tensioning disk passes through the tensioning disk and extends to the outside of the control box, and is coaxially fixedly connected with four adjusting wheels respectively.

[0024] The parallel control device comprises:

[0025] A support rod, one end of which is connected to the tensioning disc ball-hook, and the other end of which is connected to the center of the bracket;

[0026] And two electric push rods, one end of each electric push rod is connected to the end face of the bracket through a hinge seat, and the other end is connected to the tensioning plate through a cross universal coupling; the extension and retraction of the electric push rod is controlled by the control rod; the two electric push rods and the support rod are arranged in a triangle between the bracket and the tensioning plate.

[0027] The electric push rod is a 24V micro electric push rod.

[0028] The direction control section also includes a camera arranged at the other end of the second direction tube.

[0029] The flexible joint comprises:

[0030] Two plugging pieces, the two plugging pieces are located inside the two ends to be connected to seal the inside of the pipe, and one end of the plugging piece located outside is provided with an annular groove;

[0031] Two spring fixed shafts respectively connected to the centers of the two blocking members;

[0032] A joint spring, wherein both ends of the joint spring are respectively connected to two spring fixing shafts;

[0033] And a return spring connected between the annular grooves on the end faces of the two blocking pieces.

[0034] The flexible section comprises a plurality of flexible tubes connected end to end, and two adjacent flexible tubes are connected via a second quick connector.

[0035] The rigid section includes a rigid tube; one end of the rigid tube is connected to the control box via a flange joint, and the other end is connected to the end of the flexible tube via a first quick joint; a groove is provided in the middle section of the side wall of the rigid tube, and each of the control ropes includes two sections, and the two sections of each control rope are connected by a wire rope joint at the corresponding position of the rigid tube groove.

[0036] The second quick connector of the flexible section has the same structure as the first quick connector of the rigid section; the second quick connector comprises:

[0037] Thin wall nuts;

[0038] A porous guide disk located inside the thin-walled nut and coaxially arranged with the thin-walled nut;

[0039] An outer flange section clamped with the inner surface of one side of the thin-walled nut, wherein the outer flange section is fixedly arranged with one flexible tube end of two adjacent flexible tubes;

[0040] And an external thread section, one end of which is threadedly connected to the thin-wall nut, and the other end of which is fixedly arranged with the other flexible pipe end portions of two adjacent flexible pipes.

[0041] The beneficial effects of the present invention are as follows: the detection end of the electric parallel-driven flexible detection rope of the present invention can penetrate into narrow spaces such as cavities and gaps, and complete detection, flaw detection, life search and rescue and other tasks through detection sensors such as the cameras carried. The overall structure includes four parts: a control box, a rigid section, a flexible section and a direction control section. The flexible section and the direction control section constitute the main body of the flexible rope that penetrates into narrow spaces. The power for the flexible rope to move forward in a narrow space comes from the operator's pushing force, and through the artificial pushing of the control box forward, the forward power is transmitted to the direction control section through the rigid section and the flexible section, so that the flexible rope moves forward in the narrow space; the operator relies on the detection sensors such as the camera installed at the front end of the direction control section to identify the information inside the space; the operator can control the spatial posture of the direction control section through the control box, and then can select the detection direction in the narrow space in combination with the information returned by the camera, etc.

[0042] The present invention adopts electric drive parallel mechanism control, which is labor-saving and has precise direction control. A small worm gear tensioner is adopted to achieve the adjustment of any advancement force. Eight control lines are adopted. The increase in control lines improves the accuracy of the spatial angle of the direction segment. At the same time, the number of control lines is consistent with the number of azimuth changes achieved by the single motor action of the parallel mechanism, which is convenient for achieving azimuth control. The brake line protective tube is adopted as a wire divider, which greatly improves the wear resistance and improves the reliability of the equipment. A double-spring flexible universal joint is adopted, and a small spring is used to replace the cross universal coupling, which has a small mass, a small size, and a good recovery ability. BRIEF DESCRIPTION OF THE DRAWINGS

[0043] Figure 1 It is a schematic diagram of the overall structure of the electric parallel-driven flexible detection cable of the present invention;

[0044] Figure 2 It is a schematic diagram of the structure of the control box in the electric parallel drive flexible detection cable of the present invention;

[0045] Figure 3 It is a structural schematic diagram of a parallel control device in an electrically-driven parallel-driven flexible detection cable of the present invention;

[0046] Figure 4 It is a schematic diagram of the rigid section structure of the electric parallel-driven flexible detection cable of the present invention;

[0047] Figure 5It is a schematic diagram of the structure of the flexible section in the electric parallel-driven flexible detection cable of the present invention;

[0048] Figure 6 It is a schematic diagram of the structure of the second quick connector in the electric parallel-driven flexible detection cable of the present invention;

[0049] Figure 7 It is a schematic diagram of the structure of the direction control section of the electric parallel-driven flexible detection cable of the present invention;

[0050] Among them: 1. Control box, 101. Control lever, 102. Box, 103. Hanging ring, 104. Rope tightener, 1041. Rope reel, 1042. Support, 1043. Worm, 105. Parallel control device, 1051. Articulated seat, 1052. Electric push rod, 1053. Cross universal coupling, 1054. Support rod, 106. Bracket, 107. Wire rope sheath, 108. Battery pack, 109. Adjusting wheel, 110. Tensioning disk, 2. Rigid section, 201. Rigid tube, 202. Wire rope joint, 2 03. First quick connector, 204. Flange connector, 3. Flexible section, 301. Flexible tube, 302. Second quick connector, 3021. External thread section, 3022. Thin-walled nut, 3023. External flange section, 3024. Porous guide plate, 4. Direction control section, 401. Camera, 402. Second direction tube, 403. First fixing ring, 404. Reset spring, 405. Sealing piece, 406. Spring fixing shaft, 407. Joint spring, 408. First direction tube, 409. Second fixing ring, 5. Control rope. DETAILED DESCRIPTION

[0051] The embodiments of the present invention will be further described below in conjunction with the accompanying drawings.

[0052] See also Figure 1-Figure 7 The electric parallel-driven flexible detection rope of the present invention comprises a direction control section 4, a flexible section 3, a rigid section 2, a control box 1, and a control rope 5 connected between the direction control section 4 and the control box 1, and the control box 1 controls the direction of the direction control section 4 through the control rope 5;

[0053] The direction control section 4 comprises:

[0054] A first directional tube 408, one end of which is connected to the end of the flexible section 3 through a set of flexible joints;

[0055] A first fixing ring 403 fixedly disposed in a first directional tube 408;

[0056] A second directional tube 402 having one end connected to the other end of the first directional tube 408 through another set of flexible joints;

[0057] and a second fixing ring 409 fixedly disposed in the second direction tube 402;

[0058] The control box 1 includes a box body 102 and two sets of adjustment mechanisms symmetrically arranged on the box body 102; each set of adjustment mechanisms includes:

[0059] A control lever 101 disposed on the upper end surface of the box body 102;

[0060] A bracket 106 installed inside the box 102;

[0061] A tensioning plate 110 connected to the bracket 106 via a parallel control device 105, the tensioning plate 110 being an end member at one end of the box 102, and the control rod 101 adjusting the angle of the tensioning plate 110 relative to the bracket 106 via the parallel control device 105;

[0062] Four groups of rope tighteners 104 are arranged on the inner surface of the tensioning disk 110, and one end of the four control ropes 5 are respectively connected to the four groups of rope tighteners 104 to adjust the tension; the other ends of the four control ropes 5 of one group of adjustment mechanisms are evenly fixed on the first fixing ring 403, and the other ends of the four control ropes 5 of the other group of adjustment mechanisms are evenly fixed on the second fixing ring 409;

[0063] And four adjusting wheels 109 are arranged on the outer surface of the tensioning disk 110 , and the four rope tighteners 104 are adjusted by the four adjusting wheels 109 .

[0064] The control box 1 also includes:

[0065] The battery pack 108 is connected to the parallel control device 105 for power supply; the battery pack 108 supplies power to the 24V micro electric push rod 1052 in the parallel control device 105, and the joystick 101 is a switch in the power supply circuit, which is used to control the 24V micro electric push rod 1052 to get power and work;

[0066] And two hanging rings 103 are symmetrically fixedly arranged on the upper surface of the control box 1.

[0067] The rope tightener 104 comprises:

[0068] The two ends are supported by the rope winding shaft 1041 on the tensioning disk 110 through the support 1042, and the rope winding shaft 1041 is fixed with a worm gear and a groove wheel coaxial with the rope winding shaft 1041; one end of the control rope 5 is wound in the groove wheel of the rope winding shaft 1041, and the other end enters the detection rope through the wire rope sheath 107;

[0069] And a worm 1043 is arranged on the tensioning disk 110 and meshed with the worm wheel. One end of the four worms 1043 of the four rope tighteners 104 on one tensioning disk 110 passes through the tensioning disk 110 and extends to the outside of the control box 1, and is coaxially fixedly connected to the four adjusting wheels 109 respectively.

[0070] The parallel control device 105 comprises:

[0071] A support rod 1054, one end of which is connected to the tensioning disk 110 by a ball joint, and the other end of which is connected to the center of the bracket 106;

[0072] And two electric push rods 1052, one end of each of the electric push rods 1052 is connected to the end face of the bracket 106 through the hinge seat 1051, and the other end is connected to the tension plate 110 through the cross universal coupling 1053; the extension and contraction of the electric push rods 1052 is controlled by the control rod 101; the two electric push rods 1052 and the support rod 1054 are arranged in a triangle between the bracket 106 and the tension plate 110. The control rod 101 is actually a rocker handle, and the control rod 101 has four movable directions, corresponding to the power-on control of the four electric push rods 1052. When the control rod 101 is pushed in a certain direction, the electric push rod 1052 corresponding to the direction will be powered on and move, and the other three push rods will remain stationary.

[0073] The electric push rod 1052 is a 24V micro electric push rod 1052.

[0074] The function of the control box 1 is to control the extension and retraction of the control rope 5, and utilize the extension and retraction of the control rope 5 to control the spatial angle change of the direction control section 4 of the detection rope, thereby realizing the selection of the detection direction.

[0075] The outside of the control box 1 is a box body 102. A pair of control rods 101 and a pair of hanging rings 103 are installed on the upper surface of the box body 102. The control rods 101 are SMC35D mechanical control rods 101, which can control two sets of parallel control devices 105 inside the box body 102 respectively, so as to realize the control of the direction section of the flexible cable. The hanging ring 103 can provide a hanging rope fixing point for carrying and operating the device.

[0076] A support rod 1054 is installed in the center of the bracket 106, and the support rod 1054 is connected to the tension disk 110 by a ball joint. The bracket 106 is hinged to the 24V micro electric push rod 1052 through the hinge seat 1051. The front end of the electric push rod 1052 is connected to the cross universal coupling 1053, and the cross universal coupling 1053 is connected to the tension disk 110. The support rod 1054 and the two electric push rods 1052 are arranged in a triangle between the bracket 106 and the tension disk 110. The extension and retraction of the electric push rod 1052 can be controlled by the control rod 101, thereby realizing the change of the angle of the tension disk 110. Four sets of rope tighteners 104 are installed on the tensioning disk 110. The core of the rope tightener 104 is a rope reel 1041 with a worm gear and a groove wheel. The rope reel 1041 is fixed on the tensioning disk 110 through the supports 1042 at both ends. One end of the control rope 5 is wound in the groove wheel of the rope reel 1041, and the other end enters the detection rope through the wire rope sheath 107, and finally connects with the direction control section 4. With the change of the angle of the tensioning disk 110, the posture change of the flexible rope direction control section 4 can be realized through the control rope 5. Four adjusting wheels 109 are installed on the back of the tensioning disk 110. The adjusting wheels 109 are connected to the worm 1043, and the worm 1043 is meshed with the worm wheel on the rope reel 1041. The rotation of the rope reel 1041 can be controlled by adjusting the wheels 109, so as to realize the tensioning of the control rope 5.

[0077] The direction control section 4 further includes a camera 401 arranged at the other end of the second direction tube 402 .

[0078] The flexible joint comprises:

[0079] Two plugging members 405, the two plugging members 405 are located inside the two ends to be connected to seal the inside of the pipe, and an annular groove is provided at one end of the plugging member 405 located outside;

[0080] Two spring fixing shafts 406 respectively connected to the centers of the two blocking members 405;

[0081] A joint spring 407, wherein both ends of the joint spring 407 are respectively connected to two spring fixing shafts 406;

[0082] And a return spring 404 connected between the annular grooves on the end faces of the two blocking members 405 .

[0083] Two springs, one large and one small, are installed between the two blocking pieces 405. The small spring, i.e., the joint spring 407, is located at the center and is fixedly connected to the blocking piece 405 through the spring fixing shaft 406, and acts as a flexible hinge, also known as a flexible joint. A large spring, i.e., the reset spring 404, is also installed between the two blocking pieces 405. The large spring is in a compressed state and is sandwiched between the two blocking pieces 405 to play a reset role.

[0084] The function of the direction control section 4 is to change the spatial posture under the action of the control rope 5 so as to align the end of the detection rope with the detection target or the travel direction, complete the target detection or further travel in the gap under the action of thrust.

[0085] The direction control section 4 is composed of two sections of direction tubes and two sets of flexible joints. The first direction tube 408 and the ends of the flexible section 3 are both installed with a plugging piece 405. The center of the plugging piece 405 is installed with a spring fixing shaft 406. The plugging pieces 405 on both sides are connected together by means of the spring fixing shaft 406 and the joint spring 407. The end surface of the plugging piece 405 is provided with an annular groove to provide positioning for the reset spring 404. Four control ropes 5 pass through the plugging piece 405 and enter the first direction tube 408. The rope ends are fixed by the first fixing ring 403. Another four control ropes 5 pass through the first direction tube 408 and enter the second direction tube 402. The rope ends are also fixed by the second fixing ring 409. The front end of the second direction tube 402 is installed with a camera 401.

[0086] The flexible section 3 includes a plurality of flexible tubes 301 connected end to end, and two adjacent flexible tubes 301 are connected via a second quick connector 302 .

[0087] The rigid section 2 includes a rigid tube 201; one end of the rigid tube 201 is connected to the control box via a flange joint 204, and the other end is connected to the end of the flexible tube 301 via a first quick joint 203; a groove is provided in the middle section of the side wall of the rigid tube 201, and each of the control ropes 5 includes two sections, and the two sections of each control rope 5 are connected by a wire rope joint 202 at the corresponding position of the groove of the rigid tube 201.

[0088] The function of the rigid section 2 is to connect the flexible section 3 with the control box 1, to provide a gripping section for the operator to continue to deliver the flexible rope, and also to provide an operating space for the wire rope expansion joint.

[0089] The main body of the rigid section 2 is a rigid tube 201, one end of which is connected to the flexible section 3 via a first quick connector 203, and the other end of which is connected to the control box 1 via a flange connector 204. The control rope 5 in the control box 1 passes through the rigid tube 201 and enters the flexible section 3 and the direction control section 4. In order to facilitate the maintenance and length extension of the control rope 5, a groove is opened in the middle section of the rigid tube 201 to provide installation and operation space for the wire rope connector 202.

[0090] The second quick connector 302 of the flexible section 3 has the same structure as the first quick connector 203 of the rigid section 2; the second quick connector 302 includes:

[0091] Thin wall nut 3022;

[0092] A porous guide plate 3024 located inside the thin-walled nut 3022 and coaxially arranged with the thin-walled nut 3022;

[0093] An outer flange section 3023 that is clamped to the inner surface of one side of the thin-walled nut 3022, and the outer flange section 3023 is fixedly arranged to an end of one of two adjacent flexible tubes 301;

[0094] And an external thread segment 3021 , one end of which is threadedly connected to the thin-wall nut 3022 , and the other end of which is fixedly arranged to the end of the other flexible tube 301 of two adjacent flexible tubes 301 .

[0095] The function of the flexible section 3 is to connect the direction control section 4 and the rigid section 2, and to transmit the forward thrust provided by the operator through the rigid section 2 to the direction control section 4, while using its own flexibility to adapt to the complex environment in the gap.

[0096] The flexible section 3 is composed of multiple sections of flexible tubes 301, each section of the flexible tube 301 is connected by a second quick connector 302, and the second quick connector 302 is composed of an external thread section 3021, an external flange section 3023, a thin-walled nut 3022 and a porous guide disc 3024. The external thread section 3021 and the external flange section 3023 are respectively fixed at the docking ports of the two sections of the flexible tube 301, and the two sections of the flexible tube 301 can be connected and separated by rotating the thin-walled nut 3022. The second quick connector 302 is equipped with a porous guide disc 3024 to keep the control ropes 5 inside the flexible tube 301 arranged in order.

Claims

1. An electrically parallel-driven flexible detection rope, comprising a direction control section (4), a flexible section (3), a rigid section (2), a control box (1) connected in sequence, and a control rope (5) connected between the direction control section (4) and the control box (1), wherein the control box (1) controls the direction of the direction control section (4) through the control rope (5); characterized in that: The direction control section (4) comprises: A first directional tube (408), one end of which is connected to the end of the flexible section (3) via a set of flexible joints; A first fixing ring (403) fixedly disposed in a first directional tube (408); A second directional tube (402) having one end connected to the other end of the first directional tube (408) through another set of flexible joints; and a second fixing ring (409) fixedly disposed in the second directional tube (402); The control box (1) comprises a box body (102) and two sets of adjustment mechanisms symmetrically arranged on the box body (102); each set of adjustment mechanisms comprises: A control lever (101) disposed on the upper end surface of the box body (102); A bracket (106) installed inside the box (102); A tensioning disk (110) connected to a bracket (106) via a parallel control device (105), the tensioning disk (110) serving as an end component at one end of the box body (102), the control rod (101) adjusting the angle of the tensioning disk (110) relative to the bracket (106) via the parallel control device (105); Four groups of rope tighteners (104) are arranged on the inner surface of the tensioning disk (110), and one end of four control ropes (5) are respectively connected to the four groups of rope tighteners (104) to adjust the tension; the other ends of the four control ropes (5) of one group of adjustment mechanisms are evenly fixed on the first fixing ring (403), and the other ends of the four control ropes (5) of another group of adjustment mechanisms are evenly fixed on the second fixing ring (409); And four adjusting wheels (109) are arranged on the outer surface of the tensioning disk (110), and the four rope tighteners (104) are adjusted by the four adjusting wheels (109).

2. The electric parallel-driven flexible detection cable according to claim 1, characterized in that: The control box (1) further comprises: A battery pack (108), wherein the battery pack (108) and the parallel control device (105) are connected to supply power; And two hanging rings (103) symmetrically fixedly arranged on the upper surface of the control box (1).

3. The electrically-driven parallel-driven flexible detection cable according to claim 1, characterized in that: The rope tightener (104) comprises: The two ends of the rope winding shaft (1041) are supported on the tensioning disk (110) by supports (1042), and a worm gear and a groove wheel coaxial with the rope winding shaft (1041) are fixed on the rope winding shaft (1041); one end of the control rope (5) is wound in the groove wheel of the rope winding shaft (1041), and the other end enters the detection rope through the wire rope sheath (107); and a worm (1043) disposed on the tensioning disk (110) and meshing with the worm wheel. One end of the four worms (1043) of the four rope tighteners (104) on one tensioning disk (110) passes through the tensioning disk (110) and extends to the outside of the control box (1), and is coaxially fixedly connected to the four adjusting wheels (109), respectively.

4. The electrically-driven parallel-driven flexible detection cable according to claim 1, characterized in that: The parallel control device (105) comprises: A support rod (1054), one end of the support rod (1054) is connected to the tensioning disc (110) by a ball joint, and the other end is connected to the center of the bracket (106); and two electric push rods (1052), one end of each of the electric push rods (1052) being connected to the end face of the bracket (106) via a hinge seat (1051), and the other end being connected to the tensioning plate (110) via a cross universal coupling (1053); the extension and retraction of the electric push rods (1052) being controlled by the control rod (101); the two electric push rods (1052) and the support rod (1054) being arranged in a triangle between the bracket (106) and the tensioning plate (110).

5. The electrically-driven parallel-driven flexible detection cable according to claim 4, characterized in that: The electric push rod (1052) is a 24V micro electric push rod (1052).

6. The electrically-driven parallel-driven flexible detection cable according to claim 1, characterized in that: The direction control section (4) also includes a camera (401) arranged at the other end of the second direction tube (402).

7. The electrically-driven parallel-driven flexible detection cable according to claim 1, characterized in that: The flexible joint comprises: Two blocking pieces (405), the two blocking pieces (405) are located inside the two ends to be connected to seal the inside of the pipe, and an annular groove is provided at one end of the blocking piece (405) located outside; Two spring fixing shafts (406) respectively connected to the centers of the two blocking members (405); A joint spring (407), wherein two ends of the joint spring (407) are respectively connected to two spring fixing shafts (406); And a return spring (404) connected between the annular grooves on the end surfaces of the two blocking members (405).

8. The electrically-driven parallel-driven flexible detection cable according to claim 1, characterized in that: The flexible section (3) comprises a plurality of flexible tubes (301) connected end to end, and two adjacent flexible tubes (301) are connected via a second quick connector (302).

9. The electrically-driven parallel-driven flexible detection cable according to claim 1, characterized in that: The rigid section (2) comprises a rigid tube (201); one end of the rigid tube (201) is connected to the control box via a flange joint (204), and the other end is connected to the end of the flexible tube (301) via a first quick joint (203); a groove is provided in the middle section of the side wall of the rigid tube (201), and each of the control ropes (5) comprises two sections, and the two sections of each control rope (5) are connected at the corresponding position of the groove of the rigid tube (201) via a wire rope joint (202).

10. The electrically-driven parallel-driven flexible detection cable according to claim 9, characterized in that: The second quick connector (302) of the flexible section (3) and the first quick connector (203) of the rigid section (2) have the same structure; the second quick connector (302) comprises: Thin wall nuts (3022); A porous guide plate (3024) located inside the thin-walled nut (3022) and coaxially arranged with the thin-walled nut (3022); An outer flange section (3023) clamped to the inner surface of one side of the thin-walled nut (3022), the outer flange section (3023) and an end of one flexible tube (301) of two adjacent flexible tubes (301) being fixedly arranged; and an external thread section (3021), one end of which is threadedly connected to the thin-walled nut (3022), and the other end of which is fixedly arranged to the end of another flexible tube (301) of two adjacent flexible tubes (301).

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