Cable gallery inspection robot

Abstract

The invention discloses a cable gallery inspection robot, and relates to the technical field of cable detection. The device comprises a moving module, a mechanical arm is arranged in the middle of the top end of the moving module, a reciprocating moving assembly is arranged at the driving end of the mechanical arm, a moving frame is arranged on the reciprocating moving assembly, a cleaning assembly is arranged on the moving frame, and a uniform smearing and repairing assembly is arranged on the cleaning assembly. An infrared multifunctional detection module is arranged at the top end of the moving module; by arranging the uniform smearing and repairing assembly, repairing materials are intermittently conveyed into the fixed inner frame in sequence through the uniform smearing and repairing assembly, an external discharging opening and an internal discharging opening are continuously staggered and overlapped through rotation of a rotary smearing roller, and the repairing materials in the fixed inner frame are sequentially conveyed and discharged to a brush strip on the outer wall of the rotary smearing roller; and the repair material is smeared on the damaged part of the cable insulation layer in cooperation with rotation of the rotary smearing roller, the service life of equipment is prolonged, and fire hazards and other potential safety hazards caused by electric leakage are avoided.

Description

Technical Field

[0001] The present invention relates to the technical field of cable inspection, and in particular to a cable corridor inspection robot. Background Art

[0002] Cable corridors are important facilities for cable routing and management. They are usually composed of a series of channels or passages made of metal or non-metal materials. Their main function is to protect and support cables and facilitate the laying, maintenance and replacement of cables. Cable corridors are usually installed on the roof, underground or in the walls of buildings to ensure that the cables are not affected by environmental factors such as humidity, high temperature or mechanical damage. During use, insulating materials will gradually lose their effective performance due to factors such as the passage of time and environmental influences, resulting in cracks, peeling and other phenomena. Damage to the insulating layer will cause current to flow out through the insulating material, resulting in leakage or short circuit. Leakage and short circuit will lead to the risk of cable overheating and fire, which poses a great safety hazard in the corridor. Existing inspection robots lack the function of pre-treating damaged areas of the insulation layer. Secondly, a large amount of dust and dirt will accumulate on the outer wall of the cable. If it is not cleaned in time during the repair process, it will hinder the contact between the repair material and the cable, affecting the repair effect. In response to the above problems, the inventor proposes a cable corridor inspection robot to solve the above problems. Summary of the invention

[0003] In order to solve the problem of repairing the damaged part of the cable insulation layer and cleaning the dust on the cable surface at the repaired part; the purpose of the present invention is to provide a cable corridor inspection robot.

[0004] In order to solve the above technical problems, the present invention adopts the following technical solutions: a cable corridor inspection robot, comprising a mobile module, a mechanical arm is provided in the middle of the top of the mobile module, a reciprocating moving component is provided at the driving end of the mechanical arm, a mobile frame is provided on the reciprocating moving component, a cleaning component is provided on the mobile frame, a uniform smearing repair component is provided on the cleaning component, and an infrared multi-functional detection module is provided on the top of the mobile module.

[0005] Preferably, the cleaning assembly includes two symmetrically distributed side frames, the two side frames are fixedly mounted on the mobile frame, the two side frames are slidably provided with a sliding frame, a support frame is fixedly provided on the outer side of the sliding frame, two symmetrically distributed cleaning rollers are rotatably provided on the support frame, a cleaning belt is sleeved on the outer walls of the two cleaning rollers, two symmetrically distributed guide columns are fixedly provided on the sliding frame, an oblique groove for use with the guide column is provided on the side frame, a guide plate is slidably provided on the top of the side frame, a transverse groove for use with the guide column is provided on the guide plate, a top plate is fixedly provided on the top of the mobile frame, and the other end of the top plate is fixedly connected to the side frame, and a There is an electric cylinder, a driving plate is fixedly provided at the driving end of the electric cylinder, and the other end of the driving plate is fixedly connected to the guide plate, the two side frames are fixedly provided with connecting plates on the side away from the supporting frame, and the other end of the connecting plate is fixedly connected to the movable frame, a rotating rod is rotatably provided at the middle part of the top end of the movable frame, the two rotating rods are rotatably provided with driven rods at the opposite ends, and the other end of the driven rods is rotatably connected to the bridge plate, the other end of the rotating rod is rotatably provided with a driving rod, and the other end of the driving rod is rotatably connected to the guide plate, two symmetrically distributed No. 1 rollers are rotatably sleeved on the outer wall of the guide column, and the No. 1 roller slides in the inclined groove, and a No. 2 roller is rotatably provided at the top of the guide column, and the No. 2 roller slides in the transverse groove.

[0006] Preferably, the uniform smearing repair component includes two symmetrically distributed slide rails, the two slide rails are respectively fixedly mounted on corresponding side frames, sliding frames are slidably provided on opposite sides of the two slide rails, a rotating smear roller is rotatably provided between the two sliding frames, the rotating smear roller is provided with a plurality of external discharge ports distributed in a circular array, the inner wall of the rotating smear roller is fixedly provided with two symmetrically distributed rotating bearings, the inner wall of the rotating bearing is provided with a fixed inner frame, the fixed inner frame is provided with a built-in discharge port used in conjunction with the external discharge port, the feeding end of the fixed inner frame is fixedly connected with a transfer cylinder, and the transfer cylinder is fixedly mounted on the sliding frame, the other end of the transfer cylinder is connected with a bellows, a barrel body is fixedly provided at the middle part of the top of the movable frame, a discharge frame is fixedly provided on the barrel body close to the rotating smear roller, a No. 1 one-way rotating baffle is rotatably provided in the discharge frame, and the top of the barrel body close to the discharge A feed frame is fixedly provided on one side of the frame, and a No. 2 one-way rotating baffle is rotatably provided on the feed frame, a feed pipe is connected to the top of the feed frame, a piston rod is slidably provided in the barrel body, a discharge pipe is connected to the end of the bellows, and the discharge pipe is connected to the discharge frame, a camshaft is rotatably provided on the top of the moving frame close to the piston rod, a push rod is rotatably provided on the camshaft, and the other end of the push rod is rotatably connected to the piston rod, a No. 2 motor is fixedly provided on the bottom end of the moving frame, and the No. 2 motor driving end is connected to the camshaft through a pulley transmission group, a sliding shaft is rotatably provided on the sliding frame away from the bellows side, the sliding shaft and the rotating coating roller are connected through a bevel gear group, a driven shaft is slidingly sleeved on the outer wall of the sliding shaft, and the driven shaft is rotatably installed on the corresponding side frame, the driven shaft and the camshaft are connected through a bevel gear group, and a bridge plate is fixedly provided between the two sliding frames.

[0007] Preferably, the reciprocating assembly includes a fixed bracket, which is fixedly installed on the driving end of the robotic arm, two symmetrically distributed guide rails are fixedly provided on the top of the fixed bracket, and the moving frame is slidably connected to the guide rails, a reciprocating threaded rod is rotatably provided at the middle part of the top of the fixed bracket, a slider is threadedly sleeved on the outer wall of the reciprocating threaded rod, and the slider is fixedly installed on the bottom of the moving frame, a No. 1 motor is fixedly provided on one side of the bottom end of the moving frame, and the driving end of the No. 1 motor is transmission-connected to the reciprocating threaded rod through a pulley transmission group.

[0008] Compared with the prior art, the present invention has the following beneficial effects: 1. The present invention sets a uniform smearing repair component, which allows the repair material to be intermittently transported to the fixed inner frame in sequence, and the external discharge port and the internal discharge port are continuously misaligned and overlapped by rotating the smearing roller, so that the repair material in the fixed inner frame is sequentially transported to the brush strip on the outer wall of the rotating smearing roller, and the repair material is smeared on the damaged part of the cable insulation layer in coordination with the rotation of the rotating smearing roller, thereby extending the service life of the equipment and avoiding safety hazards such as fire caused by leakage; 2. The present invention provides a cleaning assembly so that the cleaning belt in the cleaning assembly fits the cable insulation layer in an arc shape and cleans the outer wall of the cable insulation layer in coordination with the reciprocating movement, thereby improving the adhesion between the repair material and the damaged part of the cable insulation layer. In the process of the cleaning assembly driving the two cleaning belts to move away from each other and separate from the outer wall of the cable insulation layer, the lever drives the rotating cleaning roller to move in the opposite direction and contact the outer wall of the cable insulation layer, thereby achieving the effect of switching the cleaning and repair mode; 3. The present invention sets a reciprocating moving component so that the moving frame can reciprocate on the fixed bracket through the reciprocating moving component. During the movement of the moving frame, the cleaning belt and the rotating coating roller are driven to move synchronously and cooperate with each other, so as to achieve the effect of uniformly cleaning and coating the damaged part of the outer wall of the cable insulation layer. BRIEF DESCRIPTION OF THE DRAWINGS

[0009] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0010] Figure 1 It is a schematic diagram of the overall structure of the present invention; Figure 2 It is a schematic diagram of the overall side structure of the present invention; Figure 3 It is a schematic diagram of the structure of the reciprocating moving component in the present invention; Figure 4 It is a schematic diagram of the structure of the uniformly applied repair component in the present invention; Figure 5 It is a schematic diagram of the side section structure of the uniform smear repair component in the present invention; Figure 6 It is a schematic diagram of the side section structure of the fixed inner frame and the rotating coating roller in the present invention; Figure 7 It is a schematic diagram of the structure of the cleaning component in the present invention in a side section; Figure 8 This is a schematic diagram of the overall transmission structure of the cleaning component in the present invention; Fig. 9 It is a structural schematic diagram of the movable frame, the side frame and the top plate in the present invention; Fig.10 It is a schematic diagram of the structure of the fixed inner frame and the rotating coating roller in the present invention; Fig.11 for Figure 5 A schematic diagram of the structure enlargement at the center A; Fig.12 for Figure 7 A magnified schematic diagram of the structure at point B in the middle.

[0011] In the figure: 1. moving module; 2. mechanical arm; 3. reciprocating moving assembly; 301. fixed bracket; 302. guide rail; 303. reciprocating threaded rod; 304. slider; 305. No. 1 motor; 4. moving frame; 5. cleaning assembly; 501. side frame; 502. sliding frame; 503. support frame; 504. cleaning roller; 505. cleaning belt; 506. guide column; 507. inclined groove; 508. guide plate; 509. transverse groove; 510. top plate; 511. electric cylinder; 512. driving plate; 513. connecting plate; 514. rotating rod; 515. driven rod; 516. driving rod; 517. No. 1 roller; 518. No. 2 roller; 6. Evenly apply the repair component; 601. Slide rail; 602. Slide frame; 603. Rotate the coating roller; 604. External discharge port; 605. Rotate bearing; 606. Fixed inner frame; 607. Internal discharge port; 608. Adapter tube; 609. Bellows; 610. Discharge pipe; 611. Barrel body; 612. Discharge frame; 613. One-way rotating baffle plate No. 1; 614. Feed frame; 615. Two-way rotating baffle plate No. 2; 616. Feed pipe; 617. Piston rod; 618. Camshaft; 619. Push rod; 620. Sliding shaft; 621. Driven shaft; 622. Two motors; 623. Bridge plate; 7. Infrared multi-function detection module. DETAILED DESCRIPTION

[0012] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0013] Example: Figure 1-12 As shown, the present invention provides a technical solution: a cable corridor inspection robot, comprising a mobile module 1, a mechanical arm 2 is provided at the middle of the top of the mobile module 1, a reciprocating moving component 3 is provided at the driving end of the mechanical arm 2, a mobile frame 4 is provided on the reciprocating moving component 3, a cleaning component 5 is provided on the mobile frame 4, a uniform smearing repair component 6 is provided on the cleaning component 5, and an infrared multifunctional detection module 7 is provided at the top of the mobile module 1; The cleaning assembly 5 includes two symmetrically distributed side frames 501, and the two side frames 501 are fixedly installed on the movable frame 4. A sliding frame 502 is slidably provided in the two side frames 501, and a support frame 503 is fixedly provided on the outer side of the sliding frame 502. Two symmetrically distributed cleaning rollers 504 are rotatably provided on the support frame 503, and a cleaning belt 505 is sleeved on the outer wall of the two cleaning rollers 504. Two symmetrically distributed guide columns 506 are fixedly provided on the sliding frame 502, and an inclined groove 507 used in conjunction with the guide column 506 is opened on the side frame 501. A guide plate 508 is slidably provided at the top of the side frame 501, and a transverse groove 509 used in conjunction with the guide column 506 is opened on the guide plate 508.

[0014] By adopting the above technical solution, the sliding frame 502 drives the cleaning belt 505 to move through the supporting frame 503 and the cleaning roller 504 .

[0015] The uniform smearing repair component 6 includes two symmetrically distributed slide rails 601, and the two slide rails 601 are respectively fixedly installed on the corresponding side frames 501. Sliding frames 602 are slidably provided on the opposite sides of the two slide rails 601. A rotating smearing roller 603 is rotatably provided between the two sliding frames 602. The rotating smearing roller 603 is provided with a plurality of external discharge ports 604 distributed in a circular array. Two symmetrically distributed rotating bearings 605 are fixedly provided on the inner wall of the rotating smearing roller 603. A fixed inner frame 606 is provided on the inner wall of the rotating bearing 605. A built-in discharge port 607 used in conjunction with the external discharge port 604 is provided on the fixed inner frame 606. A switching cylinder 608 is fixedly connected to the feeding end of the fixed inner frame 606, and the switching cylinder 608 is fixedly installed on the sliding frame 602. The other end of the switching cylinder 608 is connected to a bellows 609.

[0016] By adopting the above technical solution, the rotating coating roller 603 rotates on the outer wall of the fixed inner frame 606, and the repair material is discharged onto the brush strip on the outer wall of the rotating coating roller 603 through the cooperation between the internal discharge port 607 and the external discharge port 604.

[0017] The reciprocating moving component 3 includes a fixed bracket 301, which is fixedly installed on the driving end of the robot arm 2. Two symmetrically distributed guide rails 302 are fixedly provided on the top of the fixed bracket 301, and the moving frame 4 is slidably connected to the guide rails 302. A reciprocating threaded rod 303 is rotatably provided in the middle of the top of the fixed bracket 301. A slider 304 is threadedly sleeved on the outer wall of the reciprocating threaded rod 303, and the slider 304 is fixedly installed on the bottom of the moving frame 4. A No. 1 motor 305 is fixedly provided on one side of the bottom end of the moving frame 4, and the driving end of the No. 1 motor 305 is transmission-connected to the reciprocating threaded rod 303 through a pulley transmission group.

[0018] By adopting the above technical solution, the movable frame 4 can move back and forth on the fixed bracket 301 .

[0019] A barrel body 611 is fixedly provided in the middle of the top of the movable frame 4, a discharge frame 612 is fixedly provided on the side of the barrel body 611 close to the rotating smear roller 603, a number one one-way rotating baffle 613 is rotatably provided in the discharge frame 612, a feed frame 614 is fixedly provided on the side of the top of the barrel body 611 close to the discharge frame 612, a number two one-way rotating baffle 615 is rotatably provided in the feed frame 614, a feed pipe 616 is connected to the top of the feed frame 614, a piston rod 617 is slidably provided in the barrel body 611, a discharge pipe 610 is connected to the end of the bellows 609, and the discharge pipe 610 is connected to the discharge frame 612.

[0020] By adopting the above technical solution, the repair material enters the barrel body 611 through the feed pipe 616 and the feed frame 614, and is then transported to the bellows 609 through the discharge frame 612 and the discharge pipe 610.

[0021] A camshaft 618 is rotatably provided at the top of the moving frame 4 near the piston rod 617, a push rod 619 is rotatably provided on the camshaft 618, and the other end of the push rod 619 is rotatably connected to the piston rod 617, a No. 2 motor 622 is fixedly provided at the bottom end of the moving frame 4, and the driving end of the No. 2 motor 622 is connected to the camshaft 618 through a pulley transmission group.

[0022] By adopting the above technical solution, the camshaft 618 rotates through the push rod 619 to push the piston rod 617 to move back and forth.

[0023] A sliding shaft 620 is rotatably provided on the sliding frame 602 on the side away from the bellows 609. The sliding shaft 620 is connected to the rotating coating roller 603 through a bevel gear set. A driven shaft 621 is slidably sleeved on the outer wall of the sliding shaft 620. The driven shaft 621 is rotatably installed on the corresponding side frame 501. The driven shaft 621 is connected to the camshaft 618 through a bevel gear set.

[0024] By adopting the above technical solution, the cam shaft 618 drives the rotating coating roller 603 to rotate through the sliding shaft 620 and the driven shaft 621.

[0025] A top plate 510 is fixedly provided at the top of the movable frame 4, and the other end of the top plate 510 is fixedly connected to the side frame 501, an electric cylinder 511 is fixedly provided at the top of the top plate 510, a driving plate 512 is fixedly provided at the driving end of the electric cylinder 511, and the other end of the driving plate 512 is fixedly connected to the guide plate 508.

[0026] By adopting the above technical solution, the electric cylinder 511 drives the guide plate 508 to move through the driving plate 512 .

[0027] A bridge plate 623 is fixedly provided between the two sliding frames 602, and a connecting plate 513 is fixedly provided on the side of the two side frames 501 away from the supporting frame 503, and the other end of the connecting plate 513 is fixedly connected to the moving frame 4, and a rotating rod 514 is rotatably provided in the middle of the top of the moving frame 4, and the opposite ends of the two rotating rods 514 are rotatably provided with driven rods 515, and the other end of the driven rod 515 is rotatably connected to the bridge plate 623, and a driving rod 516 is rotatably provided at the other end of the rotating rod 514, and the other end of the driving rod 516 is rotatably connected to the guide plate 508.

[0028] By adopting the above technical solution, during the movement of the guide plate 508, the bridge plate 623 is pushed to move in the opposite direction by the rotating rod 514, the driven rod 515 and the driving rod 516.

[0029] Two symmetrically distributed No. 1 rollers 517 are rotatably sleeved on the outer wall of the guide column 506 , and the No. 1 rollers 517 slide in the inclined groove 507 . A No. 2 roller 518 is rotatably provided on the top of the guide column 506 , and the No. 2 roller 518 slides in the transverse groove 509 .

[0030] By adopting the above technical solution, the guide column 506 is moved under the mutual guidance of the inclined groove 507 and the transverse groove 509 through the first roller 517 and the second roller 518 .

[0031] Working principle: First, the mobile module 1 drives the inspection robot to move along the predetermined inspection route in the cable corridor, and inspects the cables in the corridor through the infrared multifunctional detection module 7. The temperature change of the cables in the corridor is sensed by infrared. When the temperature of a certain part of the cable is high, the cable insulation layer may be damaged, resulting in leakage. The mobile module 1 drives the inspection robot to move to the high-temperature cable for inspection. When the cable insulation layer is damaged through visual inspection, the cleaning belt 505 is driven by the robot arm 2 to fit the arc shape of the outer wall of the cable insulation layer. Figure 2 , Figure 3 As shown, the first motor 305 is controlled to be turned on, and the first motor 305 drives the reciprocating threaded rod 303 to rotate through the pulley transmission group. The reciprocating threaded rod 303 drives the movable frame 4 to reciprocate under the guidance of the guide rail 302 through the slider 304. The movable frame 4 drives the cleaning belt 505 to reciprocate around the damaged cable insulation layer through the side frame 501, the sliding frame 502, the support frame 503 and the cleaning roller 504 to clean the dust around the damaged cable insulation layer. After the dust is cleaned, the electric cylinder 511 is controlled to be turned on, as shown in FIG. Figure 4 , Figure 8As shown, the driving end of the electric cylinder 511 pushes the guide plate 508 to move through the driving plate 512. During the movement, the guide plate 508 cooperates with the inclined groove 507, the transverse groove 509, the guide column 506, the first roller 517 and the second roller 518 to drive the sliding frame 502, the support frame 503, the cleaning roller 504 and the cleaning belt 505 to move obliquely backward. The two cleaning belts 505 are separated from the outer wall of the cable insulation layer and move away from each other. During the movement, the guide plate 508 pushes the bridge plate 623 to move in the opposite direction through the guide column 506, the rotating rod 514 and the driven rod 515. The bridge plate 623 pushes the brush on the outer wall of the rotating coating roller 603 through the sliding frame 602 to contact the damaged part of the cable insulation layer, thereby controlling the start of the second motor 622, and the second motor 622 drives the The camshaft 618 rotates, and the camshaft 618 pushes the piston rod 617 to reciprocate in the barrel body 611 through the push rod 619. During this process, when the piston rod 617 moves forward, the second one-way rotating baffle 615 is pressed against the feed frame 614 under the action of pressure, and the first one-way rotating baffle 613 flips outward, and the repair material in the barrel body 611 is discharged into the fixed inner frame 606 through the discharge frame 612, the discharge pipe 610 and the bellows 609 in turn. Similarly, when the piston rod 617 moves backward, the first one-way rotating baffle 613 is pressed against the inner wall of the discharge frame 612, and the second one-way rotating baffle 615 flips downward, and the repair material in the internal silo of the mobile module 1 moves to the barrel body 611 through the feed pipe 616, so that the repair material is intermittently transported into the fixed inner frame 606 in this reciprocating cycle. Figure 5 As shown, during the rotation of the camshaft 618, the driven shaft 621 is driven to rotate through the bevel gear set, and the driven shaft 621 drives the rotating coating roller 603 to rotate through the sliding shaft 620 and the bevel gear set. When the rotating coating roller 603 is in the initial position, the external discharge port 604 and the internal discharge port 607 are misaligned. As the rotating coating roller 603 rotates, the external discharge port 604 coincides with the internal discharge port 607, and the repair material in the fixed inner frame 606 is squeezed out to the brush strip on the outer wall of the rotating coating roller 603 through the internal discharge port 607 and the external discharge port 604. The rotating coating roller 603 rotates to apply the repair material to the cable insulation layer through the brush strip. Finally, the mechanical arm 2 and the reciprocating moving component 3 cooperate with each other to evenly apply the repair material to the damaged part of the cable insulation layer.

[0032] Obviously, those skilled in the art can make various changes and modifications to the present invention without departing from the spirit and scope of the present invention. Thus, if these modifications and variations of the present invention fall within the scope of the claims of the present invention and their equivalents, the present invention is also intended to include these modifications and variations.

Claims

1. A cable corridor inspection robot, comprising a mobile module (1), characterized in that: A mechanical arm (2) is provided at the middle of the top end of the mobile module (1); a reciprocating moving component (3) is provided at the driving end of the mechanical arm (2); a mobile frame (4) is provided on the reciprocating moving component (3); a cleaning component (5) is provided on the mobile frame (4); a uniform smearing repair component (6) is provided on the cleaning component (5); and an infrared multifunctional detection module (7) is provided at the top end of the mobile module (1).

2. A cable corridor inspection robot as claimed in claim 1, characterized in that: The cleaning assembly (5) comprises two symmetrically distributed side frames (501), the two side frames (501) are fixedly mounted on the movable frame (4), a sliding frame (502) is slidably arranged in the two side frames (501), a support frame (503) is fixedly arranged outside the sliding frame (502), two symmetrically distributed cleaning rollers (504) are rotatably arranged on the support frame (503), a cleaning belt (505) is sleeved on the outer wall of the two cleaning rollers (504), two symmetrically distributed guide columns (506) are fixedly arranged on the sliding frame (502), an inclined groove (507) for use with the guide column (506) is provided on the side frame (501), a guide plate (508) is slidably arranged at the top end of the side frame (501), and a transverse groove (509) for use with the guide column (506) is provided on the guide plate (508).

3. A cable corridor inspection robot as claimed in claim 2, characterized in that: The uniform smearing repair component (6) comprises two symmetrically distributed slide rails (601), the two slide rails (601) are respectively fixedly mounted on corresponding side frames (501), and sliding frames (602) are slidably arranged on opposite sides of the two slide rails (601), and a rotating smearing roller (603) is rotatably arranged between the two sliding frames (602), and the rotating smearing roller (603) is provided with a plurality of external discharge ports (604) distributed in a ring array, and the rotating smearing roller (603) Two symmetrically distributed rotating bearings (605) are fixedly provided on the inner wall, a fixed inner frame (606) is provided on the inner wall of the rotating bearing (605), a built-in discharge port (607) for use with an external discharge port (604) is provided on the fixed inner frame (606), a transfer cylinder (608) is fixedly connected to the feed end of the fixed inner frame (606), and the transfer cylinder (608) is fixedly mounted on the sliding frame (602), and the other end of the transfer cylinder (608) is connected to a bellows (609).

4. A cable corridor inspection robot as claimed in claim 1, characterized in that: The reciprocating moving assembly (3) comprises a fixed bracket (301), the fixed bracket (301) being fixedly mounted on the driving end of the mechanical arm (2), two symmetrically distributed guide rails (302) being fixedly mounted on the top of the fixed bracket (301), and the moving frame (4) being slidably connected to the guide rails (302), a reciprocating threaded rod (303) being rotatably mounted on the middle of the top of the fixed bracket (301), a slider (304) being threadedly sleeved on the outer wall of the reciprocating threaded rod (303), and the slider (304) being fixedly mounted on the bottom of the moving frame (4), a No. 1 motor (305) being fixedly mounted on one side of the bottom of the moving frame (4), and a driving end of the No. 1 motor (305) being transmission-connected to the reciprocating threaded rod (303) via a pulley transmission group.

5. A cable corridor inspection robot as claimed in claim 3, characterized in that: A barrel body (611) is fixedly provided at the middle of the top of the movable frame (4); a discharge frame (612) is fixedly provided at one side of the barrel body (611) close to the rotating coating roller (603); a first one-way rotating baffle (613) is rotatably provided in the discharge frame (612); a feed frame (614) is fixedly provided at one side of the top of the barrel body (611) close to the discharge frame (612); a second one-way rotating baffle (615) is rotatably provided in the feed frame (614); a feed pipe (616) is connected to the top of the feed frame (614); a piston rod (617) is slidably provided in the barrel body (611); a discharge pipe (610) is connected to the end of the bellows (609), and the discharge pipe (610) is connected to the discharge frame (612).

6. A cable corridor inspection robot as claimed in claim 1, characterized in that: A camshaft (618) is rotatably provided at one side of the top end of the movable frame (4) close to the piston rod (617), a push rod (619) is rotatably provided on the camshaft (618), and the other end of the push rod (619) is rotatably connected to the piston rod (617), and a second motor (622) is fixedly provided at the bottom end of the movable frame (4), and a driving end of the second motor (622) is transmission-connected to the camshaft (618) via a pulley transmission group.

7. A cable corridor inspection robot as claimed in claim 3, characterized in that: A sliding shaft (620) is rotatably provided on the sliding frame (602) at the side away from the bellows (609), and the sliding shaft (620) is connected to the rotating coating roller (603) through a bevel gear set. A driven shaft (621) is slidably sleeved on the outer wall of the sliding shaft (620), and the driven shaft (621) is rotatably mounted on the corresponding side frame (501), and the driven shaft (621) is connected to the camshaft (618) through a bevel gear set.

8. A cable corridor inspection robot as claimed in claim 7, characterized in that: A top plate (510) is fixedly provided at the top of the movable frame (4), and the other end of the top plate (510) is fixedly connected to the side frame (501); an electric cylinder (511) is fixedly provided at the top of the top plate (510), a driving plate (512) is fixedly provided at the driving end of the electric cylinder (511), and the other end of the driving plate (512) is fixedly connected to the guide plate (508).

9. A cable corridor inspection robot as claimed in claim 3, characterized in that: A bridge plate (623) is fixedly provided between the two sliding frames (602); a connecting plate (513) is fixedly provided on the side of the two side frames (501) away from the supporting frame (503); and the other end of the connecting plate (513) is fixedly connected to the moving frame (4); a rotating rod (514) is rotatably provided at the middle of the top end of the moving frame (4); a driven rod (515) is rotatably provided at the opposite ends of the two rotating rods (514); and the other end of the driven rod (515) is rotatably connected to the bridge plate (623); a driving rod (516) is rotatably provided at the other end of the rotating rod (514); and the other end of the driving rod (516) is rotatably connected to the guide plate (508).

10. A cable corridor inspection robot as claimed in claim 2, characterized in that: Two symmetrically distributed No. 1 rollers (517) are rotatably sleeved on the outer wall of the guide column (506), and the No. 1 rollers (517) slide in the inclined groove (507). A No. 2 roller (518) is rotatably mounted on the top of the guide column (506), and the No. 2 roller (518) slides in the transverse groove (509).

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