Take-up and pay-off device for pipeline robot and take-up and pay-off method

Abstract

The invention belongs to the field of take-up and pay-off equipment, and particularly discloses a take-up and pay-off device for a pipeline robot and a take-up and pay-off method.The take-up and pay-off device comprises a shell, a winding mechanism, a wire arranging mechanism, a take-up and pay-off mechanism and a fixed mounting base; a sealed cabin is arranged in the shell, and the winding mechanism, the winding displacement mechanism and the take-up and pay-off mechanism are sequentially arranged in the sealed cabin from top to bottom. The take-up and pay-off mechanism comprises a take-up and pay-off assembly used for taking up and paying off a cable and a guide assembly used for guiding the cable, and the guide assembly and the take-up and pay-off assembly are sequentially arranged in the vertical direction. An opening allowing a cable to penetrate through is formed in the bottom of the shell, the fixed mounting base is coaxially and fixedly connected to the opening, a penetrating hole is formed in the middle of the fixed mounting base in a penetrating mode, and the cable penetrates through the penetrating hole to extend out of the sealed cabin to be connected with the pipeline robot. Through the structural design, the beneficial effects of protecting the wound and unwound cable and improving the winding and unwinding stability of the cable can be achieved.

Description

Technical Field

[0001] The present application belongs to the field of wire-retracting and -unreeling equipment, and more specifically, to a wire-retracting and -unreeling device and a wire-retracting and -unreeling method for a pipeline robot. Background Art

[0002] With the acceleration of urbanization and the continuous growth of population, urban water supply systems are becoming increasingly large and complex, and the demand for pipeline detection, mapping, and repair is constantly increasing. Efficient and reliable detection of water supply pipelines is an urgent problem to be solved.

[0003] In the related art, water supply pipelines are often inspected by deploying pipeline robots. To ensure the safe deployment and retrieval of the pipeline robot, the pipeline robot needs to be connected to the communication cable before deployment so as to achieve precise control of the pipeline robot. The communication cable is usually set on a retractable device to retract and release the communication cable. When in use, the retractable device is usually placed on the ground, and the communication cable enters the water supply pipeline together with the pipeline robot. When the pipeline robot enters the water supply pipeline, the communication cable is exposed to the air and is easily contaminated and damaged, thereby affecting the service life of the cable. Moreover, the retractable device is prone to shaking under the pulling of the communication cable, affecting the stability of the retraction and release of the communication cable. Summary of the invention

[0004] In response to the defects of the prior art, the present application provides a wire-retracting and -releasing device for a pipeline robot, aiming to solve the problem that communication cables are easily contaminated and damaged when the existing wire-retracting and -releasing devices are used, and the communication cables have poor retraction and release stability.

[0005] The present application provides a wire-retracting and -releasing device for a pipeline robot, which specifically includes a housing, a wire winding mechanism, a wire arranging mechanism, a wire-retracting and -releasing mechanism, and a fixed mounting seat; A sealed cabin is provided inside the shell, and the winding mechanism, the wire arrangement mechanism and the wire retracting and releasing mechanism are arranged in sequence from top to bottom in the sealed cabin; The cable retracting and releasing mechanism comprises a guide assembly for guiding the cable and a retracting and releasing assembly for retracting and releasing the cable, wherein the guide assembly and the retracting and releasing assembly are arranged in sequence along the vertical direction; An opening for passing the cable is provided at the bottom of the shell, and the fixed mounting seat is coaxially fixedly connected to the opening. A through hole is provided in the middle of the fixed mounting seat, and the cable passes through the through hole and extends to the outside of the sealed cabin to connect to the pipeline robot.

[0006] Through the above technical scheme conceived by the present application, compared with the prior art, since the shell in the wire-retracting and releasing device of the present application is fixedly connected with a fixed mounting base, the shell can be stably installed through the fixed mounting base, and the wire-retracting and releasing device will not shake when the pipeline robot pulls the communication cable, thereby improving the stability of the cable during retraction and release, and the cable, winding mechanism, wire arrangement mechanism and wire-retracting and releasing mechanism are all located in the sealed cabin of the shell, so that when the wire-retracting and releasing device is in the process of retracting and releasing, the cable is retracted and released in the sealed cabin, the cable is not exposed to the air, and will not be contaminated and damaged. The present application can achieve the beneficial effects of protecting the retracted and released cables and improving the cable retraction and release stability.

[0007] As further preferred, the winding mechanism includes a first drive motor and a winding reel, the first drive motor is fixedly connected to the shell, the winding reel is coaxially fixedly connected to the output shaft of the first drive motor, and one end of the cable is fixedly connected to the outer wall of the winding reel.

[0008] As a further preference, the winding mechanism further comprises two limit baffles, the two limit baffles are coaxially fixedly connected to the two ends of the winding drum, and the area between the two limit baffles serves as a cable winding area.

[0009] As a further preferred embodiment, the wire arrangement mechanism includes a guide slider and a drive assembly, the drive assembly is fixedly mounted on the shell, the guide slider is arranged at the output end of the drive assembly and a guide hole is opened in the middle thereof along the vertical direction, and the drive assembly drives the guide slider to move in a direction parallel to the axis of the winding reel.

[0010] As a further preferred embodiment, the drive assembly includes a second drive motor, a reciprocating screw and a guide shaft, the second drive motor is fixedly connected to the housing, the reciprocating screw is coaxially fixedly connected to the output shaft of the second drive motor, the reciprocating screw is parallel to the axis of the winding reel, the guide shaft is fixedly connected to the housing and parallel to the reciprocating screw, and the guide slider is sleeved on the reciprocating screw and the guide shaft and cooperates with the reciprocating screw thread.

[0011] As a further preferred embodiment, the retracting and extending assembly includes a third driving motor, a driving wheel, a driven wheel and an elastic tensioning seat, the third driving motor and the elastic tensioning seat are both fixedly connected to the shell, the driving wheel is coaxially fixedly connected to the output shaft of the third driving motor, the driven wheel is rotatably connected to the output end of the elastic tensioning seat and the rotating axis is parallel to the rotating axis of the driving wheel, and the elastic tensioning seat pushes the driven wheel closer to the driving wheel.

[0012] As a further preferred embodiment, the elastic tensioning seat includes a mounting frame, a fixed rod, a threaded rod, a slider, a spring and a mounting block, the mounting frame is fixedly connected to the shell, the fixed rod is fixedly connected to the mounting frame, the slider and the mounting block are both slidably connected to the fixed rod, the spring is connected between the slider and the mounting block, the threaded rod is threadedly connected to the mounting frame and is parallel to the fixed rod, and the driven wheel is rotationally connected to the mounting block.

[0013] As a further preferred embodiment, the guide assembly includes a fixed frame and two guide columns, the fixed frame is U-shaped and fixedly connected to the shell, the two guide columns are rotatably connected to the fixed frame and are parallel to each other, the rotation axis of the guide column is perpendicular to the rotation axis of the driving wheel, and the cable passes between the two guide columns.

[0014] As a further preference, the device also includes a rotary encoding mechanism for measuring the length of the cable retracted or released by the cable retracting or releasing mechanism.

[0015] The method for retracting and paying out the wire of the above-mentioned retracting and paying out device provided in the present application comprises the following steps: S1: The housing is fixedly installed vertically through a fixed mounting base; S2: Start the retracting and releasing assembly to release the cable on the winding mechanism, and the cable passes through the perforation to the outside of the sealed cabin and is extended under the drive of the pipeline robot; S3: Start the retractable assembly, the cable arrangement mechanism and the winding mechanism. The cables outside the sealed cabin are recovered through the retractable assembly. The cable winding mechanism rewinds the cables. At the same time, the cable arrangement mechanism assists in cable arrangement. The pipeline robot is reset under the pull of the cable. When the cable is completely entered into the sealed cabin, the cable is retracted.

[0016] In general, the above technical solutions conceived by this application have the following technical advantages compared with the prior art: 1. The cable retracting and releasing device of the present application can stably install the shell through the fixed installation base. In practical applications, it can be fixedly installed on the existing fire hydrant through the fixed installation base, thereby improving the stability of the cable when it is retracted and released, and the water supply pipeline inspection does not require opening holes in the pipeline, thereby improving the inspection efficiency; the cable, the winding mechanism, the cable arrangement mechanism and the cable retracting and releasing mechanism are all located in the sealed cabin of the shell. When the cable retracting and releasing device is in the process of retracting and releasing the cable, the cable is retracted and released in the sealed cabin, and the cable is not exposed to the air, will not be contaminated and damaged, and the cable is protected, while the cable retracting and releasing stability is improved.

[0017] 2. The present application is provided with a guide slider and a driving assembly, and the driving assembly drives the guide slider to move in a direction parallel to the axis of the winding drum, so that the cable can be evenly wound on the winding drum during recycling, and the cable winding is more uniform, which prevents the cable from being damaged due to excessive squeezing and twisting during the recycling process. At the same time, the evenly wound cables can be arranged more closely on the winding drum, so that more cables can be stored in a limited space.

[0018] 3. The present application is provided with an elastic tensioning seat, which pushes the driven wheel closer to the driving wheel. The pressure of the driven wheel on the cable can be adjusted according to actual needs, ensuring that the driving wheel and the driven wheel are more closely fitted to the cable, thereby improving the cable retraction and release effect. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 This is a schematic diagram of the overall structure of the first perspective of the wire retracting and unreeling device provided in an embodiment of the present application; Figure 2 is a schematic diagram of the overall structure of the wire retracting and releasing device provided in an embodiment of the present application from a second viewing angle; Figure 3 It is a schematic diagram of the overall structure of the inner wall of the sealed cabin provided in an embodiment of the present application; Figure 4 It is a schematic diagram of the layout structure of the winding mechanism, the wire arrangement mechanism and the wire retracting and releasing mechanism provided in the embodiment of the present application; Figure 5 yes Figure 4 A schematic diagram of the enlarged structure of the middle part A; Figure 6 It is a schematic diagram of the overall structure of the winding mechanism and the cable arrangement mechanism provided by the embodiment of the present application from a first perspective; Figure 7 It is a second perspective overall structural diagram of the winding mechanism and the cable arrangement mechanism provided in the embodiment of the present application; Figure 8 It is a schematic diagram of the overall structure of the retractable assembly and the rotary encoding mechanism provided by the embodiment of the present application from a first perspective; Fig. 9 It is a second perspective overall structural diagram of the retractable assembly and the rotary encoding mechanism provided in an embodiment of the present application.

[0020] Throughout the drawings, the same reference numerals are used to denote the same elements or structures, wherein: 1. Shell; 11. Sealed cabin; 12. Opening; 13. Ventilation port; 14. Fan; 15. Fixing plate; 16. Sealing cover plate; 2. Winding mechanism; 21. First drive motor; 22. Winding drum; 23. Limit baffle; 3. Wire arrangement mechanism; 31. Guide slider; 311. Guide hole; 32. Drive assembly; 321. Second drive motor; 322. Reciprocating screw rod; 323. Guide shaft; 4. Wire retracting and releasing mechanism; 41 , retractable assembly; 411, third drive motor; 412, driving wheel; 413, driven wheel; 414, mounting bracket; 415, fixing rod; 416, threaded rod; 417, slider; 418, spring; 419, mounting block; 42, guide assembly; 421, fixing bracket; 422, guide column; 5, fixed mounting seat; 6, rotary encoding mechanism; 61, rotary encoder; 62, gear; 7, adapter flange; 8, control box. DETAILED DESCRIPTION

[0021] In order to make the purpose, technical solution and advantages of the present application more clearly understood, the present application is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and are not used to limit the present application.

[0022] At present, in urban water supply systems, water supply pipelines are usually inspected by deploying pipeline robots. Before the pipeline robot is deployed, it needs to be connected to a communication cable to transmit detection signals and control the operation of the pipeline robot through the communication cable. The communication cable is usually set on a wire-retracting device, which can release and retract the cable according to the operation of the pipeline robot.

[0023] Reference Figure 1-5 The present application discloses a wire-retracting and -releasing device for a pipeline robot, which can be installed and used using an existing fire hydrant. When in use, it is stably installed on the fire hydrant, and the pipeline robot enters the water supply pipeline from the fire hydrant. It can withstand a maximum water pressure of 1.0 MPa in an operating environment. The wire-retracting and -releasing device specifically includes a shell 1, a winding mechanism 2, a wire arrangement mechanism 3, a wire-retracting and -releasing mechanism 4, a fixed mounting seat 5 and a control box 8. The control box 8 is electrically connected to each mechanism for electrical control. The shell 1 is kept in a vertical state during installation. A sealed cabin 11 is arranged inside the shell 1 and a cabin door is provided on one side. A sealed cover plate 16 is fixedly connected to the cabin door by bolts. The sealing cabin 11 is opened and closed by installing and removing the sealed cover plate 16.

[0024] In this embodiment, the winding mechanism 2, the wire arrangement mechanism 3 and the wire reeling and unwinding mechanism 4 are arranged in sequence from top to bottom in the sealed cabin 11, and an opening 12 for the cable to pass through is opened at the bottom of the shell 1, and the fixed mounting seat 5 is coaxially fixedly connected to the opening 12, and a through hole is opened through the middle of the fixed mounting seat 5, and the cable can pass through the through hole to the outside of the sealed cabin 11 to connect to the pipeline robot; the cable is wound and recycled by the winding mechanism 2, the wire arrangement mechanism 3 is used to assist the cable to be evenly wound and laid when the cable is recycled, and the wire reeling and unwinding mechanism 4 is used to release and recycle the cable, and when the wire reeling and unwinding device is performing the wire reeling and unwinding process, the cable is retracted and placed in the sealed cabin 11, and the cable is not exposed to the air and will not be contaminated or damaged. Among them, the fixed mounting seat 5 can be coaxially fixedly connected to the fire hydrant by bolts, and the cable does not directly contact the fire hydrant when releasing and recovering, which can reduce wear, and the housing 1 is stably installed between the fixed mounting seat 5 and the fire hydrant, which improves the stability of the cable when it is retracted. In this embodiment, the bottom of the fixed mounting seat 5 is fixedly connected with a transfer flange 7, and the transfer flange 7 can be selected according to the different fire hydrants. Suitable specifications are selected to increase the adaptability of the installation of the retractable device of this application. The pipeline robot can enter the water supply pipeline from the fire hydrant without reopening the hole in the water supply pipeline, simplifying the detection process and improving the detection efficiency.

[0025] Reference Figure 6-7 Specifically, the winding mechanism 2 includes a first drive motor 21, a winding drum 22 and two limit baffles 23. The first drive motor 21 is fixedly connected to the housing 1 and its output shaft is located in the sealed cabin 11. The winding drum 22 is coaxially fixedly connected to the output shaft of the first drive motor 21. One end of the cable is fixedly connected to the outer wall of the winding drum 22. The two limit baffles 23 are coaxially fixedly connected to the two ends of the winding drum 22, respectively. The area between the two limit baffles 23 serves as a cable winding area. In order to improve the installation stability of the winding drum, a fixing plate 15 is fixedly installed in the sealed cabin 11 by bolts. One end of the winding drum is rotatably connected to the inner wall of the sealed cabin 11 through a deep groove ball bearing, and the other end of the winding drum is rotatably connected to the inner wall of the fixing plate 15 through a deep groove ball bearing. The first drive motor 21 drives the winding drum to rotate to realize the winding and recycling of the cable. In order to transmit signals through cables, an electric slip ring interface for connecting optical fibers is provided in the middle of the winding drum 22 near one end of the fixing plate 15 , and after the optical fibers are plugged in, they can be connected to the cables, thereby realizing signal transmission.

[0026] Specifically, the cable arrangement mechanism 3 includes a guide slider 31 and a drive assembly 32. The drive assembly 32 is fixedly mounted on the shell 1. The guide slider 31 is arranged at the output end of the drive assembly 32 and a guide hole 311 is opened in the middle thereof in the vertical direction. The drive assembly 32 drives the guide slider 31 to move in a direction parallel to the axis of the winding drum 22. The drive assembly 32 drives the guide slider 31 to move in a direction parallel to the axis of the winding drum 22, so that the cable can be evenly wound on the winding drum 22 during recycling. The cable winding is more even, which avoids damage to the cable due to excessive squeezing and twisting during the recycling process. At the same time, the evenly wound cable can be arranged more tightly on the winding drum 22, so that more cables can be stored in a limited space.

[0027] More specifically, the drive assembly 32 includes a second drive motor 321, a reciprocating screw 322 and a guide shaft 323. The second drive motor 321 is fixedly connected to the shell 1 and the output shaft is located in the sealed cabin 11. The reciprocating screw 322 is coaxially fixedly connected to the output shaft of the second drive motor 321. The reciprocating screw 322 is parallel to the axis of the winding reel 22. The guide shaft 323 is fixedly connected to the shell 1 and is parallel to the reciprocating screw 322. Similarly, one end of the reciprocating screw 322 is rotatably connected to the inner wall of the sealed cabin 11 through a deep groove ball bearing, and the other end of the reciprocating screw 322 is rotatably connected to the inner wall of the fixed plate 15 through a deep groove ball bearing. The guide slider 31 is sleeved on the reciprocating screw 322 and the guide shaft 323 and is threadedly matched with the reciprocating screw 322. When the first drive motor 21 drives the winding drum to rotate to wind the cable, the second drive motor 321 drives the reciprocating screw 322 to rotate, so that the guide slider 31 reciprocates along the setting direction of the reciprocating screw 322 to guide the cable, so that the cable is wound more evenly.

[0028] Reference Figure 5 and Figure 8-9Furthermore, in order to achieve stable cable retraction and release, the cable retraction and release mechanism 4 includes a retraction and release assembly 41 for retracting and releasing the cable and a guide assembly 42 for guiding the cable, and the guide assembly 42 and the retraction and release assembly 41 are arranged in sequence along the vertical direction. The guide assembly 42 includes a fixed frame 421 and two guide columns 422, the fixed frame 421 is U-shaped and the open end is fixedly connected to the housing 1, the two guide columns 422 are both rotatably connected to the inner walls on both sides of the fixed frame 421 and the two guide columns 422 are parallel to each other, the rotation axis of the guide column 422 is perpendicular to the rotation axis of the driving wheel 412 in the retraction and release assembly 41, and the cable passes between the two guide columns 422 for positioning and guiding. The retractable assembly 41 comprises a third drive motor 411, a driving wheel 412, a driven wheel 413 and an elastic tensioning seat. The third drive motor 411 and the elastic tensioning seat are both fixedly connected to the housing 1. The output shaft of the third drive motor 411 is located in the sealed cabin 11. The driving wheel 412 is coaxially fixedly connected to the output shaft of the third drive motor 411. The driven wheel 413 is rotatably connected to the output end of the elastic tensioning seat and the rotating shaft is parallel to the rotating shaft of the driving wheel 412. The elastic tensioning seat pushes the driven wheel 413 to approach the driving wheel 412. The outer wall of the wheel 413 is provided with an annular groove which is embedded and adapted with the outer wall of the driving wheel 412. The cable passes between the driving wheel 412 and the driven wheel 413. The third driving motor 411 drives the driving wheel 412 to rotate. Under the extrusion cooperation of the driven wheel 413, the cable can be released and recovered. The driven wheel 413 is pushed closer to the driving wheel 412 through the elastic tensioning seat. The pressure of the driven wheel 413 on the cable can be adjusted according to actual needs to ensure that the driving wheel 412 and the driven wheel 413 are more closely fitted to the cable, thereby improving the cable retraction and release effect.

[0029] Furthermore, the elastic tensioning seat includes a mounting frame 414, a fixing rod 415, a threaded rod 416, a slider 417, a spring 418 and a mounting block 419. The mounting frame 414 is fixedly connected to the housing 1 by screws, the fixing rod 415 is fixedly connected to the mounting frame 414 and is arranged as two parallel to each other, the setting direction of the fixing rod 415 is perpendicular to the axial direction of the driving wheel 412, the slider 417 and the mounting block 419 are both slidably connected to the two fixing rods 415, that is, the slider 417 and the mounting block 419 can move closer to or away from the driving wheel 412 when sliding, the spring 418 is fixedly connected between the slider 417 and the mounting block 419 and is sleeved on the fixing rod 415, and the threaded rod 416 is fixedly connected to the housing 1 by screws, the fixing rod 415 is fixedly connected to the mounting frame 414 and is arranged as two parallel to each other, the setting direction of the fixing rod 415 is perpendicular to the axial direction of the driving wheel 412, the slider 417 and the mounting block 419 are both slidably connected to the two fixing rods 415, that is, the slider 417 and the mounting block 419 can move closer to or away from the driving wheel 412 when sliding, the spring 418 is fixedly connected between the slider 417 and the mounting block 419 and is sleeved on the fixing rod 415, The threaded rod 416 is threadedly connected to the mounting frame 414 and is parallel to the fixing rod 415. The driven wheel 413 is rotatably connected to the mounting block 419. Rotating the threaded rod 416 toward the side close to the driving wheel 412 can push the slider 417 to move. When the driven wheel 413 and the driving wheel 412 abut, the slider 417 continues to be pushed to compress the spring 418, which can increase the squeezing force of the driven wheel 413 and the driving wheel 412 on the cable. Rotating the threaded rod 416 in the opposite direction reduces the squeezing force of the driven wheel 413 and the driving wheel 412 on the cable. In practice, it can be adjusted as needed to ensure a better cable retraction and release effect and avoid damage and slipping caused by cable squeezing.

[0030] In this embodiment, the device also includes a rotary encoding mechanism 6 for measuring the length of the cable retracted and released by the retractable and retractable mechanism 4. The rotary encoding mechanism 6 is fixedly mounted on the mounting block 419. The rotary encoding mechanism 6 includes a rotary encoder 61 and a plurality of gears 62. The rotary encoder 61 is fixedly connected to the mounting block 419 and a gear 62 is coaxially fixedly connected to the input end. At the same time, a gear 62 is also coaxially fixedly connected to one end of the rotating shaft of the driven wheel 413. The two gears 62 are meshed with each other. In practice, a plurality of gears 62 can be rotatably connected to the mounting block 419 as needed, and the gears 62 are meshed with each other, so that the gear 62 driven by the driven wheel 413 can be driven to rotate to transmit the rotation to the gear 62 connected to the rotary encoder 61, so as to avoid interference in the installation of the components on the mounting block 419. After the driven wheel 413 rotates to drive the gear 62 to rotate, the rotary encoder 61 measures the retractable and retractable length of the cable according to the number of revolutions of the gear 62.

[0031] In addition, a vent 13 connected to the sealed cabin 11 is provided on the top of the shell 1, and a fan 14 is fixedly connected to the vent 13. The fan 14 blows air to the cable to speed up the drying of the cable and reduce bacterial growth and sewage corrosion of the cable.

[0032] Furthermore, in this embodiment, a chamber (not shown in the figure) for accommodating a pipeline robot can be fixedly installed between the fixed mounting seat 5 and the adapter flange 7, and the pipeline robot can be placed in the chamber for storage after being retracted. Since the pipeline robot in this application is used for the detection of water supply pipelines, it is necessary to regularly inject disinfectant into the chamber and the sealed cabin 11 for disinfection. Since the cables in this embodiment are usually located in the sealed cabin 11, the cable retracting and releasing device is directly installed on the fire hydrant when in use, and the cables directly enter the water supply pipeline from the fire hydrant. The pipeline robot and the cables are not directly in contact with the air, reducing the pollution of tap water.

[0033] Furthermore, a filter sponge is detachably installed in the chamber, and a gap is provided in the middle of the filter sponge, through which the cable can pass, so that the outer wall of the cable can be wiped by the filter sponge when it is retracted or released, thereby further improving the cleanliness of the cable and reducing water contamination by the cable. The filter sponge can be replaced regularly.

[0034] The present application also discloses a method for reeling in and out the wire of the reeling-in and reeling-out device, comprising the following steps: S1: The shell 1 is vertically fixed and installed through the fixed mounting seat 5; the bottom of the fixed mounting seat 5 is fixedly connected to the adapter flange 7 compatible with the fire hydrant, and the adapter flange 7 is fixedly connected to the fire hydrant by bolts. As the pipeline robot enters the water supply pipeline from the fire hydrant, the cable can extend downward from the center of the fire hydrant.

[0035] S2: Start the retractable assembly 41 to release the cable on the winding mechanism 2. The cable passes through the perforation and extends to the outside of the sealed cabin 11 and is extended by the pipeline robot. Specifically, the third driving motor 411 drives the driving wheel 412 to rotate, and the cable can be released under the extrusion cooperation of the driven wheel 413. The release length of the cable is not less than the movement distance of the pipeline robot.

[0036] S3: Start the retractable assembly 41, the cable arrangement mechanism 3 and the winding mechanism 2, recycle the cables outside the sealed cabin 11 through the retractable assembly 41, rewind the cables through the winding mechanism 2, and at the same time, the cable arrangement mechanism 3 assists in cable arrangement. The pipeline robot is reset under the pull of the cables, and the cables are completely put into the sealed cabin 11 to complete the rewinding. The third drive motor 411 drives the active wheel 412 to rotate in the opposite direction. With the extrusion and cooperation of the driven wheel 413, the cable can be recovered. The first drive motor 21 drives the winding drum to rotate to realize the winding and recovery of the cables. The second drive motor 321 drives the reciprocating screw rod 322 to rotate, so that the guide slider 31 reciprocates along the setting direction of the reciprocating screw rod 322 to guide the cables so that the cables are evenly wound on the winding drum 22.

[0037] It should be understood that expressions such as "include" and "may include" used in this application indicate the existence of the disclosed functions, operations or constituent elements, and do not limit one or more additional functions, operations and constituent elements. In this application, terms such as "include" and / or "have" may be interpreted as indicating specific characteristics, numbers, operations, constituent elements, components or combinations thereof, but may not be interpreted as excluding the existence or possibility of adding one or more other characteristics, numbers, operations, constituent elements, components or combinations thereof.

[0038] It should be understood that the terms "center", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "inside", "outside", "clockwise", "counterclockwise", "axial", "radial", "circumferential" and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the present application.

[0039] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of the features. In the description of this application, the meaning of "plurality" is two or more, unless otherwise clearly and specifically defined.

[0040] In this application, unless otherwise clearly specified and limited, the terms "installed", "connected", "connected", "fixed" and the like should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be an indirect connection through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in this application can be understood according to specific circumstances.

[0041] It will be easily understood by those skilled in the art that the above description is only a preferred embodiment of the present application and is not intended to limit the present application. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present application shall be included in the scope of protection of the present application.

Claims

1. A wire-retracting and releasing device for a pipeline robot, characterized in that: It comprises a housing (1), a wire winding mechanism (2), a wire arrangement mechanism (3), a wire retracting and releasing mechanism (4) and a fixed mounting seat (5); A sealed cabin (11) is provided inside the housing (1), and the wire winding mechanism (2), the wire arrangement mechanism (3) and the wire retracting and releasing mechanism (4) are arranged in sequence from top to bottom in the sealed cabin (11); The cable retracting and releasing mechanism (4) comprises a retracting and releasing assembly (41) for retracting and releasing the cable and a guiding assembly (42) for guiding the cable, wherein the guiding assembly (42) and the retracting and releasing assembly (41) are arranged in sequence along the vertical direction; The bottom of the shell (1) is provided with an opening (12) for the cable to pass through, the fixed mounting seat (5) is coaxially fixedly connected to the opening (12), and a through hole is formed in the middle of the fixed mounting seat (5), and the cable passes through the through hole and extends to the outside of the sealed cabin (11) to connect to the pipeline robot.

2. A wire-retracting and -releasing device for a pipeline robot according to claim 1, characterized in that: The winding mechanism (2) comprises a first drive motor (21) and a winding drum (22), wherein the first drive motor (21) is fixedly connected to the housing (1), the winding drum (22) is coaxially fixedly connected to the output shaft of the first drive motor (21), and one end of the cable is fixedly connected to the outer wall of the winding drum (22).

3. A wire-retracting and -releasing device for a pipeline robot according to claim 2, characterized in that: The winding mechanism (2) further comprises two limit baffles (23), wherein the two limit baffles (23) are coaxially fixedly connected to the two ends of the winding drum (22), and the area between the two limit baffles (23) serves as a cable winding area.

4. A wire-retracting and -releasing device for a pipeline robot as claimed in claim 2, characterized in that: The wire arrangement mechanism (3) comprises a guide slider (31) and a drive assembly (32); the drive assembly (32) is fixedly mounted on the housing (1); the guide slider (31) is arranged at the output end of the drive assembly (32) and a guide hole (311) is provided in the middle thereof in a vertical direction; the drive assembly (32) drives the guide slider (31) to move in a direction parallel to the axis of the winding drum (22).

5. A wire-retracting and -releasing device for a pipeline robot as claimed in claim 4, characterized in that: The driving assembly (32) comprises a second driving motor (321), a reciprocating screw (322) and a guide shaft (323); the second driving motor (321) is fixedly connected to the housing (1); the reciprocating screw (322) is coaxially fixedly connected to the output shaft of the second driving motor (321); the reciprocating screw (322) is parallel to the axis of the winding drum (22); the guide shaft (323) is fixedly connected to the housing (1) and is parallel to the reciprocating screw (322); the guide slider (31) is sleeved on the reciprocating screw (322) and the guide shaft (323) and is threadedly matched with the reciprocating screw (322).

6. A wire-retracting and -releasing device for a pipeline robot according to claim 1, characterized in that: The retractable assembly (41) comprises a third drive motor (411), a driving wheel (412), a driven wheel (413) and an elastic tensioning seat. The third drive motor (411) and the elastic tensioning seat are both fixedly connected to the housing (1). The driving wheel (412) is coaxially fixedly connected to the output shaft of the third drive motor (411). The driven wheel (413) is rotationally connected to the output end of the elastic tensioning seat and the rotation axis is parallel to the rotation axis of the driving wheel (412). The elastic tensioning seat pushes the driven wheel (413) to approach the driving wheel (412).

7. A wire-retracting and -releasing device for a pipeline robot as claimed in claim 6, characterized in that: The elastic tensioning seat comprises a mounting frame (414), a fixing rod (415), a threaded rod (416), a slider (417), a spring (418) and a mounting block (419); the mounting frame (414) is fixedly connected to the housing (1); the fixing rod (415) is fixedly connected to the mounting frame (414); the slider (417) and the mounting block (419) are both slidably connected to the fixing rod (415); the spring (418) is connected between the slider (417) and the mounting block (419); the threaded rod (416) is threadedly connected to the mounting frame (414) and is parallel to the fixing rod (415); and the driven wheel (413) is rotatably connected to the mounting block (419).

8. A wire-retracting and -releasing device for a pipeline robot according to claim 6, characterized in that: The guide assembly (42) comprises a fixing frame (421) and two guide columns (422); the fixing frame (421) is U-shaped and fixedly connected to the housing (1); the two guide columns (422) are rotatably connected to the fixing frame (421) and are parallel to each other; the rotation axis of the guide column (422) is perpendicular to the rotation axis of the driving wheel (412); and the cable passes between the two guide columns (422).

9. A wire-retracting and -releasing device for a pipeline robot according to claim 1, characterized in that: The device also comprises a rotary encoding mechanism (6) for measuring the length of the cable retracted or released by the cable retracting and releasing mechanism (4).

10. The method for paying out and reeling a wire using a paying out and reeling device according to any one of claims 1 to 9, characterized in that: The steps include: S1: vertically fixing and installing the housing (1) by means of a fixed mounting base (5); S2: starting the retractable assembly (41) to release the cable on the winding mechanism (2), and the cable passes through the perforation to extend to the outside of the sealed cabin (11) and is extended under the drive of the pipeline robot; S3: Start the retractable assembly (41), the cable arrangement mechanism (3) and the winding mechanism (2). The cables outside the sealed cabin (11) are recovered by the retractable assembly (41). The cable winding mechanism (2) reels and recovers the cables. Meanwhile, the cable arrangement mechanism (3) assists in cable arrangement. The pipeline robot is reset under the pull of the cables. When the cables are completely inside the sealed cabin (11), the cable retraction is completed.

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