A winding and unwinding device and method for a pipe robot

Abstract

The application belongs to the field of take-up and pay-off equipment, and specifically discloses a take-up and pay-off device for a pipeline robot and a take-up and pay-off method, wherein 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 seat; the inside of the shell is provided with a sealed cabin, the winding mechanism, the wire arranging 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 for taking up and paying off a cable and a guide assembly for guiding the cable, and the guide assembly and the take-up and pay-off assembly are sequentially arranged along the vertical direction; the bottom of the shell is provided with an opening for the cable to pass through, the fixed mounting seat is coaxially fixedly connected at the opening, a through hole is formed in the middle of the fixed mounting seat, and the cable passes through the through hole to extend to the outside of the sealed cabin to be connected with the pipeline robot. Through the structural design of the application, the cable taken up and paid off can be protected, and the stability of the cable taking up and paying off can be improved.

Description

TECHNICAL FIELD

[0001] The present application belongs to the field of take-up and pay-off equipment, and more particularly relates to a take-up and pay-off device for a pipeline robot and a take-up and pay-off method. BACKGROUND

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

[0003] In the related art, the water supply pipeline is detected by deploying a pipeline robot, in order to ensure the safe deployment and recovery of the pipeline robot, the pipeline robot needs to be connected with a communication cable before deployment, so as to realize accurate control of the pipeline robot, and the communication cable is usually arranged on the take-up and pay-off device to take up and pay off the communication cable, when in use, the take-up and pay-off 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, and under the pull of the communication cable, the take-up and pay-off device is easily shaken, affecting the stability of the communication cable take-up and pay-off. SUMMARY

[0004] In view of the defects of the prior art, the present application provides a take-up and pay-off device for a pipeline robot, which aims to solve the problems that the communication cable is easily contaminated and damaged when the existing take-up and pay-off device is used, and the communication cable take-up and pay-off stability is weak.

[0005] The take-up and pay-off device for a pipeline robot provided by the present application specifically comprises a housing, a winding mechanism, a cable arranging mechanism, a take-up and pay-off mechanism and a fixed mounting seat;

[0006] The inside of the housing is provided with a sealed cabin, and the winding mechanism, the cable arranging mechanism and the take-up and pay-off mechanism are arranged in the sealed cabin from top to bottom;

[0007] The take-up and pay-off mechanism comprises a guide assembly for guiding the cable and a take-up and pay-off assembly for taking up and paying off the cable, and the guide assembly and the take-up and pay-off assembly are arranged in sequence along the vertical direction;

[0008] The bottom of the housing is provided with an opening for the cable to pass through, and the fixed mounting seat is coaxially fixedly connected to the opening, and a through hole is formed in the middle of the fixed mounting seat, and the cable passes through the through hole to the outside of the sealed cabin to connect the pipeline robot.

[0009] Compared with the prior art, the shell in the winding and unwinding device is fixedly connected with the fixed mounting base, the shell is stably mounted through the fixed mounting base, the winding and unwinding device does not shake when the pipeline robot pulls the communication cable, the stability of the cable winding and unwinding is improved, and the cable, the winding mechanism, the wire arranging mechanism and the winding and unwinding mechanism are located in the sealed cabin of the shell, so that the cable winding is performed in the sealed cabin when the winding and unwinding device is winding and unwinding, the cable is not exposed to the air and is not polluted and damaged, and the cable winding can be protected and the stability of the cable winding is improved.

[0010] As a further preferred, the winding mechanism comprises a first driving motor and a winding drum, the first driving motor is fixedly connected to the shell, the winding drum is coaxially fixedly connected to the output shaft of the first driving motor, and one end of the cable is fixedly connected to the outer wall of the winding drum.

[0011] As a further preferred, the winding mechanism further comprises two limiting baffles, the two limiting baffles are coaxially fixedly connected to the two ends of the winding drum respectively, and the two limiting baffles serve as a cable winding area.

[0012] As a further preferred, the wire arranging mechanism comprises a guide slider and a driving assembly, the driving assembly is fixedly installed on the shell, the guide slider is arranged at the output end of the driving assembly and is provided with a guide hole in the middle portion in the vertical direction, and the driving assembly drives the guide slider to move in the direction parallel to the axis of the winding drum.

[0013] As a further preferred, the driving assembly comprises a second driving motor, a reciprocating screw rod and a guide shaft, the second driving motor is fixedly connected to the shell, the reciprocating screw rod is coaxially fixedly connected to the output shaft of the second driving motor, the reciprocating screw rod is parallel to the axis of the winding drum, the guide shaft is fixedly connected to the shell and is parallel to the reciprocating screw rod, and the guide slider is sleeved on the reciprocating screw rod and the guide shaft and is threadedly connected with the reciprocating screw rod.

[0014] As a further preferred, the winding and unwinding assembly comprises 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 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 rotation shaft is parallel to the rotation shaft of the driving wheel, and the elastic tensioning seat pushes the driven wheel to approach the driving wheel.

[0015] 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 housing, 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 parallel to the fixed rod, and the driven wheel is rotatably connected to the mounting block.

[0016] As a further preferred embodiment, the guide assembly includes a fixed frame and two guide posts. The fixed frame is U-shaped and fixedly connected to the housing. The two guide posts are rotatably connected to the fixed frame and are parallel to each other. The rotation axis of the guide posts is perpendicular to the rotation axis of the drive wheel, and the cable passes between the two guide posts.

[0017] As a further preferred embodiment, the device also includes a rotary encoder for measuring the length of the cable wound and unwound by the cable winding and unwound mechanism.

[0018] The method for winding and unwinding wire using the above-mentioned winding and unwinding device provided in this application includes the following steps:

[0019] S1: The housing is vertically fixed and installed using a fixed mounting bracket;

[0020] S2: The take-up and release assembly is activated to release the cable on the winding mechanism. The cable passes through the perforation and extends to the outside of the sealed chamber, where it is extended by the pipeline robot.

[0021] S3: Start the take-up and release component, cable laying mechanism and winding mechanism. The take-up and release component retrieves the cable outside the sealed chamber, the winding mechanism winds and retrieves the cable, and the cable laying mechanism assists in laying the cable. The pipeline robot resets under the pull of the cable. Once the cable is completely inside the sealed chamber, the take-up is complete.

[0022] In summary, compared with the prior art, the technical solutions conceived in this application have the following main technical advantages:

[0023] 1. The cable winding and unwinding device of this application can be stably installed on the housing by means of a fixed mounting base. In practical applications, it can be fixedly installed on existing fire hydrants by means of a fixed mounting base, which improves the stability of cable winding and unwinding. Moreover, water supply pipeline inspection does not require drilling holes in the pipeline, which improves inspection efficiency. The cable, winding mechanism, cable laying mechanism and cable winding and unwinding mechanism are all located in the sealed chamber of the housing. When the cable winding and unwinding device is in the process of winding and unwinding, the cable winding and unwinding is carried out in the sealed chamber. The cable is not exposed to the air and will not be contaminated or damaged, thus protecting the cable and improving the stability of cable winding and unwinding.

[0024] 2. This application incorporates a guide slider and a drive assembly. The drive assembly drives the guide slider to move in a direction parallel to the axis of the winding drum, allowing the cable to be evenly wound onto the winding drum during retrieval. This results in more uniform cable winding, preventing damage to the cable due to excessive compression or twisting during retrieval. Simultaneously, the evenly wound cable can be more tightly arranged on the winding drum, thereby storing more cable in a limited space.

[0025] 3. This application incorporates 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 a closer fit between the driving wheel and the driven wheel and the cable, thereby improving the cable winding and unwinding effect. Attached Figure Description

[0026] Figure 1 This is a first-view overall structural diagram of the wire take-up and unwinding device provided in the embodiments of this application;

[0027] Figure 2 This is a second-view overall structural schematic diagram of the wire take-up and unwinding device provided in the embodiments of this application;

[0028] Figure 3 This is a schematic diagram of the overall structure of the inner wall of the sealed chamber provided in the embodiments of this application;

[0029] Figure 4 This is a schematic diagram of the layout structure of the winding mechanism, the wire laying mechanism, and the wire take-up and unwinding mechanism provided in the embodiments of this application;

[0030] Figure 5 yes Figure 4 Enlarged structural diagram of section A in the middle;

[0031] Figure 6 This is a first-view overall structural schematic diagram of the winding mechanism and the wire laying mechanism provided in the embodiments of this application;

[0032] Figure 7 This is a second-view overall structural schematic diagram of the winding mechanism and the wire laying mechanism provided in the embodiments of this application;

[0033] Figure 8 This is a first-view overall structural diagram of the take-up and take-down assembly and the rotary encoder mechanism provided in the embodiments of this application;

[0034] Figure 9 This is a second-view overall structural diagram of the take-up and take-down assembly and the rotary encoder mechanism provided in the embodiments of this application.

[0035] In all the accompanying drawings, the same reference numerals are used to denote the same elements or structures, wherein:

[0036] 1. Shell; 11. Sealed chamber; 12. Opening; 13. Ventilation port; 14. Fan; 15. Fixing plate; 16. Sealing cover; 2. Winding mechanism; 21. First drive motor; 22. Winding drum; 23. Limiting baffle; 3. Wire laying mechanism; 31. Guide slider; 311. Guide hole; 32. Drive assembly; 321. Second drive motor; 322. Reciprocating lead screw; 323. Guide shaft; 4. Wire take-up and unwinding mechanism; 41 411. Retracting and extending assembly; 412. Third drive motor; 413. Drive wheel; 414. Driven wheel; 415. Mounting bracket; 416. Fixed rod; 417. Threaded rod; 418. Slider; 419. Spring; 42. Mounting block; 42. Guide assembly; 421. Fixed bracket; 422. Guide column; 5. Fixed mounting base; 6. Rotary encoder mechanism; 61. Rotary encoder; 62. Gear; 7. Adapter flange; 8. Control box. Detailed Implementation

[0037] To make the objectives, technical solutions, and advantages of this application clearer, the following detailed description is provided in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the scope of this application.

[0038] Currently, in urban water supply systems, pipeline robots are commonly used to inspect water supply pipelines. Before deployment, the pipeline robot needs to be connected to a communication cable to transmit detection signals and control the operation of the pipeline robot. The communication cable is usually installed on a cable release and retraction device, which can release and retrieve the cable according to the operation of the pipeline robot.

[0039] Reference Figures 1-5 This application discloses a cable reeling and unloading device for a pipeline robot, which can be installed and used using existing fire hydrants. During 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. The cable reeling and unloading device specifically includes a housing 1, a winding mechanism 2, a cable laying mechanism 3, a cable reeling and unloading mechanism 4, a fixed mounting base 5, and a control box 8. The control box 8 is electrically connected to each mechanism for electrical control. The housing 1 is installed vertically, and a sealed chamber 11 is provided inside the housing 1, with a door on one side. A sealing cover 16 is bolted to the door, and the sealed chamber 11 is opened and closed by installing and removing the sealing cover 16.

[0040] In this embodiment, the winding mechanism 2, the cable laying mechanism 3, and the cable take-up and release mechanism 4 are arranged sequentially from top to bottom inside the sealed chamber 11. The bottom of the housing 1 has an opening 12 for the cable to pass through. The fixed mounting base 5 is coaxially fixedly connected to the opening 12. The fixed mounting base 5 has a through hole in the middle, through which the cable can pass to the outside of the sealed chamber 11 to connect to the pipeline robot. The winding mechanism 2 winds and recycles the cable. The cable laying mechanism 3 is used to assist in the even winding and laying of the cable during cable recycling. The cable take-up and release mechanism 4 is used to release and recycle the cable. During the cable take-up and release process, the cable is taken up and released inside the sealed chamber 11. The cable is not exposed to the air and will not be contaminated or damaged. The fixed mounting base 5 is coaxially fixed to the fire hydrant via bolts, preventing direct contact between the cable and the hydrant during release and retrieval, thus reducing wear. Furthermore, the housing 1 is stably installed between the fixed mounting base 5 and the fire hydrant, improving cable deployment and retrieval stability. In this embodiment, a transition flange 7 is fixedly connected to the bottom of the fixed mounting base 5. The transition flange 7 can be selected according to different fire hydrants to increase the adaptability of the cable deployment and retrieval device. The pipeline robot can enter the water supply pipeline from the fire hydrant without needing to drill new holes in the water supply pipeline, simplifying the inspection process and improving inspection efficiency.

[0041] Reference Figures 6-7 Specifically, the winding mechanism 2 includes a first drive motor 21, a winding drum 22, and two limiting baffles 23. The first drive motor 21 is fixedly connected to the housing 1, and its output shaft is located inside the sealed chamber 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 limiting baffles 23 are coaxially fixedly connected to both ends of the winding drum 22, and the area between the two limiting baffles 23 serves as the cable winding area. To improve the installation stability of the winding drum, a fixing plate 15 is fixedly installed inside the sealed chamber 11 by bolts. One end of the winding drum is rotatably connected to the inner wall of the sealed chamber 11 by 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 by a deep groove ball bearing. The first drive motor 21 drives the winding drum to rotate, thereby realizing the winding and recovery of the cable. To enable signal transmission via cable, the winding drum 22 is equipped with an electric slip ring interface for connecting optical fibers at the middle of the end near the fixed plate 15. After the optical fiber is inserted, it can be connected to the cable, thereby enabling signal transmission.

[0042] Specifically, the cable winding mechanism 3 includes a guide slider 31 and a drive assembly 32. The drive assembly 32 is fixedly installed on the housing 1. The guide slider 31 is located at the output end of the drive assembly 32 and has a guide hole 311 in the middle along 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. This allows the cable to be evenly wound on the winding drum 22 during recycling, resulting in more uniform cable winding and preventing damage to the cable due to excessive compression or twisting during recycling. At the same time, the evenly wound cable can be more tightly arranged on the winding drum 22, thereby storing more cable in a limited space.

[0043] 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 housing 1 and its output shaft is located inside the sealed chamber 11. The reciprocating screw 322 is coaxially fixedly connected to the output shaft of the second drive motor 321 and 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. Similarly, one end of the reciprocating screw 322 is rotatably connected to the inner wall of the sealed chamber 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 engaged with the reciprocating screw 322. When the first drive motor 21 drives the winding drum to rotate and 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 and make the cable winding more uniform.

[0044] Reference Figure 5 and Figures 8-9Furthermore, to achieve stable cable winding and unwinding, the cable winding and unwinding mechanism 4 includes a winding and unwinding assembly 41 for winding and unwinding the cable and a guiding assembly 42 for guiding the cable. The guiding assembly 42 and the winding and unwinding assembly 41 are arranged sequentially in the vertical direction. The guiding assembly 42 includes a fixed frame 421 and two guide posts 422. The fixed frame 421 is U-shaped and its open end is fixedly connected to the housing 1. The two guide posts 422 are rotatably connected to the inner walls on both sides of the fixed frame 421 and are parallel to each other. The rotation axis of the guide posts 422 is perpendicular to the rotation axis of the drive wheel 412 in the winding and unwinding assembly 41. The cable passes between the two guide posts 422 for positioning and guidance. The retraction assembly 41 includes a third drive motor 411, a drive 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 inside the sealed chamber 11. The drive wheel 412 is coaxially and 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 its rotation axis is parallel to the rotation axis of the drive wheel 412. The elastic tensioning seat pushes the driven wheel 413 closer to the drive wheel 412. The outer peripheral wall of wheel 413 has an annular groove that fits into the outer peripheral wall of drive wheel 412. The cable passes between drive wheel 412 and driven wheel 413. The third drive motor 411 drives drive wheel 412 to rotate. Under the squeezing action of driven wheel 413, the cable can be released and retracted. The driven wheel 413 is pushed closer to drive wheel 412 by elastic tension seat. The pressure of driven wheel 413 on cable can be adjusted according to actual needs to ensure that drive wheel 412 and driven wheel 413 fit the cable better and improve the cable release and retraction effect.

[0045] Furthermore, the elastic tensioning seat includes a mounting bracket 414, a fixing rod 415, a threaded rod 416, a slider 417, a spring 418, and a mounting block 419. The mounting bracket 414 is fixedly connected to the housing 1 by screws. The fixing rods 415 are fixedly connected to the mounting bracket 414 and are arranged as two parallel rods. The direction of the fixing rods 415 is perpendicular to the axis of the drive wheel 412. The slider 417 and the mounting block 419 are slidably connected to the two fixing rods 415, that is, the slider 417 and the mounting block 419 can move closer to or further away from the drive 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 bracket 414 and parallel to the fixed rod 415. The driven wheel 413 is rotatably connected to the mounting block 419. Rotating the threaded rod 416 to push it closer to the driving wheel 412 can push the slider 417 to move. When the driven wheel 413 and the driving wheel 412 come into contact, the slider 417 is 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 will reduce 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 winding and unwinding effect and avoid damage to the cable caused by squeezing and slippage.

[0046] In this embodiment, the device further includes a rotary encoder 6 for measuring the cable length of the cable take-up and release mechanism 4. The rotary encoder 6 is fixedly mounted on the mounting block 419. The rotary encoder 6 includes a rotary encoder 61 and several gears 62. The rotary encoder 61 is fixedly connected to the mounting block 419 and a gear 62 is coaxially fixedly connected to its 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 mesh with each other. In practice, several gears 62 can be rotatably connected to the mounting block 419 as needed, and the gears 62 mesh with each other. The rotation of the gear 62 driven by the driven wheel 413 can transmit power to the gear 62 connected to the rotary encoder 61 to rotate, so as to avoid interference between the installation of the components on the mounting block 419. After the driven wheel 413 rotates and drives the gear 62 to rotate, the rotary encoder 61 measures the cable take-up and release length according to the number of rotations of the gear 62.

[0047] In addition, the top of the housing 1 is provided with a vent 13 that communicates with the sealed chamber 11. A fan 14 is fixedly connected to the vent 13. The fan 14 blows air onto the cable to speed up the drying of the cable and reduce the growth of bacteria and corrosion by sewage.

[0048] Furthermore, in this embodiment, a chamber (not shown in the figure) for accommodating the pipeline robot can also be fixedly installed between the fixed mounting base 5 and the adapter flange 7. After the pipeline robot is retracted, it can be stored in the chamber. Since the pipeline robot in this application is used for the inspection of water supply pipelines, disinfectant needs to be injected into the chamber and the sealed compartment 11 periodically for disinfection. Because the cable is usually located inside the sealed compartment 11 in this embodiment, the cable retraction device is directly installed on the fire hydrant during use. The cable enters the water supply pipeline directly from the fire hydrant, and the pipeline robot and cable do not directly contact the air, reducing contamination of the tap water.

[0049] Furthermore, a filter sponge is detachably installed inside the chamber. The filter sponge has a slit in the middle, through which the cable can pass. This allows the outer wall of the cable to be wiped by the filter sponge during loading and unloading, further improving the cleanliness of the cable and reducing water contamination. The filter sponge can be replaced periodically.

[0050] This application also discloses a method for winding and unwinding the above-mentioned winding and unwinding device, including the following steps:

[0051] S1: The housing 1 is vertically fixed and installed by the fixed mounting base 5; the bottom of the fixed mounting base 5 is fixedly connected to the adapter flange 7 that is 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.

[0052] S2: The take-up and release assembly 41 is activated to release the cable on the winding mechanism 2. The cable passes through the perforation and extends to the outside of the sealed chamber 11 and extends under the drive of the pipeline robot. Specifically, the third drive motor 411 drives the drive wheel 412 to rotate. Under the squeezing cooperation of the driven wheel 413, the cable can be released. The release length of the cable is not less than the movement distance of the pipeline robot.

[0053] S3: Start the take-up and release assembly 41, the cable laying mechanism 3, and the winding mechanism 2. The take-up and release assembly 41 retrieves the cable outside the sealed chamber 11, and the winding mechanism 2 winds and retrieves the cable. At the same time, the cable laying mechanism 3 assists in laying the cable. The pipeline robot resets under the pull of the cable. Once the cable is completely inside the sealed chamber 11, the take-up is completed. The third drive motor 411 drives the drive wheel 412 to rotate in the opposite direction. Under the squeezing action of the driven wheel 413, the cable can be retrieved. The first drive motor 21 drives the winding drum to rotate, which can achieve the winding and retrieval of 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 and make the cable evenly wound on the winding drum 22.

[0054] It should be understood that expressions such as "comprising" and "may include" as 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 "comprising" and / or "having" may be interpreted as indicating a specific characteristic, number, operation, constituent element, component, or combination thereof, but should not be interpreted as excluding the existence or possibility of adding one or more other characteristics, numbers, operations, constituent elements, components, or combinations thereof.

[0055] It should be understood that the terms “center,” “upper,” “lower,” “front,” “rear,” “left,” “right,” “vertical,” “horizontal,” “inner,” “outer,” “clockwise,” “counterclockwise,” “axial,” “radial,” and “circumferential” indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are used only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this application.

[0056] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this application, "multiple" means two or more, unless otherwise explicitly specified.

[0057] In this application, unless otherwise expressly specified and limited, the terms "installation," "connection," "linking," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection between two components. Those skilled in the art can understand the specific meaning of the above terms in this application according to the specific circumstances.

[0058] Those skilled in the art will readily understand that the above description is merely a preferred embodiment of this application and is not intended to limit this application. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of this application should be included within the protection scope of this application.

Claims

1. A wire take-up and unwinding device for a pipeline robot, characterized in that, It includes a housing (1), a winding mechanism (2), a wiring mechanism (3), a take-up and unwinding mechanism (4), and a fixed mounting base (5); the housing (1) is vertically fixed and installed by the fixed mounting base (5), and the fixed mounting base (5) is coaxially fixedly connected to the fire hydrant; The housing (1) is provided with a sealed chamber (11), and the winding mechanism (2), the wire laying mechanism (3) and the wire take-up and release mechanism (4) are arranged in the sealed chamber (11) from top to bottom. The cable take-up and take-down mechanism (4) includes a take-up and take-down assembly (41) for taking up and taking down the cable and a guide assembly (42) for guiding the cable. The guide assembly (42) and the take-up and take-down assembly (41) are arranged sequentially in the vertical direction. The retraction assembly (41) includes a third drive motor (411), a drive 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 drive 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 its rotation axis is parallel to the rotation axis of the drive wheel (412). The elastic tensioning seat pushes the driven wheel (413) closer to the drive wheel (412). The outer peripheral wall of the driven wheel (413) is provided with an annular groove that fits into the outer peripheral wall of the drive wheel (412). The guide assembly (42) includes a fixed frame (421) and two guide posts (422). The fixed frame (421) is U-shaped and fixedly connected to the housing (1). The two guide posts (422) are rotatably connected to the fixed frame (421) and are parallel to each other. The rotation axis of the guide post (422) is perpendicular to the rotation axis of the drive wheel (412). The cable passes between the two guide posts (422). The bottom of the housing (1) is provided with an opening (12) for cables to pass through. The fixed mounting base (5) is coaxially fixedly connected to the opening (12). The middle of the fixed mounting base (5) is provided with a through hole. The cable passes through the through hole and extends to the outside of the sealed chamber (11) to connect to the pipeline robot.

2. The cable take-up and unwinding device for a pipeline robot as described in claim 1, characterized in that, The winding mechanism (2) includes a first drive motor (21) and a winding drum (22). The first drive motor (21) is fixedly connected to the housing (1), and 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).

3. The cable take-up and unwinding device for a pipeline robot as described in claim 2, characterized in that, The winding mechanism (2) also includes two limiting baffles (23), which are coaxially fixedly connected to both ends of the winding drum (22), and the area between the two limiting baffles (23) serves as the cable winding area.

4. A wire take-up and unwinding device for a pipeline robot as described in claim 2, characterized in that, The cable laying mechanism (3) includes a guide slider (31) and a drive assembly (32). The drive assembly (32) is fixedly installed on the housing (1). The guide slider (31) is located at the output end of the drive assembly (32) and has a guide hole (311) in the middle along 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).

5. A wire take-up and unwinding device for a pipeline robot as described in claim 4, characterized in that, The drive assembly (32) includes a second drive motor (321), a reciprocating lead screw (322), and a guide shaft (323). The second drive motor (321) is fixedly connected to the housing (1). The reciprocating lead screw (322) is coaxially fixedly connected to the output shaft of the second drive motor (321). The reciprocating lead screw (322) is parallel to the axis of the winding drum (22). The guide shaft (323) is fixedly connected to the housing (1) and parallel to the reciprocating lead screw (322). The guide slider (31) is sleeved on the reciprocating lead screw (322) and the guide shaft (323) and is threadedly engaged with the reciprocating lead screw (322).

6. The cable take-up and unwinding device for a pipeline robot as described in claim 1, characterized in that, 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). 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 parallel to the fixing rod (415). The driven wheel (413) is rotatably connected to the mounting block (419).

7. A wire take-up and unwinding device for a pipeline robot as described in claim 1, characterized in that, The device also includes a rotary encoder (6) for measuring the length of the cable taken up and put down by the cable take-up mechanism (4).

8. The method for winding and unwinding wire using the winding and unwinding device as described in any one of claims 1-7, characterized in that, Includes the following steps: S1: The housing (1) is vertically fixed and installed by means of the fixed mounting base (5); S2: The take-up and release assembly (41) is activated to release the cable on the winding mechanism (2). The cable passes through the perforation and extends to the outside of the sealed chamber (11) and extends under the drive of the pipeline robot. S3: Start the take-up and release assembly (41), the cable laying mechanism (3) and the winding mechanism (2). The take-up and release assembly (41) retracts the cable outside the sealed chamber (11), the winding mechanism (2) winds and retracts the cable, and the cable laying mechanism (3) assists in laying the cable. The pipeline robot resets under the pull of the cable. Once the cable is completely inside the sealed chamber (11), the take-up is completed.

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