Cable trench obstacle removing and patrolling integrated robot

Abstract

The invention discloses a cable trench obstacle removing and patrolling integrated robot, and relates to the technical field of cable trench obstacle removing and patrolling, the cable trench obstacle removing and patrolling integrated robot comprises a carrier plate, two supporting rods symmetrically mounted on the carrier plate, a marking assembly and an electromagnetic box fixedly mounted on the carrier plate, a sliding groove is formed in the electromagnetic box, and an iron core is slidably mounted in the sliding groove; a thermistor installed in an arc-shaped plate in the marking assembly is close to a patrolled cable for monitoring, when the temperature in the cable rises, the current and magnetic flux of a coil are both increased, so that an iron core moves downwards to open a through hole, meanwhile, pigment in a pigment box is sprayed to an abnormal position for marking, later maintenance is facilitated, the working efficiency of equipment is improved, and the cost is reduced. A shaft rod in the cleaning assembly drives a hinged plate to rotate so as to drive a piston plate in an air cylinder to move to generate air, sundries such as garbage on the cable can be blown away, the garbage is collected into a collecting box through a collecting disc below, the cable trench can be cleaned while obstacles are cleaned, and the practicability of the equipment is improved.

Description

Technical Field

[0001] The present invention relates to the technical field of cable trench obstacle clearance and inspection, and particularly to an integrated robot for cable trench obstacle clearance and inspection. Background Art

[0002] The cable trench is excavated according to the design requirements. The side walls of the cable trench are welded with load-bearing angle steel frames and grounded as required. The cable trench is an underground trench with a cover plate installed above it and is a dedicated underground passage for laying cables. Due to the humid and hot environment in the cable trench, there are various problems such as accumulation of garbage and sundries, waterlogging, silt, and waste cables. Coupled with the aging of the cable insulation layer that may cause fires and the long-term sealing of the underground environment leading to the accumulation of harmful gases, it is very difficult for manual inspection. At present, most cable trench robots are used to enter the cable trench for detection.

[0003] The patent with the publication number CN207603078U discloses a crawler-type power inspection robot, which consists of a mobile platform part, a driving motor, a detachable power supply bin, a lifting push rod, a pan-tilt, and a camera part. Through the design of the crawler-type power inspection robot, it can completely replace manual inspection of the cables in the cable trench.

[0004] However, the crawler-type power inspection robot proposed in the above solution can only detect the outer surface of the cables in the cable trench through a camera, and when a problem is detected in the cable, it cannot quickly mark the detection location and has to spend time looking for it again, resulting in a reduction in the working efficiency of the device. When the inspection robot in the above solution encounters entanglement of sundries in the cable trench, it will cause the device to malfunction, and the above device cannot collect and process the garbage and sundries falling on the cables, reducing the practicability of the device. Summary of the Invention

[0005] The purpose of the present invention is to solve the disadvantages of low working efficiency and low practicability of existing devices in the prior art, and to propose an integrated robot for cable trench obstacle clearance and inspection.

[0006] To achieve the above purpose, the present invention adopts the following technical scheme: An integrated robot for cable trench obstacle clearance and inspection, including a carrier plate and two support rods symmetrically installed on the carrier plate: A marking component, including an electromagnetic box fixedly installed on the carrier plate. A chute is opened in the electromagnetic box. An iron core is slidably installed in the chute. The bottom end of the iron core is fixedly installed with a sliding rod, and the sliding rod is slidably arranged with the electromagnetic box. A spring is sleeved on the sliding rod. A cavity is opened in the electromagnetic box. A coil is installed in the cavity. A through hole is opened in the electromagnetic box, and the through hole is located at the end of the sliding rod far from the iron core. A valve plate is fixedly installed at the end of the sliding rod far from the iron core, and the through hole is adapted to the valve plate; A cleaning component, which is used to blow the garbage on the cable and collect the garbage, includes a support plate and a support block fixedly installed on the lower surface of the carrier plate. The support plate is rotatably installed with a shaft rod.

[0007] Preferably, a paint box is fixedly installed on the upper surface of the carrier plate. A connecting pipe is fixedly installed on the paint box. The electromagnetic box and the paint box are communicated through the connecting pipe. One end of the support rod away from the carrier plate is hinged with a pressing rod. One end of the pressing rod away from the support rod is fixedly installed with a universal joint seat. A universal head is rotatably installed in the universal joint seat. One end of the universal head away from the universal joint seat is fixedly installed with an arc plate. Two rollers are symmetrically installed on the arc plate, and the two rollers are rotatably connected to the arc plate. A thermistor is fixedly installed on the inner wall of the arc plate, and the thermistor is located between the two rollers.

[0008] Preferably, a dispersion box is fixedly installed at one end of the through hole away from the connecting pipe. Paint pipes are fixedly installed on both sides of the dispersion box. The arc plate and the dispersion box are communicated through the paint pipes.

[0009] Preferably, a tension spring is installed at the connection between the support rod and the pressing rod. One end of the tension spring is fixedly connected to the support rod, and the other end of the tension spring is fixedly connected to the pressing rod.

[0010] Preferably, the electrodes of the thermistor are fixedly connected to the electrodes of the coil. The discharge port of the paint pipe is located between the two rollers.

[0011] Preferably, a bevel gear one is fixedly installed on the shaft rod. A double-headed bevel gear shaft is rotatably installed on the support plate, and the double-headed bevel gear shaft meshes with the bevel gear one.

[0012] Preferably, an L-shaped plate is fixedly installed on the lower surface of the carrier plate. Two belt pulleys one are symmetrically installed at one end of the L-shaped plate away from the carrier plate, and the two belt pulleys one are rotatably connected to the L-shaped plate. A collection box is slidably installed on the support block. A collection tray is fixedly installed at one end of the belt pulley one away from the L-shaped plate. The collection box is adapted to the collection tray, and collection nails are fixedly installed on the collection tray.

[0013] Preferably, a belt pulley two is rotatably installed at one end of the L-shaped plate away from the carrier plate. A belt is sleeved on the belt pulley two. A bevel gear two is fixedly installed at one end of the belt pulley two close to the L-shaped plate. The belt pulley one and the belt pulley two are connected by the belt. The bevel gear two meshes with the double-headed bevel gear shaft.

[0014] Preferably, two air cylinders are symmetrically installed on the lower surface of the carrier plate. A piston plate is slidably installed in each air cylinder. Both ends of the shaft rod are provided with hinge plates I. One end of the hinge plate I away from the shaft rod is hinged to a hinge plate II. One end of the hinge plate II away from the shaft rod is hinged to the piston plate. A flap is rotatably installed at one end of the air cylinder away from the shaft rod. Coil springs are fixedly installed on both sides of the flap.

[0015] Preferably, wheel rods are rotatably installed on both the support plate and the support block. Rollers are fixedly installed at both ends of the wheel rods. A crawler is rotatably installed on the surface of the rollers. An exhaust box is fixedly installed on the upper surface of the carrier plate. The air cylinder is communicated with the exhaust box through a trachea.

[0016] The beneficial effects of the present invention are as follows: 1. For this cable trench obstacle clearing and inspection integrated robot, the present invention is provided with a marking component. The thermistor installed in the arc plate of the marking component is used to monitor the cable by being close to the cable to be inspected. When the temperature in the cable rises, both the current and magnetic flux of the coil increase, causing the iron core to move downward to open the through hole. At the same time, the pigment in the pigment box is sprayed to the abnormal place for marking, which is convenient for later maintenance and improves the working efficiency of the equipment.

[0017] 2. For this cable trench obstacle clearing and inspection integrated robot, the gas generated by the piston plate in the air cylinder driven by the rotation of the hinge plate driven by the shaft rod in the cleaning component is used to blow away the garbage and other sundries on the cable, and the garbage is collected into the collection box by the lower collection tray below. While clearing obstacles, the cable trench can be cleaned, improving the practicability of the equipment.

[0018] 3. For this cable trench obstacle clearing and inspection integrated robot, the crawlers arranged on both sides of the carrier plate can enhance the passability of the equipment, avoid the equipment from being stuck, and further improve the working efficiency of the equipment. Description of the Drawings

[0019] Figure 1 It is a schematic diagram of the overall structure of the cable trench obstacle clearing and inspection integrated robot proposed by the present invention; Figure 2 It is a schematic diagram of the structure at the support rod of the cable trench obstacle clearing and inspection integrated robot proposed by the present invention; Figure 3 In the cable trench obstacle clearing and inspection integrated robot proposed by the present invention Figure 2 Schematic diagram of the structure at A; Figure 4 It is a schematic diagram of the sectional structure at the electromagnetic box of the cable trench obstacle clearing and inspection integrated robot proposed by the present invention; Figure 5 It is a schematic diagram of the sectional structure at the air cylinder of the cable trench obstacle clearing and inspection integrated robot proposed by the present invention; Figure 6Schematic structural diagram of the wheel rod of the cable trench obstacle clearing and inspection integrated robot proposed by the present invention; Figure 7 Schematic structural diagram of the support block of the cable trench obstacle clearing and inspection integrated robot proposed by the present invention; Figure 8 Schematic structural diagram of the collection tray of the cable trench obstacle clearing and inspection integrated robot proposed by the present invention.

[0020] In the figure: 1, carrier plate; 2, paint box; 3, support rod; 4, crawler; 5, paint tube; 6, exhaust box; 7, air cylinder; 8, electromagnetic box; 9, connecting pipe; 10, coil; 11, spring; 12, iron core; 13, support plate; 14, double-headed bevel gear shaft; 15, support block; 16, shaft rod; 17, bevel gear one; 18, collection tray; 19, collection box; 20, L-shaped plate; 21, belt; 22, pulley one; 23, pulley two; 24, hinge plate one; 25, hinge plate two; 26, piston plate; 27, flap; 28, torsion spring; 29, sliding rod; 30, dispersion box; 31, pressure rod; 32, tension spring; 33, universal joint; 34, arc plate; 35, roller; 36, thermistor; 37, roller; 38, universal seat; 39, chute; 40, cavity; 41, through hole; 42, bevel gear two; 43, wheel rod. Detailed implementation manners

[0021] The technical solutions of the present invention will be further described in detail below in conjunction with the specific implementation manners.

[0022] The embodiments of the present invention will be described in detail below. The examples of the embodiments are shown in the drawings, in which the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions from beginning to end. The embodiments described below with reference to the drawings are exemplary and are only used to explain the present invention and should not be construed as limiting the present invention.

[0023] In the description of the present invention, it should be understood that the orientation or positional relationship indicated by the terms "center", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc. is based on the orientation or positional relationship shown in the drawings, and is only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus should not be construed as limiting the present invention.

[0024] In the description of the present invention, it should be noted that unless otherwise clearly specified and defined, the terms "installation", "connection", "linkage", and "setting" should be understood in a broad sense. For example, it can be fixedly connected and set, or detachably connected and set, or integrally connected and set. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0025] Reference Figures 1-8 , a cable trench obstacle clearing and inspection integrated robot, including a carrier plate 1 and two support rods 3 symmetrically installed on the carrier plate 1, a marking assembly, including an electromagnetic box 8 fixedly installed on the carrier plate 1. A chute 39 is opened in the electromagnetic box 8. An iron core 12 is slidably installed in the chute 39. A sliding rod 29 is fixedly installed at the bottom end of the iron core 12, and the sliding rod 29 is slidably arranged with the electromagnetic box 8. A spring 11 is sleeved on the sliding rod 29. A cavity 40 is opened on the electromagnetic box 8. A coil 10 is installed in the cavity 40. A through hole 41 is opened on the electromagnetic box 8, and the through hole 41 is located at one end of the sliding rod 29 away from the iron core 12. A valve plate is fixedly installed at the end of the sliding rod 29 away from the iron core 12, and the through hole 41 is adapted to the valve plate; a paint box 2 is fixedly installed on the upper surface of the carrier plate 1. A connecting pipe 9 is fixedly installed on the paint box 2. The electromagnetic box 8 and the paint box 2 are communicated through the connecting pipe 9. One end of the support rod 3 away from the carrier plate 1 is hinged with a pressure rod 31. A universal joint seat 38 is fixedly installed at the end of the pressure rod 31 away from the support rod 3. A universal joint head 33 is rotatably installed in the universal joint seat 38. A curved plate 34 is fixedly installed at the end of the universal joint head 33 away from the universal joint seat 38. Two rollers 35 are symmetrically installed on the curved plate 34, and the two rollers 35 are rotatably connected with the curved plate 34. A thermistor 36 is fixedly installed on the inner wall of the curved plate 34, and the thermistor 36 is located between the two rollers 35; a dispersion box 30 is fixedly installed at the end of the through hole 41 away from the connecting pipe 9. Paint pipes 5 are fixedly installed on both sides of the dispersion box 30. The curved plate 34 and the dispersion box 30 are communicated through the paint pipes 5; a tension spring 32 is installed at the connection between the support rod 3 and the pressure rod 31. One end of the tension spring 32 is fixedly connected to the support rod 3, and the other end of the tension spring 32 is fixedly connected to the pressure rod 31; the electrodes of the thermistor 36 are fixedly connected to the electrodes of the coil 10, and the discharge port of the paint pipe 5 is located between the two rollers 35.

[0026] Specifically, first, the tension spring 32 pulls the pressure rod 31 to make the pressure rod 31 and the arc-shaped plate 34 approach the cable to be inspected. Since the roller 35 is symmetrically and rotatably installed on the arc-shaped plate 34, and the height of the thermistor 36 is lower than that of the roller 35, the thermistor 36 is close to the cable but does not contact the cable. It should be noted that the thermistor 36 used in the present invention is an NTC property resistor, that is, the resistance value is higher at low temperatures and decreases as the temperature increases. When the thermistor 36 detects that the cable is in a normal state, the resistance value of the coil 10 is higher at this time, and the magnetic flux of the coil 10 is smaller. It should be noted that the coil 10 is annularly sleeved outside the iron core 12. At this time, the iron core 12 remains in place under the action of the spring 11, and the through hole 41 is in a closed state. At this time, the pigment tube 5 does not discharge the pigment.

[0027] Secondly, when the thermistor 36 moves to an abnormal place, the temperature of the thermistor 36 increases at this time. At this time, the resistance value of the coil 10 decreases, the current increases, and the magnetic flux also increases. At this time, the iron core 12 moves downward to compress the spring 11. It should be noted that since the diameter of the sliding rod 29 is smaller than the diameter of the through hole 41, the valve plate moves downward at this time to make the through hole 41 in a flowing state. Since there is a pressure difference inside the pigment box 2, when the through hole 41 is in a flowing state, the pigment will be sprayed to the abnormal place through the pigment tube 5 for automatic marking. When the device continues to move, the temperature of the cable contacted by the thermistor 36 returns to normal. At this time, the resistance value of the thermistor 36 becomes higher, and the magnetic flux of the coil 10 becomes smaller. The valve plate gradually moves upward under the action of the resilience of the spring 11, so that the through hole 41 is gradually closed. At the same time, the pigment in the pigment tube 5 also gradually flows back to the pigment box 2 under the action of gravity. The device automatically marks the abnormal position, which is convenient for dealing with problems in the later stage and makes the inspection work efficiency of the device higher.

[0028] Reference Figures 1-8, the cleaning component includes a support plate 13 and a support block 15 fixedly installed on the lower surface of the carrier plate 1. Shaft rods 16 are rotatably installed on both the support plate 13 and the support block 15. A first bevel gear 17 is fixedly installed on the shaft rod 16. A double-headed bevel gear shaft 14 is rotatably installed on the support plate 13, and the double-headed bevel gear shaft 14 meshes with the first bevel gear 17; A L-shaped plate 20 is fixedly installed on the lower surface of the carrier plate 1. Two first pulleys 22 are symmetrically installed at one end of the L-shaped plate 20 away from the carrier plate 1, and the two first pulleys 22 are rotatably connected to the L-shaped plate 20. A collection box 19 is slidably installed on the support block 15. A collection tray 18 is fixedly installed at one end of the first pulley 22 away from the L-shaped plate 20. The collection box 19 is adapted to the collection tray 18, and collection nails are fixedly installed on the collection tray 18; A second pulley 23 is rotatably installed at one end of the L-shaped plate 20 away from the carrier plate 1. A belt 21 is sleeved on the second pulley 23. A second bevel gear 42 is fixedly installed at one end of the second pulley 23 close to the L-shaped plate 20. The first pulley 22 and the second pulley 23 are connected by the belt 21, and the second bevel gear 42 meshes with the double-headed bevel gear shaft 14; Two air cylinders 7 are symmetrically installed on the lower surface of the carrier plate 1. A piston plate 26 is slidably installed in the air cylinder 7. Hinge plates one 24 are installed at both ends of the shaft rod 16. One end of the hinge plate one 24 away from the shaft rod 16 is hinged to a hinge plate two 25. One end of the hinge plate two 25 away from the shaft rod 16 is hinged to the piston plate 26. A flap 27 is rotatably installed at one end of the air cylinder 7 away from the shaft rod 16. Coil springs 28 are fixedly installed on both sides of the flap 27; Wheel rods 43 are rotatably installed on both the support plate 13 and the support block 15. Rollers 37 are fixedly installed at both ends of the wheel rod 43. A crawler 4 is rotatably installed on the surface of the roller 37. An exhaust box 6 is fixedly installed on the upper surface of the carrier plate 1. The air cylinder 7 is communicated with the exhaust box 6 through a trachea.

[0029] Specifically, first, when the shaft rod 16 rotates, it drives the rotation of the hinge plate one 24 through the shaft rod 16, and further drives the movement of the hinge plate two 25 and the piston plate 26. It should be noted that the length of the hinge plate one 24 is shorter than the distance between the shaft rod 16 and the carrier plate 1, and the hinge plate one 24 will not contact the wheel rod 43 when it rotates. When the shaft rod 16 rotates clockwise, at this time, the hinge plate two 25 pulls the piston plate 26 outwards. At this time, the air pressure in the air cylinder 7 decreases, and the flap 27 flips open at this time. At this time, air enters the air cylinder 7. As the shaft rod 16 rotates, when the hinge plate two 25 pushes the piston plate 26 inwards, the flap 27 gradually flips to seal the air cylinder 7. It should be noted that the flap 27 only flips to intake air when intake air, and when the air cylinder 7 discharges air, the flap 27 will be stuck to prevent the air cylinder 7 from leaking air. The gas in the air cylinder 7 is discharged through the exhaust box 6, blowing the sundries attached to the cable in the cable trench away from the cable, improving the practicability of the equipment.

[0030] Secondly, the rotation of the shaft rod 16 synchronously drives the rotation of the double-headed conical gear shaft 14. The rotation of the double-headed conical gear shaft 14 drives the rotation of the second bevel gear 42. The rotation of the second bevel gear 42 drives the rotation of the second pulley 23. Through the transmission of the belt 21, the rotation of the collection tray 18 is driven. The equipment advances through the crawlers 4 symmetrically installed on both sides of the carrier plate 1, and the passability of the equipment is improved through the crawlers 4. Since the two collection trays 18 are staggeredly arranged, as the collection tray 18 rotates, the collection nails staggeredly push the garbage blown onto the ground by the exhaust box 6 into the collection box 19. Moreover, a scraping block is provided on the collection box 19, which can scrape the garbage wound on the collection nails into the collection box 19, making the obstacle clearing ability of the equipment stronger, further improving the practicability of the equipment, and also further improving the working efficiency of the equipment.

[0031] Working principle: The tension spring 32 pulls the pressure rod 31 to make the pressure rod 31 and the arc-shaped plate 34 approach the cable to be inspected. Since the rollers 35 are symmetrically and rotatably installed on the arc-shaped plate 34, and the height of the thermistor 36 is lower than that of the rollers 35, the thermistor 36 is close to the cable but does not contact the cable. When the thermistor 36 detects that the cable is in a normal state, the resistance of the coil 10 is relatively high at this time, and the magnetic flux of the coil 10 is relatively small. At this time, the iron core 12 remains in place under the action of the spring 11, and the through hole 41 is in a closed state. At this time, the paint tube 5 does not discharge paint. When the thermistor 36 moves to an abnormal place, the temperature of the thermistor 36 increases at this time. At this time, the resistance of the coil 10 decreases, the current increases, and the magnetic flux also increases. At this time, the iron core 12 moves downward to compress the spring 11. At this time, the valve plate moves downward, making the through hole 41 in a flowing state. When the through hole 41 is in a flowing state, the paint will be sprayed to the abnormal place through the paint tube 5 for automatic marking. When the device continues to move, the temperature of the cable contacted by the thermistor 36 returns to normal. At this time, the resistance of the thermistor 36 becomes high, the magnetic flux of the coil 10 becomes small, and the valve plate gradually moves upward under the resilience of the spring 11, making the through hole 41 gradually close. At the same time, the paint in the paint tube 5 also gradually flows back to the paint box 2 under the action of gravity. When the shaft rod 16 rotates, the rotation of the shaft rod 16 drives the rotation of the hinge plate one 24, and further drives the movement of the hinge plate two 25 and the piston plate 26. As the shaft rod 16 rotates clockwise, at this time, the hinge plate two 25 pulls the piston plate 26 outward. At this time, the air pressure in the air cylinder 7 decreases, and the flap 27 flips and opens at this time. At this time, air enters the air cylinder 7. As the shaft rod 16 rotates, when the hinge plate two 25 pushes the piston plate 26 inward, the flap 27 gradually flips to seal the air cylinder 7. It should be noted that the flap 27 only flips and intakes air when intaking air. When the air cylinder 7 discharges air, the flap 27 will be stuck to prevent the air cylinder 7 from leaking air. The gas in the air cylinder 7 is discharged through the exhaust box 6. The rotation of the shaft rod 16 synchronously drives the rotation of the double-headed conical gear shaft 14. The rotation of the double-headed conical gear shaft 14 drives the rotation of the bevel gear two 42. The rotation of the bevel gear two 42 drives the rotation of the pulley two 23. Through the transmission of the belt 21, the collection tray 18 is driven to rotate. The device advances through the crawler belt 4 installed on the roller 37. Since the two collection trays 18 are staggered, as the collection tray 18 rotates, the collection nails staggeredly push the garbage blown onto the ground by the exhaust box 6 into the collection box 19. And the collection box 19 is provided with a scraping block, which can scrape the garbage wound on the collection nails into the collection box 19.

[0032] The above is only the preferred specific implementation manner of the present invention, but the protection scope of the present invention is not limited thereto. Any person skilled in the art within the technical scope disclosed by the present invention, according to the technical solution and inventive concept of the present invention, makes equivalent substitutions or changes, and all should be covered within the protection scope of the present invention.

Claims

1. A cable trench obstacle clearing and patrolling robot, comprising a carrier plate (1) and two support rods (3) symmetrically mounted on the carrier plate (1), characterized in that: The marking assembly comprises an electromagnetic box (8) fixedly mounted on a carrier plate (1), a slide groove (39) being provided in the electromagnetic box (8), an iron core (12) being slidably mounted in the slide groove (39), a sliding rod (29) being fixedly mounted at the bottom end of the iron core (12), and the sliding rod (29) and the electromagnetic box (8) being slidably arranged, a spring (11) being sleeved on the sliding rod (29), a cavity (40) being provided in the electromagnetic box (8), a coil (10) being mounted in the cavity (40), a through hole (41) being provided in the electromagnetic box (8), and the through hole (41) being located at an end of the sliding rod (29) away from the iron core (12), a valve plate being fixedly mounted at an end of the sliding rod (29) away from the iron core (12), and the through hole (41) being adapted to fit the valve plate; The cleaning assembly is used to blow away garbage on the cable and collect the garbage, comprising a support plate (13) and a support block (15) fixedly mounted on the lower surface of a carrier plate (1), wherein the support plate (13) is rotatably mounted with a shaft (16).

2. The cable trench obstacle removal and patrolling robot according to claim 1, characterized in that: A paint box (2) is fixedly mounted on the upper surface of the carrier plate (1), a connecting tube (9) is fixedly mounted on the paint box (2), the electromagnetic box (8) and the paint box (2) are connected via the connecting tube (9), a pressure rod (31) is hingedly mounted on one end of the support rod (3) away from the carrier plate (1), a universal seat (38) is fixedly mounted on one end of the pressure rod (31) away from the support rod (3), a universal head (33) is rotatably mounted in the universal seat (38), an arc plate (34) is fixedly mounted on one end of the universal head (33) away from the universal seat (38), two rollers (35) are symmetrically mounted on the arc plate (34), and the two rollers (35) are rotatably connected to the arc plate (34), a thermistor (36) is fixedly mounted on the inner wall of the arc plate (34), and the thermistor (36) is located between the two rollers (35).

3. The cable trench obstacle clearing and patrolling robot according to claim 2, characterized in that: A dispersion box (30) is fixedly mounted on one end of the through hole (41) away from the connecting tube (9), pigment tubes (5) are fixedly mounted on both sides of the dispersion box (30), and the arc plate (34) is connected to the dispersion box (30) via the pigment tubes (5).

4. The cable trench obstacle removal and patrolling robot according to claim 3, characterized in that: A tension spring (32) is installed at the connection between the support rod (3) and the pressure rod (31); one end of the tension spring (32) is fixedly connected to the support rod (3), and the other end of the tension spring (32) is fixedly connected to the pressure rod (31).

5. The cable trench obstacle clearing and patrolling integrated robot according to claim 4, characterized in that: The electrode of the thermistor (36) is fixedly connected to the electrode of the coil (10), and the discharge port of the pigment tube (5) is located between the two rollers (35).

6. The cable trench obstacle clearing and patrolling robot according to claim 1, characterized in that: A bevel gear one (17) is fixedly mounted on the shaft rod (16), a double-headed bevel gear shaft (14) is rotatably mounted on the bracket plate (13), and the double-headed bevel gear shaft (14) is meshed with the bevel gear one (17).

7. The cable trench obstacle clearing and patrolling robot according to claim 6, characterized in that: An L-shaped plate (20) is fixedly mounted on the lower surface of the carrier plate (1); two pulleys (22) are symmetrically mounted on one end of the L-shaped plate (20) away from the carrier plate (1), and the two pulleys (22) are rotatably connected to the L-shaped plate (20); a collection box (19) is slidably mounted on the support block (15); a collection tray (18) is fixedly mounted on one end of the pulley (22) away from the L-shaped plate (20); the collection box (19) is adapted to the collection tray (18), and a collection nail is fixedly mounted on the collection tray (18).

8. The cable trench obstacle clearing and patrolling robot according to claim 7, characterized in that: A second pulley (23) is rotatably mounted on one end of the L-shaped plate (20) away from the carrier plate (1), a belt (21) is sleeved on the second pulley (23), a second bevel gear (42) is fixedly mounted on one end of the second pulley (23) close to the L-shaped plate (20), the first pulley (22) and the second pulley (23) are connected via the belt (21), and the second bevel gear (42) is meshed with the double-headed bevel gear shaft (14).

9. The cable trench obstacle clearing and patrolling robot according to claim 8, characterized in that: Two gas cylinders (7) are symmetrically mounted on the lower surface of the carrier plate (1), a piston plate (26) is slidably mounted inside the gas cylinder (7), hinged plates (24) are mounted at both ends of the shaft (16), one end of the hinged plate (24) away from the shaft (16) is hingedly connected to hinged plate (25), one end of the hinged plate (25) away from the shaft (16) is hingedly connected to the piston plate (26), and one end of the gas cylinder (7) away from the shaft (16) is rotatably mounted with a flap (27), and coil springs (28) are fixedly mounted on both sides of the flap (27).

10. The cable trench obstacle clearing and patrolling robot according to claim 9, characterized in that: Wheel rods (43) are rotatably mounted on the support plate (13) and the support block (15), rollers (37) are fixedly mounted on both ends of the wheel rod (43), tracks (4) are rotatably mounted on the surfaces of the rollers (37), an exhaust box (6) is fixedly mounted on the upper surface of the carrier plate (1), and the air cylinder (7) is connected to the exhaust box (6) via an air pipe.

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