Movable detection robot

Abstract

The invention relates to the field of pipe network detection, and discloses a movable detection robot which comprises a master controller trolley, a cable reel and a crawler, a cable cavity is formed in the master controller trolley, and the cable reel is rotationally connected into the cable cavity; a U-shaped movable hand lever frame is arranged on the master controller trolley, and the end part of the movable hand lever frame is movably connected to one end far away from the cable cavity; the master controller trolley is provided with a brake disc used for braking the cable disc and a driving part used for driving the brake disc, the brake disc and the driving part are both located on the mounting box, the center of the brake disc is provided with a connecting shaft, and the connecting shaft is sleeved with an elastic abutting part used for abutting the brake disc against the cable disc; the upper part of the driving part extends out of the mounting box; the lower portion of the driving piece is a wedge face used for driving the brake disc to move away from the cable disc, and an elastic reset piece is arranged on the driving piece. The technical problem that an existing pipeline detection robot is not beneficial to moving and carrying in the working process due to the fact that the number of equipment components is large is solved.

Description

Technical Field

[0001] The present invention relates to the field of pipe network detection, and in particular to a movable detection robot. Background Art

[0002] When inspecting the drainage, water supply, gas and other pipe networks 104, a pipeline inspection robot is usually used. The existing pipeline inspection robot includes a main controller trolley 1, a cable reel 2, and a crawler 3. When in use, the camera is taken out of the parts box and installed on the crawler 3. Figure 1 As shown, the crawler 3 can be put into the well 103 and then walk in the pipe network 104 to shoot. The cable drum 2 is used to pay out or reel in the cable 13 connected to the crawler 3; when the crawler 3 moves forward in the sewer, the cable drum 2 continuously pays out the cable.

[0003] Cable 13 is the "lifeline" between the crawler 3 and the main controller. Its wear and tear will directly lead to a series of key problems, such as 1. Detection interruption: The wear and tear of the outer sheath of cable 13 may cause the internal signal line and power line to break or short-circuit, resulting in interruption of camera image transmission, loss of control of crawler 3, and direct termination of detection work; 2. Equipment risk: When the insulation layer is worn and damaged, it may cause leakage, damage to crawler 3, main controller and other equipment, and even cause crawler 3 to be "trapped" in the pipeline due to power interruption; 3. Surge in rescue and maintenance costs: If crawler 3 is stranded in the pipeline due to cable 13 breakage, additional manpower and material resources will be required for positioning and rescue, and even secondary damage to the pipeline may be caused by improper operation.

[0004] According to the inventor's analysis, the main reason for cable wear is that Figure 1 As shown, a shaft is typically set perpendicular to the underground pipeline network. When laying out the cables, they are easily scraped against the top shaft opening. Patent publication number CN212203601U discloses a cable protection device for a pipeline robot. The device comprises a support frame positioned on one side of the cable carriage's outlet, and a pulley frame mounted on the support frame for the cable to pass through. The support frame is provided with a lifting mechanism for driving the pulley frame upward and downward. The lifting mechanism includes a reel and a drive assembly for rotating the reel. A rope is wound around the reel and connected to one end of the pulley frame. This technology reduces wear on the cable when the pipeline robot travels within the pipeline.

[0005] However, the existing technology still has the following problems: this technology requires a separate cable cart to place cables, and an appropriate cable protection structure is set on the cable cart; in actual work, the pipeline inspection robot itself already has a large number of equipment structures. Integrating the cables on the main controller cart is a very space-saving and easy-to-move method, while the existing technology will design these separately, including multiple equipment components, which is not conducive to movement and transportation during work. Summary of the Invention

[0006] The present invention aims to provide a movable inspection robot to solve the technical problem that the existing pipeline inspection robots have multiple equipment components and are not conducive to movement and transportation during work.

[0007] In order to achieve the above object, the present invention adopts the following technical solutions:

[0008] A movable inspection robot includes a main controller trolley, a cable reel, and a crawler. A cable cavity is provided in the main controller trolley, and the cable reel is rotatably connected to the cable cavity; a U-shaped movable hand lever frame is provided on the main controller trolley, and the end of the movable hand lever frame is movably connected to the end away from the cable cavity; a brake disc for braking the cable reel and a driving member for driving the brake disc are provided on the main controller trolley, and both the brake disc and the driving member are located on the mounting box, and a connecting shaft is provided in the center of the brake disc, and an elastic pressing member for pressing the brake disc against the cable reel is sleeved on the connecting shaft; the upper part of the driving member extends out of the mounting box, and the movable hand lever frame can be used to contact and press down the top of the driving member; the lower part of the driving member is a wedge surface for driving the brake disc to move away from the cable reel, and the driving member is provided with an elastic reset member.

[0009] Preferably, as an improvement, a mounting hole is provided on the top of the mounting box, and the driving member is vertically slidably connected in the mounting hole; the driving member includes a rod head and a rod body, the top of the driving member is a rod head with a diameter larger than the rod body, and the elastic reset member is sleeved under the rod head; a limiting ring is provided at one end of the rod body located in the mounting box.

[0010] Preferably, as an improvement, the brake disc includes a chassis and a brake disc, the lateral width of the chassis is larger than that of the brake disc, the wedge surface of the driving member contacts the chassis and drives it to move away from the cable drum; the connecting shaft is fixed on the side of the chassis away from the brake disc.

[0011] Preferably, as an improvement, an accommodating groove is provided on the inner wall of the installation box; one end of the elastic pressing member is connected to the brake disc, and the other end is located in the accommodating groove.

[0012] Preferably, as an improvement, the movable handle frame includes a cross bar and side bars located at both ends of the cross bar; a clamping positioning piece is also provided on the installation box, and when the movable handle frame is rotated to one side of the cable cavity, the side bars of the movable handle frame can be clamped into the clamping positioning piece and fixed.

[0013] Preferably, as an improvement, a roller sleeve is rotatably connected to the crossbar; when the movable handle frame is rotated to one side of the cable cavity, an extended distance is provided between the roller sleeve and the main controller trolley.

[0014] Preferably, as an improvement, the side rod includes a movable rod and a fixed rod barrel, one end of the fixed rod barrel is movably connected to the main controller trolley, the movable rod is inserted into the other end of the fixed rod barrel, and the fixed rod barrel is also provided with a fastener for locking and fixing the movable rod.

[0015] Preferably, as an improvement, a guide protrusion is provided on the side wall of the connecting shaft, and a step-shaped accommodating groove is provided on the inner wall of the mounting box, one end of the elastic clamping member is connected to the brake disc, and the other end is located in the accommodating groove; the groove wall of the accommodating groove is provided with an axial guide groove for adapting to the guide protrusion.

[0016] Preferably, as an improvement, a take-up gear is rotatably provided in the installation box, a gear ring meshing with the take-up gear is provided on the cable shaft head, and a handle is rotatably provided on the outer wall of the installation box, one end of the handle extends into the installation box and is fixedly connected to the center of the take-up gear.

[0017] Preferably, as an improvement, it also includes a lower protective member, which includes a protective shell and a pair of rollers rotatably arranged in the protective shell, and the cable passes between the pair of rollers; a fixing rope is provided on the protective shell, and the upper end of the fixing rope is wrapped around the cross bar; two annular limiting members for limiting the roller sleeves are also provided in the middle of the cross bar, and an annular groove is provided in the middle of the roller sleeve; the two ends of the cross bar are rotatably connected to the side bar, and the side bar is provided with a cross bar positioning member; the end of the cross bar is provided with a polygonal hole.

[0018] Beneficial effects:

[0019] 1. This technology integrates the core components such as the main controller, cable reel, brake system, and guide structure into the main controller trolley through a highly integrated design, avoiding the problem of scattered settings of the main control equipment and cable storage devices of traditional pipeline inspection robots, and realizing integrated carrying. The bottom of the main controller trolley is equipped with universal wheels with brakes, which, together with the rotatable movable handle frame, can be directly pushed, dragged or fixed as a whole, greatly reducing the number and difficulty of moving the split equipment, and significantly improving the convenience of movement during the work process. In addition, this technology also has an integrated design for the installation box, which is fixed to one side of the main controller trolley and integrates components such as the brake disc, drive parts, and cable shaft head. It is quickly fixed by mounting edges and screws. The structure is compact and easy to disassemble and maintain, reducing the space occupied by scattered components.

[0020] 2. When the hand lever frame is moved to one side of the cable cavity, the cross bar can be located above the wellhead opening, directly serving as a guide structure for the cable to enter the well, avoiding friction and wear between the cable and the wellhead opening; the side bar adopts a telescopic structure, and the extension distance of the cross bar can be adjusted by bolt fixing, which can flexibly adapt to different wellhead positions and further protect the cables.

[0021] 3. The cable reel is integrated into the cable cavity, and the external limit plate limits the cable winding range to prevent loosening. The cable spool head cooperates with the brake disc. In the non-operating state, the elastic holding member pushes the brake disc to automatically press against the cable spool head, preventing the cable reel from rotating when the equipment moves, causing the cable to loosen and friction and wear against the cavity wall, thereby reducing cable loss. When the movable handle frame is rotated to one side of the cable cavity, the drive member can be triggered by manual downward pressure or gravity to drive the brake disc away from the cable spool head to unlock and release the cable. After release, the elastic reset member drives the driver to reset, and the brake disc automatically resets and brakes under the action of the elastic holding member. No additional operation is required, simplifying the switching process between line release and braking.

[0022] 4. The take-up gear inside the installation box meshes with the gear ring on the cable spool head. Combined with the handle on the outer wall, the cable reel can be manually driven to take up the cable, replacing traditional manual arrangement and improving take-up efficiency. In addition, the take-up handle rotates with the cable reel, and you can visually determine whether the crawler is paying out the cable smoothly (if the handle rotates, it is normal; if it stops, it indicates an abnormality), facilitating timely troubleshooting and improving operational safety.

[0023] In summary, the mobile handle frame of this technology simultaneously serves as a drag rod, brake trigger, and cable guide rod. The side rod can be extended and retracted to adjust the guide position, eliminating the need for additional drag handles, guide frames, or brake switches, thus reducing the number of components. The mobile handle frame can be rotated to trigger brake unlocking and braking, and automatically reset with the elastic member. There is no need to operate the brake system separately, simplifying the entire "moving-releasing-winding" process and reducing labor costs. The guide protrusions and guide grooves work together to ensure stable axial movement of the brake disc, improving braking reliability. This technology can significantly reduce the scraping of cables at the shaft opening and the wear of cables in the cable cavity, extending the service life of the cables. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] Figure 1 This is a schematic diagram of a usage scenario of the background technology of the present invention.

[0025] Figure 2 This is a schematic diagram of the usage scenario of Example 1 of the present invention.

[0026] Figure 3 for Figure 2 Front view of the central controller car.

[0027] Figure 4 for Figure 3 Left view of .

[0028] Figure 5 for Figure 4 Schematic diagram of the structure after the movable hand lever frame is installed, and a partial cross-sectional view of the installation box.

[0029] Figure 6 for Figure 5 A partial enlarged view of middle A.

[0030] Figure 7 for Figure 5 Schematic diagram of the structure of the brake disc and drive parts.

[0031] Figure 8 It is a structural diagram of the mobile handle frame.

[0032] Figure 9 This is a front view of the main controller vehicle in Example 2 of the present invention.

[0033] Figure 10 for Figure 9 Left view of the device (movable handle frame not shown).

[0034] Figure 11 This is a schematic diagram of the usage scenario of Example 3 of the present invention.

[0035] Figure 12 for Figure 11 Left side view of the center crossbar.

[0036] The reference numerals in the drawings of the specification include: main controller trolley 1, cable cavity 11, reinforcement rib 111, movable handle frame 12, cross bar 121, side bar 122, movable rod 1221, fixed rod barrel 1222, fastener 1223, cable 13, cable drum 2, cable shaft 21, outer limit plate 22, cable shaft head 23, crawler 3, brake disc 4, chassis 41, connecting shaft 411, guide protrusion 412, brake disc 42, elastic tight Part 43, driving part 5, rod head 51, rod body 52, limiting ring 521, wedge surface 53, elastic reset part 54, installation box 6, accommodating groove 61, axial guide groove 611, C-shaped buckle 7, wire take-up gear 8, handle 9, roller sleeve 10, limiting part 101, lower protective part 102, protective shell 1021, roller group 1022, fixing rope 1023, wellway 103, pipe network 104, hexagonal hole 105, positioning hole 106. DETAILED DESCRIPTION

[0037] Example 1

[0038] As attached Figures 2 to 8 As shown in FIG, the movable inspection robot includes a main controller trolley 1, a cable drum 2, and a crawler 3. The bottom of the main controller trolley 1 is provided with a universal wheel with a brake. A cable cavity 11 is provided in the main controller trolley 1, and the cable drum 2 is rotatably connected in the cable cavity 11. The outer side of the cable cavity 11 is provided with a Figure 4 The main controller trolley 1 is provided with a U-shaped movable handle frame 12, combined with Figure 8As shown, the movable handle frame 12 includes a crossbar 121 and sidebars 122 located at both ends of the crossbar 121 to form a U-shaped frame structure. The sidebars 122 are integrally formed or welded with the crossbar 121. The ends of the movable handle frame 12 are movably connected to the end away from the cable cavity 11. Specifically, the ends of the sidebars 122 are provided with through holes. A rotating shaft is fixedly provided on the main controller trolley 1. The rotating shaft is inserted into the through holes at the ends of the sidebars 122 to form a rotating support, so that the movable handle frame 12 can rotate on the rotating shaft.

[0039] The side bars 122 may be Figure 3 In other embodiments other than this embodiment, the side rod 122 may also be as shown in FIG. Figure 8 The telescopic structure shown, when it is a telescopic structure, the side rod 122 includes a mobile rod 1221 and a fixed rod barrel 1222, one end of the fixed rod barrel 1222 is movably connected to the main controller trolley 1, and the mobile rod 1221 is inserted from the other end of the fixed rod barrel 1222. The fixed rod barrel 1222 is also provided with a fastener 1223 for locking and fixing the mobile rod 1221, and the fastener 1223 is a bolt; a plurality of fixing holes are arranged in a row on the outer side of the barrel wall of the fixed rod barrel 1222, and the bolts are inserted into the fixing holes to tighten against the mobile rod 1221 to achieve fixation. The fixing holes can be through holes or threaded holes, and threaded holes are preferred in this embodiment. In order to further improve the fixing effect, radial rod holes corresponding to the fixing holes can also be provided on the mobile rod 1221. When the mobile rod 1221 is telescopically adjusted to a fixed position, the connection and positioning of the mobile rod 1221 and the fixed rod barrel 1222 can be achieved by passing the bolts through the fixing holes and radial rod holes at the corresponding positions.

[0040] The main controller trolley 1 is provided with a brake disc 4 for braking the cable drum 2 and a driving member 5 for driving the brake disc 4. A mounting box 6 is provided on one side of the main controller trolley 1. The brake disc 4 and the driving member 5 are both located in the mounting box 6. Figure 6 and Figure 7 As shown, the mounting box 6 is inverted onto one side of the main controller trolley 1, and the edge of the mounting box 6 protrudes outward to form a mounting edge. The mounting edge is provided with a through hole, and the side wall of the main controller trolley 1 is provided with a corresponding threaded hole for inserting screws to secure the mounting box 6 to the main controller trolley 1. The cable drum 2 includes a cable shaft 21 and an outer limit plate 22 located on the cable shaft 21. The outer limit plate 22 can be keyed, welded, or integrally molded to the cable shaft 21, and the specific method can be selected according to actual conditions. The cable 13 is wound around the cable shaft 21 between the outer limit plates 22. Both ends of the cable shaft 21 pass through the wall of the cable cavity 11 and enter the mounting box 6. The cable shaft 21 located in the mounting box 6 has a cable shaft head 23 integrally molded on one end. The cable shaft head 23 is a disc-shaped structure with a diameter larger than that of the cable shaft 21. The brake disc 4 can be pressed against the cable shaft head 23 to brake.

[0041] Combine Figure 7 As shown, the brake disc 4 includes a chassis 41 and a brake disc 42 fixed on the side of the chassis 41 close to the cable shaft head 23. The brake disc 42 can be made of existing brake pad materials or a metal disc structure with a rough surface. The lateral width of the chassis 41 is larger than the brake disc 42, and the drive member 5 is staggered with the brake disc 42; the upper part of the drive member 5 extends out of the mounting box 6, and after the movable handle frame 12 is rotated to the side of the cable cavity 11, the movable handle frame 12 will press down the top of the drive member 5 under the action of manual pressure of the user or its own gravity, and the movable handle frame 12 will eventually be supported by the mounting box 6; the lower part of the drive member 5 is a wedge surface 53 for driving the brake disc 4 to move away from the cable drum 2, and the wedge surface 53 is used to contact the chassis 41 to drive it to move in the direction away from the cable drum 2. An elastic reset member 54 is provided on the drive member 5. The specific installation method of the drive member 5 is: combined with Figure 6 As shown, the top of the mounting box 6 is provided with a mounting hole, and the driving member 5 is vertically slidably connected in the mounting hole; Figure 7 As shown, the driving member 5 includes a rod head 51 and a rod body 52. ​​The top of the driving member 5 is the rod head 51 with a diameter larger than that of the rod body 52, and the elastic reset member 54 is sleeved under the rod head 51; the end of the rod body 52 located in the installation box 6 is provided with a limiting ring 521. A connecting shaft 411 is integrally formed on the side of the chassis 41 away from the brake disc 42. A guide protrusion 412 is provided on the outer end side wall of the connecting shaft 411. In this embodiment, there are two guide protrusions 412 symmetrically arranged along the axial direction of the connecting shaft 411. An elastic pressing member 43 for pressing the brake disc 4 against the cable drum 2 is sleeved on the connecting shaft 411. The elastic pressing member 43 is a spring. Combined with Figure 6 As shown, the inner wall of the mounting box 6 is provided with a stepped receiving groove 61, which includes a large diameter groove and a small diameter groove arranged in sequence in the direction away from the brake disc 42. One end of the elastic pressing member 43 is connected to the brake disc 42, and the other end is located in the large diameter groove. The groove wall of the small diameter groove is provided with an axial guide groove 611 for adapting to the guide protrusion 412, so that the connecting shaft 411 can only move axially under the toggle of the driving member 5. It is worth noting that when the elastic pressing member 43 is in the natural state, the guide protrusion 412 is in the Figure 6 The state shown is that the cable drum 2 has not left the axial guide groove 611; when the brake disc 42 is pushed rightward by the driving member 5, the guide protrusion 412 can slide rightward in the axial guide groove 611. After the driving member 5 is withdrawn upward, the brake disc 42 returns to its original position under the action of the elastic pressing member 43 and presses against the cable spool head 23, preventing the cable 13 from being loosened due to rotation of the cable drum 2 under special circumstances such as position movement when not in use. This also avoids the wear of the cable 13 on the cavity wall after the cable 13 is loosened, and also improves the convenience of the next use, as there is no need to organize the cable 13 separately.

[0042] Combine Figure 3 and Figure 4As shown, the installation box 6 is also provided with an elastic clamping positioning piece. When the movable handle frame 12 is rotated to one side of the cable cavity 11, the side rod 122 of the movable handle frame 12 can be clamped into the clamping positioning piece and fixed; the clamping positioning piece is a C-shaped buckle 7, and the material can be plastic or metal. When the side rod 122 is pressed downward, the C-shaped buckle 7 can be gradually opened from the opening at the top of the C-shaped buckle 7, and finally the C-shaped buckle 7 will hold the side rod 122 tightly to fix the side rod 122; when it needs to be disengaged, the side rod needs to be manually pulled out of the C-shaped buckle 7 under the action of external force. This method can further improve the positioning effect of the movable handle frame 12 after rotation. It is worth emphasizing that when the movable handle frame 12 in the present technology is rotated to the front side, it can be used by the user as a drag rod to facilitate moving the main controller trolley 1; and when the movable handle frame 12 is rotated to the rear side (i.e., close to the side of the cable cavity 11), the cross bar 121 can be located above the well 103 opening, and used as a guide rod for the cable 13 to enter the well 103, thereby avoiding the cable 13 from being scraped at the well 103 opening. In other embodiments other than this embodiment, as shown in combination with 8, a roller sleeve 10 is rotatably connected to the cross bar 121, so that the cable 13 forms a rotational contact with the roller sleeve 10, further reducing the wear of the cable 13 at the well 103 opening.

[0043] The usage of the mobile inspection robot is as follows:

[0044] Move the handle frame 12 to the left to Figure 2In the state shown, pass the cable 13 over the crossbar 121. Unscrew the metal protective cap of the cable interface at the rear of the crawler 3, insert the end of the cable 13 into the cable interface of the crawler 3, and lock the fastening metal ring on the plug to the cable interface. This is a conventional step for installing the cable of the pipeline monitoring robot, which will not be described in detail here. Push the main controller trolley 1 to the side of the shaft 103 and place the crawler 3 into the pipe network 104. In addition, after the movable handle frame 12 is rotated to the left, the left end of the movable handle frame 12 tilts downward and its side rod 122 contacts the rod head 51 of the drive member 5 and moves the drive member 5 downward. The wedge surface 53 pushes the chassis 41 to move, causing the brake disc 42 to leave the cable shaft head 23 of the cable drum 2, so that the cable drum 2 can rotate and release the wire during the forward movement of the crawler. After the movable handle frame 12 is rotated to the left, its side rod 122 is finally fixed at the C-shaped buckle 7 to achieve fixation. When the movable handle frame 12 is rotated to one side of the cable cavity 11, there is an extended spacing between the roller sleeve 10 and the main controller trolley 1 so that the roller sleeve 10 is located above the shaft 103, and the cable 13 on the cable drum 2 passes over the roller sleeve 10 and enters the shaft 103; because the cross bar 121 is located above the shaft 103, the movable handle frame 12 can be used as a guide structure for the cable 13 to enter the shaft by using this technology, thereby avoiding wear of the cable 13 at the mouth of the shaft 103. In order to further facilitate the adjustment of the position of the cable 13 entering the shaft 103, the present technology also discloses a method of setting the side rod 122 to a telescopic structure and moving the movable rod 1221 outward to adjust the distance that the cross bar 121 extends forward. After confirmation, it can be fixed with bolts, which is very convenient. After use, the cable drum 2 is rotated in the opposite direction to reel in the line, and the crawler 3 is taken out. The head of the cable 13 can be fixed by pressing it under several strands of the wound cable 13 using traditional methods. Figure 2 The moving handle frame 12 in the middle swings to the right, and the moving handle frame 12 can be used as the handle 9 for pulling the main controller trolley 1. In addition, after the moving handle frame 12 leaves the rod head 51 of the driving member 5, Figure 6 The elastic return member 54 causes the driving member 5 to return upward and away from the chassis 41. The elastic pressing member 43 drives the brake disc 42 forward and presses against the cable spool head 23 of the cable drum 2, thereby braking the cable drum 2. This prevents the cable drum 2 from rotating due to movement during normal storage, causing the cable 13 to loosen, thereby reducing the wear of the cavity wall. Because the chassis 41 is also provided with a connecting shaft 411, the guide protrusion 412 on the side wall of the connecting shaft 411 cooperates with the axial guide groove 611 on the inner wall of the installation box 6, so that the brake disc 4 can only move axially, improving the stability and strength of the entire brake disc 4.

[0045] Example 2

[0046] The difference between this embodiment and embodiment 1 is that Figure 9 、 Figure 10As shown, a take-up gear 8 is rotatably mounted on the inner wall of the mounting box 6, and a gear ring is mounted on the cable reel head 23; the take-up gear 8 meshes with the gear ring. A handle 9 is rotatably mounted on the outer wall of the mounting box 6, one end of which extends into the mounting box 6 and is connected or welded to the center key of the take-up gear 8. The handle 9 facilitates the take-up of the cable reel 2. In addition, the handle 9 can also serve as a reference when paying out the cable. If the handle 9 is rotating, it means that the crawler 3 is paying out the cable smoothly. Otherwise, it reminds the staff to pay attention to the condition of the crawler 3 and check it.

[0047] Example 3

[0048] The difference between this embodiment and embodiment 2 is that Figure 11 、 Figure 12 As shown, the lower guard 102 is also included, and the roller sleeve 10 is rotatably mounted only in the middle area of ​​the crossbar 121. An annular groove is provided in the middle of the roller sleeve 10, through which the cable 13 can be routed and positioned. The annular groove can also limit the position of the cable 13. The crossbar 121 is also provided with two annular limiting members 101 for limiting the position of the roller sleeve 10, with the roller sleeve 10 located between the two limiting members 101. The lower guard 102 includes a protective housing 1021 and a roller assembly 1022 rotatably mounted within the protective housing 1021. The roller assembly 1022 includes two rollers, each with a diameter that gradually decreases from both ends to the middle, forming a channel between the two rollers for the cable 13 to pass through. Mounting ears are provided on both sides of the protective housing 1021, and a fixing rope 1023 is connected to the mounting ears. The fixing rope 1023 is a steel rope or a metal chain. The cable 13 is passed through the roller assembly 1022 in the lower protective member 102. The upper end of the fixing rope 1023 is wound and fixed on the crossbar 121. The end is fixed by passing it through the winding fixing rope 1023 and pressing it, or by knotting it, or by welding it. The specific setting can be selected according to the rope material. In other embodiments besides this embodiment, radial through holes can also be provided in the crossbar 121. The upper end of the fixing rope 1023 is passed through the through holes and then wrapped around the crossbar 121 to further improve the winding and fixing effect.

[0049] In other embodiments other than this embodiment, the cross bar 121 and the side bar are connected in a rotational manner: a through hole is provided at one end of the side bar 122 close to the cross bar 121, and the cross bar 121 is rotatably connected in the through hole; a threaded positioning hole 106 is also provided on the side bar, and the positioning hole 106 is connected to the top of the through hole, and a cross bar positioning piece is passed through the positioning hole 106, and the cross bar positioning piece is a bolt to achieve tight fixation of the cross bar 121; a polygonal hole is also provided at the end of the cross bar 121, which is specifically a hexagonal hole 105 in this embodiment. The rotation of the cross bar 121 can be achieved by inserting an L-shaped rotating tool into the hexagonal hole 105. Specifically, the end of the short side of the L-shaped rotating tool is a hexagonal prism that cooperates with the hexagonal hole 105.

[0050] When in use, for some scenarios, in order to further prevent the cable 13 from being scratched and damaged at the intersection of the bottom of the well 103 and the pipe network 104, the cable 13 can be passed through the roller group 1022, and then the lower protective member 102 is placed in the well 103; the placement method is combined with Figure 12 As shown, the left and right pay-off ends of the fixed rope 1023 are both facing the side away from the side rod 122, and the bolts in the positioning hole 106 are loosened; the hexagonal prism at the end of the L-shaped rotating tool is inserted into the hexagonal hole 105, and the L-shaped rotating tool is used to drive the cross bar 121 to rotate, thereby paying out the fixed rope 1023. After reaching the appropriate height, the bolts in the positioning hole 106 are tightened to secure the cross bar 121. During the pay-off process of the cable 13, if the cable 13 moves toward the bottom of the well 103 and the pipe network 104, the protective housing 1021 will first contact the wall of the well 103, thereby preventing the cable 13 from directly contacting the bottom of the well 103 and reducing its scraping against the bottom of the well 103.

[0051] The above is only an embodiment of the present invention, and the common knowledge such as the specific technical solutions and / or characteristics in the solution are not described in detail here. It should be pointed out that for those skilled in the art, without departing from the technical solution of the present invention, several variations and improvements can be made, which should also be regarded as the scope of protection of the present invention, and these will not affect the effect of the implementation of the present invention and the practicality of the patent. The scope of protection required by this application shall be based on the content of its claims, and the specific implementation methods and other records in the description can be used to interpret the content of the claims.

Claims

1. A mobile inspection robot, including a main controller trolley, a cable reel, and a crawler, characterized by: A cable cavity is provided in the main controller trolley, and the cable reel is rotatably connected in the cable cavity; a U-shaped movable hand lever frame is provided on the main controller trolley, and the end of the movable hand lever frame is movably connected to the end away from the cable cavity; a brake disc for braking the cable reel and a driving member for driving the brake disc are provided on the main controller trolley, and the brake disc and the driving member are both located on the mounting box, and a connecting shaft is provided in the center of the brake disc, and an elastic pressing member for pressing the brake disc against the cable reel is sleeved on the connecting shaft; the upper part of the driving member extends out of the mounting box, and the movable hand lever frame can be used to contact and press down the top of the driving member; the lower part of the driving member is a wedge surface for driving the brake disc to move away from the cable reel, and the driving member is provided with an elastic reset member.

2. The mobile inspection robot according to claim 1, characterized in that: A mounting hole is provided at the top of the mounting box, and the driving member is vertically slidably connected in the mounting hole; the driving member includes a rod head and a rod body, the top of the driving member is a rod head with a diameter larger than the rod body, and the elastic reset member is sleeved under the rod head; a limiting ring is provided at one end of the rod body located in the mounting box.

3. The mobile inspection robot according to claim 2, characterized in that: The brake disc includes a chassis and a brake disc. The lateral width of the chassis is greater than that of the brake disc. The wedge surface of the driving member contacts the chassis to drive it to move away from the cable disc. The connecting shaft is fixed on the side of the chassis away from the brake disc.

4. The mobile inspection robot according to claim 3, characterized in that: An accommodating groove is provided on the inner wall of the installation box; one end of the elastic pressing member is connected to the brake disc, and the other end is located in the accommodating groove.

5. The mobile inspection robot according to claim 4, characterized in that: The movable handle frame includes a cross bar and side bars at both ends of the cross bar; a clamping positioning piece is also provided on the installation box. When the movable handle frame rotates to one side of the cable cavity, the side bars of the movable handle frame can be clamped into the clamping positioning piece and fixed.

6. The movable inspection robot according to claim 5, characterized in that: A roller sleeve is rotatably connected to the crossbar; when the movable handle frame is rotated to one side of the cable cavity, an extended distance is provided between the roller sleeve and the main controller trolley.

7. The mobile inspection robot according to claim 6, characterized in that: The side rod includes a moving rod and a fixed rod barrel. One end of the fixed rod barrel is movably connected to the main controller trolley, and the moving rod is inserted into the other end of the fixed rod barrel. The fixed rod barrel is also provided with a fastener for locking and fixing the moving rod.

8. The mobile inspection robot according to claim 7, characterized in that: A guide protrusion is provided on the side wall of the connecting shaft, and a step-shaped receiving groove is provided on the inner wall of the installation box. One end of the elastic fastening member is connected to the brake disc, and the other end is located in the receiving groove; the groove wall of the receiving groove is provided with an axial guide groove for adapting to the guide protrusion.

9. The movable inspection robot according to claim 8, characterized in that: A take-up gear is rotatably provided in the installation box, a gear ring meshing with the take-up gear is provided on the cable shaft head, and a handle is rotatably provided on the outer wall of the installation box, one end of the handle extends into the installation box and is fixedly connected to the center of the take-up gear.

10. The mobile inspection robot according to claim 9, characterized in that: It also includes a lower protective part, which includes a protective shell and a pair of rollers rotatably arranged in the protective shell, and the cables pass between the pair of rollers; a fixing rope is provided on the protective shell, and the upper end of the fixing rope is wrapped around the cross bar; two annular limiting parts for limiting the roller sleeves are also provided in the middle of the cross bar, and an annular groove is provided in the middle of the roller sleeve; the two ends of the cross bar are rotatably connected to the side bar, and the side bar is provided with a cross bar positioning part; the end of the cross bar is provided with a polygonal hole.

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