Electrical threading apparatus for building electrical construction

Abstract

The invention discloses an electrical threading device for building electrical construction. The electrical threading device comprises a power control module located outside a pipeline and an operation module capable of entering the pipeline. The operation module comprises an environment self-adaption front end and a power cooperation middle section which are rigidly connected in sequence; the control module comprises an execution rear section; the environment self-adaption front end comprises a base body, a deflection nose cone, a steering driving mechanism and a flexible protection sleeve, a penetrating cable protection liner tube is arranged in the base body, the deflection nose cone is hinged to the front end of the base body through a deflection mechanism, a channel communicated with the protection liner tube is arranged in the deflection nose cone, and a sensor is arranged on the outer surface of the deflection nose cone. The spatial form, resistance distribution and temperature environment in a pipeline are sensed in real time through multiple sensors located on the outer surface of the deflection nose cone, the deflection angle of the deflection nose cone is dynamically adjusted according to sensed parameters to achieve active guiding, and traction is optimized by adjusting the pressure of a driving wheel and the torque of a motor; therefore, the system can adapt to a complex pipeline and automatically find the most passing path.

Description

Technical Field

[0001] This invention relates to the field of electrical construction equipment technology, and in particular to an electrical wiring device for building electrical construction. Background Technology

[0002] In modern industrial buildings, especially in the electrical construction of high-tech production facilities, unprecedentedly stringent requirements have been placed on the precision, safety, and environmental friendliness of cable laying. For example, in manufacturing workshops for power electronic components such as metal-oxide-semiconductor field-effect transistors (MOSFETs), insulated-gate bipolar transistors (IGBTs), and modules, production equipment relies on a highly stable and clean power supply and signal transmission. The control and power cables laid for such equipment often have thin insulation layers and high signal sensitivity; any minor mechanical damage, insulation scratches, or electromagnetic interference can cause equipment malfunctions, performance degradation, or even a decline in product yield. Simultaneously, these workshops typically maintain extremely high cleanliness standards, making traditional construction dust an unacceptable source of pollution.

[0003] Currently, electrical conduit wiring in buildings primarily relies on electric cable pullers. These devices typically consist of a motor, reducer, rigid traction head, and traction cable. Their front end is often a rigid structure or only has a simple spring buffer. When traversing complex conduits, they are prone to hard jamming at bends or obstacles. Operators often attempt to free themselves by repeatedly starting and stopping, and by forcefully pulling. The instantaneous overload tension and rigid impact generated during this process can easily damage the insulation layer of precision cables or cause internal deformation. This damage is insidious yet fatal, directly threatening the operational safety of subsequent power electronic components. Furthermore, existing equipment generally lacks real-time sensing capabilities of the conduit's internal environment (such as resistance changes, temperature, and spatial morphology). The traction force output is mostly open-loop controlled, unable to adaptively adjust according to real-time operating conditions. The wiring process heavily depends on the operator's experience and feel, resulting in low efficiency and unreliable success rates in complex conduits. Summary of the Invention

[0004] The technical problem solved by this invention is to provide an electrical wiring device for building electrical construction.

[0005] This application provides an electrical wiring harness for building electrical construction, including a power control module located outside a conduit and an operating module that can enter the conduit; the operating module includes an environmentally adaptive front end and a power-coordinated middle section rigidly connected in sequence; the control module includes an execution rear end; the environmentally adaptive front end includes a base, a deflection nose cone, a steering drive mechanism, and a flexible protective sleeve, the base having a through-type cable protection liner, the deflection nose cone being hinged to the front end of the base via the deflection mechanism, and having a channel communicating with the cable protection liner inside, with sensors and functional components on its outer surface, the steering drive mechanism driving the deflection mechanism to rotate, and the flexible protective sleeve connecting to the cable protection liner. The outlet is connected to the inlet of the internal cable channel of the deflecting nose cone; the power-coordinated middle section includes a housing, at least one pressure drive unit, and a buffer handle. The housing is equipped with a cable protection liner. The drive wheel of the pressure drive unit can radially press against the inner wall of the pipe. The buffer handle is located at the tail of the housing and has a built-in harmonic energy recovery circuit; the execution rear section includes a servo propulsion host for winding and unwinding the traction cable and a traction head connected to the output end of the servo propulsion host. The traction head is connected to the working module through the traction cable; wherein, the cable to be laid passes through the cable protection liner and is detachably connected to the traction cable at the traction head by a clamp. The traction cable passes through the traction cable conduit and is fixed to the base.

[0006] Furthermore, the deflection mechanism includes a vertical rotating shaft rotatably mounted on the front end of the base about a vertical axis, a steering knuckle fixedly connected to the vertical rotating shaft, a horizontal rotating shaft mounted on the steering knuckle and rotatable about a horizontal axis, and a deflection nose cone mounting bracket mounted on the horizontal rotating shaft. A torsion spring is wound on the horizontal rotating shaft, and the deflection nose cone is mounted on the front end of the deflection nose cone mounting bracket. The steering drive mechanism includes a stepper motor and a first worm gear pair connected to its output shaft. The worm gear is fixed to the vertical rotating shaft and is used to drive the deflection nose cone to deflect in the horizontal plane.

[0007] Furthermore, the flexible protective sleeve includes a rotating bushing and a flexible short tube connected thereto. The rotating bushing is mounted on the base or the rotating joint by a bearing and can rotate around its own axis. It is connected to the steering knuckle by a transmission mechanism. The other end of the flexible short tube is connected to the inlet of the internal channel of the deflection nose cone.

[0008] Furthermore, the functional components include a heat dissipation mechanism, a cleaning mechanism, and a self-powered module. The heat dissipation mechanism includes at least one heat dissipation fin controlled by a heat-sensitive wax driving mechanism. The cleaning mechanism includes a suction port located at the front end of the deflecting nose cone and a negative pressure filter connected thereto. The self-powered module includes a thermocouple array and / or a microstrip antenna located on the outer wall of the substrate.

[0009] Furthermore, the thermosensitive wax driving mechanism includes a lever connected to a rotating shaft at the root of the heat dissipation fin, a piston rod connected to the other end of the lever, and a metal capsule sealed with thermosensitive wax, wherein the piston of the metal capsule is connected to the piston rod.

[0010] Furthermore, the sensor includes a fiber Bragg grating temperature sensor embedded in the inner wall of the deflection nose cone, a thermocouple sensor mounted on its surface, and a pressure sensor for detecting contact pressure.

[0011] Furthermore, the pressure drive unit includes a slider slidably connected to the inner wall of the housing, a drive motor mounted on the slider, a drive wheel mounted on the output shaft of the drive motor, a cam located on one side of the slider and in contact with it, and an adjusting screw screwed to the cam. The adjusting screw is axially installed inside the housing, the slider slides radially along the housing, and the drive wheel is partially located outside the housing and in contact with the inner wall of the pipe.

[0012] Furthermore, the harmonic energy recovery circuit includes a common-mode choke coupled to the traction cable and a synchronous buck-boost circuit composed of semiconductor field-effect transistors for storing the collected harmonic energy in a supercapacitor.

[0013] Furthermore, the traction head includes a traction housing, a sun gear connected to the traction housing via a sun gear connecting shaft, three planet gears meshing with the sun gear, an internal gear ring meshing with the planet gears, and a planet carrier connected to the planet gear shaft. The sun gear connecting shaft is connected to the servo propulsion host. The internal gear ring is connected to the traction housing via a spiral spring. A hydraulic damper is hinged to the output end of the planet carrier, and a friction plate clutch is connected to the output shaft of the planet carrier. The final output shaft is connected to the traction cable via a guide ring.

[0014] Furthermore, the servo propulsion host includes a servo motor, a second worm gear pair connected to the output shaft of the servo motor, an electromagnetic clutch, and a high-speed gear pair. The driven wheel, worm gear, and sun gear of the high-speed gear pair are coaxially arranged. The electromagnetic clutch connects the driven wheel to its axle. The axle of the driving wheel is connected to the output shaft of the servo motor, and this shaft is connected to the worm gear through a driven component. A winch is provided on one side of the servo motor. The traction cable is wound around the winch. One end of the traction cable passes through the wiring cavity inside the traction head housing and is connected to the guide ring of the final output shaft. It extends into the pipe and connects to the rear end of the outer wall of the base. The cable to be laid enters from the side wall opening at the rear end of the wiring cavity.

[0015] Compared with existing technologies, this invention uses multiple sensors located on the outer surface of the deflection nose cone to perceive the spatial morphology, resistance distribution, and temperature environment inside the pipe in real time. Based on the perceived parameters, it dynamically adjusts the deflection angle of the deflection nose cone for active guidance and adjusts the pressure of the drive wheel and the torque of the motor to optimize traction. This enables the system to adapt to complex pipes and automatically find the best passage path, effectively avoiding problems such as repeated jamming and blind pulling in traditional methods. Attached Figure Description

[0016] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of the present invention.

[0017] Figure 1 This is a structural schematic diagram of the electrical wiring harness for building electrical construction according to the present invention; Figure 2 This is a cross-sectional view of the environment-adaptive front end of the present invention; Figure 3 This is a side view of the base of the present invention; Figure 4 yes Figure 3 A side view of the bogie in the middle; Figure 5 This is a side view of the deflecting nose cone of the present invention; Figure 6 This is a schematic diagram of the lever and piston rod of the present invention; Figure 7 This is a cross-sectional view of the power coordination section of the present invention; Figure 8 This is a cross-sectional view of the execution phase of the present invention; Figure 9 This is a side view of the sun gear of the present invention.

[0018] The reference numerals in the attached figures include: 1. Environmentally Adaptive Front End; 11. Substrate; 12. Deflection Nose Cone; 13. Steering Drive Mechanism; 131. Stepper Motor; 132. First Worm Gear Pair; 14. Flexible Protective Sleeve; 141. Flexible Short Tube; 142. Rotating Bushing; 143. Transmission Mechanism; 15. Sensor; 151. Fiber Bragg Grating Temperature Sensor; 152. Thermocouple Sensor; 153. Pressure Sensor; 16. Functional Components; 161. Heat Dissipation Flap; 162. Dust Inlet; 163. Negative Pressure Filter; 164. Self-Powered Module; 165. Rotating Shaft; 166. Lever; 167. Piston Rod; 168. Metal Capsule; 17. Deflection Mechanism; 171. Vertical Rotation Shaft; 172. Steering Knuckle; 173. Horizontal Rotation Shaft; 174. Deflection Nose Cone Mounting Bracket; 175. Torsion Spring; 18. Driven Guide Wheel; 2. Power 21. Coordination section; 22. Housing; 22. Pressure drive unit; 221. Drive wheel; 222. Slider; 223. Drive motor; 224. Cam; 225. Adjusting screw; 23. Buffer handle; 24. Harmonic energy recovery circuit; 3. Execution section; 31. Servo propulsion host; 311. Servo motor; 312. Second worm gear pair; 313. Electromagnetic clutch; 314. High-speed gear pair; 315. Winch; 32. Traction head; 321. Traction housing; 322. Sun gear connecting shaft; 323. Sun gear; 324. Planet gear; 325. Internal gear ring; 326. Planet carrier; 327. Scroll spring; 328. Hydraulic damper; 329. Friction plate clutch; 330. Final output shaft; 331. Wiring cavity; 4. Cable protection liner; 5. Pipe; 6. Traction steel cable; 7. Cable to be laid. Detailed Implementation

[0019] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of this application, and not all of the embodiments. Based on the embodiments of this application, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the scope of protection of this application.

[0020] like Figures 1-9As shown, the electrical wiring harness for building electrical construction of the present invention includes a power control module located outside a conduit 5 and an operation module that can enter the conduit 5; the operation module includes an environmentally adaptive front end 1 and a power-coordinated middle section 2 rigidly connected in sequence; the control module includes an execution rear section 3; the environmentally adaptive front end 1 includes a base 11, a deflection nose cone 12, a steering drive mechanism 13, and a flexible protective sleeve 14. The base 11 has a through cable protection liner 4. The deflection nose cone 12 is hinged to the front end of the base 11 through a deflection mechanism 17, and the deflection nose cone 12 has a channel communicating with the cable protection liner 4. Its outer surface is provided with a sensor 15 and a functional component 16. The steering drive mechanism 13 is used to drive the deflection mechanism 17 to rotate. The flexible protective sleeve 14 connects the outlet of the cable protection liner 4 and the inlet of the cable channel inside the deflection nose cone 12; the power-coordinated middle section 2 includes a housing 2. 1. At least one pressure drive unit 22 and a buffer handle 23. The housing 21 is provided with an independent cable protection liner 4 (which is integrally formed with the cable protection liner 4 of the environmental adaptive front end 1 as a pipe 5) and a traction steel cable 6 conduit. The drive wheel 221 of the pressure drive unit 22 can radially press against the inner wall of the pipe 5. The buffer handle 23 is located at the tail of the housing 21 and has a built-in harmonic energy recovery circuit 24. The execution section 3 includes a servo propulsion host 31 for winding and unwinding the traction steel cable 6 and a traction head 32 connected to the output end of the servo propulsion host 31. The traction head 32 is connected to the operation module through the traction steel cable 6. The cable 7 to be laid passes through the cable protection liner 4 and is detachably connected to the traction steel cable 6 at the traction head 32 by a clamp. The traction steel cable 6 passes through the traction steel cable 6 conduit and is fixed to the base 11.

[0021] This invention uses multiple sensors 15 located on the outer surface of the deflection nose cone 12 to perceive the spatial morphology, resistance distribution, and temperature environment inside the pipe 5 in real time. Based on the perceived parameters, the deflection angle of the deflection nose cone 12 is dynamically adjusted for active guidance, and the pressure of the drive wheel 221 and the motor torque are adjusted to optimize traction. This enables the system to adapt to complex pipes 5 and automatically find the best passage path, effectively avoiding problems such as repeated jamming and blind pulling in traditional methods.

[0022] In this embodiment, a separate cable protection liner 4 is set up to run through the operation module and the power control module. The cable 7 to be laid passes through this smooth and sealed liner throughout the entire process, and is completely physically isolated from all moving parts (such as drive wheels and transmission mechanisms), friction parts and the external pipeline environment 5. Combined with the multi-stage buffer and overload protection mechanism in the rear traction head 32, it can absorb and resolve the sudden stress and impact generated during the traction process in real time, fundamentally eliminating cable insulation layer damage or conductor deformation caused by mechanical extrusion, friction and over-stretching. This lays a safe foundation for reliable power supply and signal transmission of sensitive equipment such as metal oxide semiconductor field effect transistors, insulated gate bipolar transistor chips and modules.

[0023] Specifically, the aforementioned steering drive mechanism 13, pressure drive unit 22, servo propulsion host 31, and sensor 15 are all electrically connected to the control system. After the sensor 15 senses the parameters in the pipe 5, the control system controls the steering drive mechanism 13, pressure drive unit 22, and servo propulsion host 31 to perform corresponding operations.

[0024] In some embodiments, such as Figures 1-4 As shown, the deflection mechanism 17 includes a vertical rotating shaft 171 rotatably mounted on the front end of the base 11 about a vertical axis, a steering knuckle 172 fixedly connected to the vertical rotating shaft 171, a horizontal rotating shaft 173 mounted on the steering knuckle 172 and rotatable about a horizontal axis, and a deflection nose cone 12 mounting bracket mounted on the horizontal rotating shaft 173. A torsion spring 175 is wound on the horizontal rotating shaft 173, and the deflection nose cone 12 is mounted on the front end of the deflection nose cone 12 mounting bracket. The steering drive mechanism 13 includes a stepper motor 131 and a first worm gear pair 132 connected to its output shaft. The worm gear is fixed to the vertical rotating shaft 171 and is used to drive the deflection nose cone 12 to deflect in the horizontal plane.

[0025] In this embodiment, a dual-axis steering knuckle 172 structure combining a vertical rotation axis 171 and a horizontal rotation axis 173 is adopted, enabling the yaw nose cone 12 to obtain two degrees of freedom of motion: horizontal yaw and vertical pitch. The vertical rotation axis 171 is precisely controlled by a worm gear pair driven by a stepper motor 131, achieving active and precise yaw steering of the nose cone at large angles (e.g., ±45°) in the horizontal plane. For the vertical undulations of the pipe 5, a torsion spring 175 wound around the horizontal rotation axis 173 is innovatively used to achieve passive pitch adaptation of the nose cone. When encountering inclines or declines, the nose cone can rotate slightly around the horizontal axis to adapt to the pipe wall profile and automatically return to a horizontal neutral position under the action of the torsion spring 175. Furthermore, the steering knuckle 172, as the core load-bearing component connecting the vertical and horizontal axes, forms a stable mechanical frame. The vertical rotation axis 171 is mounted on the base 11 via bearings, providing a stable rotation fulcrum; the nose cone is rigidly connected via a mounting bracket, ensuring the direct transmission of guiding force; the combination of the dual-axis steering mechanism and the flexible protective sleeve 14 allows the nose cone to smoothly and flexibly change its posture in space, guiding the front head along the optimal path and avoiding hard collisions or scratches with the tube wall.

[0026] In some embodiments, such as Figure 2 As shown, the flexible protective sleeve 14 includes a rotating bushing 142 and a flexible short tube 141 connected thereto. The rotating bushing 142 is mounted on the base 11 or the rotating joint by a bearing and can rotate around its own axis. It is connected to the steering knuckle 172 by a transmission mechanism 143. The other end of the flexible short tube 141 is connected to the inlet of the internal channel of the deflection nose cone 12.

[0027] In this embodiment, a rotating bushing 142 that can freely rotate around its own axis is introduced as a "motion decoupling device". This bushing is mounted via bearings, with one end connected to the fixed outlet of the base 11 via a rotary seal, and the other end connected to a flexible short tube 141 to the nose cone. Crucially, the bushing is connected to the steering knuckle 172 via a transmission mechanism 143 (such as a synchronous belt or gear pair) with a transmission ratio strictly 1:1. When the steering knuckle 172 is driven to rotate by an angle θ (causing the nose cone to deflect), the transmission mechanism 143 synchronously drives the rotating bushing 142, causing it to generate a rotational motion (-θ) of equal magnitude but opposite direction. Kinematically, the net rotation angle of the rotating bushing 142 relative to the fixed part of the base 11 is always zero. Therefore, the channel from the base 11 to the rotating bushing 142 is completely free from torsion, and the torsional stress is actively "cancelled" by the transmission mechanism 143. The remaining flexible short tube 141, which runs from the rotating bushing 142 to the moving nose cone, only needs to accommodate the small-angle bending caused by the pitch of the nose cone, greatly improving working conditions.

[0028] Specifically, a driven guide wheel 18 (composed of a wheel body (wear-resistant rubber or engineering plastic), axle, and miniature bearing) is installed on the outer wall of the deflection nose cone 12. The entire wheel is mounted in a groove on the nose cone shell via a spring-supported suspension arm. The spring allows the wheel to extend and retract radially. This design transforms the sliding friction between the nose cone and the pipe wall into rolling friction, greatly reducing steering and forward resistance. Multiple circumferentially distributed spring wheels keep the nose cone centered in the pipe 5 and buffer minor collisions with the pipe wall. At the same time, a miniature pressure sensor can be integrated on the wheel arm, and its pressure signal can be fed back to the control system to determine the contact state between the nose cone and the pipe wall, assisting navigation decisions.

[0029] This embodiment is the key underlying guarantee for the long-term and reliable operation of the entire intelligent guidance system. It transforms the active deflection function of the nose cone from a risky action that could potentially "damage its own veins" (twisting the cable channel) into a sustainable and worry-free routine operation. It is based on this reliable connection that all the intelligent functions mentioned above, such as active guidance, environmental perception, heat dissipation and cleaning, can function as a whole system.

[0030] In some embodiments, such as Figure 2 , Figure 6 As shown, functional component 16 includes a heat dissipation mechanism, a cleaning mechanism, and a self-powered module 164. The heat dissipation mechanism includes at least one heat dissipation fin 161 controlled by a thermosensitive wax driving mechanism. The cleaning mechanism includes a suction port 162 located at the front end of the deflecting nose cone 12 and a negative pressure filter device 163 connected thereto. The self-powered module 164 includes a thermocouple array and / or a microstrip antenna located on the outer wall of the substrate 11. The thermosensitive wax driving mechanism includes a lever 166 connected to a rotating shaft 165 at the root of the heat dissipation fin 161, a piston rod 167 connected to the other end of the lever 166, and a metal capsule 168 sealed with thermosensitive wax. The piston of the metal capsule 168 is connected to the piston rod 167.

[0031] The heat dissipation structure in this embodiment is based on the solid-liquid phase change volume expansion principle of thermistor wax. The thermistor wax inside the sealed metal capsule 168 will undergo significant volume expansion near a specific phase change temperature (such as 45°C). The expanded wax directly pushes the piston inside the capsule. The piston drives the piston rod 167 to produce linear displacement. The piston rod 167 amplifies the linear displacement through the lever 166 mechanism and converts it into rotational torque on the rotating shaft 165 at the root of the heat dissipation petal 161, thereby driving the petal to open and increasing the heat dissipation gap. This effectively prevents serious accidents caused by "heat accumulation" that could lead to softening or melting of the cable insulation layer or jamming of adjacent components. This is crucial for protecting valuable precision cables and subsequent heat-sensitive components such as insulated gate bipolar transistor chips and modules.

[0032] The cleanroom system is based on the Venturi effect. As the work module moves forward in the duct 5, it uses its movement or a built-in micro air pump to generate a local negative pressure at the suction port 162 at the front of the nose cone. The dust-laden airflow is drawn in and passes through the built-in HEPA (High-Efficiency Particulate Air) filter, where dust is trapped and clean air is discharged. The suction port 162 is located at the very front of the nose cone, enabling a working mode of cleaning while moving. This setup not only prevents the spread of construction pollution and protects the manufacturing environment of components such as metal oxide semiconductor field-effect transistors, but also improves the internal working conditions of the duct 5, which is beneficial to the laying of cables and the safety of long-term operation.

[0033] The thermoelectric harvesting principle of the self-powered module 164 is based on the Seebeck effect. A thermocouple array attached to the outer wall of the substrate 11 (the part in contact with the pipe wall) directly generates a weak DC voltage by utilizing the frictional heat generated during the cable threading process or the temperature difference between the pipe environment and the cable. This voltage is then boosted by the power management circuit to power the low-power circuit. Its radio frequency energy harvesting principle is based on a microstrip antenna integrated on the circuit board, tuned to a specific wireless frequency band widely present in the workshop (such as 2.4GHz Wi-Fi signals), capturing electromagnetic radiation energy from the environment and converting it into DC power through a rectifier circuit. This setup allows the front-end sensing and control unit to obtain electrical energy from environmental waste heat and background radiation, achieving partial or complete energy self-sufficiency. This brings three major advantages: first, it reduces the dependence on power cables running through the entire system, simplifying the structure and improving reliability; second, it theoretically gives the operating module unlimited endurance, making it particularly suitable for ultra-long-distance pipeline construction; and third, it enhances the system's survivability and operational capabilities in extreme conditions such as the absence of external power or power failure.

[0034] The aforementioned functions of heat dissipation, cleaning, and power supply are not isolated components, but rather deeply integrated with the deflection nose cone 12 and work in synergy. For example, the thermoelectric array is positioned at the heat-prone contact points, simultaneously measuring temperature and generating electricity; the suction port 162 is located at the guide head, optimizing the cleaning path; the heat dissipation fins 161 cool themselves while preventing heat transfer to the cables. This integrated design, with minimal space and weight, endows the front-end module with strong environmental adaptability and self-sustaining capabilities, making it a true "intelligent agent" rather than a simple tool.

[0035] In some embodiments, such as Figure 2 As shown, the sensor 15 includes a fiber Bragg grating temperature sensor 151 embedded in the inner wall of the deflection nose cone 12, a thermocouple sensor 152 attached to its surface, and a pressure sensor 153 for detecting contact pressure.

[0036] In this embodiment, the fiber Bragg grating temperature sensor 151 is directly embedded in the inner wall of the PEEK or other composite material of the deflection nose cone 12, so that its grating area is adjacent to the cable protection channel. This design allows the sensor 15 to directly and without hysteresis sense the temperature of the microenvironment in which the cable is located, rather than indirectly measuring the temperature of the external air or structure, with extremely high monitoring accuracy (up to ±0.1℃). Most importantly, the fiber optic sensor 15 is essentially completely immune to electromagnetic fields, fundamentally eliminating the problem of inaccurate temperature measurement or sensor 15 damage caused by induced voltage and signal noise in environments with strong electromagnetic interference, such as metal-oxide-semiconductor field-effect transistor, insulated-gate bipolar transistor chip and module manufacturing workshops.

[0037] In addition, the thermocouple sensor array 152, mounted on the outer surface of the nose cone, works in conjunction with the embedded FBG sensor 15 to construct an "inner-outer" temperature field sensing system. The FBG monitors the temperature of the "core area" to ensure cable safety, while the thermocouple array monitors the surface contact temperature and its spatial distribution caused by friction between the nose cone and the tube wall at different locations in real time. By comparing the differences in internal and external temperature gradients and distributions, the control system can more accurately determine whether overheating is caused by severe local friction or an overall increase in ambient temperature, and thus decide whether to initiate local heat dissipation (such as adjusting the pressure of the guide wheel on that side or changing the path) or to adopt an overall cooling strategy (such as reducing the propulsion speed or activating the heat dissipation fins 161).

[0038] Furthermore, the pressure sensor 153 integrated on the surface of the nose cone or in the suspension mechanism of the driven guide wheel 18 can measure the contact force between the nose cone and the inner wall of the pipe 5 in all directions in real time. These mechanical signals are the most direct basis for the control system to understand the spatial geometry of the pipe 5 (such as the direction of bends and the position of diameter reduction) and the position of obstacles. Combined with yaw angle information, the system can construct a simple mechanical model of the pipe 5 contour in real time, realize active tactile obstacle avoidance and smooth trajectory planning, so that the guiding action is no longer a mechanical execution of a preset program, but an intelligent response based on real-time physical interaction.

[0039] In some embodiments, such as Figure 7 As shown, the pressure drive unit 22 includes a slider 222 slidably connected to the inner wall of the housing 21, a drive motor 223 mounted on the slider 222, a drive wheel 221 mounted on the output shaft of the drive motor 223, a cam 224 located on one side of the slider 222 and in contact with it, and an adjusting screw 225 screwed to the cam 224. The adjusting screw 225 is axially mounted inside the housing 21, the slider 222 slides radially along the housing 21, and the drive wheel 221 is partially located outside the housing 21 and in contact with the inner wall of the pipe 5.

[0040] In this embodiment, the operator can precisely adjust the pressure applied to the pipe wall by the drive wheel 221 using a high-precision screw and cam 224 combination (accuracy up to ±5N). This allows for stepless matching of the optimal traction force based on the pipe material (PVC, metal), pipe diameter, and cable resistance, preventing slippage due to insufficient pressure and avoiding excessive pressure that could increase resistance or damage the pipe 5. The self-locking characteristic of the cam 224 mechanism ensures that the set pressure will not accidentally loosen or change under vibration and impact, providing a stable traction force output basis. Furthermore, the three drive units are independently distributed on the circumference and can be adjusted individually. When the pipe 5 has ellipticity, local deformation, or foreign objects, the system can manually pre-adjust or through future automatic control upgrades to adapt the pressure of each drive wheel 221 to its local contact conditions, ensuring that all three wheels effectively contribute traction force and preventing traction loss or deviation due to local suspension.

[0041] During operation, firstly, the operator rotates the adjusting screw 225 using a tool. Since the screw is axially installed inside the housing 21 and rotatably connected to it via a bearing, the rotation causes the cam 224 to generate axial displacement. Next, since the working surface of the cam 224 (usually an inclined plane or an eccentric curved surface) remains in contact with one side of the slider 222, when the cam 224 moves axially, its working surface generates a radial thrust on the slider 222. Then, the slider 222 slides on the radial guide rail inside the housing 21, overcoming the preload of the disc spring assembly (usually located between the other side of the slider 222 and the fixed surface of the housing 21, not shown in the figure but an essential component), pushing the entire drive motor 223 and drive wheel 221 assembly integrated on the slider 222 to move radially inward. The drive wheel 221 extends through a window reserved in the housing 21, and its rubber tread is pressed against the inner wall of the pipe 5. The torque generated by the drive motor 223 is converted into a traction force that pulls the entire work vehicle forward through the static friction between the drive wheel 221 and the pipe wall. Minor adjustments to the pressure can linearly alter the maximum available traction force and optimize friction. The entire process of pressure regulation, transmission, and maintenance is accomplished entirely by the mechanical structure, independent of any sensors, controllers, or motors. This means that even in the extreme case of complete failure of the electrical control system, the pre-set pressure and traction functions of the drive unit remain reliably maintained. Together with the downstream electronic control system (such as overcurrent protection) and the upstream mechanical buffer mechanism, it forms a multi-layered, heterogeneous, and redundant safety protection system.

[0042] In some embodiments, such as Figure 7 As shown, the harmonic energy recovery circuit 24 includes a common-mode choke coupled to the traction cable 6, a filter, and a synchronous buck-boost circuit composed of semiconductor field-effect transistors, used to store the collected harmonic energy in a supercapacitor.

[0043] In this embodiment, the environment of pipe 5, where the operating module is located, is filled with abundant high-frequency harmonics, especially in the manufacturing workshop for metal-oxide-semiconductor field-effect transistors, insulated-gate bipolar transistor chips, and modules. The traction cable 6, as a good conductor, couples this electromagnetic noise like an antenna. The common-mode choke, as a coupling device, has a high-permeability magnetic core surrounding the cable, specifically exhibiting high impedance to the common-mode harmonic current between the cable and ground, thereby inducing a high-frequency voltage proportional to the harmonic energy at both ends of its winding. Subsequently, devices such as X2Y ceramic filters further filter out noise outside the specific frequency band, extracting relatively "pure" high-frequency AC energy. The captured high-frequency AC voltage amplitude is unstable and usually low, making it unusable directly. The core conversion unit is a synchronous buck-boost circuit composed of metal-oxide-semiconductor field-effect transistors (MOSFETs). This circuit first performs high-efficiency synchronous rectification of high-frequency AC to convert it into DC. Then, based on the voltage state of the downstream supercapacitor, it intelligently switches between buck and boost modes to accurately and efficiently convert and regulate the unstable, wide-range input voltage to the optimal charging voltage required by the supercapacitor. MOSFETs, due to their extremely fast switching speed and low on-resistance, are ideal devices for achieving this high-frequency, high-efficiency conversion. The converted electrical energy is stored in the supercapacitor; supercapacitors, with their high power density, long cycle life, and rapid charge / discharge characteristics, are very suitable for buffering and absorbing this intermittent, pulsed harmonic energy. The stored energy can be used to power local loads on the handle (such as the OLED display, status indicators, data logging module, and wireless communication module) or as an emergency backup power source for the Sensor 15 network, forming a local self-sufficient energy node.

[0044] In some embodiments, such as Figure 8 , Figure 9 As shown, the traction head 32 includes a traction housing 32121, a sun gear 323 connected to the traction housing 32121 via a sun gear 323 connecting shaft 322, three planet gears 324 meshing with the sun gear 323, an internal gear ring 325 meshing with the planet gears 324, and a planet carrier 326 connecting the planet gear 324 shafts. The sun gear 323 connecting shaft 322 is connected to the servo propulsion host 31. The internal gear ring 325 is connected to the traction housing 321 via a spiral spring 327. A hydraulic damper 328 is hinged to the output end of the planet carrier 326, and a friction plate clutch 329 is connected to the output shaft of the planet carrier 326. Finally, the output shaft 330 is connected to the traction cable 6 via a guide ring.

[0045] In this embodiment, power is input from the servo propulsion host 31 via the sun gear 323 connecting shaft 322, driving the sun gear 323. Under stable traction conditions, the system consisting of the sun gear 323, planet gears 324, internal gear ring 325, and planet carrier 326 is in equilibrium, with the internal gear ring 325 held in a certain position by the spiral spring 327. When the traction resistance changes, the load torque acting on the output shaft of the planet carrier 326 will disrupt the system equilibrium. According to the principle of planetary gear systems, this torque change will force the internal gear ring 325 to overcome the preload of the spiral spring 327 and rotate, with its rotation angle being proportional to the load torque. By detecting the angular displacement of the internal gear ring 325 through the sensor 15, the abstract traction force (torque) can be converted into a precise and measurable mechanical angle signal without delay and with high linearity, providing the most direct force feedback for the control system.

[0046] Specifically, one end of the hydraulic damper 328 is hinged to the planetary carrier 326, and the other end is hinged to the traction housing 32121. When a sudden jam or impact occurs within the pipe 5, causing a drastic change in the rotational speed of the planetary carrier 326 (abrupt change in angular acceleration), the piston of the damper is forced to move rapidly. Simultaneously, the viscous fluid inside the damper flows through the throttling orifice, generating a strong damping force. This force acts directly on the planetary carrier 326, rapidly absorbing and dissipating the impact kinetic energy, converting the sharp force pulse into gentle heat energy. This process is a purely mechanical hydraulic response with an extremely short time constant (milliseconds), preceding the reaction of any electronic control system, serving as the first layer of protection. A friction clutch 329 is connected in series after the output shaft of the planetary carrier 326. The clutch is pre-compressed by a set of springs, and its slippage torque is precisely set slightly below the maximum safe load of the cable and system structure. When the continuous traction force exceeds the safe threshold, and the hydraulic damper 328 can no longer fully buffer the impact, relative slippage (slippage) occurs between the driving and driven parts of the friction clutch 329. At this time, although the planetary carrier 326 at the input end is still rotating, the tension of the final output shaft 330 at the output end and the traction cable 6 is limited to below the preset safety value. This constitutes a purely passive mechanical "fuse" that ensures that the tension transmitted to the cable will not exceed the mechanically set limit under any circumstances, providing the most fundamental protection.

[0047] This embodiment innovatively combines the parallel and series connection of the hydraulic damper 328 (for instantaneous impacts) and the friction clutch 329 (for sustained overloads), covering risks across the entire timescale from millisecond-level impacts to sustained overloads. It achieves a perfect fusion and seamless switching between power transmission and safety protection: within normal operating ranges, the entire mechanism is a rigid and efficient power transmission chain (sun gear 323 → planetary carrier 326 → clutch → output shaft) with minimal energy loss. Once abnormal operating conditions occur, the buffering and protection functions automatically and seamlessly intervene: first, the damper absorbs the impact; if the overload persists, the clutch slips to limit the force. The entire process is smooth and continuous, without any delays in detection, judgment, or execution by the electronic system, avoiding "protective damage" caused by delayed or misjudged protective actions. Therefore, this traction head 32 is particularly suitable for supplying extremely precise cables to metal-oxide-semiconductor field-effect transistors, insulated-gate bipolar transistor chips, and modules. Its multi-level protection mechanism ensures that the tension on the cable is always in a smooth and controlled state, completely eliminating the risks of micro-damage to the insulation layer and deformation of the conductor lattice caused by sudden changes or loss of control of the traction force, and meeting the highest standard of "zero damage" laying requirements.

[0048] In some embodiments, such as Figure 8 As shown, the servo propulsion host 31 includes a servo motor 311, a second worm gear pair 312 connected to the output shaft of the servo motor 311, an electromagnetic clutch 313, and a high-speed gear pair 314. The driven wheel, worm gear, and sun gear 323 of the high-speed gear pair 314 are coaxially arranged on the connecting shaft 322. The electromagnetic clutch 313 connects the driven wheel to its axle. The axle of the driving wheel is connected to the output shaft of the servo motor 311. This shaft is connected to the worm gear through a driven component. A winch 315 is provided on one side of the servo motor 311. The traction cable 6 is wound around the winch 315. One end of the traction cable 6 passes through the wiring cavity 331 in the housing 21 of the traction head 32 and is connected to the guide ring of the final output shaft 330. It extends into the pipe 5 and is connected to the rear end of the outer wall of the base 11. The cable 7 to be laid enters from the side wall opening at the rear end of the wiring cavity 331.

[0049] In this embodiment, the electromagnetic clutch 313 is engaged and disengaged to intelligently switch between the worm gear transmission path and the high-speed gear transmission path, so as to adapt to the two completely different working conditions of "low-speed high-torque precision propulsion" and "high-speed reverse rapid retraction" in the threading operation.

[0050] During normal cable threading and propulsion operations, the electromagnetic clutch 313 is disengaged. The power of the servo motor 311 directly drives the worm gear via its output shaft. The worm gear drives the worm wheel to rotate. Since the worm wheel, the driven wheel of the high-speed gear pair 314, and the sun gear 323 are rigidly connected coaxially to the shaft 322, the power is directly output to the sun gear 323 of the traction head 32 through this coaxial assembly. The inherent high reduction ratio of the worm gear pair provides a huge output torque to meet traction requirements; at the same time, its reverse self-locking characteristic effectively prevents the work vehicle from accidentally slipping back due to the reverse resistance in the pipe 5, ensuring the stability and safety of the propulsion process.

[0051] When the work vehicle gets stuck in pipe 5 or needs to be quickly retracted, the control system issues a command, and the electromagnetic clutch 313 engages. At this time, the power of the servo motor 311 is simultaneously transmitted to two paths: one to the worm gear, and the other, through the driving and driven parts of the clutch, to the driving gear shaft of the high-speed gear pair 314. The driving gear of the high-speed gear pair 314 drives the driven gear. Since the driven gear is coaxial with the worm gear, the power is output through this shaft. This path completely bypasses the worm gear with self-locking characteristics, allowing the motor to rotate freely in reverse. At the same time, the reduction ratio of the high-speed gear pair 314 is much smaller than that of the worm gear, so when the motor runs at the same speed, the output shaft can obtain a higher reverse speed, thereby achieving rapid retraction of the work vehicle and greatly improving the efficiency of getting out of trouble and operation.

[0052] Specifically, the base 11 is rigidly connected to the housing 21 of the power coordination section 2. For example, the rear end face of the base 11 and the front end face of the housing 21 are respectively machined with matching flanges, which are fastened by several screws to form a solid whole. The connection interface is designed with a centering stop and a sealing ring to ensure coaxiality and sealing. The components of the servo propulsion host 31 are integrated into a box. This box is rigidly connected to the housing 21 of the traction head 32. For example, the rear end of the housing 21 of the traction head 32 is designed with a flange, which is fastened to the flange at the front end of the housing of the servo propulsion host 31 with a ring of screws. The axis of the final output shaft 330 of the traction head 32 used to output the traction cable 6 should be aligned with the central axis of the inlet of the pipe 5 as much as possible, that is, the two are parallel and preferably coincident. The cable 7 to be laid is wound on the outer reel and enters through the side wall entrance of the wiring cavity 331. After passing through the wiring cavity 331, it enters the cable protection liner 4 and exits through the deflection nose cone about 1250mm. The traction steel cable 6 extends out from the winch 315, enters the cable passage cavity, and is fixed to the cable 7 to be laid by the clamp. Then it passes through the wiring cavity 331 and connects with the guide ring (or pulley) at the end of the final output shaft 330 before connecting to the outer wall of the base 11.

[0053] It should be noted that all directional indications (such as up, down, left, right, front, back, etc.) in the embodiments of this application are only used to explain the relative positional relationship and movement of each component in a certain specific posture (as shown in the figure). If the specific posture changes, the directional indication will also change accordingly.

[0054] Furthermore, the use of terms such as "first" and "second" in this application is for descriptive purposes only and should not be construed as indicating or implying their relative importance or implicitly specifying the number of technical features indicated. Therefore, a feature defined as "first" or "second" may explicitly or implicitly include at least one of that feature. Additionally, the technical solutions of the various embodiments can be combined with each other, but only on the basis of being achievable by those skilled in the art. When the combination of technical solutions is contradictory or impossible to implement, such a combination of technical solutions should be considered non-existent and not within the scope of protection claimed in this application.

[0055] Although preferred embodiments of the invention have been described, those skilled in the art, upon learning the basic inventive concept, can make other changes and modifications to these embodiments. Therefore, the appended claims are intended to be interpreted as including the preferred embodiments as well as all changes and modifications falling within the scope of the invention.

[0056] Obviously, those skilled in the art can make various modifications and variations to this invention without departing from its spirit and scope. Therefore, if these modifications and variations fall within the scope of the claims of this invention and their equivalents, this invention also intends to include these modifications and variations.

Claims

1. An electrical wiring harness for building electrical construction, characterized in that, The system includes a power control module located outside the pipe (5) and an operation module that can enter the pipe (5); the operation module includes an environment adaptive front end (1) and a power coordination middle section (2) rigidly connected in sequence; the control module includes an execution back section (3); the environment adaptive front end (1) includes a base (11), a deflection nose cone (12), a steering drive mechanism (13), and a flexible protective sleeve (14). The base (11) is provided with a through cable protection liner (4). The deflection nose cone (12) is hinged to the front end of the base (11) through a deflection mechanism (17), and the deflection nose cone (12) is provided with a channel communicating with the cable protection liner (4). Its outer surface is provided with a sensor (15) and a functional component (16). The steering drive mechanism (13) is used to drive the deflection mechanism (17) to rotate. The flexible protective sleeve (14) connects the outlet of the cable protection liner (4) to the cable communication channel inside the deflection nose cone (12). The entry point of the pipeline; the power coordination middle section (2) includes a housing (21), at least one pressure drive unit (22) and a buffer handle (23). The housing (21) is provided with a cable protection liner (4). The drive wheel (221) of the pressure drive unit (22) can radially press against the inner wall of the pipeline (5). The buffer handle (23) is located at the tail of the housing (21) and has a built-in harmonic energy recovery circuit (24). The execution rear section (3) includes a servo propulsion host (31) for winding and unwinding the traction cable (6) and a traction head (32) connected to the output end of the servo propulsion host (31). The traction head (32) is connected to the operation module through the traction cable (6). The cable (7) to be laid passes through the cable protection liner (4) and is detachably connected to the traction cable (6) at the traction head (32) through a clamp. The traction cable (6) passes through the traction cable (6) conduit and is fixed to the base (11).

2. The electrical wiring harness for building electrical construction as described in claim 1, characterized in that, The deflection mechanism (17) includes a vertical rotating shaft (171) rotatably mounted on the front end of the base (11) about a vertical axis, a steering knuckle (172) fixedly connected to the vertical rotating shaft (171), a horizontal rotating shaft (173) mounted on the steering knuckle (172) and rotatable about a horizontal axis, and a deflection nose cone (12) mounting bracket mounted on the horizontal rotating shaft (173). A torsion spring (175) is wound on the horizontal rotating shaft (173), and the deflection nose cone (12) is mounted on the front end of the deflection nose cone (12) mounting bracket. The steering drive mechanism (13) includes a stepper motor (131) and a first worm gear pair (132) connected to its output shaft. The worm gear is fixed to the vertical rotating shaft (171) and is used to drive the deflection nose cone (12) to deflect in the horizontal plane.

3. The electrical wiring harness for building electrical construction as described in claim 2, characterized in that, The flexible protective sleeve (14) includes a rotating bushing (142) and a flexible short tube (141) connected thereto. The rotating bushing (142) is mounted on the base (11) or the rotating joint by a bearing and can rotate around its own axis. It is connected to the steering knuckle (172) through a transmission mechanism (143). The other end of the flexible short tube (141) is connected to the inlet of the internal channel of the deflection nose cone (12).

4. The electrical wiring harness for building electrical construction as described in claim 3, characterized in that, The functional component (16) includes a heat dissipation mechanism, a cleaning mechanism, and a self-powered module (164). The heat dissipation mechanism includes at least one heat dissipation fin (161) controlled by a heat-sensitive wax driving mechanism. The cleaning mechanism includes a suction port (162) located at the front end of the deflecting nose cone (12) and a negative pressure filter (163) connected thereto. The self-powered module (164) includes a thermocouple array and / or a microstrip antenna located on the outer wall of the substrate (11).

5. The electrical wiring harness for building electrical construction as described in claim 4, characterized in that, The thermosensitive wax driving mechanism includes a lever (166) connected to a rotating shaft (165) at the root of the heat dissipation fin (161), a piston rod (167) connected to the other end of the lever (166), and a metal capsule (168) sealed with thermosensitive wax. The piston of the metal capsule (168) is connected to the piston rod (167).

6. The electrical wiring harness for building electrical construction as described in claim 5, characterized in that, The sensor (15) includes a fiber Bragg grating temperature sensor (151) embedded in the inner wall of the deflection nose cone (12), a thermocouple sensor (152) attached to its surface, and a pressure sensor (153) for detecting contact pressure.

7. The electrical wiring harness for building electrical construction as described in claim 6, characterized in that, The pressure drive unit (22) includes a slider (222) slidably connected to the inner wall of the housing (21), a drive motor (223) mounted on the slider (222), a drive wheel (221) mounted on the output shaft of the drive motor (223), a cam (224) located on one side of the slider (222) and in contact with it, and an adjusting screw (225) screwed to the cam (224). The adjusting screw (225) is axially mounted inside the housing (21). The slider (222) slides radially along the housing (21). The drive wheel (221) is partially located outside the housing (21) and in contact with the inner wall of the pipe (5).

8. The electrical wiring harness for building electrical construction as described in claim 7, characterized in that, The harmonic energy recovery circuit (24) includes a common-mode choke coupled to the traction cable (6), a synchronous buck-boost circuit composed of semiconductor field-effect transistors, and a filter, which is used to store the collected harmonic energy in a supercapacitor.

9. The electrical wiring harness for building electrical construction as described in claim 8, characterized in that, The traction head (32) includes a traction housing (321), a sun gear (323) connected to the traction housing (321) via a sun gear (323) connecting shaft (322), three planet gears (324) meshing with the sun gear (323), an internal gear ring (325) meshing with the planet gears (324), and a planet carrier (326) connecting the planet gear (324) shaft. The sun gear (323) connecting shaft (322) is connected to the servo propulsion host (31). The internal gear ring (325) is connected to the traction housing (321) via a spiral spring (327). A hydraulic damper (328) is hinged to the output end of the planet carrier (326), and a friction plate clutch (329) is connected to the output shaft of the planet carrier (326). The final output shaft (330) is connected to the traction cable (6) via a guide ring.

10. The electrical wiring harness for building electrical construction as described in claim 9, characterized in that, The servo propulsion host (31) includes a servo motor (311), a second worm gear pair (312) connected to the output shaft of the servo motor (311), an electromagnetic clutch (313), and a high-speed gear pair (314). The driven wheel, worm gear, and sun gear (323) of the high-speed gear pair (314) are coaxially arranged on the connecting shaft (322). The electromagnetic clutch (313) connects the driven wheel to its axle. The axle of the driving wheel is connected to the output shaft of the servo motor (311). The driven component is connected to the worm gear, and a winch (315) is provided on one side of the servo motor (311). The traction cable (6) is wound around the winch (315). One end of the traction cable (6) passes through the wiring cavity (331) in the traction housing (321) and is connected to the guide ring of the final output shaft (330). It extends into the pipe (5) and is connected to the rear end of the outer wall of the base (11). The cable to be laid (7) enters from the side wall opening at the rear end of the wiring cavity (331).

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