A cable conduit inspection robot and method of operation thereof

Abstract

This invention discloses a cable duct inspection robot and its operating method, relating to the field of robot technology. It includes a fixed frame, rollers, an adjustment mechanism, a rotating fixing mechanism, and a cleaning mechanism. An adjustment rod is rotatably mounted on the fixed frame, and rollers are bolted to the end of the adjustment rod for contact with the inner wall of the duct. The adjustment mechanism is mounted on the fixed frame, the rotating fixing mechanism is positioned between the fixed frames, and the cleaning mechanism is positioned between the adjustment rod and the rotating fixing mechanism. This invention utilizes the cooperative arrangement of the adjustment mechanism and the rotating fixing mechanism. The adjustment mechanism allows for adjusting the opening and closing of the rollers and the adjustment rod, thus adapting to the inner walls of ducts of different specifications. Simultaneously, the rotating fixing mechanism provides a rigid connection in straight areas for stability, while in curved areas it transforms into a three-section flexible connection, effectively improving turning flexibility and maneuverability, and broadening the robot's applicable duct range.

Description

Technical Field

[0001] This invention relates to the field of robotics, and in particular to a cable duct inspection robot and its operating method. Background Technology

[0002] Cable ducts are underground or overhead channels used to protect, lay, and maintain cables, ensuring line safety and facilitating management. Cable duct inspection robots are inspection devices that can move autonomously inside ducts. Equipped with cameras and sensors, they can check the duct status in real time, identify damage or potential hazards, and improve inspection efficiency and safety.

[0003] Existing cable duct robots are limited by fixed size models and their rigid integrated design in actual inspection, making it difficult to adapt to pipe environments with different diameters. Often, it is necessary to customize special models for specific pipe diameters, resulting in high operating costs, narrow applicability, and insufficient mobility in curved pipes or complex routing areas, with poor turning and passage capabilities, which seriously affects inspection efficiency and coverage, making them quite inconvenient. Summary of the Invention

[0004] The purpose of this invention is to provide a cable duct inspection robot and its operation method to solve the problems mentioned in the background art.

[0005] To achieve the above objectives, the present invention provides the following technical solution: a cable duct inspection robot, comprising:

[0006] A fixed frame, on which an adjusting rod is rotatably mounted;

[0007] The roller is fixedly installed at the end of the adjusting rod by bolts and is used to fit against the inner wall of the pipe;

[0008] An adjustment mechanism, which is mounted on a fixed frame, is used to adjust the distance between the rollers;

[0009] A rotating fixing mechanism is provided between the fixing frames and is used to control the rotation and fixing of the fixing frames;

[0010] A cleaning mechanism is provided between the adjusting rod and the rotating fixing mechanism, and is used to clean the rollers.

[0011] Preferably, the adjustment mechanism includes:

[0012] A fixing rod, one end of which is fixedly connected at equal intervals to the outer wall of the fixing frame;

[0013] A fixing plate, which is fixedly connected to the other end of the fixing rod;

[0014] The first motor is fixedly installed on the outer wall of the fixed plate;

[0015] A drive rod is rotatably mounted between a fixed frame and a fixed plate, and the output end of the first motor is connected to the drive rod for transmission.

[0016] A movable plate is slidably inserted into a fixed rod, and the movable plate and a drive rod form a screw drive;

[0017] An extrusion rod, one end of which is rotatably connected to an adjusting rod, and the other end of which is rotatably connected to a moving plate.

[0018] Preferably, the adjustment mechanism further includes:

[0019] The outer casing is fitted over the outside of the first motor and is fixedly connected to the fixing plate;

[0020] The camera has a camera slot on the outer wall of its housing, and the camera is slidably inserted into the inner cavity of the camera slot.

[0021] The extrusion plate has an extrusion groove inside the outer shell, and the extrusion plate is slidably inserted into the inner cavity of the extrusion groove.

[0022] A connecting rod is fixedly inserted into the extrusion plate. One end of the connecting rod is fixedly connected to the camera, and the other end of the connecting rod is slidably inserted into the moving plate. The cross-section of the connecting rod is L-shaped.

[0023] An extrusion ring is fixedly sleeved on the outside of the extrusion plate, and an annular groove that matches the extrusion ring is provided inside the extrusion groove.

[0024] A first compression spring is sleeved on the outside of the connecting rod.

[0025] Preferably, one end of the first compression spring is fixedly connected to the extrusion plate, and the other end of the first compression spring is fixedly connected to the inner wall of the extrusion groove.

[0026] Preferably, the rotating fixing mechanism includes:

[0027] A fixing block, wherein the fixing block is disposed between the fixing frames;

[0028] The second motor is fixedly installed inside the grooves on both sides of the fixing block.

[0029] The screw has sliding grooves at both the top and bottom of the inner wall of the fixing block. The end of the screw is rotatably connected to the inner wall of the sliding groove. The output end of the second motor is connected to the screw for transmission.

[0030] A sliding rod, the end of which is fixedly connected to the inner wall of the sliding groove;

[0031] A slider, wherein the slider and the screw form a lead screw drive, and the slider and the slide rod are slidably interlocked;

[0032] A movable block is located inside a fixed block, and a slider is fixedly connected to the top and bottom of the movable block;

[0033] Ball bearings, which are embedded inside the movable block;

[0034] A rotating rod, one end of which is fixedly connected to a fixed frame, and the other end of which is fixedly connected to a ball bearing.

[0035] Preferably, the cleaning mechanism includes:

[0036] A partition, which is fixedly connected to the inside of the adjusting rod;

[0037] Mounting block, which is slidably disposed inside the adjusting rod;

[0038] The mounting component is disposed inside the mounting block.

[0039] A cleaning plate, which is connected to a mounting block via a mounting assembly, is used to clean the rollers;

[0040] Mounting rods are symmetrically and fixedly connected to the outer wall of the cleaning plate;

[0041] A connecting block, wherein the connecting block is disposed inside the adjusting rod;

[0042] A displacement rod, one end of which is fixedly connected to a mounting block, and the other end of which is fixedly connected to a connecting block;

[0043] The second compression spring is sleeved on the outside of the displacement rod;

[0044] A drive assembly is disposed between the adjusting rod and the rotation fixing mechanism;

[0045] A limiting block is symmetrically and fixedly connected to the inner wall of the adjusting rod to limit the displacement of the mounting block.

[0046] Preferably, one end of the second compression spring is fixedly connected to the mounting block, and the other end of the second compression spring is fixedly connected to the partition plate.

[0047] Preferably, the mounting components include:

[0048] The mounting block has a snap-fit ​​groove inside, and the snap-fit ​​rod is symmetrically slidably disposed inside the snap-fit ​​groove. The outer wall of the mounting block has symmetrically opened snap-fit ​​grooves that communicate with the snap-fit ​​groove. The mounting rod is slidably inserted into the inner cavity of the snap-fit ​​groove. The mounting rod has a snap-fit ​​hole that matches the snap-fit ​​rod. The outer wall of the adjusting rod has a through hole.

[0049] The third compression spring is disposed inside the snap-fit ​​groove, and the end of the third compression spring is fixedly connected to the snap-fit ​​rod;

[0050] The disassembly rod is fixedly installed on the outer wall of the snap-fit ​​rod, and the outer wall of the mounting block is provided with a disassembly groove to match the disassembly rod.

[0051] Preferably, the driving component includes:

[0052] The first airbag is symmetrically arranged inside the fixed block. The fixed block has symmetrically opened first air grooves that communicate with the first airbag. The first airbag is fixedly connected to the moving block.

[0053] The second airbag is symmetrically and fixedly connected between the partition and the connecting block. The connecting block has a second air groove communicating with the second airbag.

[0054] A connecting pipe, one end of which is fixedly inserted into a fixing block, and the other end of which is fixedly inserted into a connecting block, for connecting the first air groove and the second air groove.

[0055] Preferably, a third motor is fixedly installed on the outer wall of the adjusting rod, the output end of the third motor is driven by a first gear, and a second gear is fixedly connected to the outer wall of the roller, with the first gear and the second gear meshing together.

[0056] This invention also provides an operation method for a cable duct inspection robot, including the following specific steps:

[0057] Step 1: Start the first motor in the adjustment mechanism to drive the drive rod to rotate. Through the screw drive, the moving plate slides along the fixed rod. The displacement of the moving plate will push the pressing rod that is hinged to it, thereby synchronously adjusting the opening and closing angle of the three adjustment rods. This allows the rollers installed at the ends of the adjustment rods to fit tightly against the actual inner wall size of the pipe. As the adjustment rods open, the pressure of the moving plate on the L-shaped connecting rod decreases. Under the elastic force of the first compression spring, the connecting rod will drive the camera to smoothly extend from the camera slot in the housing and enter the working position, preparing for subsequent inspection.

[0058] Step 2: After the robot starts moving, depending on whether the pipeline is straight or curved, different connection modes need to be switched to optimize the passage. In a straight pipeline, the second motor in the rotating fixed mechanism is controlled to drive the screw to rotate, which drives the slider and the moving block to move along the sliding rod towards the inside of the fixed block, so that the fixed block is tightly fitted with the fixed frames on both sides, thus forming a rigid connection to ensure the structural stability of the robot when moving straight. When approaching the curved area, the second motor needs to be operated in reverse to move the moving block to the outside of the fixed block, so that the two fixed frames are separated from the fixed block. At this time, the robot body is connected by ball bearings and rotating rods, which is transformed into a three-segment flexible connection.

[0059] Step 3: When the moving block moves inside the fixed block, it stretches the first airbags located on both sides of it. This air pressure change is transmitted to the second airbag inside the adjusting rod through the connecting pipe. The air pressure decreases, causing the connecting block to be in close contact with the roller surface under the elastic force of the second compression spring. This action can actively scrape off the mud, oil or impurities attached to the roller before entering the bend where jamming is most likely to occur.

[0060] Step 4: After completing the above settings, start the third motor installed on the outer wall of the adjusting rod. Through the meshing of the first gear and the second gear, drive one of the rollers to rotate as the active wheel, thereby driving the entire robot to move along the preset route in the pipe and perform inspection tasks. When the task is completed or the robot needs to be retrieved from the pipe, reverse the operation to form a rigid connection, which can be retrieved with the smallest volume.

[0061] The technical effects and advantages of this invention are as follows:

[0062] (1) The present invention utilizes the combination of adjustment mechanism and rotation fixing mechanism. The adjustment mechanism can adjust the opening and closing size of the adjustment roller and adjustment rod, thus making it applicable to the inner wall of pipes of different specifications. At the same time, the rotation fixing mechanism can be rigidly connected in the straight area to maintain stability, and changed to a three-section flexible connection in the curved area, thereby effectively improving the turning flexibility and passage ability, expanding the applicable range of cable pipes for the robot, and enhancing its motion adaptability and detection efficiency in complex pipes.

[0063] (2) The present invention utilizes rollers, adjusting rods, rotating fixing mechanisms and cleaning mechanisms. When the rotating fixing mechanism converts the robot from a rigid connection to a three-segment flexible connection, the cleaning mechanism can be extended before turning to clean the rollers in advance. It can effectively remove mud, grease or hard impurities attached to the rollers before the bend area where dirt is most likely to cause jamming, thus avoiding the interruption of movement caused by roller slippage or jamming from the source. Moreover, the active cleaning ensures that there is always sufficient friction between the rollers and the pipe wall, maintaining the stability of the robot when traveling in the cable pipe.

[0064] (3) The present invention utilizes the combination of a fixed frame and an adjustment mechanism, so that the camera will extend when the adjustment rod and roller are opened and will be stored and closed, which not only reduces the storage space, but also protects the camera. The camera can enter or exit the working state between opening and closing the adjustment rod, which improves the work efficiency. In addition, during the transportation and storage process, the built-in camera can effectively avoid physical damage and optical performance degradation caused by bumps, scratches or dust pollution, which significantly improves the reliability and service life of the equipment. Attached Figure Description

[0065] The accompanying drawings are provided to further illustrate the invention and form part of the specification. They are used together with the embodiments of the invention to explain the invention, but do not constitute a limitation thereof. In the drawings:

[0066] Figure 1 This is a schematic diagram of the overall structure of the present invention;

[0067] Figure 2 This is a top view of the internal structure of the present invention;

[0068] Figure 3 This is a schematic diagram of the structure of the adjustment mechanism of the present invention;

[0069] Figure 4 This is a schematic diagram of the internal structure of the adjustment mechanism of the present invention from the front.

[0070] Figure 5 This is a schematic diagram of the internal structure of the outer shell portion of the present invention.

[0071] Figure 6 This is a top view of the internal structure of the fixing plate of the present invention;

[0072] Figure 7 This is a schematic diagram of the internal structure of the adjusting rod on the front side of the present invention;

[0073] Figure 8 For the present invention Figure 7 Enlarged structural diagram at point A in the middle.

[0074] In the attached image:

[0075] 1. Fixed frame; 2. Adjusting rod; 3. Roller; 4. Adjusting mechanism; 41. Fixed rod; 42. Fixed plate; 43. First motor; 44. Drive rod; 45. Moving plate; 46. Extrusion rod; 47. Housing; 48. Camera; 49. Extrusion plate; 410. Connecting rod; 411. Extrusion ring; 412. First compression spring; 5. Rotating fixing mechanism; 51. Fixed block; 52. Second motor; 53. Screw; 54. Slide rod; 55. Slider; 56. Moving block; 57. 58. Ball bearing; 6. Rotating rod; 7. Cleaning mechanism; 8. Partition plate; 9. Mounting block; 10. Mounting assembly; 11. Snap-fit ​​rod; 12. Third compression spring; 13. Disassembly rod; 14. Cleaning plate; 15. Mounting rod; 16. Connecting block; 17. Displacement rod; 18. Second compression spring; 19. Drive assembly; 10. First airbag; 11. Second airbag; 12. Connecting pipe; 13. Limiting block; 14. Third motor; 15. First gear; 16. Second gear. Detailed Implementation

[0076] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0077] This invention provides, for example Figures 1-8The cable duct inspection robot shown includes a fixed frame 1, rollers 3, an adjustment mechanism 4, a rotating fixing mechanism 5, and a cleaning mechanism 6. An adjustment rod 2 is rotatably mounted on the fixed frame 1. The rollers 3 are bolted to the end of the adjustment rod 2 to fit against the inner wall of the duct. The adjustment mechanism 4 is mounted on the fixed frame 1 to adjust the spacing between the rollers 3. The rotating fixing mechanism 5 is positioned between the fixed frames 1 to control the rotation and fixation of the fixed frame 1. The cleaning mechanism 6 is positioned between the adjustment rod 2 and the rotating fixing mechanism 5 to clean the rollers 3. The adjustment mechanism 4 can adjust the opening and closing size of the rollers 3 and the adjustment rod 2, thus adapting to the inner walls of ducts of different specifications. The rotating fixing mechanism 5 provides a rigid connection in straight sections of the duct for stability, while in curved sections it becomes a three-section flexible connection, effectively improving turning flexibility and throughput, broadening the robot's applicable duct range, and enhancing its motion adaptability and inspection efficiency in complex ducts. When the moving fixing mechanism 5 converts the robot from a rigid connection to a three-section flexible connection, the cleaning mechanism 6 can extend before the turn to clean the roller 3 in advance. This effectively removes mud, grease, or hard impurities attached to the roller 3 before the bend area where dirt is most likely to cause jamming, thus preventing the interruption of movement caused by the roller 3 slipping or getting stuck. The active cleaning also ensures that there is always sufficient friction between the roller 3 and the pipe wall, maintaining the stability of the robot's movement in the pipeline. When the adjusting rod 2 and the roller 3 are opened, the camera 48 will extend. After the adjusting rod 2 and the roller 3 are retracted and closed, not only is the storage space reduced, but the camera 48 is also stored and protected. The adjusting rod 2 can be opened or closed to enter or exit the working state, improving the work efficiency. During the handling and storage process, the built-in camera 48 can effectively avoid physical damage and optical performance degradation caused by bumps, scratches, or dust contamination, significantly improving the reliability and service life of the equipment.

[0078] Specifically, the adjusting mechanism 4 includes a fixed rod 41, a fixed plate 42, a first motor 43, a drive rod 44, a moving plate 45, and a pressing rod 46. One end of the fixed rod 41 is fixedly connected to the outer wall of the fixed frame 1 at equal intervals. The fixed plate 42 is fixedly connected to the other end of the fixed rod 41. The first motor 43 is fixedly installed on the outer wall of the fixed plate 42. The drive rod 44 is rotatably disposed between the fixed frame 1 and the fixed plate 42. The output end of the first motor 43 is connected to the drive rod 44 for transmission. The moving plate 45 is slidably inserted into the fixed rod 41, and the moving plate 45 and the drive rod 44 form a screw drive. One end of the pressing rod 46 is connected to the fixed rod 41. The adjusting rod 2 is rotatably connected, and the other end of the squeezing rod 46 is rotatably connected to the moving plate 45. The first motor 43 can drive the drive rod 44 to rotate in both directions, so that it can slide along the fixed rod 41 through the moving plate 45. This allows multiple squeezing rods 46 to squeeze the adjusting rod 2 to different degrees, thereby allowing the three adjusting rods 2 to open and close to different degrees. This allows the rollers 3 on the adjusting rod 2 to fit against the inner wall of pipes of different specifications, effectively improving the robot's wall-hugging ability and travel stability in pipes with varying diameters, irregular pipe sections, or complex bends, and enhancing the overall throughput and detection effect.

[0079] Furthermore, the adjustment mechanism 4 also includes a housing 47, a camera 48, a pressing plate 49, a connecting rod 410, a pressing ring 411, and a first compression spring 412. The housing 47 is sleeved on the outside of the first motor 43 and is fixedly connected to the fixing plate 42. A camera slot is formed on the outer wall of the housing 47, and the camera 48 is slidably inserted into the inner cavity of the camera slot. A pressing groove is formed inside the housing 47, and the pressing plate 49 is slidably inserted into the inner cavity of the pressing groove. The connecting rod 410 is fixedly inserted into the pressing plate 49, one end of the connecting rod 410 is fixedly connected to the camera 48, and the other end of the connecting rod 410 is slidably inserted into the moving plate 45. The cross-section of the connecting rod 410 is L-shaped. The pressing ring 411 is fixedly sleeved on the outside of the pressing plate 49. An annular groove matching the pressing ring 411 is formed inside the pressing groove. The first compression spring 412 is sleeved on the connecting rod 410. Externally, one end of the first compression spring 412 is fixedly connected to the extrusion plate 49, and the other end of the first compression spring 412 is fixedly connected to the inner wall of the extrusion groove. The first compression spring 412 always provides a stable elastic force to the connecting rod 410 through the extrusion plate 49, so that when the moving plate 45 no longer extrudes the connecting rod 410, that is, when the adjusting rod 2 is opened to a certain extent, the camera 48 will extend out of the camera slot under the elastic force, so that it can be used normally. When the adjusting rod 2 is closed, the moving plate 45 can extrude the connecting rod 410, so that the first compression spring 412 is in a compressed state, so that the camera 48 can be stored inside the housing 47, effectively avoiding collisions, scratches or lens obstruction by dirt when traveling in narrow pipes, thereby simplifying operation, strengthening physical protection and extending the service life of the camera 48.

[0080] Specifically, the rotating fixing mechanism 5 includes a fixed block 51, a second motor 52, a screw 53, a slide bar 54, a slider 55, a moving block 56, a ball bearing 57, and a rotating rod 58. The fixed block 51 is disposed between the fixed frames 1, and grooves are provided on both sides of the fixed block 51. The second motor 52 is fixedly installed inside the grooves. Slide grooves are provided at the top and bottom of the inner wall of the fixed block 51. The end of the screw 53 is rotatably inserted into the inner wall of the slide groove. The output end of the second motor 52 is drivenly connected to the screw 53. The end of the slide bar 54 is fixedly connected to the inner wall of the slide groove. The slider 55 and the screw 53 form a screw drive. The slider 55 and the slide bar 54 are slidably inserted into each other. The moving block 56 is located inside the fixed block 51. The slider 55 is fixedly connected to the top and bottom of the moving block 56. The ball bearing 57 is embedded in the fixed block 56. Inside the movable block 56, one end of the rotating rod 58 is fixedly connected to the fixed frame 1, and the other end of the rotating rod 58 is fixedly connected to the ball bearing 57. The second motor 52 can drive the screw 53 to rotate in both directions. Under the limit of the sliding rod 54, it can drive the slider 55 to move back and forth, thereby driving the movable block 56 to move inside the fixed block 51. This allows the distance between the fixed block 51 and the two fixed frames 1 to be adjusted. When the fixed block 51 is in contact with the fixed frame 1, it is rigidly connected. When the fixed block 51 is away from the fixed frame 1, it can form a three-segment flexible connection through the ball bearing 57 and the rotating rod 58. This gives the robot better curve-passing ability, enabling it to adapt to complex pipeline routes and improving the robot's comprehensive adaptability and detection efficiency in multi-condition pipeline environments.

[0081] Specifically, the cleaning mechanism 6 includes a partition 61, a mounting block 62, a mounting assembly 63, a cleaning plate 64, a mounting rod 65, a connecting block 66, a displacement rod 67, a second compression spring 68, a drive assembly 69, and a limiting block 610. The partition 61 is fixedly connected to the inside of the adjusting rod 2, and the mounting block 62 is slidably disposed inside the adjusting rod 2.

[0082] Mounting assembly 63 is disposed inside mounting block 62. Cleaning plate 64 is connected to mounting block 62 via mounting assembly 63 and is used to clean roller 3. Mounting rod 65 is symmetrically fixedly connected to the outer wall of cleaning plate 64. Connecting block 66 is disposed inside adjusting rod 2. One end of displacement rod 67 is fixedly connected to mounting block 62, and the other end of displacement rod 67 is fixedly connected to connecting block 66. Second compression spring 68 is sleeved on the outside of displacement rod 67. One end of second compression spring 68 is fixedly connected to mounting block 62, and the other end of second compression spring 68 is fixedly connected to partition plate 61. Second compression spring 68 always provides a stable elastic force to cleaning plate 64 through mounting block 62, so that cleaning plate 64 can be close to the surface of roller 3, thereby removing sludge, grease or hard impurities attached to roller 3 from the source. This design avoids interruptions in movement caused by slippage or jamming of the roller 3, and the active cleaning ensures that there is always sufficient friction between the roller 3 and the pipe wall, maintaining the stability of the robot's movement in the pipeline. The drive component 69 is located between the adjusting rod 2 and the rotating fixing mechanism 5. The limiting block 610 is symmetrically fixed to the inner wall of the adjusting rod 2 to limit the displacement of the mounting block 62. The limiting block 610 plays a limiting role for the mounting block 62, so that under the elastic force of the second compression spring 68, the cleaning plate 64 can only be extremely close to the roller 3, without directly contacting the roller 3. This allows the cleaning plate 64 to scrape off the thick sludge and residue attached to the surface of the roller 3 without increasing the rotational resistance of the roller 3. This ensures the cleaning effect and completely avoids the additional power loss and component wear caused by friction with the roller 3, making it easy to use.

[0083] Furthermore, the mounting assembly 63 includes a snap-fit ​​rod 631, a third compression spring 632, and a disassembly rod 633. The mounting block 62 has a snap-fit ​​groove inside, and the snap-fit ​​rod 631 is symmetrically slidably disposed within the snap-fit ​​groove. The outer wall of the mounting block 62 has symmetrically formed slots communicating with the snap-fit ​​groove. The mounting rod 65 is slidably inserted into the inner cavity of the slot. The mounting rod 65 has a snap-fit ​​hole that mates with the snap-fit ​​rod 631. The outer wall of the adjusting rod 2 has a through hole. The third compression spring 632 is disposed inside the snap-fit ​​groove, and its end is fixedly connected to the snap-fit ​​rod 631. The disassembly rod 633 is fixedly installed on the outer wall of the snap-fit ​​rod 631. The outer wall of the mounting block 62 has a disassembly groove that mates with the disassembly rod 633. The end of the snap-fit ​​rod 631... The part has an inclined surface, which facilitates the direct installation of the mounting rod 65 by straight insertion. The third compression spring 632 always provides a stable elastic force to the locking rod 631, thereby maintaining the stability of the locking. When disassembly is required for maintenance, the disassembly rod 633 can be squeezed through the through hole in the outer wall of the adjusting rod 2 by an external tool, which can drive the locking rod 631 out of the locking hole, so that the mounting rod 65 can be pulled out from the inside of the mounting block 62. This facilitates the maintenance and replacement of the cleaning plate 64 after the roller 3 is removed, which simplifies the later maintenance process. It allows for quick replacement of vulnerable parts without disassembling the entire robot, effectively reducing the time and difficulty of equipment maintenance and improving the maintainability and overall efficiency of the robot.

[0084] Furthermore, the drive assembly 69 includes a first airbag 691, a second airbag 692, and a connecting tube 693. The first airbag 691 is symmetrically arranged inside the fixed block 51. The fixed block 51 has symmetrically opened first air grooves communicating with the first airbag 691. The first airbag 691 is fixedly connected to the moving block 56. The second airbag 692 is symmetrically fixedly connected between the partition 61 and the connecting block 66. The connecting block 66 has a second air groove communicating with the second airbag 692. One end of the connecting pipe 693 is fixedly inserted into the fixing block 51, and the other end of the connecting pipe 693 is fixedly inserted into the connecting block 66, for connecting the first air groove and the second air groove. The connecting pipe 693 can be used to connect the first airbag 691 and the second airbag 692 together. When the second motor 52 can drive the screw 53 to rotate in both directions, the moving block 56 can be used to squeeze or stretch the first airbag 691, thereby cooperating with the connecting block 66 with elastic force to squeeze or stretch the second airbag 692, thereby controlling whether the cleaning plate 64 cleans the roller 3. This realizes the function of rotating the fixing mechanism 5 to move the machine. When the robot switches from a rigid connection to a three-section flexible connection, the cleaning mechanism 6 can be extended before the turn to clean the roller 3 in advance. This effectively removes mud, grease, or hard impurities attached to the roller 3 before the bend area where dirt is most likely to cause blockage. This prevents the interruption of movement caused by the roller 3 slipping or getting stuck. The active cleaning also ensures that there is always sufficient friction between the roller 3 and the pipe wall, maintaining the stability of the robot as it moves through the pipe. When switching from a three-section flexible connection to a rigid connection, the second airbag 692 can overcome the elastic force of the second compression spring 68 through the connecting block 66 under the pressure of the air pressure inside the first airbag 691, thereby moving the cleaning plate 64 away from the roller 3.

[0085] Furthermore, a third motor 7 is fixedly installed on the outer wall of the adjusting rod 2. The output end of the third motor 7 is connected to a first gear 8. A second gear 9 is fixedly connected to the outer wall of the roller 3. The first gear 8 and the second gear 9 are meshed together. The third motor 7 can drive one of the rollers 3 on the two fixed frames 1 to rotate as a drive wheel through the first gear 8 and the second gear 9, thereby enabling the entire robot to move in the pipeline.

[0086] Operating method of this invention:

[0087] Step 1: Start the first motor 43 in the adjustment mechanism 4 to drive the drive rod 44 to rotate. Through the screw drive, the moving plate 45 slides along the fixed rod 41. The displacement of the moving plate 45 will push the pressing rod 46 that is hinged to it, thereby synchronously adjusting the opening and closing angle of the three adjustment rods 2, so that the rollers 3 installed at the ends of the adjustment rods 2 can closely fit the actual inner wall size of the pipe. During the opening of the adjustment rods 2, the pressure of the moving plate 45 on the L-shaped connecting rod 410 is reduced. Under the elastic force of the first compression spring 412, the connecting rod 410 will drive the camera 48 to smoothly extend from the camera slot of the housing 47 and enter the working position to prepare for observation in subsequent inspections.

[0088] Step 2: After the robot starts moving, depending on whether the pipeline is straight or curved, different connection modes need to be switched to optimize the passage. In a straight pipeline, the second motor 52 inside the rotating fixed mechanism 5 is controlled to drive the screw 53 to rotate, which drives the slider 55 and the moving block 56 to move along the sliding rod 54 towards the inside of the fixed block 51, so that the fixed block 51 is tightly attached to the fixed frame 1 on both sides, thus forming a rigid connection to ensure the structural stability of the robot when moving straight. When approaching the curved area, the second motor 52 needs to be operated in reverse to move the moving block 56 towards the outside of the fixed block 51, so that the two fixed frames 1 are separated from the fixed block 51. At this time, the robot body is connected by the ball bearing 57 and the rotating rod 58, which is transformed into a three-segment flexible connection.

[0089] Step 3: When the moving block 56 moves inside the fixed block 51, it stretches the first airbag 691 located on both sides of it. This change in air pressure is transmitted to the second airbag 692 inside the adjusting rod 2 through the connecting pipe 693. The decrease in air pressure causes the connecting block 66 to be under the elastic force of the second compression spring 68, so that the cleaning plate 64 is close to the surface of the roller 3 under the fixation of the mounting component 63. This action can actively scrape off the mud, oil or impurities attached to the roller 3 before entering the bend where jamming is most likely to occur.

[0090] Step 4: After completing the above settings, start the third motor 7 installed on the outer wall of the adjusting rod 2. Through the meshing of the first gear 8 and the second gear 9, drive one of the rollers 3 as the active wheel to rotate, thereby driving the entire robot to move along the preset route in the pipe and perform inspection tasks. When the task is completed or the robot needs to be retrieved from the pipe, reverse the operation to form a rigid connection so that it can be retrieved with the smallest volume.

[0091] Although embodiments of the invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the appended claims and their equivalents.

Claims

1. A cable duct inspection robot, characterized in that, include: A fixed frame (1) is provided with an adjusting rod (2) rotatably mounted on the fixed frame (1); Roller (3), which is fixedly installed at the end of the adjusting rod (2) by bolts, is used to fit the inner wall of the pipe; Adjustment mechanism (4), which is mounted on the fixed frame (1) and is used to adjust the spacing of the rollers (3); Rotation fixing mechanism (5) is provided between the fixing frames (1) and is used to control the rotation and fixing of the fixing frames (1); The cleaning mechanism (6) is located between the adjusting rod (2) and the rotating fixing mechanism (5) and is used to clean the roller (3).

2. The cable duct inspection robot according to claim 1, characterized in that, The adjustment mechanism (4) includes: A fixing rod (41) is fixedly connected at equal intervals to the outer wall of the fixing frame (1) at one end; A fixing plate (42) is fixedly connected to the other end of a fixing rod (41); The first motor (43) is fixedly installed on the outer wall of the fixing plate (42); A drive rod (44) is rotatably disposed between a fixed frame (1) and a fixed plate (42), and the output end of the first motor (43) is connected to the drive rod (44) in a transmission manner. The movable plate (45) is slidably inserted into the fixed rod (41), and the movable plate (45) and the drive rod (44) form a screw drive; The extrusion rod (46) has one end rotatably connected to the adjusting rod (2) and the other end rotatably connected to the moving plate (45).

3. The cable duct inspection robot according to claim 2, characterized in that, The adjustment mechanism (4) further includes: The outer casing (47) is fitted onto the outside of the first motor (43), and the outer casing (47) is fixedly connected to the fixing plate (42); The camera (48) has a camera slot on the outer wall of the housing (47), and the camera (48) is slidably inserted into the inner cavity of the camera slot; The extrusion plate (49) has an extrusion groove inside the outer shell (47), and the extrusion plate (49) is slidably inserted into the inner cavity of the extrusion groove. A connecting rod (410) is fixedly inserted into the extrusion plate (49). One end of the connecting rod (410) is fixedly connected to the camera (48), and the other end of the connecting rod (410) is slidably inserted into the moving plate (45). The cross-section of the connecting rod (410) is L-shaped. The extrusion ring (411) is fixedly sleeved on the outside of the extrusion plate (49), and the inside of the extrusion groove is provided with an annular groove that matches the extrusion ring (411); A first compression spring (412) is sleeved on the outside of the connecting rod (410).

4. The cable duct inspection robot according to claim 3, characterized in that, One end of the first compression spring (412) is fixedly connected to the extrusion plate (49), and the other end of the first compression spring (412) is fixedly connected to the inner wall of the extrusion groove.

5. The cable duct inspection robot according to claim 4, characterized in that, The rotating fixing mechanism (5) includes: A fixing block (51) is disposed between the fixing frames (1); The second motor (52) is fixedly installed inside the grooves on both sides of the fixing block (51); The screw (53) has a sliding groove at the top and bottom of the inner wall of the fixing block (51). The end of the screw (53) is rotatably inserted into the inner wall of the sliding groove. The output end of the second motor (52) is connected to the screw (53) in a transmission. A slide rod (54), the end of which is fixedly connected to the inner wall of the slide groove; The slider (55) and the screw (53) form a lead screw drive, and the slider (55) and the slide rod (54) are slidably interlocked. The movable block (56) is located inside the fixed block (51), and the slider (55) is fixedly connected to the top and bottom of the movable block (56); Ball bearing (57), which is embedded inside the movable block (56); Rotating rod (58), one end of which is fixedly connected to the fixed frame (1), and the other end of which is fixedly connected to the ball (57).

6. The cable duct inspection robot according to claim 1, characterized in that, The cleaning mechanism (6) includes: A partition (61) is fixedly connected to the inside of the adjusting rod (2); Mounting block (62), which is slidably disposed inside adjusting rod (2); Mounting component (63), which is disposed inside mounting block (62) Cleaning plate (64), which is connected to mounting block (62) via mounting assembly (63), is used to clean roller (3); Mounting rods (65) are symmetrically and fixedly connected to the outer wall of the cleaning plate (64); A connecting block (66) is disposed inside the adjusting rod (2); Displacement rod (67), one end of which is fixedly connected to mounting block (62), and the other end of which is fixedly connected to connecting block (66); The second compression spring (68) is sleeved on the outside of the displacement rod (67). One end of the second compression spring (68) is fixedly connected to the mounting block (62), and the other end of the second compression spring (68) is fixedly connected to the partition plate (61). A drive assembly (69) is disposed between the adjusting rod (2) and the rotation fixing mechanism (5); Limiting block (610), which is symmetrically fixedly connected to the inner wall of adjusting rod (2), is used to limit the displacement of mounting block (62).

7. The cable duct inspection robot according to claim 6, characterized in that, The installation component (63) includes: The mounting block (62) has a snap-fit ​​groove inside, and the snap-fit ​​rod (631) is symmetrically slidably disposed inside the snap-fit ​​groove. The outer wall of the mounting block (62) has symmetrically opened slots that communicate with the snap-fit ​​groove. The mounting rod (65) is slidably inserted into the inner cavity of the slot. The mounting rod (65) has a snap-fit ​​hole that matches the snap-fit ​​rod (631). The outer wall of the adjusting rod (2) has a through hole. The third compression spring (632) is disposed inside the snap-fit ​​groove, and the end of the third compression spring (632) is fixedly connected to the snap-fit ​​rod (631); The disassembly rod (633) is fixedly installed on the outer wall of the snap-fit ​​rod (631), and the outer wall of the mounting block 62 is provided with a disassembly groove that matches the disassembly rod (633).

8. The cable duct inspection robot according to claim 6, characterized in that, The driving component (69) includes: The first airbag (691) is symmetrically arranged inside the fixed block (51). The fixed block (51) has a first air groove symmetrically opened inside the fixed block (51) that communicates with the first airbag (691). The first airbag (691) is fixedly connected to the moving block (56). The second airbag (692) is symmetrically fixed between the partition (61) and the connecting block (66), and the connecting block (66) has a second air groove that communicates with the second airbag (692). A connecting pipe (693) is provided, one end of which is fixedly inserted into a fixing block (51), and the other end of which is fixedly inserted into a connecting block (66), for connecting the first air groove and the second air groove.

9. The cable duct inspection robot according to claim 1, characterized in that, The outer wall of the adjusting rod (2) is fixedly installed with a third motor (7), the output end of the third motor (7) is connected to a first gear (8), the outer wall of the roller (3) is fixedly connected to a second gear (9), and the first gear (8) and the second gear (9) are meshed together.

10. A method for operating a cable duct inspection robot according to any one of claims 1-9, characterized in that, The specific usage steps are as follows: Step 1: Start the first motor (43) in the adjustment mechanism (4) to drive the drive rod (44) to rotate. Through the screw drive, the moving plate (45) slides along the fixed rod (41). The displacement of the moving plate (45) will push the pressing rod (46) that is hinged to it, thereby simultaneously adjusting the opening and closing angles of the three adjustment rods (2) so that the roller (3) installed at the end of the adjustment rod (2) can closely fit the actual inner wall size of the current pipeline. During the opening of the adjustment rod (2), the pressure of the moving plate (45) on the L-shaped connecting rod (410) decreases. Under the elastic force of the first compression spring (412), the connecting rod (410) will drive the camera (48) to smoothly extend from the camera slot of the outer shell (47) and enter the working position to prepare for subsequent inspection. Step 2: After the robot starts moving, depending on whether the pipeline is straight or curved, different connection modes need to be switched to optimize the passage. In a straight pipeline, control the second motor (52) in the rotating fixed mechanism (5) to drive the screw (53) to rotate, which will drive the slider (55) and the moving block (56) to move along the sliding rod (54) to the inside of the fixed block (51), so that the fixed block (51) is tightly attached to the fixed frame (1) on both sides, thus forming a rigid connection to ensure the structural stability of the robot when moving straight. When approaching the curved area, the second motor (52) needs to be operated in reverse to move the moving block (56) to the outside of the fixed block (51), so that the two fixed frames (1) are separated from the fixed block (51). At this time, the robot body is connected by the ball (57) and the rotating rod (58), which is transformed into a three-segment flexible connection. Step 3: When the moving block (56) moves inside the fixed block (51), it stretches the first airbag (691) located on both sides of it. This change in air pressure is transmitted to the second airbag (692) inside the adjusting rod (2) through the connecting pipe (693). The decrease in air pressure causes the connecting block (66) to be under the elastic force of the second compression spring (68), so that the cleaning plate (64) is close to the surface of the roller (3) under the fixation of the mounting component (63). This action can actively scrape off the mud, grease or impurities attached to the roller (3) before entering the curve where jamming is most likely to occur. Step 4: After completing the above settings, start the third motor (7) installed on the outer wall of the adjusting rod (2). Through the meshing of the first gear (8) and the second gear (9), drive one of the rollers (3) to rotate as the active wheel, thereby driving the entire robot to move along the preset route in the pipe and perform inspection tasks. When the robot needs to be retrieved from the pipe, reverse the operation to form a rigid connection so that it can be retrieved with the smallest volume.

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