A take-up reel arrangement

Abstract

The utility model discloses a kind of take-up reel wire devices, including shell, reel and cycloidal gear, reel includes winding roller, screw rod, driving part and belt, cycloidal gear includes cycloidal shell and tension monitoring part, cycloidal shell is threadedly covered in screw rod, tension monitoring part is installed in cycloidal shell, tension monitoring part includes pressure roller, U-shaped cover and pressure sensor, pressure roller, U-shaped cover and pressure sensor are sequentially connected from bottom to top, and tension monitoring passage is equipped between U-shaped cover and pressure roller, the tension of cable is used to drive pressure structure and give feedback to pressure sensor, then through the feedback of pressure sensor, it is convenient for staff to adjust driving part, so that winding roller and screw rod adaptively change with the change of driving part, and further reach the speed of cable recovery and the speed of robot is always in most suitable position, to avoid cable recovery confusion.

Description

Technical Field

[0001] This utility model relates to the field of pipeline robot technology, specifically to a cable take-up and reel device. Background Technology

[0002] Currently, pipeline inspection robots can perform endoscopic inspections of pipelines, detecting conditions such as cracks and corroded welds. Employing image processing technologies, including camera capture, the acquired images are further processed to identify pipeline defects and assist manual assessment of pipeline damage. For example, the patent application CN212929182U, entitled "A Pipeline Inspection Deployment Robot," comprises a robot chassis, left lifting rod, right lifting rod, a three-degree-of-freedom robotic arm, a detection radar, a camera assembly, aviation connector one, aviation connector two, and cables. The robot adopts a modular design, with the robot chassis, three-degree-of-freedom robotic arm, detection radar, and camera assembly as individual modules. These modules can be quickly assembled and disassembled using connecting screws, aviation connector one, and aviation connector two. Cables provide the robot with power and fiber optic communication, ensuring the robot is not limited by battery capacity or communication distance.

[0003] However, due to the large amount of debris inside the pipe and the uneven road surface, the robot could not move stably during the retrieval process, resulting in the cable reeling becoming tangled. Utility Model Content

[0004] The purpose of this invention is to overcome the above-mentioned technical deficiencies and propose a cable winding and reeling device to solve the technical problem of messy cable winding in the prior art.

[0005] To achieve the above-mentioned technical objectives, the present invention adopts the following technical solution:

[0006] This utility model provides a winding and coiling device, including a housing, a coiler, and a cycloidal coiler. The coiler includes a winding roller, a lead screw, a drive component, and a belt. The winding roller and the lead screw are parallel to each other and rotatably connected inside the housing. The winding roller, the lead screw, and the drive component are all connected by the belt drive. The cycloidal coiler includes a cycloidal shell and a tension monitoring component. The cycloidal shell is threaded onto the lead screw, and the tension monitoring component is installed in the cycloidal shell. The tension monitoring component includes a pressure roller, a U-shaped cover, and a pressure sensor. The pressure roller, the U-shaped cover, and the pressure sensor are connected sequentially from bottom to top, and a tension monitoring channel is provided between the U-shaped cover and the pressure roller.

[0007] In some embodiments, a controller is further included, which is electrically connected to both the pressure sensor and the drive element.

[0008] In some embodiments, the tension monitoring element has a feed wheel assembly on the side opposite to the winding roller, and the feed wheel assembly is rotatably connected to the cycloidal shell.

[0009] In some embodiments, limiting rollers are provided on both sides of the feed roller assembly, and the axial directions of the two limiting rollers are perpendicular to the horizontal plane.

[0010] In some embodiments, the tension monitoring element has a lead-out wheel assembly on the side near the winding roller, and the lead-out wheel assembly is rotatably connected to the cycloidal shell.

[0011] In some embodiments, an encoder is provided between the tension monitoring element and the lead-out wheel assembly, and the encoder is connected to the cycloidal shell.

[0012] In some embodiments, a cycloidal fixing device is threaded onto the lead screw, and the bottom end of the cycloidal housing is detachably connected to the cycloidal fixing device.

[0013] In some embodiments, a guide rod is provided inside the housing, the guide rod is parallel to the lead screw, and the top end of the cycloidal shell is slidably sleeved on the guide rod.

[0014] In some embodiments, one end of the housing is provided with an aviation plug.

[0015] In some embodiments, a pull rod is mounted on the top of the housing.

[0016] Compared with the prior art, the cable winding device provided by this utility model, through the setting of tension monitoring channel, forms a pressure structure composed of pressure roller and U-shaped cover. The tension of the cable is used to drive the pressure structure and provide feedback to the pressure sensor. The feedback from the pressure sensor allows the operator to adjust the drive component. It can achieve real-time feedback and real-time adjustment of the drive component speed, so that the winding roller and lead screw adapt to the changes of the drive component. In this way, the speed of cable winding and the speed of the robot are always at the most suitable position, thereby avoiding cable winding disorder. Attached Figure Description

[0017] Figure 1 This utility model provides a three-dimensional representation of a wire take-up reel device. Figure 1 ;

[0018] Figure 2 This utility model provides a three-dimensional representation of a wire take-up reel device. Figure 2 ;

[0019] Figure 3 yes Figure 2 Schematic diagram of the cycloidal mechanism;

[0020] Figure 4 yes Figure 3 A schematic diagram of the internal structure of the cycloidal mechanism.

[0021] Explanation of reference numerals in the attached drawings: 1. Outer shell; 11. Plug; 12. Pull rod; 13. Caster wheel; 2. Winding device; 21. Winding roller; 22. Lead screw; 221. Cycloidal fixing device; 23. Drive component; 24. Belt; 25. Guide rod; 3. Cycloidal device; 31. Cycloidal housing; 32. Tension monitoring component; 321. Pressure roller; 322. U-shaped cover; 323. Pressure sensor; 324. Tension monitoring channel; 33. Infeed roller assembly; 34. Limit roller; 35. Outfeed roller assembly; 36. Encoder; 4. Controller. Detailed Implementation

[0022] To make the objectives, technical solutions, and advantages of this utility model clearer, the present utility model will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely for explaining the present utility model and are not intended to limit the present utility model.

[0023] To solve the technical problem of messy cable winding, this utility model provides a cable winding device that can achieve orderly cable winding.

[0024] It should be noted that the wire take-up and reeling device described in this utility model is used in, but not limited to, pipeline robots. For ease of explanation, this utility model only uses the application of a wire take-up and reeling device in a pipeline robot as an example. The principle of the wire take-up and reeling device applied to other types of equipment is essentially the same as that applied to a pipeline robot, and will not be described in detail here.

[0025] Please see Figures 1-4 ,in Figure 1 This is a schematic diagram of a winding and coiling device according to an embodiment of the present invention. The winding and coiling device includes a housing 1, a coiler 2, and a cycloidal coiler 3. The coiler 2 includes a winding roller 21, a lead screw 22, a drive component 23, and a belt 24. The winding roller 21 and the lead screw 22 are parallel to each other and rotatably connected inside the housing 1. The winding roller 21, the lead screw 22, and the drive component 23 are all connected by a belt 24 for transmission. The cycloidal coiler 3 includes a cycloidal shell 31 and a tension monitoring component 32. The cycloidal shell 31 is threaded onto the lead screw 22. The tension monitoring component 32 is installed on the cycloidal shell 31. The tension monitoring component 32 includes a pressure roller 321, a U-shaped cover 322, and a pressure sensor 323. The pressure roller 321, the U-shaped cover 322, and the pressure sensor 323 are connected sequentially from bottom to top, and a tension monitoring channel 324 is provided between the U-shaped cover 322 and the pressure roller 321.

[0026] In this embodiment, the tension monitoring channel 324 forms a pressure structure consisting of pressure roller 321 and U-shaped cover 322. The tension of the cable drives the pressure structure and provides feedback to pressure sensor 323. The feedback from pressure sensor 323 allows the operator to adjust the drive component 23 in real time. This enables real-time feedback and adjustment of the drive component 23's rotation speed, allowing the winding roller 21 and lead screw 22 to adapt to changes in the drive component 23. This ensures that the cable recovery speed and the robot speed are always at the most suitable positions, thus avoiding cable recovery chaos.

[0027] Furthermore, in order to provide power to components such as the drive unit 23 and the tension monitoring unit 32, a power module is installed on one side of the housing 1. The power module contains several batteries for easy charging.

[0028] Furthermore, the tension monitoring device 32 converts the tension change of the cable into an electrical signal output by responding to external forces through internal sensing elements (such as strain gauges, piezoelectric elements, etc.). When tension is applied to the sensor structure, the strain gauge deforms, causing its resistance value to change and be converted into a voltage signal. The signal processing unit performs amplification, filtering, and other operations, and finally outputs a readable electrical signal.

[0029] Furthermore, the drive unit 23 adopts a servo motor. The fixed end of the servo motor is fixedly connected to the outer casing 1. The drive end of the servo motor drives the winding roller 21 and the lead screw 22 to rotate via the belt 24. It should be noted that, in order to facilitate the transmission of the belt 24, the drive end of the servo motor, the end of the winding roller 21, and the end of the lead screw 22 are all fixedly connected with gears that are compatible with the belt 24. Each gear and the belt 24 are covered by a protective cover to avoid external factors affecting the normal operation of each gear and the belt 24.

[0030] In one embodiment, please refer to Figure 1 It also includes a controller 4, which is electrically connected to the pressure sensor 323 and the drive unit 23 respectively.

[0031] In this embodiment, the controller 4 issues commands to control the drive unit 23 for adjustment. The entire real-time feedback time is ≤50ms, which protects the safe recycling of the take-up cable. It can be recycled synchronously with the speed of the pipeline robot. When the recycled cable gets stuck outside, the tension monitoring unit 32 enables the take-up motor to quickly stop within 100ms for protection, thereby avoiding equipment failure caused by untimely cable recycling.

[0032] Furthermore, to improve measurement accuracy and reliability, the pressure sensor 323 is equipped with hardware such as a microcontroller 4 or a digital signal processor (DSP) for real-time data acquisition, processing, and calibration.

[0033] In one embodiment, please refer to Figure 3 and Figure 4 The tension monitoring component 32 is provided with a wire feed wheel assembly 33 on the side away from the winding roller 21, and the wire feed wheel assembly 33 is rotatably connected to the cycloidal shell 31.

[0034] In one embodiment, please refer to Figure 3 and Figure 4 The feed roller group 33 is provided with limiting rollers 34 on both sides, and the axial direction of the two limiting rollers 34 is perpendicular to the horizontal plane.

[0035] It should be noted that the pressure sensor 323 is a tension sensor, used to collect and feedback the tension of the cable to the controller 4, so that the controller 4 can make corresponding adjustments to the drive component 23.

[0036] In this embodiment, the feed roller group 33 consists of a pair of rollers that are staggered vertically. One of the rollers is located between the two limiting rollers 34 and is used to jointly limit the movement of the cable. By setting the limiting rollers 34, the cable is prevented from swaying left and right during the retrieval process, thus improving the stability during the retrieval process.

[0037] In one embodiment, please refer to Figure 3 and Figure 4 The tension monitoring component 32 is provided with a wire exit wheel assembly 35 on the side near the winding roller 21, and the wire exit wheel assembly 35 is rotatably connected to the cycloidal shell 31.

[0038] In this embodiment, the cable output wheel set 35 consists of a pair of rollers symmetrically distributed vertically and is used to assist the cable to move more orderly. Furthermore, through the arrangement of the cable input wheel set 33 and the cable output wheel set 35, the cables at both ends of the cycloidal device 3 are guaranteed to move in an orderly manner.

[0039] In one embodiment, please refer to Figure 3 and Figure 4 An encoder 36 is provided between the tension monitoring component 32 and the lead-out wheel assembly 35, and the encoder 36 is connected to the cycloidal housing 31.

[0040] In this embodiment, the encoder 36 is used for cable metering. The working principle of the encoder 36 is based on the reciprocating motion of friction, which is related to the application of displacement and angle measurement. When the device moves, the encoder 36 will convert this motion into a more measurable form and generate some signals. Under the condition of following the signal capture rules, position and speed can be extracted from these signals.

[0041] The encoder 36 is typically wired via a fixed cable and plug. During wiring, the output cable plug of the encoder 36 should be inserted into the corresponding port of the controller 4 according to the connection method and voltage level. For the A and B signals of the encoder 36, common wiring methods are differential output and single-ended output. For differential output, A, A# and B, B# need to be connected to the two input channels of the controller 4 respectively. For single-ended output, only A and B signals need to be connected to the input channel of the controller 4. During wiring, the encoder 36 requires an external power supply module. The power connection cable of the encoder 36 and the power connection cable of the controller 4 should be connected to the power supply module respectively.

[0042] In one embodiment, please refer to Figure 1 The lead screw 22 is threaded with a cycloidal fixing device 221, and the bottom end of the cycloidal housing 31 is detachably connected to the cycloidal fixing device 221.

[0043] In this embodiment, the bottom end of the cycloidal fixing device 221 and the cycloidal shell 31 are fixedly connected by screws. The cycloidal fixing device 221 is threadedly connected to the lead screw 22. When the lead screw 22 rotates, the cycloidal fixing device 221 moves back and forth along the length direction of the lead screw 22, thereby driving the cycloidal shell 31 to move left and right together, so that the cable recycling is more orderly.

[0044] In one embodiment, please refer to Figure 1 The outer casing 1 is provided with a guide rod 25, which is parallel to the lead screw 22. The top end of the cycloidal shell 31 is slidably sleeved on the guide rod 25.

[0045] In this embodiment, the guide rod 25 cooperates with the lead screw 22 to make the cycloidal shell 31 more stable during left and right movement.

[0046] In one embodiment, please refer to Figure 2 One end of the outer shell 1 is provided with a flight plug 11.

[0047] In this embodiment, the function of the aerial plug 11 is to connect with the pipeline robot.

[0048] In one embodiment, please refer to Figure 2 A pull rod 12 is installed on the top of the outer casing 1.

[0049] In this embodiment, the function of the pull rod 12 is to facilitate the movement of the entire device by pushing and pulling by the staff.

[0050] Furthermore, the bottom of the outer casing 1 is equipped with casters 13 to facilitate the movement of the entire device, and each caster 13 has a self-locking structure to prevent the entire device from slipping on its own.

[0051] To better understand this utility model, the following is combined with... Figures 1 to 4 The technical solution of this utility model is described in detail below:

[0052] First, after the device is powered on, it connects to the control software and sends control commands to the controller 4. The controller 4 then puts the drive unit 23 into standby mode. Next, it reads the pressure sensor 323 of the cycloidal coil 3. The pressure sensor 323 feeds back the received cable tension data to the controller 4. The controller 4 receives the command to adjust the drive unit 23. The drive unit 23 drives the lead screw 22 via the belt 24. The lead screw 22 then drives the winding roller 21 to rotate, which in turn causes the winding roller 21 to retract the cable. During the retraction process, the cable passes through the tension monitoring channel 324. The pressure roller 321, U-shaped cover 322, and pressure sensor 323 obtain real-time values ​​and feed them back to the controller 4. The controller 4 then adjusts the speed of the cable retraction by changing the rotation speed of the drive unit 23, repeating the cycle. Finally, the cable is completely retracted. This device, by combining the structure of the coiler 2 with the pressure sensor 323, achieves more stable cable retraction than similar products, preventing cable tangling and protecting the motor.

[0053] The specific embodiments of this utility model described above do not constitute a limitation on the scope of protection of this utility model. Any other corresponding changes and modifications made based on the technical concept of this utility model should be included within the scope of protection of the claims of this utility model.

Claims

1. A cable take-up and reel device, characterized in that, include: shell; A winding device, comprising a winding roller, a lead screw, a drive component, and a belt, wherein the winding roller and the lead screw are parallel to each other and rotatably connected within the housing, and the winding roller, the lead screw, and the drive component are all connected by belt drive. as well as A cycloidal device is provided, comprising a cycloidal shell and a tension monitoring component. The cycloidal shell is threaded onto the lead screw, and the tension monitoring component is installed on the cycloidal shell. The tension monitoring component includes a pressure roller, a U-shaped cover, and a pressure sensor. The pressure roller, the U-shaped cover, and the pressure sensor are connected sequentially from bottom to top, and a tension monitoring channel is provided between the U-shaped cover and the pressure roller.

2. The winding and reeling device according to claim 1, characterized in that, It also includes a controller, which is electrically connected to both the pressure sensor and the drive unit.

3. The cable take-up and reel device according to claim 1, characterized in that, The tension monitoring device is provided with a wire feed wheel assembly on the side opposite to the winding roller, and the wire feed wheel assembly is rotatably connected to the cycloidal shell.

4. A take-up and reel device according to claim 3, characterized in that, The feed roller assembly is provided with limiting rollers on both sides, and the axial directions of the two limiting rollers are perpendicular to the horizontal plane.

5. A take-up and reel device according to claim 1, characterized in that, The tension monitoring device is provided with a wire exit wheel assembly on the side near the winding roller, and the wire exit wheel assembly is rotatably connected to the cycloidal shell.

6. A take-up coil device according to claim 5, characterized in that, An encoder is provided between the tension monitoring device and the lead-out wheel assembly, and the encoder is connected to the cycloidal shell.

7. A take-up and reel device according to claim 1, characterized in that, The lead screw is threaded with a cycloidal fixing device, and the bottom end of the cycloidal shell is detachably connected to the cycloidal fixing device.

8. A winding and reeling device according to claim 1, characterized in that, The outer casing is provided with a guide rod, which is parallel to the lead screw, and the top end of the cycloidal shell is slidably sleeved on the guide rod.

9. A take-up coil device according to claim 1, characterized in that, One end of the outer shell is provided with an aviation plug.

10. A take-up coil device according to claim 1, characterized in that, A pull rod is installed on the top of the housing.

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