A launching device for launching a robot into a pressurized pipeline

Abstract

This application discloses a delivery device for deploying a robot into a pressurized pipeline, relating to the field of pipeline inspection. The delivery device includes a cable feeding sleeve, a first cable feeding assembly, and a main cable assembly. The first cable feeding assembly of this application is equipped with a pushing mechanism to push the robot into the pressurized pipeline. The pressurized pipeline, the cable feeding sleeve, the first cable feeding box of the first cable feeding assembly, and the main cable box of the main cable assembly are connected to form an isobaric space. The entire section of the cable to be delivered is within this isobaric space, avoiding the contradiction of needing to ensure smooth cable delivery while also ensuring waterproofing. At the same time, it is conducive to the smooth delivery of the cable. The cooperation of the first driven wheel mechanism, the first driving wheel, and the cable reel drives the cable to follow the robot forward, avoiding resistance phenomena such as wall snagging that may occur when the robot follows the flow of the medium in the pressurized pipeline, thus ensuring the smooth operation of the robot.

Description

Technical Field

[0001] This application relates to the field of pipeline inspection, and more particularly to a delivery device for deploying a robot into a pressurized pipeline. Background Technology

[0002] Pipeline maintenance requires robots to enter and inspect the pipes, typically using a deployment device. 1. Most existing deployment devices for water supply pipeline inspection robots involve connecting a cable to the robot's tail and then inserting it into the pressurized pipeline from the outside. The cable inlet needs to ensure smooth cable entry into the pipeline while simultaneously preventing water leakage from the pipeline. These two points are contradictory. Often, to ensure waterproofing, there may be resistance to the robot's forward movement, hindering its motion. 2. Most existing deployment devices use a manual push rod to push the robot into the water supply pipeline. When encountering high water pressure, the resistance is significant, making pushing difficult. Utility Model Content

[0003] This application provides a delivery device for deploying robots into pressurized pipelines, which can create an isobaric space to ensure smooth cable delivery.

[0004] This application provides a delivery device for deploying a robot into a pressurized pipeline. The delivery device includes a cable feeding sleeve, a first cable feeding assembly, and a main cable assembly. One end of the cable feeding sleeve is connected to the pressurized pipeline, and the other end is connected to the first cable feeding assembly. The first cable feeding assembly includes a first cable feeding box and a pushing mechanism, a first driven wheel mechanism, a first driving wheel, and a first driving component disposed within the first cable feeding box. The first cable feeding box is connected to the cable feeding sleeve. The pushing mechanism is correspondingly disposed to the cable feeding sleeve, and the robot to be deployed is located inside the cable feeding sleeve. The pushing mechanism is used to push the robot into the pressurized pipeline along the axial direction of the cable feeding sleeve. The cable is positioned between the first driven wheel mechanism and the first driving wheel; the first driving component is connected to the first driving wheel and drives the cable to move forward with the robot via the first driving wheel; the main cable assembly includes a main cable box, a connecting pipe, a cable reel, and a main drive assembly; one end of the connecting pipe is connected to the main cable box, and the other end is connected to the first cable feeding box; the cable reel is positioned in the main cable box, the cable to be transported is wound around the cable reel, the cable passes through the connecting pipe and the first cable feeding box in sequence, and the free end of the cable is connected to the robot; the output end of the main drive assembly is connected to the cable reel and is used to drive the cable reel to unload the cable.

[0005] Preferably, one end of the cable feeding sleeve is provided with a first connecting flange and the other end is provided with a second connecting flange. The first connecting flange is connected to the branch pipe of the pressurized pipeline, and the second connecting flange is connected to the first cable feeding box.

[0006] Preferably, the pushing mechanism is configured as an electric push rod, which includes a body and a push rod connected to each other. The body is located outside the first cable feeding box, and the push rod is located inside the first cable feeding box and extends into the cable feeding sleeve along the axial direction. The robot is connected to the end of the push rod.

[0007] Preferably, the first driven wheel mechanism includes a first driven wheel A, a first driven wheel B, and a first driven wheel C rotatably disposed in a first cable feeding box. The first driven wheel A, the first driven wheel B, and the first driving wheel are arranged in a triangular arrangement. The first driven wheel B, the first driven wheel C, and the first driving wheel are arranged in a triangular arrangement. The cable passes between the first driven wheel A and the first driven wheel B and wraps around at least a portion of the outer circumference of the first driving wheel. The cable also passes between the first driving wheel and the first driven wheel C.

[0008] Preferably, the first driven wheel mechanism further includes a first auxiliary wheel A, a first auxiliary wheel B, and a counting wheel rotatably disposed in the first cable feeding box. The first auxiliary wheel A, the first auxiliary wheel B, and the counting wheel are arranged in a triangular pattern. The cable passes between the first auxiliary wheel A and the counting wheel and between the first auxiliary wheel B and the counting wheel. The encoder is connected to the counting wheel.

[0009] Preferably, the first driving component is configured as a waterproof motor, and the first driving component is coaxially connected to the first drive wheel.

[0010] Preferably, the main drive assembly includes a main drive component, a main drive shaft, a first transmission wheel, a second transmission wheel, and a first transmission element, all disposed on the outside of the main cable box. The first transmission wheel is disposed on the output end of the main drive component, and the second transmission wheel is disposed on the main drive shaft. The first transmission element connects the first transmission wheel and the second transmission wheel respectively. The main drive shaft is rotatably disposed and coaxially connected to a reel drive end that passes through the side wall of the main cable box. The reel drive end is coaxially connected to a cable reel, and the main drive component drives the main drive shaft and the cable reel to rotate.

[0011] Preferably, the main cable assembly further includes a cable routing assembly, which includes a lead screw, a lead screw slider, a guide shaft, a cable routing wheel set, a cable routing drive shaft, a third transmission wheel, a fourth transmission wheel, and a second transmission component;

[0012] The lead screw is rotatably installed inside the main cable box, and a lead screw drive end connected to the cable laying drive shaft is installed on the side wall of the main cable box; the lead screw and the lead screw drive end are coaxially connected; the lead screw slider is threadedly connected to the lead screw; the guide shaft slides through the lead screw slider, and the axis of the guide shaft is parallel to the lead screw; the cable laying wheel assembly is installed on the lead screw slider, and the cable passes through the cable laying wheel assembly; the cable laying drive shaft is rotatably installed on the outside of the main cable box; the third transmission wheel is installed on the main drive shaft, the fourth transmission wheel is installed on the cable laying drive shaft, and the second transmission component connects the third transmission wheel and the fourth transmission wheel respectively.

[0013] Preferably, the main cable assembly further includes a second cable feeding assembly, which includes a second cable feeding box, a second driven wheel mechanism, a second driving wheel, and a second driving component;

[0014] The second cable delivery box is located on one side of the main cable box. The second cable delivery box is equipped with a cable inlet and a cable outlet. The cable inlet is connected to a three-way connector on the main cable box. One end of the connecting pipe is connected to the cable outlet, and the connecting pipe is connected to the main cable box through the second cable delivery box. The second driven wheel mechanism and the second driving wheel are located inside the second cable delivery box. The cable is located between the second driven wheel mechanism and the second driving wheel. The second driving component is connected to the second driving wheel and drives the second driving wheel to rotate, so that the second driving wheel drives the cable forward.

[0015] Preferably, the second driven wheel mechanism includes a second driven wheel A, a second driven wheel B, and a second driven wheel C rotatably disposed within the second cable feeding box. The second driven wheel A, the second driven wheel B, and the second driving wheel are arranged in a triangular arrangement. The second driven wheel B, the second driven wheel C, and the second driving wheel are also arranged in a triangular arrangement. The cable passes between the second driven wheel A and the second driven wheel B and wraps around at least a portion of the outer circumference of the second driving wheel. The cable also passes between the second driving wheel and the second driven wheel C.

[0016] The dispensing device of this application has at least the following beneficial effects:

[0017] The delivery device of this application is equipped with a pushing mechanism that drives the robot and the free end of the cable to move and pushes the robot into the pressurized pipeline. The medium flowing in the pressurized pipeline carries the robot and the cable forward together. The pressurized pipeline, cable delivery sleeve, first cable delivery box and main cable box in this application are connected to form an isobaric space. The entire section of the cable to be delivered is in this isobaric space, which avoids the contradiction of needing to ensure smooth cable delivery and waterproofing. At the same time, it is conducive to the smooth delivery of the cable. The cooperation of the first driven wheel mechanism, the first driving wheel and the cable reel drives the cable to follow the robot forward, avoiding the resistance phenomenon such as hanging on the wall that may occur when the robot follows the medium flow in the pressurized pipeline, and ensuring the smooth operation of the robot. Attached Figure Description

[0018] Various other advantages and benefits will become apparent to those skilled in the art upon reading the following detailed description of preferred embodiments. The accompanying drawings are for illustrative purposes only and are not intended to limit the scope of this application. Furthermore, the same reference numerals denote the same parts throughout the drawings. In the drawings:

[0019] Figure 1 This is a schematic diagram of the dispensing device structure according to Embodiment 1 of this application;

[0020] Figure 2It is a vertical cross-sectional view of the cable feeding sleeve, the first cable feeding assembly, and the robot;

[0021] Figure 3 yes Figure 2 Enlarged view of point A in the middle;

[0022] Figure 4 This is a structural diagram of the main cable assembly (the housing of the main drive component is hidden);

[0023] Figure 5 yes Figure 4 A structural diagram showing the structure behind the main cable box;

[0024] Figure 6 yes Figure 5 Enlarged view of point B in the middle;

[0025] Figure 7 yes Figure 5 Enlarged view of point C in the middle;

[0026] Figure 8 This is a schematic diagram of the dispensing device structure according to Embodiment 2 of this application;

[0027] Figure 9 yes Figure 8 Schematic diagram of the main cable assembly;

[0028] Figure 10 yes Figure 9 The diagram shows the second cable delivery assembly hidden behind the top cover;

[0029] The annotations in the attached figures are explained as follows:

[0030] 100. Cable feed sleeve; 110. First connecting flange; 120. Second connecting flange;

[0031] 200. First cable feeding assembly; 210. First cable feeding box; 220. Pushing mechanism; 221. Main body; 222. Push rod; 230. First driven wheel mechanism; 231. First driven wheel A; 232. First driven wheel B; 233. First driven wheel C; 234. First auxiliary wheel A; 235. First auxiliary wheel B; 236. Counting wheel; 237. Encoder; 240. First driving wheel; 250. First driving component;

[0032] 300. Main cable assembly; 310. Main cable box; 320. Connecting pipe; 330. Cable reel; 330a. Reel drive end; 340. Main drive assembly; 341. Main drive component; 342. Main drive shaft; 343. First transmission wheel; 344. Second transmission wheel; 350. Cable laying assembly; 351. Lead screw; 351a. Lead screw drive end; 352. Lead screw slider; 353. Guide shaft; 354. Cable laying wheel set; 3541. 3542. Cable laying wheel; 355. First limiting wheel; 356. Cable laying drive shaft; 357. Third transmission wheel; 360. Fourth transmission wheel; 361. Second cable feeding assembly; 362. Second cable feeding box; 362. Second driven wheel mechanism; 3621. Second driven wheel A; 3622. Second driven wheel B; 3623. Second driven wheel C; 3624. Second limiting wheel; 363. Second driving wheel; 364. Second driving component; 370. Movable bracket;

[0033] 400. Robot;

[0034] 500. Cables;

[0035] 600. Pressurized pipeline; 610. Branch pipe. Detailed Implementation

[0036] The features and exemplary embodiments of various aspects of this application will be described in detail below. To make the objectives, technical solutions, and advantages of this application clearer, the application will be further described in detail below with reference to the accompanying drawings and specific embodiments. It should be understood that the specific embodiments described herein are only intended to explain this application and not to limit it. For those skilled in the art, this application can be implemented without some of these specific details. The following description of the embodiments is merely to provide a better understanding of this application by illustrating examples.

[0037] It should be noted that, in this document, relational terms such as "first" and "second" are used merely to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitations, an element defined by the phrase "comprising..." does not exclude the presence of additional identical elements in the process, method, article, or apparatus that includes the element.

[0038] Example 1:

[0039] like Figure 1 As shown, this embodiment discloses a delivery device for delivering robots to pressurized pipelines. First, it needs to be explained that a pressurized pipeline 600 refers to a pipeline with a certain pressure due to the presence of a flowing medium (such as water).

[0040] like Figure 1 As shown, the delivery device in this embodiment is used to deliver the robot 400 into the pressurized pipeline 600. In some embodiments, the pressurized pipeline 600 is connected to a branch pipe 610, which is part of the pressurized pipeline 600. The branch pipe 610 connected to the pressurized pipeline 600 forms a T-shaped structure, and a maintenance valve (not shown) is provided on the branch pipe 610 for opening and closing the branch pipe 610. The delivery device in this embodiment can deliver the robot 400 from the branch pipe 610 into the pressurized pipeline 600.

[0041] like Figure 1 As shown, the delivery device includes a cable feeding sleeve 100, a first cable feeding assembly 200, and a main cable assembly 300. When the robot 400 is delivered, the pressurized pipe 600, branch pipe 610, cable feeding sleeve 100, first cable feeding assembly 200, and main cable assembly 300 are interconnected to form an isobaric space, which can solve the contradiction between smooth delivery of cable 500 and waterproofing.

[0042] like Figure 2 As shown, the cable feeding sleeve 100 is cylindrical in shape and its axial direction is in the height direction. The lower end of the cable feeding sleeve is connected to the upper end of the branch pipe 610, and the upper end of the cable feeding sleeve 100 is connected to the first cable feeding box 210 of the first cable feeding assembly 200, so that the interior of the first cable feeding box 210 is connected to the branch pipe 610 and the pressurized pipe 600 to make their pressure equal.

[0043] like Figure 2 As shown, in this preferred embodiment, the lower end of the cable feeding sleeve 100 is provided with a first connecting flange 110, and the upper end of the cable feeding sleeve 100 is provided with a second connecting flange 120. The first connecting flange 110 is connected to the upper end of the branch pipe 610. In practical applications, a first sealing element (not shown) is provided between the upper end of the branch pipe 610 and the first connecting flange 110 to prevent leakage at this location. The upper end of the cable feeding sleeve 100 is connected to the bottom of the first cable feeding box 210. In this embodiment, the cable feeding sleeve 100 is fixedly connected to other components through two connecting flanges, which can ensure the stability of the structure during use.

[0044] like Figure 2As shown, the first cable feeding assembly 200 includes a first cable feeding box 210, a pushing mechanism 220, a first driven wheel mechanism 230, a first driving wheel 240, and a first driving component 250. The first cable feeding box 210 is a sealed and waterproof box structure. The lower end of the first cable feeding box 210 is provided with a through-hole 1 that communicates with the cable feeding sleeve 100, and the side wall of the first cable feeding box 210 is provided with a through-hole 2 that communicates with the connecting pipe 320 of the main cable assembly 300.

[0045] like Figure 3 As shown, the pushing mechanism 220 is installed inside the first cable delivery box 210 and is used to push the robot 400 from the branch pipe 610 into the pressurized pipeline 600 along the axial direction of the cable delivery sleeve 100. In this embodiment, the pushing mechanism 220 is configured as an electric push rod 222. The electric push rod 222 includes a body part 221 and a push rod 222. The body part 221 is used to drive the push rod 222 to extend and retract. The body part 221 is located on the outside of the first cable delivery box 210 and is connected to the upper part of the first cable delivery box 210. At least a portion of the push rod 222 is located inside the first cable delivery box 210. The upper end of the push rod 222 is connected to the body part 221. The lower end of the push rod 222 can extend downward in the height direction into the cable delivery sleeve 100. Specifically, the push rod 222 passes through the first cable delivery box 210 along the axial direction (i.e., the height direction) of the cable delivery sleeve 100 and extends into the cable delivery sleeve 100. The body part 221 of the electric push rod 222 drives the push rod 222 to extend and retract in the height direction, thereby pushing the robot 400 located in the cable delivery sleeve 100 downward into the pressurized pipe 600. In this embodiment, a second seal (not shown) is provided between the push rod 222 and the first cable delivery box 210 to prevent media leakage between the push rod 222 and the first cable delivery box 210. It should be noted that the electric push rod in this embodiment can also be a waterproof electric push rod, which is entirely housed inside the first cable delivery box 210, and this waterproof electric push rod can extend and retract downwards, thereby pushing the robot 400 located inside the cable delivery sleeve 100 downwards into the pressurized pipeline 600.

[0046] In this embodiment, the robot 400 is pushed by a pushing mechanism 220, which provides adjustable force and greater reliability while saving manpower. In some other embodiments, the pushing mechanism 220 is detachably connected to the robot 400 (e.g., magnetic attraction, snap-fit, expansion connection, etc.), or the pushing mechanism 220 is not connected to the robot 400, but directly pushes the robot 400 downward into the pressurized pipe 600. When it is necessary to retract the robot 400, it is pulled back via the cable 500.

[0047] like Figure 3As shown, the first driven wheel mechanism 230 is disposed inside the first cable feeding box 210 for limiting and guiding the cable 500. The cable 500, which enters the first cable feeding box 210, passes between the first driven wheel mechanism 230 and the first driving wheel 240. The cable 500 contacts the first driven wheel mechanism 230 and the first driving wheel 240 respectively. The first driving member 250 provides power to the first driving wheel 240. The first driving wheel 240 uses the friction between itself and the cable 500 to transport the cable forward.

[0048] like Figure 3 As shown, in this preferred embodiment, the first driven wheel mechanism 230 includes a first driven wheel A231, a first driven wheel B232, and a first driven wheel C233, all rotatably disposed within the first cable feeding box 210. The first driven wheels A231 and B232 are arranged vertically at intervals, and the first driven wheels B232 and C233 are arranged horizontally at intervals. The first driven wheels A231, B232, and the first driving wheel 240 are arranged in a triangular configuration, as are the first driven wheels B232, C233, and the first driving wheel 240. Cable 500 passes between the first driven wheel A231 and the first driven wheel B232, then wraps around the outer circumference of the upper half of the first driving wheel 240, then passes down between the first driven wheel C233 and the first driving wheel 240, and extends down through the first cable feeding box 210 into the cable feeding sleeve 100, and finally connects to the robot 400.

[0049] In this embodiment, the multiple first driven wheels and the first driving wheel 240 are arranged in a triangular pattern. On the one hand, this ensures the stability of the cable position, and on the other hand, it facilitates the first driving wheel 240 to transport the cable forward through the friction between it and the cable.

[0050] like Figure 3 As shown, in some preferred embodiments, the first driven wheel mechanism 230 further includes a first auxiliary wheel A234, a first auxiliary wheel B235, and a counting wheel 236; the first auxiliary wheel A234, the first auxiliary wheel B235, and the counting wheel 236 are all rotatably disposed in the first cable feeding box 210. The first auxiliary wheel A234 and the first auxiliary wheel B235 are arranged at intervals on the left and right sides, and the first auxiliary wheel A234 and the first auxiliary wheel B235 are located on the horizontal side of the first driven wheel A231 (the side away from the first driving wheel 240). The first auxiliary wheel A234, the first auxiliary wheel B235, and the counting wheel 236 are arranged in a triangular pattern. The cable that enters the first cable feeding box 210 from the second opening first passes between the first auxiliary wheel A234 and the counting wheel 236, then between the first auxiliary wheel B235 and the counting wheel 236, and then passes between the first driven wheel A231 and the first driven wheel B232.

[0051] like Figure 3 As shown in this embodiment, an encoder 237 is installed inside the first cable delivery box 210. The encoder 237 is coaxially connected to the counting wheel 236. When the cable is conveyed forward, the counting wheel 236 rotates due to friction between it and the cable. The encoder 237 then records the length of the conveyed cable.

[0052] like Figure 3 As shown, the first drive unit 250 is disposed in the first cable delivery box 210. The output end of the first drive unit 250 is coaxially connected to the first drive wheel 240. The first drive unit 250 is configured as a waterproof motor. The first drive unit 250 drives the cable in the first cable delivery box 210 to move forward with the robot 400.

[0053] like Figure 4 As shown, the main cable assembly 300 includes a main cable box 310, a connecting pipe 320, a cable reel 330, and a main drive assembly 340. The main cable box 310 is a sealed waterproof box structure. The bottom of the main cable box 310 is mounted on a movable support 370. The movable support 370 can be moved by wheels, so that the main cable box 310 can be moved to a predetermined position as needed.

[0054] like Figure 4 As shown, one end of the connecting pipe 320 is connected to port three on the main cable box 310, and the other end of the connecting pipe 320 is connected to port two on the first cable delivery box 210. The first cable delivery box 210 and the main cable box 310 can be connected through the connecting pipe 320 to form a space with equal pressure. The connecting pipe 320 is preferably a stainless steel flexible tube, and the inner diameter of the connecting pipe 320 is 3 to 5 times the outer diameter of the cable.

[0055] like Figure 5 As shown, the cable reel 330 is rotatably mounted inside the main cable box 310. The axial direction of the cable reel 330 is horizontal. The fixed end of the cable to be conveyed is fixed to the outer circumference of the cable reel 330, and the cable is wound around the outer circumference of the cable reel 330. When the cable reel 330 rotates, it can realize the winding and unwinding of the cable. The free end of the cable passes through the connecting pipe 320 and extends into the first cable feeding box 210. The free end of the cable also passes through the cable feeding sleeve 100 and connects to the robot 400.

[0056] like Figure 6 As shown, the main drive assembly 340 is connected to the cable reel 330. The main drive assembly 340 can drive the cable reel 330 to rotate. Specifically, the main drive assembly 340 includes a main drive component 341, a main drive shaft 342, a first transmission wheel 343, a second transmission wheel 344, and a first transmission component (not shown).

[0057] like Figure 6As shown, the main drive unit 341 is configured as a motor. The main drive unit 341 is located on the outside of the main cable box 310 and on the horizontal side of the main cable box 310. The main drive unit 341 is used to provide driving force for the rotation of the cable reel 330.

[0058] like Figure 6 As shown, the main drive shaft 342 is located above the main drive component 341. The main drive shaft 342 is rotatably mounted, preferably on the movable bracket 370. The axial direction of the main drive shaft 342 is aligned with the axial direction of the cable reel 330. A reel drive end 330a is provided on the horizontal side wall of the main cable box 310. The reel drive end 330a is coaxially connected to the cable reel 330 inside the main cable box 310. The main drive shaft 342 is coaxially connected to the reel drive end 330a. When the main drive shaft 342 rotates, the cable reel 330 rotates accordingly.

[0059] like Figure 6 As shown, the first transmission wheel 343 is coaxially fixed on the output shaft of the main drive component 341, and the second transmission wheel 344 is coaxially fixed on the main drive shaft 342. The first transmission component connects the first transmission wheel 343 and the second transmission wheel 344 respectively, enabling the main drive component 341 to drive the main drive shaft 342 to rotate, thereby realizing the cable reel 330 winding or unwinding the cable. In this embodiment, the first transmission wheel 343, the second transmission wheel 344, and the first transmission component can refer to existing belt drives, chain drives, etc.

[0060] like Figure 6 As shown, in this embodiment, the main cable assembly 300 also includes a cable routing assembly 350. The cable routing assembly 350 can change position as the main drive component 341 rotates, thereby realizing cable routing and ensuring that the cable is smoothly transported from the cable reel 330 to the first cable delivery box 210.

[0061] like Figure 6 and Figure 7As shown, the cable laying assembly 350 includes a lead screw 351, a lead screw slider 352, a guide shaft 353, a cable laying wheel set 354, a cable laying drive shaft 355, a third transmission wheel 356, a fourth transmission wheel 357, and a second transmission component (not shown). The lead screw 351 is rotatably disposed inside the main cable box 310, and the axial direction of the lead screw 351 is consistent with the axial direction of the cable reel 330. A lead screw drive end 351a is provided on the side wall of the main cable box 310, and the lead screw drive end 351a is aligned with the lead screw 351. The cable laying drive shaft 355 is coaxially connected to the lead screw drive end 351a. When the cable laying drive shaft 355 rotates, it drives the lead screw drive end 351a and the lead screw 351 to rotate. The lead screw slider 352 is threadedly connected to the lead screw 351. The guide shaft 353 is horizontally set inside the main cable box 310. The axial direction of the guide shaft 353 is consistent with the axial direction of the lead screw 351, and the guide shaft 353 passes through the lead screw slider 352 to restrict the lead screw slider 352 to only move linearly in the axial direction of the lead screw 351.

[0062] The cable reel assembly 354 is mounted on the lead screw slider 352. The cable unwound from the cable drum 330 passes through the cable reel assembly 354 and extends out from the through-hole on the main cable box 310.

[0063] like Figure 7 As shown, in this embodiment, the cable tray assembly 354 includes a cable tray 3541 and two first limiting wheels 3542. The cable tray 3541 is rotatably mounted on the lead screw slider 352, and the axial direction of the cable tray 3541 is consistent with the axial direction of the lead screw 351. The two first limiting wheels 3542 are spaced apart along the axial direction of the lead screw 351, and the axial direction of the two first limiting wheels 3542 is configured in the height direction, that is, perpendicular to the axial direction of the lead screw 351. The cable is wrapped around the outer circumference of the upper half of the cable tray 3541 and passes between the two first limiting wheels 3542. The two first limiting wheels 3542 can limit the position of the cable in the horizontal direction.

[0064] like Figure 6 As shown, the cable laying drive shaft 355 is rotatably mounted on the outside of the main cable box 310, preferably rotatably mounted on the movable bracket 370; the third transmission wheel 356 is coaxially fixedly mounted on the main drive shaft 342, and the fourth transmission wheel 357 is coaxially fixedly mounted on the cable laying drive shaft 355. The second transmission component connects the third transmission wheel 356 and the fourth transmission wheel 357 respectively, enabling the power of the main drive shaft 342 to be transmitted to the cable laying drive shaft 355, thereby driving the cable laying drive shaft 355 to rotate. The cooperation between the third transmission wheel 356, the fourth transmission wheel 357, and the second transmission component can refer to existing belt drives or chain drives.

[0065] In this embodiment, since the cable laying drive shaft 355 and the main drive shaft 342 rotate synchronously, when the main drive shaft 342 drives the cable reel 330 to rotate to lay or reel in the cable, the cable laying drive shaft 355 can synchronously drive the lead screw slider 352 to move inside the main cable box 310, thereby realizing the smooth laying and reeling of the cable.

[0066] Example 2:

[0067] The difference between this embodiment and embodiment one is that the main cable assembly 300 in this embodiment two further includes a second cable feeding assembly 360, such as... Figure 8 and Figure 9 As shown, the second cable feeding assembly 360 is welded to the outside of the main cable box 310, and the second cable feeding assembly 360 is located at the three-way opening of the main cable box 310, enabling the cable passing through the three-way opening to be fed to the first cable feeding assembly 200. This embodiment ensures smooth cable feeding by setting the first cable feeding assembly 200 and the second cable feeding assembly 360 at two locations, which can drive cable feeding.

[0068] like Figure 10 As shown, the second cable feeding assembly 360 includes a second cable feeding box 361, a second driven wheel mechanism 362, a second driving wheel 363, and a second driving member 364;

[0069] like Figure 9 As shown, the second cable delivery box 361 is attached to the outside of the main cable box 310. The second cable delivery box 361 is provided with a cable inlet and a cable outlet. The cable inlet covers the opening three of the main cable box 310 and is connected to the opening three of the main cable box 310. One end of the connecting pipe 320 is connected to the cable outlet. The connecting pipe 320 is connected to the interior of the main cable box 310 through the second cable delivery box 361, so that the pressurized pipe 600, the branch pipe 610, the connecting pipe 320, the first cable delivery box 210, the second cable delivery box 361 and the main cable box 310 are interconnected to form an equal pressure space.

[0070] like Figure 10 As shown, the second driven wheel mechanism 362 and the second driving wheel 363 are both disposed within the second cable feeding box 361, and the cable is in contact with the second driven wheel mechanism 362 and the second driving wheel 363 respectively. When the second driving wheel 363 rotates, due to the friction between the cable and the second driving wheel 363, the second driving wheel 363 can transport the cable forward. In this embodiment, the second driving member 364 is preferably a waterproof motor. The second driving member 364 is disposed within the second cable feeding box 361, and the output end of the second driving member 364 is coaxially connected to the second driving wheel 363, thereby driving the second driving wheel 363 to rotate.

[0071] like Figure 10As shown, in this embodiment, the second driven wheel mechanism 362 includes a second driven wheel A3621, a second driven wheel B3622, and a second driven wheel C3623. The second driven wheels A3621, B3622, and C3623 are all rotatably arranged in the second cable feeding box 361. The second driven wheels A3621 and B3622 are arranged vertically spaced apart, while the second driven wheels B3622 and C3623 are arranged horizontally spaced apart.

[0072] Among them, such as Figure 10 As shown, the second driven wheel A3621, the second driven wheel B3622, and the second driving wheel 363 are arranged in a triangular configuration, as are the second driven wheel B3622, the second driven wheel C3623, and the second driving wheel 363. The cable entering the second cable delivery box 361 from the cable inlet first passes between the second driven wheel A3621 and the second driven wheel B3622, then wraps around the lower half of the outer circumference of the second driving wheel 363, then connects upwards to the second driven wheel C3623, and finally exits from the cable outlet.

[0073] In this embodiment, the multiple second driven wheels and the second driving wheel 363 are arranged in a triangular pattern. On the one hand, this ensures the stability of the cable position, and on the other hand, it facilitates the second driving wheel 363 to move the cable forward through the friction between it and the cable.

[0074] like Figure 10 As shown, in this preferred embodiment, the second driven wheel mechanism 362 further includes two second limiting wheels 3624. The two second limiting wheels 3624 are spaced apart in the second cable feeding box 361 along the horizontal direction (specifically, the axial direction of the lead screw 351). The axial direction of the two second limiting wheels 3624 is configured in the height direction. The cable entering the second cable feeding box 361 from the cable inlet first passes between the two second limiting wheels 3624, and then passes between the second driven wheel A 3621 and the second driven wheel B 3622. The two second limiting wheels 3624 can limit the horizontal position of the cable and ensure that the cable is stably transported along the path.

[0075] It should be noted that, since the first cable delivery box 210, the connecting pipe 320, the second cable delivery box 361, and the main cable box 310 need to be interconnected and form an equal pressure space with the pressurized pipeline 600 in this embodiment, there are some parts that need to be sealed. For example, between the drum drive end 330a and the main cable box 310, between the lead screw drive end 351a and the main cable box 310, between the connecting pipe 320 and the second cable delivery box 361, between the connecting pipe 320 and the first cable delivery box 210, and between the push rod 222 and the first cable delivery box 210. Between 0, between the cable feeding sleeve 100 and the first cable feeding box 210, between the cable feeding sleeve 100 and the branch pipe 610, the wiring port position of the first cable feeding box 210 (this wiring port is used to connect the first drive component 250 and the encoder 237), and the wiring port position of the second cable feeding line (this wiring port is used to connect the second drive component 364), etc., all these parts need to be designed with corresponding seals to ensure that the medium will not leak after the delivery device is connected to the pressurized pipeline 600. This technical means is common knowledge and will not be described in detail in this embodiment.

[0076] The working principle of the dispensing device in this embodiment is as follows:

[0077] Working principle: The cable 500 is placed in the main cable box 310. The free end of the cable passes through the cable delivery wheel assembly 354, the opening three on the main cable box 310, the second cable delivery box 361, the connecting pipe 320, and the first cable delivery box 210 in sequence, and finally passes into the cable delivery sleeve 100 to connect with the robot 400. The lower end of the cable delivery sleeve 100 is connected to the branch pipe 610. When installing the cable delivery sleeve 100, the maintenance valve on the branch pipe 610 can be closed first for operation. After the operation is completed, the maintenance valve is opened, and the medium (such as water) in the pressurized pipeline 600 enters the first cable delivery box 210, the connecting pipe 320, the second cable delivery box 361, and the main cable box 310, so that the interior of these four are in an equal pressure space with the pressurized pipeline 600.

[0078] Next, the pushing mechanism 220 pushes the robot 400 at its end downwards. The robot 400 is pushed downwards from the cable feeding sleeve 100 into the branch pipe 610, and then continues to be pushed downwards from the branch pipe 610 into the pressurized pipe 600. The medium flowing in the pressurized pipe 600 then pushes the robot 400 along the medium flow direction. The main drive component 341, the second drive component 364 and the first drive component 250 drive the corresponding components to rotate, thereby releasing the cable so that the cable can smoothly follow the robot 400 to move forward.

[0079] After maintenance is completed, the main drive unit 341, the second drive unit 364 and the first drive unit 250 drive the corresponding components to rotate in the opposite direction, pull the robot 400 back into the cable delivery sleeve 100 through the cable, close the maintenance valve on the branch pipe 610 and remove the delivery device.

[0080] The above description is merely a specific implementation of this application. Those skilled in the art will clearly understand that, for the sake of convenience and brevity, the specific working processes of the systems, modules, and units described above can be referred to the corresponding processes in the foregoing method embodiments, and will not be repeated here. It should be understood that the protection scope of this application is not limited thereto. Any person skilled in the art can easily conceive of various equivalent modifications or substitutions within the technical scope disclosed in this application, and these modifications or substitutions should all be covered within the protection scope of this application.

Claims

1. A delivery device for delivering a robot to a pressurized pipeline, characterized in that, The dispensing device includes: The cable feeding sleeve (100) is connected at one end to the pressurized pipeline (600) and at the other end to the first cable feeding assembly (200); The first cable delivery assembly (200) includes a first cable delivery box (210) and a pushing mechanism (220), a first driven wheel mechanism (230), a first driving wheel (240), and a first driving member (250) disposed within the first cable delivery box; the first cable delivery box (210) is connected to the cable delivery sleeve (100); the pushing mechanism (220) is correspondingly disposed to the cable delivery sleeve (100), the robot (400) to be deployed is located inside the cable delivery sleeve (100), and the pushing mechanism (220) is used to push the robot (400) into the pressurized pipeline (600) along the axial direction of the cable delivery sleeve (100); the cable (500) is disposed between the first driven wheel mechanism (230) and the first driving wheel (240); the first driving member (250) is connected to the first driving wheel (240), and drives the cable to follow the robot (400) forward through the first driving wheel (240); The main cable assembly (300) includes a main cable box (310), a connecting pipe (320), a cable reel (330), and a main drive assembly (340). One end of the connecting pipe (320) is connected to the main cable box (310), and the other end is connected to the first cable delivery box (210). The cable reel (330) is located in the main cable box (310). The cable to be delivered is wound on the cable reel (330). The cable passes through the connecting pipe (320) and the first cable delivery box (210) in sequence. The free end of the cable is connected to the robot (400). The output end of the main drive assembly (340) is connected to the cable reel (330) and is used to drive the cable reel (330) to release the cable.

2. The dispensing device according to claim 1, characterized in that, One end of the cable feeding sleeve (100) is provided with a first connecting flange (110), and the other end is provided with a second connecting flange (120). The first connecting flange (110) is connected to the branch pipe (610) of the pressurized pipeline (600), and the second connecting flange (120) is connected to the first cable feeding box (210).

3. The dispensing device according to claim 2, characterized in that, The pushing mechanism (220) is configured as an electric push rod (222). The electric push rod (222) includes a body part (221) and a push rod (222) connected to each other. The body part (221) is located outside the first cable delivery box (210). The push rod (222) is located inside the first cable delivery box (210) and extends into the cable delivery sleeve (100) along the axial direction. The robot (400) is connected to the end of the push rod (222).

4. The dispensing device according to claim 1, characterized in that, The first driven wheel mechanism (230) includes a first driven wheel A (231), a first driven wheel B (232), and a first driven wheel C (233) rotatably disposed in a first cable box (210). The first driven wheel A (231), the first driven wheel B (232), and the first driving wheel (240) are arranged in a triangular configuration. The first driven wheel B (232), the first driven wheel C (233), and the first driving wheel (240) are arranged in a triangular configuration. The cable passes between the first driven wheel A (231) and the first driven wheel B (232) and wraps around at least a portion of the outer circumference of the first driving wheel (240). The cable passes between the first driving wheel (240) and the first driven wheel C (233).

5. The dispensing device according to claim 4, characterized in that, The first driven wheel mechanism (230) also includes a first auxiliary wheel A (234), a first auxiliary wheel B (235) and a counting wheel (236) rotatably disposed in the first cable feeding box (210). The first auxiliary wheel A (234), the first auxiliary wheel B (235) and the counting wheel (236) are arranged in a triangular pattern. The cable passes between the first auxiliary wheel A (234) and the counting wheel (236) and between the first auxiliary wheel B (235) and the counting wheel (236). The encoder (237) is connected to the counting wheel (236).

6. The dispensing device according to claim 1, characterized in that, The first drive unit (250) is configured as a waterproof motor, and the first drive unit (250) is coaxially connected to the first drive wheel (240).

7. The dispensing device according to claim 1, characterized in that, The main drive assembly (340) includes a main drive member (341), a main drive shaft (342), a first transmission wheel (343), a second transmission wheel (344), and a first transmission member, all disposed on the outside of the main cable box (310). The first transmission wheel (343) is disposed on the output end of the main drive member (341), and the second transmission wheel (344) is disposed on the main drive shaft (342). The first transmission member connects the first transmission wheel (343) and the second transmission wheel (344) respectively. The main drive shaft (342) is rotatably disposed, and the main drive shaft (342) is coaxially connected to the drum drive end (330a) that passes through the side wall of the main cable box (310). The drum drive end (330a) is coaxially connected to the cable drum (330). The main drive member (341) drives the main drive shaft (342) and the cable drum (330) to rotate.

8. The dispensing device according to claim 7, characterized in that, The main cable assembly (300) also includes a cable routing assembly (350), which includes a lead screw (351), a lead screw slider (352), a guide shaft (353), a cable routing wheel set (354), a cable routing drive shaft (355), a third transmission wheel (356), a fourth transmission wheel (357), and a second transmission component; The lead screw (351) is rotatably mounted inside the main cable box (310). A lead screw drive end (351a) connected to the cable laying drive shaft (355) is provided on the side wall of the main cable box (310). The lead screw (351) and the lead screw drive end (351a) are coaxially connected. The lead screw slider (352) is threaded onto the lead screw (351). The guide shaft (353) slides through the lead screw slider (352), and the axial direction of the guide shaft (353) is parallel to that of the lead screw. (351) Parallel; the cable pulley group (354) is set on the lead screw slider (352), and the cable passes through the cable pulley group (354); the cable drive shaft (355) is rotatably set on the outside of the main cable box (310); the third transmission wheel (356) is set on the main drive shaft (342), the fourth transmission wheel (357) is set on the cable drive shaft (355), and the second transmission component is connected to the third transmission wheel (356) and the fourth transmission wheel (357) respectively.

9. The dispensing device according to any one of claims 1 to 8, characterized in that, The main cable assembly (300) also includes a second cable feeding assembly (360), which includes a second cable feeding box (361), a second driven wheel mechanism (362), a second driving wheel (363), and a second drive member (364). The second cable delivery box (361) is located on one side of the main cable box (310). The second cable delivery box (361) is provided with a cable inlet and a cable outlet. The cable inlet is connected to the through-hole provided on the main cable box (310). One end of the connecting pipe (320) is connected to the cable outlet. The connecting pipe (320) is connected to the main cable box (310) through the second cable delivery box (361). The second driven wheel mechanism (362) and the second driving wheel (363) are located inside the second cable delivery box (361). The cable is located between the second driven wheel mechanism (362) and the second driving wheel (363). The second driving member (364) is connected to the second driving wheel (363). The second driving member (364) drives the second driving wheel (363) to rotate, so that the second driving wheel (363) drives the cable forward.

10. The dispensing device according to claim 9, characterized in that, The second driven wheel mechanism (362) includes a second driven wheel A (3621), a second driven wheel B (3622), and a second driven wheel C (3623) rotatably disposed in a second cable box (361). The second driven wheel A (3621), the second driven wheel B (3622), and the second driving wheel (363) are arranged in a triangular arrangement. The second driven wheel B (3622), the second driven wheel C (3623), and the second driving wheel (363) are arranged in a triangular arrangement. The cable passes between the second driven wheel A (3621) and the second driven wheel B (3622) and wraps around at least a portion of the outer circumferential surface of the second driving wheel (363). The cable passes between the second driving wheel (363) and the second driven wheel C (3623).

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