阅读说明：本技术 地下电缆管道用巡检机器人 (Underground cable conduit is with patrolling and examining robot ) 是由 刘强 王超 张琳琳 张建 吴耕 伏圣群 孙帅 张丽丽 吕军在 崔换君 马娴 吴 于 2021-08-14 设计创作，主要内容包括：本发明涉及地下电缆管道用巡检机器人,包括壳体,所述的壳体两侧对称设有机翼,壳体前端设有摄像头、后端设有推进螺旋桨。推进螺旋桨的中心轴穿设至壳体内部,壳体内部设有第一电机,第一电机输出轴带动中心轴旋转。每个机翼上设有一个垂直布置的通孔,通孔内部设有升降螺旋桨,机翼上设有第二电机,第二电机带动升降螺旋桨旋转。壳体内部设有电池以及控制器,第一电机、第二电机、摄像头以及电池均与控制器电性连接。本发明可以在空中飞行,可以适用于电缆管道以及电缆沟,代替人工进行线路巡检,安全、高效。(The invention relates to an inspection robot for underground cable pipelines, which comprises a shell, wherein wings are symmetrically arranged on two sides of the shell, a camera is arranged at the front end of the shell, and a propulsion propeller is arranged at the rear end of the shell. The center pin that impels the screw wears to establish to the casing inside, and the casing is inside to be equipped with first motor, and first motor output shaft drives the center pin rotation. Each wing is provided with a through hole which is vertically arranged, a lifting propeller is arranged in each through hole, and the wings are provided with a second motor which drives the lifting propellers to rotate. The casing is inside to be equipped with battery and controller, first motor, second motor, camera and battery all with controller electric connection. The aerial inspection device can fly in the air, is suitable for cable pipelines and cable ducts, replaces manpower to carry out line inspection, and is safe and efficient.)

1. Underground cable duct is with patrolling and examining robot, its characterized in that:

comprises a shell (1), wings (101) are symmetrically arranged on two sides of the shell (1), a camera (15) is arranged at the front end of the shell (1), a propulsion propeller (2) is arranged at the rear end of the shell,

a central shaft (201) of the propulsion propeller (2) penetrates into the shell (1), a first motor (6) is arranged in the shell (1), an output shaft of the first motor (6) drives the central shaft (201) to rotate,

each wing (101) is provided with a through hole which is vertically arranged, a lifting propeller (9) is arranged in the through hole, the wing (101) is provided with a second motor (1101), the second motor (1101) drives the lifting propeller (9) to rotate,

the shell (1) is internally provided with a battery (12) and a controller (13), and the first motor (6), the second motor (1101), the camera (15) and the battery (12) are electrically connected with the controller (13).

2. The inspection robot for the underground cable duct according to claim 1, characterized in that:

the rear end face of the shell (1) is provided with a sliding chute (103) which is horizontally arranged, a central shaft (201) is arranged in the sliding chute (103),

a first belt pulley (202) is fixed at the tail end of the central shaft (201), a second belt pulley (601) is arranged at the tail end of an output shaft of the first motor (6), the axes of the first belt pulley (202) and the second belt pulley (601) are arranged on the same horizontal plane in parallel, a first synchronous belt (5) is sleeved between the first belt pulley (202) and the second belt pulley (601),

the sleeve (3) is sleeved on the central shaft (201), a gear (301) is fixed on at least one of two sides of the circumferential surface of the sleeve (3) through a connecting shaft, the gear (301) is connected with a rack (4) in a meshed mode, one end of the rack (4) is fixedly connected with an expansion rod of the electric cylinder (401), and the electric cylinder (401) is fixed inside the shell (1).

3. The inspection robot for the underground cable duct according to claim 2, characterized in that:

two tension pulleys (7) are arranged in the middle of the first synchronous belt (5), the circumferential surface of each tension pulley (7) is in contact with the inner side surface of the first synchronous belt (5),

a slide block (701) is fixed at one end of the rotating shaft of the tension wheel (7), a slide way is arranged in the shell (1), the slide block (701) is arranged in the slide way in a sliding way,

a first spring (8) is arranged between the two sliding blocks (701).

4. An inspection robot for underground cable ducts according to claim 1, 2 or 3, characterized in that:

the second motor (1101) is fixed inside the wing (101), a third belt pulley (11) is coaxially sleeved outside the second motor (1101), the second motor (1101) is fixedly connected with the top surface of the third belt pulley (11),

each wing (101) is provided with two lifting propellers (9),

the lifting propeller (9) comprises a paddle and a belt pulley coaxially sleeved outside the paddle, and a second synchronous belt (10) is sleeved between the belt pulley of the lifting propeller (9) and the third belt pulley (11) together.

5. The inspection robot for the underground cable ducts according to claim 4, wherein:

at least one end face of the upper end face and the lower end face of the belt pulley of the lifting propeller (9) is inwards provided with an annular groove, a clamping ring (107) is inserted in the groove, and one end, deviating from the lifting propeller (9), of the clamping ring (107) is fixedly connected with the inner wall of the wing (101).

6. The inspection robot for the underground cable ducts according to claim 4, wherein:

the middle of the shell (1) is cylindrical, the rear end of the shell is conical, the wing (101) is fixedly connected with the cylindrical circumferential surface, and the sliding groove (103) is located in the conical area of the shell (1).

7. The inspection robot for the underground cable ducts according to claim 6, wherein:

the middle of the cylindrical area of the shell (1) is provided with a battery compartment with an open upper end and an electric control compartment, the battery (12) is arranged inside the battery compartment, the battery compartment cover plate (104) is covered at the open position of the battery compartment, and the controller (13) is arranged inside the electric control compartment.

8. The inspection robot for the underground cable ducts according to claim 7, wherein:

a front end (102) is fixed at the front end of the shell (1), a camera (15) and an infrared probe (16) are respectively arranged at the upper side and the lower side of the front end (102), a lamp (14) is arranged on the side surface of the front end (102),

the lamp (14) and the infrared probe (16) are both electrically connected with the controller (13).

9. The inspection robot for the underground cable ducts according to claim 7, wherein:

the rear end of the cylindrical area of the shell (1) is provided with a locator placing cavity (105) with the upper end and the lower end arranged in an open mode, a plurality of locators (105) are stacked in the locator placing cavity (105),

two rotary grooves (106) which are arranged up and down are arranged in the shell (1), the rotary grooves (106) are communicated with the locator placing cavity (105), the communicated part of the rotary grooves (106) and the locator placing cavity (105) is positioned at the position close to the lower end outlet in the locator placing cavity (105),

a separator (20) is arranged inside the shell (1) and outside the locator placing cavity (105), the separator (20) comprises a bottom layer blade (2001), an upper layer blade (2002), a rotating shaft (2003) and a fourth belt pulley (2004) fixed at the top end of the rotating shaft (2003),

the bottom layer blade (2001) and the upper layer blade (2002) both comprise three blades which are horizontally arranged, the included angle between two adjacent blades is 120 degrees, the included angle between the bottom layer blade (2001) and the upper layer blade (2002) is 60 degrees,

the upper layer blade (2002) is positioned above the bottom layer blade (2001), the bottom layer blade (2001) and the upper layer blade (2002) are coaxially and fixedly connected with a rotating shaft (2003),

the bottom layer blade (2001) and the upper layer blade (2002) are respectively and rotatably arranged in the two rotating grooves (106),

when the center of one blade included in the bottom blade (2001) is positioned at the center position below the lowest positioner (17), two blades included in the upper blade (2002) are positioned at two sides of the penultimate positioner (17),

a third motor (21) is arranged on one side of the divider (20), an output shaft of the third motor (21) drives the divider (20) to rotate through a third synchronous belt (22), the third motor (21) is electrically connected with the controller (13),

a cover plate (18) is covered at an opening at the upper end of the locator placing cavity (105), and a second spring (19) is arranged below the cover plate (18).

10. The method for inspecting the interior of the cable duct is characterized by comprising the following steps:

A. starting the lifting propeller (9), enabling the inspection robot for the underground cable duct to descend into the cable duct along the vertical channel, and then adjusting the rotating speed of the lifting propeller (9) to enable the lifting force generated by the lifting propeller to be the same as the gravity of the inspection robot for the underground cable duct;

B. the propulsion propeller (2) is started to push the inspection robot for the underground cable pipeline to advance;

C. when the inspection robot turns, the electric cylinder (401) is started, the rack (4) drives the gear (301) to rotate, and then the propulsion propeller (2) swings leftwards or rightwards, so that the inspection robot for the underground cable pipeline turns;

D. the camera (15) transmits the internal picture of the cable pipeline to a display of a ground control center through a remote transmission module of the controller (13), so that an operator can conveniently connect the actual condition inside the pipeline;

E. the infrared probe (16) detects the temperature field condition of each area in the cable pipeline and transmits signals to a display of a ground control center through a remote transmission module of the controller (13), so that an operator can conveniently connect the temperature field condition in the pipeline;

F. if an operator finds that a certain position in the cable duct is abnormal and needs later-stage manual investigation or maintenance, the third motor (21) is controlled to rotate through remote control, so that the divider (20) is driven to rotate, the bottom-layer blade (2001) rotates by 60 degrees, the support on the lowermost locator (105) is removed, the locator (105) falls into the cable duct, and meanwhile, after the upper-layer blade (2001) rotates by 60 degrees, the penultimate locator (105) is supported to avoid falling into the cable duct at the same time;

G. the locator (105) marks the position through a breathing lamp and a transmitting GPS or Beidou positioning signal, so that maintenance personnel can accurately find the position needing to be overhauled and checked.

Technical Field

The invention belongs to the technical field of power facility inspection, and particularly relates to an inspection robot for an underground cable pipeline.

Background

The cable is the main component in the power transmission system, and for the urban beauty, the cable is arranged through underground pipelines in most urban areas. The diameter of the underground pipeline in some places is large, so that personnel can walk in the underground pipeline, and the underground pipeline is convenient for line patrol. However, the space inside underground pipelines or cable ducts in some places is small, and personnel cannot walk inside the underground pipelines or cable ducts to patrol the pipelines. Especially, the cable trench, the cable erects on the cable support, can only take off the apron on the cable trench when patrolling and examining.

Disclosure of Invention

The technical problem to be solved by the invention is as follows: the invention overcomes the defects of the prior art and provides the inspection robot for the underground cable pipeline.

The technical scheme adopted by the invention for solving the problems in the prior art is as follows:

underground cable duct is with patrolling and examining robot, including the casing, casing bilateral symmetry be equipped with the wing, the casing front end is equipped with the camera, the rear end is equipped with the propulsion screw.

The center pin that impels the screw wears to establish to the casing inside, and the casing is inside to be equipped with first motor, and first motor output shaft drives the center pin rotation.

Each wing is provided with a through hole which is vertically arranged, a lifting propeller is arranged in each through hole, and the wings are provided with a second motor which drives the lifting propellers to rotate.

The casing is inside to be equipped with battery and controller, first motor, second motor, camera and battery all with controller electric connection.

Preferably, the rear end face of the shell is provided with a horizontally arranged chute, and the central shaft is arranged in the chute.

The tail end of the central shaft is fixedly provided with a first belt pulley, the tail end of an output shaft of the first motor is provided with a second belt pulley, the axes of the first belt pulley and the second belt pulley are arranged on the same horizontal plane in parallel, and a first synchronous belt is sleeved between the first belt pulley and the second belt pulley.

The central shaft is sleeved with a sleeve, at least one of two sides of the circumferential surface of the sleeve is fixed with a gear through a connecting shaft, the gear is meshed with a rack, one end of the rack is fixedly connected with a telescopic rod of an electric cylinder, and the electric cylinder is fixed inside the shell.

Preferably, two tension pulleys are arranged in the middle of the first synchronous belt, and the circumferential surface of each tension pulley is in contact with the inner side surface of the first synchronous belt.

The tensioning wheel rotating shaft is fixed with a sliding block at one end, a slide way is arranged inside the shell, and the sliding block is arranged inside the slide way in a sliding mode.

A first spring is arranged between the two sliding blocks.

Preferably, the second motor is fixed inside the wing, a third belt pulley is coaxially sleeved outside the second motor, and the second motor is fixedly connected with the top surface of the third belt pulley.

Two lifting propellers are arranged on each wing.

The lifting propeller comprises a paddle and a belt pulley coaxially sleeved outside the paddle, and a second synchronous belt is sleeved between the belt pulley of the lifting propeller and a third belt pulley.

Preferably, at least one end surface of the upper end surface and the lower end surface of the belt pulley of the lifting propeller is recessed to form an annular groove, a clamping ring is inserted into the groove, and one end, deviating from the lifting propeller, of the clamping ring is fixedly connected with the inner wall of the wing.

Preferably, the middle of the shell is cylindrical, the rear end of the shell is conical, the wing is fixedly connected with the cylindrical circumferential surface, and the sliding groove is located in the conical area of the shell.

Preferably, be equipped with open battery compartment in upper end and automatically controlled storehouse in the middle of the cylindrical region of casing, the battery sets up inside the battery compartment, and the uncovered department cover of battery compartment is equipped with battery compartment apron, and the controller sets up inside automatically controlled storehouse.

Preferably, the front end of the shell is fixedly provided with a front end, the upper side and the lower side of the front end are respectively provided with a camera and an infrared probe, and the side surface of the front end is provided with a lamp.

The lamp and the infrared probe are electrically connected with the controller.

Preferably, the rear end of the cylindrical area of the shell is provided with a locator placing cavity with upper and lower ends arranged in an open mode, and a plurality of locators are stacked inside the locator placing cavity.

Two rotary troughs of arranging about the casing is inside to be equipped with, and the rotary trough places chamber through connection with the locator and is located the locator and places the position that intracavity portion is close to the lower extreme export.

A separator is arranged inside the shell and outside the locator placing cavity, and the separator comprises a bottom layer blade, an upper layer blade, a rotating shaft and a fourth belt pulley fixed to the top end of the rotating shaft.

Bottom blade, upper strata blade all include the blade of three horizontal arrangement, and the contained angle between two adjacent blades is 120, and the contained angle between bottom blade and the upper strata blade is 60.

The upper blade is positioned above the bottom blade, and the bottom blade and the upper blade are both fixedly connected with the rotating shaft in a coaxial mode.

The bottom layer blade and the upper layer blade are respectively and rotatably arranged in the two rotating grooves.

When the center of one blade contained in the bottom blade is positioned at the center position below the lowest positioner, two blades contained in the upper blade are just positioned at two sides of the penultimate positioner.

A third motor is arranged on one side of the divider, an output shaft of the third motor drives the divider to rotate through a third synchronous belt, and the third motor is electrically connected with the controller.

The positioner placing cavity is covered with a cover plate at an open mouth at the upper end, and a second spring is arranged below the cover plate.

The method for inspecting the interior of the cable duct comprises the following steps:

A. starting the lifting propeller, enabling the inspection robot for the underground cable pipeline to descend into the cable pipeline along the vertical channel, and then adjusting the rotating speed of the lifting propeller to enable the lifting force generated by the lifting propeller to be the same as the gravity of the inspection robot for the underground cable pipeline;

B. starting the propulsion propeller to push the inspection robot for the underground cable pipeline to advance;

C. when the inspection robot is turned, the electric cylinder is started, the rack drives the gear 301 to rotate, and then the propulsion propeller swings leftwards or rightwards, so that the underground cable pipeline is turned by the inspection robot;

D. the camera transmits the internal picture of the cable pipeline to a display of a ground control center through a remote transmission module of the controller, so that an operator can conveniently connect the actual condition inside the pipeline;

E. the infrared probe detects the temperature field condition of each area in the cable pipeline and transmits signals to a display of a ground control center through a remote transmission module of the controller, so that an operator can conveniently connect the temperature field condition in the pipeline;

F. if an operator finds that a certain position in the cable pipeline is abnormal and needs later manual investigation or maintenance, the third motor is controlled to rotate through remote control, so that the divider is driven to rotate, the bottom layer blade rotates by 60 degrees, the support on the lowest positioner is removed, the positioner falls into the cable pipeline, and meanwhile, the last but one positioner is supported after the upper layer blade rotates by 60 degrees, so that the cable pipeline is prevented from falling into the cable pipeline;

G. the locator carries out the mark of position through breathing lamp, transmission GPS or big dipper positioning signal, and the maintenance personal of being convenient for is accurate finds the position that needs to overhaul the inspection.

Compared with the prior art, the invention has the following beneficial effects:

(1) need not to touch ground when removing, consequently be applicable to cable duct, cable ditch inside and carry out the cable and patrol and examine.

(2) The lifting propeller is positioned inside the wing, so that the blades do not collide with the cable.

(3) The left and right swinging of the propeller is pushed to steer, so that the shell and the camera can be always kept in a horizontal state when the propeller is steered, the condition that the camera rotates along the axial direction of the camera cannot occur, and the image can be conveniently watched by a worker.

(4) The infrared probe is arranged, so that the temperature field of the cable can be checked, and the running condition of the cable can be known through the temperature field.

(5) The positioner can be put in a place with potential safety hazards, and maintenance personnel can quickly and accurately find the position to be maintained.

Drawings

The invention is further illustrated with reference to the following figures and examples.

Figure 1 is a profile view of an inspection robot for underground cable ducts according to the present invention,

fig. 2 is a partially exploded view of an inspection robot for underground cable ducts according to the present invention,

fig. 3 is a partial sectional view of a housing of the inspection robot for underground cable ducts according to the present invention,

fig. 4 is a radial first sectional view of an inspection robot for underground cable ducts according to the present invention,

fig. 5 is a radial second sectional view of the inspection robot for underground cable ducts according to the present invention,

figure 6 is an enlarged view of a portion of figure 5 at a,

figure 7 is a view showing the construction of the inspection robot propeller for underground cable ducts of the present invention,

fig. 8 is a view showing the construction of an inspection robot lifter for underground cable ducts according to the present invention,

fig. 9 is a first sectional view of the inspection robot lifter for underground cable ducts according to the present invention,

figure 10 is an enlarged view of a portion of figure 9 at B,

fig. 11 is a second sectional view of the inspection robot lifter for underground cable ducts according to the present invention,

fig. 12 is a structural view of a positioning mechanism of an inspection robot for underground cable ducts according to the present invention,

fig. 13 is an outline view of the inspection robot separator for underground cable ducts according to the present invention.

In the figure: 1-shell, 101-wing, 102-front end, 103-sliding groove, 104-battery cabin cover plate, 105-positioner placing cavity, 106-rotating groove, 107-snap ring, 2-propulsion propeller, 201-central shaft, 202-first belt pulley, 3-sleeve, 301-gear, 4-rack, 401-electric cylinder, 5-first synchronous belt, 6-first motor, 601-second belt pulley, 7-tensioning pulley, 701-sliding block, 8-first spring, 9-lifting propeller, 10-second synchronous belt, 11-third belt pulley, 1101-second motor, 12-battery, 13-controller, 14-lamp, 15-camera, 16-infrared probe, 17-positioner, 18-cover plate, 19-second spring, 20-separator, 2001-bottom blade, 2002-upper blade, 2003-rotating shaft, 2004-fourth belt pulley, 21-third motor and 22-third synchronous belt.

Detailed Description

The attached drawings are preferred embodiments of the inspection robot for underground cable ducts, and the invention is further described in detail with reference to the attached drawings.

Shown by attached figures 1-2, underground cable duct is with patrolling and examining robot, including casing 1, 1 bilateral symmetry of casing be equipped with two wings 101, 1 front end of casing is equipped with camera 15, the rear end is equipped with propulsion screw 2.

Impel screw 2 and include annular protection casing and the inside a plurality of paddle of protection casing, the common fixedly connected with center pin 201 of one end that the paddle is located the protection casing center, impel screw 2's center pin 201 to wear to establish to casing 1 inside.

As shown in fig. 3 and 7, in order to make the propulsion propeller 2 swing left and right so that the housing 1 can turn, a horizontally arranged chute 103 is provided on the rear end surface of the housing 1. The center shaft 201 is arranged inside the sliding groove 103, the left side and the right side of the sliding groove 103 are arranged in a penetrating mode, or the width of the left side and the right side of the sliding groove 103 meets the requirement for rotation of the center shaft 201, and interference cannot be generated when the center shaft 201 rotates.

The tail end of the central shaft 201 is fixedly provided with a first belt pulley 202, the tail end of an output shaft of the first motor 6 is provided with a second belt pulley 601, the axes of the first belt pulley 202 and the second belt pulley 601 are arranged on the same horizontal plane in parallel, and a first synchronous belt 5 is sleeved between the first belt pulley 202 and the second belt pulley 601.

The central shaft 201 is sleeved with a sleeve 3, at least one of two sides of the circumferential surface of the sleeve 3 is fixed with a gear 301 through a connecting shaft, and the axis of the gear 301 is vertically intersected with the axis of the sleeve 3. In this embodiment, in order to be stressed uniformly, the upper side and the lower side of the sleeve 3 are respectively connected with a gear 301, and the two gears 301 are symmetrically arranged around the axis of the sleeve 3. The gear 301 is engaged with a rack 4, one end of the rack 4 is fixedly connected with an expansion link of an electric cylinder 401, and the electric cylinder 401 is fixed inside the shell 1.

In order to prevent the sleeve 3 from moving along the axial direction, two snap rings are respectively and convexly arranged on the central shaft 201 at two sides of the sleeve 3, and the sleeve 3 is clamped between the two snap rings.

The rack 4 is pulled to rotate the sleeve 3 around the axis of the gear 301, so as to drive the central shaft 201 to swing left and right. When the center shaft 201 swings left and right, the first synchronous belt 5 is loosened, and the first motor 6 cannot rotate the center shaft 201. In order to prevent the first synchronous belt 5 from loosening, two tension pulleys 7 are arranged in the middle of the first synchronous belt 5, and the circumferential surface of each tension pulley 7 is in contact with the inner side surface of the first synchronous belt 5. A sliding block 701 is fixed at one end of a rotating shaft of the tension wheel 7, a vertical slide way is arranged inside the shell 1, the sliding block 701 is arranged inside the slide way in a vertically sliding mode, a first spring 8 is arranged between the two sliding blocks 701, and the first spring 8 is also vertically arranged inside the slide way. By means of the thrust of the first spring 8, the two tensioning wheels 7 always push against the first synchronous belt 5, so that the first synchronous belt 5 is always in a tensioned state.

Each wing 101 is provided with at least one through hole which is vertically arranged, a lifting propeller 9 is arranged in each through hole, the wing 101 is provided with a second motor 1101, and the second motor 1101 drives the lifting propeller 9 to rotate.

In order to keep the housing 1 balanced better, in the present embodiment, two through holes are vertically arranged on each wing 101, and the through holes on the two wings 101 are symmetrically arranged.

As shown in the accompanying drawings 8 to 11, the second motor 1101 is fixed inside the wing 101, a third belt pulley 11 is coaxially sleeved outside the second motor 1101, the upper end of the third belt pulley 11 is closed, the lower end of the third belt pulley is open, and the second motor 1101 is fixedly connected with the top surface of the third belt pulley 11.

Two lifting propellers 9 are arranged on each wing 101, each lifting propeller 9 comprises a paddle and a belt pulley coaxially sleeved outside the paddle, and a second synchronous belt 10 is sleeved between the belt pulley of each lifting propeller 9 and a third belt pulley 11.

In order to avoid the displacement of the lifting propeller 9, at least one end surface of the upper end surface and the lower end surface of the belt pulley of the lifting propeller 9 is recessed to form an annular groove, a clamping ring 107 is inserted into the groove, the groove is rotatably connected with the clamping ring 107, and one end of the clamping ring 107, which deviates from the lifting propeller 9, is fixedly connected with the inner wall of the wing 101.

In order to reduce flight resistance, the middle of the shell 1 is cylindrical, the rear end of the shell is conical, the wings 101 are fixedly connected with the cylindrical circumferential surface, and the sliding grooves 103 are positioned in the conical area of the shell 1.

The middle of the cylindrical area of the shell 1 is provided with a battery compartment with an open upper end and an electric control compartment, and the battery compartment and the electric control compartment are separated by a partition plate. The battery 12 is arranged inside the battery compartment, the battery compartment cover plate 104 is covered at the opening of the battery compartment, and the controller 13 is arranged inside the electric control compartment. The battery 12 can be replaced by opening the battery compartment cover 104, which facilitates quick replacement of the battery. The controller 13 comprises a flight control module, a remote transmission module, a signal receiving module, a power management module, a GPS or Beidou positioning module, the prior art is adopted, and the Beidou navigation positioning module is preferably selected by the positioning module.

The controller 13 is wirelessly connected with a remote controller held by a worker and a main control computer, and can transmit the acquired data to the remote controller and the main control computer or only the main control computer. The remote controller can control the flying state of the robot and other electric parts through the controller 13.

The first motor 6, the second motor 1101, the camera 15 and the battery 12 are electrically connected to the controller 13.

The front end of the shell 1 is fixed with a front end head 102, the horizontal section of the front end head 102 is in an isosceles trapezoid shape, the upper side and the lower side of the front end head 102 are respectively provided with a camera 15 and an infrared probe 16, and the side surface of the front end head 102 is provided with a lamp 14. The camera 15 and the infrared probe 16, as well as the image transmission and processing modules thereof, are prior art.

The lamp 14 and the infrared probe 16 are electrically connected to the controller 13.

When a certain part of the cable is found to have potential safety hazards or the outer skin is cracked, maintenance personnel are needed to carry out on-site investigation and maintenance in the later period. In order to facilitate the maintenance personnel to quickly and accurately find the position. In this embodiment, a locator putting function is added.

As shown in fig. 5, 6, 12 and 13, the rear end of the cylindrical region of the housing 1 is provided with a locator placing cavity 105 with upper and lower ends both arranged open, the locator placing cavity 105 is internally stacked with a plurality of locators 105, the locators 105 are in the prior art, and the shape of the locators 105 is a cuboid.

Two rotary grooves 106 which are vertically arranged are arranged in the shell 1, the rotary grooves 106 are communicated with the locator placing cavity 105, and the through positions of the rotary grooves 106 and the locator placing cavity 105 are located in the locator placing cavity 105 and close to the lower end outlet.

Inside the housing 1, outside the retainer placing chamber 105, there is provided a divider 20, as shown in fig. 13, the divider 20 including a bottom blade 2001, an upper blade 2002, a rotation shaft 2003, and a fourth pulley 2004 fixed to the top end of the rotation shaft 2003.

The bottom layer blade 2001 and the upper layer blade 2002 both comprise three blades which are horizontally arranged, the included angle between two adjacent blades is 120 degrees, the included angle between the bottom layer blade 2001 and the upper layer blade 2002 is 60 degrees,

the upper layer blade 2002 is positioned above the bottom layer blade 2001, and the bottom layer blade 2001 and the upper layer blade 2002 are coaxially and fixedly connected with a rotating shaft 2003.

The bottom blade 2001 and the upper blade 2002 are rotatably disposed in the two rotary slots 106, respectively.

When the bottom leaf 2001 contains one leaf centered under the lowest retainer 17, the top leaf 2002 contains two leaves that are positioned on either side of the penultimate retainer 17.

A third motor 21 is arranged at one side of the divider 20, an output shaft of the third motor 21 drives the divider 20 to rotate through a third synchronous belt 22, the third motor 21 is electrically connected with the controller 13,

the upper opening of the positioner placing cavity 105 is covered with a cover plate 18, and a second spring 19 is arranged below the cover plate 18.

The method for inspecting the interior of the cable duct comprises the following steps:

A. starting the lifting propeller 9, enabling the inspection robot for the underground cable pipeline to descend into the cable pipeline along the vertical channel, and then adjusting the rotating speed of the lifting propeller 9 to enable the lifting force generated by the lifting propeller to be the same as the gravity of the inspection robot for the underground cable pipeline;

B. the propulsion propeller 2 is started to push the inspection robot for the underground cable pipeline to advance;

C. when the inspection robot is turned, the electric cylinder 401 is started, the rack 4 drives the gear 301 to rotate, and then the propeller 2 swings leftwards or rightwards, so that the inspection robot for the underground cable pipeline is turned;

D. the camera 15 transmits the internal picture of the cable pipeline to a display of a ground control center through a remote transmission module of the controller 13, so that an operator can conveniently connect the actual condition inside the pipeline;

E. the infrared probe 16 detects the temperature field condition of each area in the cable pipeline and transmits the signal to a display of a ground control center through a remote transmission module of the controller 13, so that an operator can conveniently connect the temperature field condition in the pipeline;

F. if an operator finds that a certain position in the cable duct is abnormal and needs later manual investigation or maintenance, the third motor 21 is controlled to rotate through remote control, so that the divider 20 is driven to rotate, the bottom-layer blade 2001 rotates by 60 degrees, the support on the lowermost positioner 105 is released, the positioner 105 falls into the cable duct, and meanwhile, after the upper-layer blade 2001 rotates by 60 degrees, the penultimate positioner 105 is supported to avoid falling into the cable duct at the same time;

G. the locator 105 marks the position through the breathing lamp, the transmitting GPS or the Beidou positioning signal, so that maintenance personnel can accurately find the position needing to be overhauled and checked.

The embodiments of the present invention have been described in detail with reference to the drawings, but the present invention is not limited to the above embodiments, and various changes can be made within the knowledge of those skilled in the art without departing from the gist of the present invention.