A shield tunneling mud intelligent detection robot

Abstract

The present application relates to the technical field of mud performance index detection, and in particular to a shield mud intelligent detection robot, comprising a base frame, a circular frame is rotatably mounted on the upper end surface of the base frame, a mechanical arm is mounted on the circular frame, and a detection cylinder that passes through the upper and lower parts is mounted on the end of the mechanical arm away from the circular frame; the vertical rod that can move up and down designed by the present invention can drive the pH sensor and the chloride ion sensor to move up and down, and the pH value and chloride ion content of mud at different depths can be detected during the up and down movement of the pH sensor and the chloride ion sensor, so that the detection data is more representative; when the inner wall of the detection cylinder is cleaned by the shower pipe, the cleaning plate with an L-shaped structure designed by the present invention can scrape off the mud remaining in the detection cylinder to prevent the mud from adhering to the inner wall of the detection, thereby further improving the cleanliness of the inside of the detection cylinder.

Description

Technical Field

[0001] The present application relates to the technical field of mud performance index detection, and in particular to a shield mud intelligent detection robot. Background Art

[0002] During the shield tunnel construction process, the performance of the mud plays a key role in the shield excavation process. In order to evaluate and monitor the performance of the mud during the shield tunnel construction process, it is often necessary to conduct performance tests on the mud such as density, viscosity, pH value, salinity and sand content. According to the mud test results, the mud formula is adjusted and optimized in time to ensure the performance of the mud.

[0003] For example, a device for instantly and accurately measuring the thickness of the sedimentation layer and the performance index of the mud with the publication number CN110453732A includes a measuring main pipe, a one-way sealing device and a one-way throttle valve. The one-way sealing device is arranged above the measuring main pipe, and the one-way throttle valve is arranged at the lower end of the measuring main pipe. The measuring main pipe is provided with a scale line. A piston is arranged in the upper port of the one-way sealing device, and a pull rope is arranged on the piston. The piston of the upper port of the one-way sealing device is opened or sealed by pulling and releasing the pull rope; a blocking ball is arranged inside the one-way throttle valve, and a thrust piston that can move up and down is arranged below the blocking ball. The device has a simple structure and is easy to operate. It can accurately reflect the main control indicators such as the thickness of the sedimentation layer at the bottom of the hole, the specific gravity of the mud, and the sand content, solves the problem of subjective errors such as relying on experience, and is easy to promote and use. The combination of components makes the detection process simpler and effectively overcomes the misjudgment of mud performance indicators due to the lack of experience of management personnel; after the detection, it is easy to disassemble and clean.

[0004] However, the prior art still has some defects when testing mud performance indicators: 1. In the above patent application, the position of the pH meter remains unchanged during the mud testing process, and the measuring main pipe is always in a static state during the testing process, so the mud may be stratified, resulting in errors in the pH meter measurement results, and the measurement results are not representative.

[0005] 2. After the mud test is completed, the container containing the mud needs to be cleaned. The existing technology only rinses the container with water, and residual impurities may still adhere to the inner wall of the container, which will cause residual impurities to be introduced into the mud during the next use, affecting the accuracy of the test data.

[0006] Based on this, and in accordance with the above-mentioned viewpoints, there is still room for improvement in the existing technology for detecting mud performance indicators. Summary of the invention

[0007] In order to solve the above-mentioned technical problems, the present application provides a shield mud intelligent detection robot, which adopts the following technical solution: a shield mud intelligent detection robot, comprising a base frame, a circular frame is rotatably mounted on the upper end surface of the base frame, a robotic arm is mounted on the circular frame, and a detection cylinder that passes through from top to bottom is mounted on the end of the robotic arm away from the circular frame.

[0008] An electric door is installed at the bottom of the detection cylinder, a vertical rod that moves up and down is installed inside the detection cylinder, and a pH sensor and a chloride ion sensor are respectively installed on the left and right sides of the circumference of the vertical rod.

[0009] A plurality of shower pipes are evenly installed on the upper end surface of the detection cylinder in a circumferential direction, a filter is detachably installed on the lower end surface of the detection cylinder, a quality sensor is installed at the bottom of the detection cylinder, and the quality sensor, pH sensor and chloride ion sensor are electrically connected through a central control component.

[0010] An L-shaped cleaning plate is rotatably arranged above the detection cylinder and is used to clean the inside of the detection cylinder.

[0011] Preferably, a front-to-rear symmetrical support frame 1 is installed on the upper end surface of the base frame, an annular frame is installed on the upper end of the support frame 1, a limit frame is slidably arranged on the lower end of the annular frame, and the vertical rod limit sliding passes through the limit frame, and an adjustment strip 1 and an adjustment strip 2 with opposite screw directions are respectively installed on the left and right sides of the inner wall of the annular frame, a linkage rod matching the adjustment strip 1 and the adjustment strip 2 is installed on the upper end of the circumferential surface of the vertical rod, and a stop block matching the linkage rod is installed on the left side of the highest end of the adjustment strip 2.

[0012] Preferably, a connecting round block is installed at the lower end of the vertical rod, a plurality of transverse rods are evenly installed on the circumferential surface of the connecting round block, and a fixed ring slidably arranged on the inner wall of the detection cylinder is installed at one end of the transverse rod away from the connecting round block.

[0013] Preferably, a shaking plate is provided inside the transverse rod, wherein a linkage circle block that slides up and down is provided inside the connecting circle block, a linkage connecting rod that slides up and down is provided inside the transverse rod, a plurality of make way grooves are provided through the circumferential surface of the connecting circle block, one end of the linkage connecting rod close to the vertical rod passes through the make way groove and is fixed on the linkage circle block, one end of the linkage connecting rod away from the vertical rod is fixed on the shaking plate, a threaded rod is installed on the upper end surface of the vertical rod by a threaded connection, and the lower end of the threaded rod is rotatably installed on the linkage circle block through a bearing.

[0014] Preferably, a support frame 2 is installed on the upper end surface of the base frame and on the opposite side of the support frame 1, and an annular rack plate is installed at the end of the support frame 2 away from the base frame. A moving frame with an L-shaped structure is slidably arranged on the lower end surface of the annular rack plate. The vertical section of the moving frame is slidably arranged on the lower end surface of the annular rack plate. A rotating shaft is rotatably installed on the upper end surface of the horizontal section of the moving frame. A gear meshing with the annular rack plate is installed on the upper end of the rotating shaft. The horizontal section of the cleaning plate is fixed on the lower side of the rotating shaft, and a cleaning brush is installed on the side of the vertical section of the cleaning plate away from the rotating shaft.

[0015] Preferably, a spray pipe is installed on the front side of the vertical section of the cleaning plate away from the rotating shaft, and spray holes are evenly opened on the side of the spray pipe close to the cleaning brush.

[0016] Preferably, an electric slider is provided on the rear side of the vertical section of the cleaning plate away from the rotating shaft, and a toggle rod for toggling the cleaning brush is installed on the electric slider.

[0017] Preferably, the central control assembly includes a central control panel arranged on the chassis, buttons arranged on the central control panel, and a central control unit arranged inside the central control panel, wherein the central control unit includes a central control module, a button control module electrically connected to the central control module, a pH sensor module electrically connected to the central control module, a chloride ion sensor module electrically connected to the central control module, and a mass sensor module electrically connected to the central control module;

[0018] The pH sensing module is electrically connected to the pH sensor, the chloride ion sensing module is electrically connected to the chloride ion sensor, the mass sensing module is electrically connected to the mass sensor, and the key control module is electrically connected to the key.

[0019] In summary, the present application includes at least one of the following beneficial technical effects:

[0020] 1. The vertical rod designed by the present invention that can move up and down can drive the pH sensor and the chloride ion sensor to move up and down. During the up and down movement of the pH sensor and the chloride ion sensor, the pH and chloride ion content of mud at different depths can be detected, and the detection data is more representative.

[0021] 2. When the shower pipe cleans the inner wall of the detection cylinder, the L-shaped cleaning plate designed in the present invention can scrape the residual mud in the detection cylinder to prevent the mud from adhering to the inner wall of the detection cylinder, thereby further improving the cleanliness of the inside of the detection cylinder.

[0022] 3. The connecting circle designed in the present invention drives the horizontal rod to move up and down through the fixed ring during the up and down movement. The mud can be turned over during the up and down movement of the horizontal rod to avoid solid-liquid stratification during the static state of the mud, resulting in different concentrations of mud at the top and bottom, which affects the detection accuracy of the pH sensor and the chloride ion sensor for the mud, thereby improving the accuracy of the detection data. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] Figure 1 It is a three-dimensional structural schematic diagram of the present invention.

[0024] Figure 2 It is a schematic diagram of the internal three-dimensional structure of the detection cylinder of the present invention.

[0025] Figure 3 The present invention Figure 2 A partial enlarged view of point A.

[0026] Figure 4 It is a schematic diagram of the three-dimensional installation structure between the rotating shaft, gears and cleaning brushes of the present invention.

[0027] Figure 5 It is a schematic diagram of the three-dimensional installation structure between the cleaning plate and the spray pipe of the present invention.

[0028] Figure 6 The present invention Figure 5 A partial enlarged view of point B.

[0029] Figure 7 It is an electrical flow chart of the present invention.

[0030] Figure 8 It is a schematic diagram of the three-dimensional installation structure between the transverse rods and the vertical rods of the present invention.

[0031] Fig. 9 The present invention Figure 8 A partial enlarged view of point C.

[0032] Fig.10 The present invention Figure 8 A partial enlarged view of point D.

[0033] Description of the accompanying drawings: 1, base frame; 11, support frame 1; 12, annular frame; 13, limit frame; 14, adjustment bar 1; 15, adjustment bar 2; 16, linkage rod; 17, stop block; 18, support frame 2; 19, annular rack plate; 10, moving frame; 111, rotating shaft; 112, gear; 113, cleaning brush; 2, circular frame; 3, mechanical arm; 4, detection cylinder; 41, electric door; 42, Vertical rod; 421, connecting circle; 422, horizontal rod; 423, fixed ring; 424, shaking plate; 425, linkage circle; 426, linkage connecting rod; 427, threaded rod; 43, pH sensor; 44, chloride ion sensor; 45, shower pipe; 46, filter; 47, quality sensor; 5, cleaning plate; 51, spray pipe; 52, spray hole; 53, electric slider; 54, toggle rod. DETAILED DESCRIPTION

[0034] The following is combined with Figures 1 to 10 This application is described in further detail.

[0035] The embodiment of the present application discloses a shield tunneling mud intelligent detection robot, which can detect and process mud at different depths, and can also clean the equipment after the detection.

[0036] Embodiment 1:

[0037] See also Figure 1 A shield mud intelligent detection robot comprises a base frame 1, a circular frame 2 is rotatably mounted on the upper end surface of the base frame 1, a mechanical arm 3 is mounted on the circular frame 2, and a detection cylinder 4 which passes through from top to bottom is mounted on the end of the mechanical arm 3 away from the circular frame 2.

[0038] See also Figure 2 as well as Figure 3 An electric door 41 is installed at the bottom of the detection cylinder 4, and a vertical rod 42 that moves up and down is installed inside the detection cylinder 4. A pH sensor 43 and a chloride ion sensor 44 are respectively installed on the left and right sides of the circumference of the vertical rod 42, which can measure the pH and chloride ion content in the mud.

[0039] Continue reading Figure 2 as well as Figure 3 A plurality of shower pipes 45 are evenly installed on the circumference of the upper end surface of the detection cylinder 4, which can clean the inside of the detection cylinder 4. A filter screen 46 is detachably installed on the lower end surface of the detection cylinder 4 to filter the mud. A quality sensor 47 is installed at the bottom of the detection cylinder 4 to detect the sand content in the mud. The quality sensor 47, the pH sensor 43 and the chloride ion sensor 44 are electrically connected through the central control component.

[0040] Replay Figure 1A cleaning plate 5 with an L-shaped structure is rotatably arranged above the detection cylinder 4 and is used to clean the inside of the detection cylinder 4 .

[0041] The vertical rod 42 moving up and down can drive the pH sensor 43 and the chloride ion sensor 44 to move up and down. During the up and down movement of the pH sensor 43 and the chloride ion sensor 44, the pH and chloride ion content of mud at different depths can be detected. When the shower pipe 45 cleans the inner wall of the detection cylinder 4, the L-shaped cleaning plate 5 can scrape off the residual mud in the detection cylinder 4 to prevent the mud from adhering to the detection cylinder 4, thereby further improving the cleanliness of the inside of the detection cylinder 4.

[0042] See also Figure 1 as well as Figure 2 A front-to-rear symmetrical support frame 11 is installed on the upper end surface of the base frame 1, and a ring frame 12 is installed on the upper end of the support frame 11. A limit frame 13 is slidably arranged at the lower end of the ring frame 12, and the vertical rod 42 is limited and slidably penetrates the limit frame 13. An adjustment strip 14 and an adjustment strip 2 15 with opposite screw directions are installed on the left and right sides of the inner wall of the ring frame 12 respectively to adjust the height of the vertical rod 42. A linkage rod 16 matching the adjustment strip 14 and the adjustment strip 2 15 is installed on the upper end of the circumferential surface of the vertical rod 42. A stop block 17 matching the linkage rod 16 is installed on the left side of the highest end of the adjustment strip 2 15 for placing the linkage rod 16.

[0043] See also Figure 2 as well as Figure 3 A connecting block 421 is installed at the lower end of the vertical rod 42, and a plurality of transverse rods 422 are evenly installed on the circumferential surface of the connecting block 421. A fixed ring 423 slidably arranged on the inner wall of the detection cylinder 4 is installed at one end of the transverse rods 422 away from the connecting block 421.

[0044] The mechanical arm 3 is prior art, so it is not described in detail. The top of the adjusting bar 2 15 is located below the top of the adjusting bar 14, and the bottom of the adjusting bar 2 15 is located below the bottom of the adjusting bar 14. The linkage rod 16 is made of metal and the stop block 17 is made of electromagnetic material. During specific operation, in the initial state, the vertical rod 42 is located inside the detection cylinder 4, and the mud to be detected is poured into the detection cylinder 4. At this time, the circular frame 2 is driven to rotate by an external driving force (motor, etc.). During the rotation of the circular frame 2, the detection cylinder 4 is driven to rotate circumferentially around the base frame 1 by the mechanical arm 3. During the circumferential rotation of the detection cylinder 4, the linkage rod 16 is driven to move along the inside of the annular frame 12 through the cooperation of the connecting circle 421, the horizontal rod 422 and the fixed ring 423. When the linkage rod 16 moves on the adjusting bar 2 15, the linkage rod 16 drives the vertical rod 42 to move upward. At this time, the pH sensor 43 and the chloride ion sensor 44 can detect the pH value and chloride ion content of the upper layer of the mud during the upward movement.

[0045] When the linkage rod 16 moves out from the adjustment bar 2 15, according to the mud density, when the mud is not enough to support the vertical rod 42 and its attached parts, the vertical rod 42 falls freely. When the mud can support the vertical rod 42 and its attached parts, the linkage rod 16 moves from the adjustment bar 2 15 to the bottom of the adjustment bar 1 14. At this time, the linkage rod 16 moves along the adjustment bar 14, and the linkage rod 16 drives the vertical rod 42 to move downward. At this time, the pH sensor 43 and the chloride ion sensor 44 can detect the pH value and chloride ion content of the lower layer of the mud during the downward movement.

[0046] The limit frame 13 can limit the vertical rod 42 to prevent the vertical rod 42 from relative rotation while moving along the inner wall of the annular frame 12. Therefore, the pH sensor 43 and the chloride ion sensor 44 that move up and down can detect the pH and chloride ion content of mud at different depths, and the detection data is more representative.

[0047] The vertical rod 42 drives the connecting circle 421 to move up and down during the up and down movement. The connecting circle 421 drives the transverse rod 422 to move up and down through the fixed ring 423 during the up and down movement. The mud can be turned over during the up and down movement of the transverse rod 422 to avoid solid-liquid stratification during the static state of the mud, which leads to different upper and lower concentrations of the mud, affecting the detection accuracy of the pH sensor 43 and the chloride ion sensor 44 for the mud, thereby improving the accuracy of the detection data. The fixed ring 423 can fix and limit the transverse rod 422 to avoid the transverse rod 422 from shaking when it contacts the mud during the up and down movement, thereby increasing the stability of the transverse rod 422.

[0048] A liquid inlet pipe is installed between the shower pipes 45. After the pH value and chloride ion concentration in the mud are tested, the electric door 41 is opened to receive the muddy water left from the inside of the test cylinder 4 through an external collection bucket (not shown in the figure). When the muddy water flows out, the sand in the mud remains on the filter screen 46, and the muddy water flows from the filter screen 46 to the external collection bucket. At this time, water is pumped into the liquid inlet pipe through an external water pump (not shown in the figure). The vertical rod 42 and its attached parts can be cleaned during the water jetting process. At the same time, the jetted water can also clean the sand left on the filter screen 46 to avoid residual impurities on the sand that affect the accuracy of the sand mass weighing, thereby improving the measurement accuracy of the sand in the mud.

[0049] When the sand is drained, the sand in the mud can be weighed through the mass sensor 47. After the weighing is completed, the filter screen 46 is removed and the sand on the filter screen 46 is taken out. At this time, the stop block 17 is energized, and the detection cylinder 4 continues to drive the vertical rod 42 to move to the vicinity of the stop block 17. At this time, the stop block 17 adsorbs the linkage rod 16, and the linkage rod 16 and the stop block 17 remain relatively still. The robotic arm 3 is started to drive the detection cylinder 4 to move out from the vertical rod 42 and move the detection cylinder 4 to the outside of the cleaning plate 5.

[0050] See also Figure 1 as well as Figure 4 A support frame 2 18 is installed on the upper end surface of the base frame 1 and is located on the opposite side of the support frame 1 11. An annular rack plate 19 is installed at the end of the support frame 2 18 away from the base frame 1. A mobile frame 10 with an L-shaped structure is slidably arranged on the lower end surface of the annular rack plate 19. The vertical section of the mobile frame 10 is slidably arranged on the lower end surface of the annular rack plate 19. A rotating shaft 111 is rotatably installed on the upper end surface of the horizontal section of the mobile frame 10. A gear 112 meshing with the annular rack plate 19 is installed on the upper end of the rotating shaft 111, and cooperates with the annular rack plate 19 to drive the rotating shaft 111 to rotate. The horizontal section of the cleaning plate 5 is fixed on the lower side of the rotating shaft 111, and a cleaning brush 113 is installed on the side of the vertical section of the cleaning plate 5 away from the rotating shaft 111 to clean the inner wall of the detection cylinder 4.

[0051] When the detection cylinder 4 moves to the outside of the cleaning plate 5, the cleaning brush 113 is against the inner wall of the detection cylinder 4. At this time, the mechanical arm 3 is started to drive the detection cylinder 4 to rotate circumferentially around the base frame 1. During the movement of the detection cylinder 4, water is pumped into the liquid inlet pipe through an external water pump (not shown in the figure). The inner wall of the detection cylinder 4 can be cleaned during the water jetting process. At this time, the gear 112 and the annular rack plate 19 cooperate with each other to drive the rotating shaft 111 to rotate. During the rotation of the rotating shaft 111, the cleaning plate 5 is driven to rotate. During the rotation of the cleaning plate 5, the cleaning brush 113 is driven to clean the inner wall of the detection cylinder 4. The cleaned water flow drives impurities to flow out from the lower side of the detection cylinder 4, and then during the water flushing process, the cleaning brush 113 can also be used to clean the inner wall of the detection cylinder 4, and the cleaning effect of the inner wall of the detection cylinder 4 is better.

[0052] See also Figure 5 as well as Figure 6 A spray pipe 51 is installed on the front side of the vertical section of the cleaning plate 5 away from the rotating shaft 111, and spray holes 52 are evenly opened on the side of the spray pipe 51 close to the cleaning brush 113. The water flow sprayed from the spray holes 52 can clean the cleaning brush 113.

[0053] An electric slider 53 is arranged at the rear side of the vertical section of the cleaning plate 5 away from the rotating shaft 111. A toggle rod 54 for toggling the cleaning brush 113 is installed on the electric slider 53. The cleaning brush 113 can be toggled to eject impurities attached to its surface.

[0054] During specific operation, the spray pipe 51 is connected to an external water source before flushing. When the cleaning brush 113 cleans the inner wall of the detection cylinder 4, the water in the spray pipe 51 is sprayed out through the spray hole 52. The sprayed water flow can clean the cleaning brush 113 to prevent impurities on the inner wall of the detection cylinder 4 from adhering to the cleaning brush 113 and causing secondary pollution of the inner wall of the detection cylinder 4. When the cleaning brush 113 is cleaning, the electric slider 53 is started. During the reciprocating movement of the electric slider 53 along the vertical section of the cleaning plate 5, the toggle rod 54 is driven to move back and forth. During the movement of the toggle rod 54, the cleaning brush 113 can be toggled, and then the stubborn impurities attached to the surface of the cleaning brush 113 can be ejected, further preventing the impurities on the cleaning brush 113 from causing secondary pollution to the inner wall of the detection cylinder 4 during the cleaning process.

[0055] See also Figure 7 A display screen (not shown in the figure) is installed on the upper end surface of the base frame 1, and the central control component includes a central control panel arranged on the base frame 1, buttons arranged on the central control panel, and a central control unit arranged inside the central control panel, wherein the central control unit includes a central control module, a button control module electrically connected to the central control module, a pH sensor module electrically connected to the central control module, a chloride ion sensor module electrically connected to the central control module, a display sensor module electrically connected to the central control module, and a mass sensor module electrically connected to the central control module.

[0056] The pH sensing module is electrically connected to the pH sensor 43 , the chloride ion sensing module is electrically connected to the chloride ion sensor 44 , the mass sensing module is electrically connected to the mass sensor 47 , the display sensing module is electrically connected to the display screen, and the key control module is electrically connected to the keys.

[0057] Turn on the button to transmit the information to the button control module, and the button control module transmits the signal to the central control module. At this time, the central control module is turned on, and the chloride ion sensor 44 and the pH sensor 43 can transmit the measured data to the chloride ion sensor module and the pH sensor module respectively during the up and down movement. Then the chloride ion sensor module and the pH sensor module transmit the measured signal to the central control module, and the central control module processes the received signal and transmits it to the display sensor module, and the display sensor module processes the signal and transmits it to the display screen, and then the staff can observe the display screen to obtain the chloride ion concentration and pH in the mud.

[0058] Similarly, when the muddy water in the mud leaks out from the detection cylinder 4, the quality sensor 47 can weigh the sand on the filter 46, and the quality sensor 47 transmits the measured data signal to the quality sensor module, the quality sensor module transmits the processed signal to the central control module, the central control module processes the received signal and transmits it to the display sensor module, the display sensor module processes the signal and transmits it to the display screen, and then the staff can observe the display screen to obtain the sand content inside the mud.

[0059] Embodiment 2:

[0060] Reference Figures 8 to 10 On the basis of the first embodiment, in order to prevent the filter screen 46 from being blocked by sand when the muddy water flows out through the filter screen 46 and to speed up the outflow rate of the muddy water, a shaking plate 424 is arranged inside the transverse rod 422 provided by the present invention, which can shake the filter screen 46, wherein a linkage block 425 that slides up and down is arranged inside the connecting circle 421, and a linkage connecting rod 426 that slides up and down is arranged inside the transverse rod 422. A plurality of make way grooves are provided through the circumferential surface of the connecting circle 421, and one end of the linkage connecting rod 426 close to the vertical rod 42 passes through the make way groove and is fixed on the linkage block 425, and one end of the linkage connecting rod 426 away from the vertical rod 42 is fixed on the shaking plate 424, and a threaded rod 427 is installed on the upper end surface of the vertical rod 42 by a threaded connection, and the lower end of the threaded rod 427 is rotatably installed on the linkage block 425 by a bearing.

[0061] During specific operation, before the sand is weighed, the threaded rod 427 is rotated to drive the linkage block 425 to move downward. During the downward movement of the linkage block 425, the linkage connecting rod 426 drives the shaking plate 424 to move downward. At this time, the shaking plate 424 extends out from the lower end of the transverse rod 422. Therefore, when the transverse rod 422 moves down to the vicinity of the filter screen 46, the shaking plate 424 can drive the filter screen 46 to shake and make the sand rise, thereby preventing the sand from clogging the holes of the filter screen 46 and improving the pass rate of mud and water. When the pH and chloride ion of the mud are tested, the shaking plate 424 moves to the inside of the transverse rod 422 to prevent the shaking plate 424 from driving the filter screen 46 to shake during the detection process, thereby affecting the stability of the filter screen 46.

[0062] The implementation principle of the present invention is:

[0063] (1): Pour the mud to be tested into the inside of the test cylinder 4. At this time, the circular frame 2 is driven to rotate by an external driving force (motor, etc.). During the rotation of the circular frame 2, the mechanical arm 3 drives the test cylinder 4 to rotate circumferentially around the base frame 1. During the circumferential rotation of the test cylinder 4, the connecting block 421, the transverse rod 422 and the fixed ring 423 cooperate with each other to drive the linkage rod 16 to move along the inside of the annular frame 12. When the linkage rod 16 moves on the adjustment bar 15, the linkage rod 16 drives the vertical rod 42 to move upward. At this time, the pH sensor 43 and the chloride ion sensor 44 can detect the pH value and chloride ion content of the upper layer of the mud during the upward movement.

[0064] (2): When the linkage rod 16 moves out from the adjustment bar 2 15, according to the mud density, when the mud is not enough to support the vertical rod 42 and its attached parts, the vertical rod 42 falls freely. When the mud can support the vertical rod 42 and its attached parts, the linkage rod 16 moves from the adjustment bar 2 15 to the bottom of the adjustment bar 1 14. At this time, the linkage rod 16 moves along the adjustment bar 14, and the linkage rod 16 drives the vertical rod 42 to move downward. At this time, the pH sensor 43 and the chloride ion sensor 44 can detect the pH value and chloride ion content of the lower layer of the mud during the downward movement.

[0065] (3): The vertical rod 42 drives the connecting circle 421 to move up and down during the up and down movement. The connecting circle 421 drives the horizontal rod 422 to move up and down through the fixed ring 423 during the up and down movement. The mud can be turned over during the up and down movement of the horizontal rod 422.

[0066] (4): When the pH value and chloride ion concentration in the mud are detected, the electric door 41 is opened, and the muddy water left from the inside of the detection cylinder 4 is received through an external collection bucket (not shown in the figure). After the muddy water flows out, the sand in the mud remains on the filter screen 46, and the muddy water flows from the filter screen 46 to the external collection bucket. At this time, water is pumped into the liquid inlet pipe through an external water pump. During the water jetting process, the vertical rod 42 and its attached parts can be cleaned. At the same time, the jetted water can also clean the sand left on the filter screen 46. When the sand is drained, the sand in the mud can be weighed through the mass sensor 47. After the weighing is completed, the filter screen 46 is removed and the sand on the filter screen 46 is taken out.

[0067] (5): When the detection cylinder 4 moves to the outside of the cleaning plate 5, the cleaning brush 113 is against the inner wall of the detection cylinder 4. At this time, the mechanical arm 3 is started to drive the detection cylinder 4 to rotate circumferentially around the base frame 1. During the movement of the detection cylinder 4, water is pumped into the liquid inlet pipe through an external water pump (not shown in the figure). The inner wall of the detection cylinder 4 can be cleaned during the water jetting process. At this time, the gear 112 and the annular rack plate 19 cooperate with each other to drive the rotating shaft 111 to rotate. During the rotation of the rotating shaft 111, the cleaning plate 5 is driven to rotate. During the rotation of the cleaning plate 5, the cleaning brush 113 is driven to clean the inner wall of the detection cylinder 4. The cleaned water flow drives impurities to flow out from the lower side of the detection cylinder 4.

[0068] The embodiments of this specific implementation method are all preferred embodiments of the present invention, and are not intended to limit the protection scope of the present invention. Therefore, any equivalent changes made based on the structure, shape, and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. A shield mud intelligent detection robot, comprising a base frame (1), a circular frame (2) rotatably mounted on the upper end surface of the base frame (1), a mechanical arm (3) mounted on the circular frame (2), characterized in that: The end of the mechanical arm (3) away from the circular frame (2) is equipped with a detection cylinder (4) that penetrates from top to bottom, wherein: An electric door (41) is installed at the bottom of the detection cylinder (4), a vertical rod (42) that moves up and down is installed inside the detection cylinder (4), and a pH sensor (43) and a chloride ion sensor (44) are installed on the left and right sides of the circumference of the vertical rod (42) respectively; The upper end surface of the detection cylinder (4) is evenly mounted with a plurality of shower pipes (45) in the circumferential direction, the lower end surface of the detection cylinder (4) is detachably mounted with a filter screen (46), the bottom of the detection cylinder (4) is mounted with a quality sensor (47), and the quality sensor (47), the pH sensor (43) and the chloride ion sensor (44) are electrically connected via a central control component; A cleaning plate (5) with an L-shaped structure is rotatably arranged above the detection cylinder (4) and is used to clean the inside of the detection cylinder (4); The upper end surface of the base frame (1) is provided with a front-to-back symmetrical support frame 1 (11), the upper end of the support frame 1 (11) is jointly provided with an annular frame (12), the lower end of the annular frame (12) is slidably provided with a limit frame (13), and the vertical rod (42) is limitedly slidably penetrates the limit frame (13), the left and right sides of the inner wall of the annular frame (12) are respectively provided with an adjustment strip 1 (14) and an adjustment strip 2 (15) with opposite screw directions, the upper end of the circumferential surface of the vertical rod (42) is provided with a linkage rod (16) matching the adjustment strip 1 (14) and the adjustment strip 2 (15), and the left side of the highest end of the adjustment strip 2 (15) is provided with a stop block (17) matching the linkage rod (16); A connecting round block (421) is installed at the lower end of the vertical rod (42), a plurality of transverse rods (422) are evenly installed on the circumferential surface of the connecting round block (421), and a fixed ring (423) slidably arranged on the inner wall of the detection cylinder (4) is installed at one end of the transverse rod (422) away from the connecting round block (421); The transverse rod (422) is provided with a shaking plate (424) inside, wherein the connecting round block (421) is provided with a linkage round block (425) that slides up and down, and the transverse rod (422) is provided with a linkage connecting rod (426) that slides up and down, and the circumferential surface of the connecting round block (421) is provided with a plurality of paving grooves, and the end of the linkage connecting rod (426) close to the vertical rod (42) passes through the paving groove and is fixed on the linkage round block (425), and the end of the linkage connecting rod (426) away from the vertical rod (42) is fixed on the shaking plate (424), and the upper end surface of the vertical rod (42) is installed with a threaded rod (427) by means of a threaded connection, and the lower end of the threaded rod (427) is rotatably installed on the linkage round block (425) by means of a bearing; A second support frame (18) is installed on the upper end surface of the base frame (1) and is located on the opposite side of the first support frame (11); an annular rack plate (19) is installed on the end of the second support frame (18) away from the base frame (1); an L-shaped moving frame (10) is slidably installed on the lower end surface of the annular rack plate (19); a vertical section of the moving frame (10) is slidably installed on the lower end surface of the annular rack plate (19); a rotating shaft (111) is rotatably installed on the upper end surface of the horizontal section of the moving frame (10); a gear (112) meshing with the annular rack plate (19) is installed on the upper end of the rotating shaft (111); a horizontal section of the cleaning plate (5) is fixed on the lower side of the rotating shaft (111); and a cleaning brush (113) is installed on the side of the vertical section of the cleaning plate (5) away from the rotating shaft (111).

2. The intelligent shield mud detection robot according to claim 1 is characterized by: A spray pipe (51) is installed on the front side of the vertical section of the cleaning plate (5) away from the rotating shaft (111), and spray holes (52) are evenly arranged on the side of the spray pipe (51) close to the cleaning brush (113).

3. The shield mud intelligent detection robot according to claim 1 is characterized by: An electric slider (53) is arranged on the rear side of the vertical section of the cleaning plate (5) away from the rotating shaft (111), and a toggle rod (54) for toggle the cleaning brush (113) is installed on the electric slider (53).

4. The intelligent shield mud detection robot according to claim 1 is characterized in that: The upper end surface of the base frame (1) is provided with a display screen, and the central control assembly comprises a central control panel arranged on the base frame (1), buttons arranged on the central control panel, and a central control unit arranged inside the central control panel, wherein the central control unit comprises a central control module, a button control module electrically connected to the central control module, a pH sensor module electrically connected to the central control module, a chloride ion sensor module electrically connected to the central control module, a display sensor module electrically connected to the central control module, and a mass sensor module electrically connected to the central control module; The pH sensing module is electrically connected to the pH sensor (43), the chloride ion sensing module is electrically connected to the chloride ion sensor (44), the mass sensing module is electrically connected to the mass sensor (47), the display sensing module is electrically connected to the display screen, and the key control module is electrically connected to the keys.

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