A tank bottom temperature measurement inspection robot

Abstract

The invention discloses a tank bottom temperature measuring inspection robot, which relates to the technical field of inspection robots and comprises an inspection robot body, a temperature sensor, a reserved slot, a driving wheel and an auxiliary wheel. The temperature sensor is arranged at the bottom end of the inspection robot body, the reserved slot and the auxiliary wheel are arranged at the four corners of the inspection robot body, and the driving wheel is arranged at the bottom corner of the inspection robot body. The invention can change the distance between the temperature sensor and the tank bottom, so that the temperature sensor measures a suitable distance from the tank bottom, the inclined side wall of the tank contacts the inclined auxiliary wheel, the data of the temperature sensor measuring the tank bottom temperature is more accurate, the elastic ball can prevent the upper fixed block from rotating around the fixed axis, so that the lower fixed block and the auxiliary wheel maintain a certain position, the position of the temperature sensor does not change when measuring the temperature of the tank bottom, the auxiliary wheel of the rotating block floats inside the rotating block, and the auxiliary wheel can change adaptively, so that the auxiliary wheel is always in contact with the side wall of the tank.

Description

Technical Field

[0001] The invention relates to the technical field of inspection robots, and in particular to a tank bottom temperature measurement inspection robot. Background Art

[0002] Inspection robots have multiple functions, mainly to improve the inspection efficiency and accuracy of inspection robots, while ensuring safety. These functions make inspection robots widely used in the fields of industry, security, environmental monitoring, etc., improving production efficiency, safety precautions, and timely discovering and solving environmental problems. Inspection robots are used to measure the temperature of coal mine working slots;

[0003] In the existing technology, when the inspection robot measures the bottom temperature of the working tank, due to the presence of certain foreign matter or impurities at the bottom of the tank, the temperature sensor at the bottom of the inspection robot body is easily interfered with by the foreign matter or impurities, thereby causing damage to the temperature sensor. In addition, when the temperature sensor measures the positions of the bottom of the tank at different depths, the distance between the temperature sensor and the bottom of the tank is the same, thereby reducing the accuracy of the data measured by the temperature sensor and the bottom of the tank. In addition, when the bottom of the inspection robot body passes over the foreign matter or impurities, it is more difficult for the driving wheel to pass over the slippery bottom of the tank. Summary of the invention

[0004] The purpose of the present invention is to provide a tank bottom temperature measuring inspection robot to solve the problem that the temperature sensor at the bottom of the inspection robot body proposed in the above background technology is easily interfered with foreign matter or impurities, thereby causing damage to the temperature sensor, and when the temperature sensor measures different depths of the tank bottom, the distance between the temperature sensor and the tank bottom is the same, thereby reducing the data accuracy of the temperature sensor and the tank bottom measurement, and when the bottom of the inspection robot body passes over foreign matter or impurities, it is more difficult for the driving wheel to pass over the slippery tank bottom.

[0005] The purpose of the present invention can be achieved through the following technical solutions:

[0006] A slot bottom temperature measurement inspection robot, comprising an inspection robot body, a temperature sensor, a reserved slot, a driving wheel and an auxiliary wheel, wherein the temperature sensor is arranged at the bottom end of the inspection robot body, the reserved slot and the auxiliary wheel are arranged at the four corners of the inspection robot body, and the driving wheel is arranged at the bottom corner of the inspection robot body; the four corners of the inspection robot body are all provided with a support leg lifting structure, and the support leg lifting structure comprises an upper fixed block and a lower fixed block, the upper fixed block is installed inside the reserved slot, and the four corners of the upper fixed block and the four corners of the lower fixed block An electric push rod is arranged between each corner, a retaining frame is arranged between the upper fixed block and the lower fixed block, the auxiliary wheel is arranged at the bottom end of the lower fixed block, the lower surface of the upper fixed block is provided with a sliding groove 2, the interior of the sliding groove 2 is slidably connected with the sliding block 2, the upper surface of the lower fixed block is provided with a sliding groove 1, the interior of the sliding groove 1 is slidably connected with the sliding block 1, one side of the top end of the retaining frame is connected with the sliding block 2, and the same side of the bottom end of the retaining frame is connected with the sliding block 1, the lifting height of the retaining frame is adapted to the lifting height of the electric push rod, and the lower fixed block and the auxiliary wheel are lifted and lowered synchronously.

[0007] As a preferred technical solution of the present invention, the retaining frame is composed of a plurality of connecting rods, and the connecting rods of the retaining frame are in a parallelogram structure, and the two ends of two adjacent connecting rods of the retaining frame are connected by a connecting pin.

[0008] As a preferred technical solution of the present invention, the ends of the sliding groove one and the sliding groove two are fixedly installed with plugs, and the cross-sectional shapes of the sliding groove one, sliding block one, the plug, sliding block two and the sliding groove two are all the same.

[0009] As a preferred technical solution of the present invention, an angle adjustment structure is arranged at the corners of the upper fixed block and the inspection robot body, and the angle adjustment structure includes a semicircular side plate, and the side plate is integrally manufactured with the two end surfaces of the upper fixed block, and the side plate is arranged inside the reserved groove, and connecting blocks are arranged at both ends of the reserved groove, and a driving motor 1 is arranged at one end of the side plate, and a fixed shaft is connected to the end of the driving motor 1, and the fixed shaft rotates synchronously with the side plate and the upper fixed block, and a row of reserved holes is provided on the arc surface of the side plate, and a fixed sleeve is installed inside each reserved hole, and a tension ball and a telescopic spring are arranged inside the fixed sleeve, and the tension ball contacts the inner wall of the reserved groove.

[0010] As a preferred technical solution of the present invention, a row of spherical surfaces are provided at both ends of the reserved groove, the diameter of the tension ball is the same as the diameter of the spherical surface of the reserved groove, and the tension ball is movably connected to the interior of the fixed sleeve.

[0011] As a preferred technical solution of the present invention, the upper fixed block rotates in an angle range of 0-90°, the elastic ball engages with the spherical surface of the reserved groove, and the auxiliary wheels on both sides of the inspection robot body are arranged tilted.

[0012] As a preferred technical solution of the present invention, an adaptive structure is provided at the bottom end of the lower fixed block, and the adaptive structure includes an accommodating cavity, which is opened at the bottom end of the lower fixed block, and a rotating block is provided inside the accommodating cavity, and an auxiliary wheel is provided inside the rotating block, and rotating pins are inserted at both ends of the rotating block, and the two ends of the rotating block are rotatably connected to the lower fixed block, and the auxiliary wheel rotates synchronously with the rotating block.

[0013] As a preferred technical solution of the present invention, a limit pin is provided at the end of the rotating pin, and limit slots are provided at both ends of the lower fixed block, and the limit pin is movably connected to the limit slots.

[0014] As a preferred technical solution of the present invention, a rotating shaft is arranged in the middle of the auxiliary wheel, a worm gear is installed at the end of the rotating shaft and inside the rotating block, a second driving motor is installed on the side wall of the rotating block, a worm is connected to the end of the second driving motor, and the worm and the worm gear are driven.

[0015] Compared with the prior art, the present invention has the following beneficial effects:

[0016] A support leg lifting structure is provided, and the distance between the upper fixed block and the lower fixed block is adjusted by an electric push rod and a retaining frame, so that the distance between the temperature sensor and the bottom of the groove can be changed, so that the temperature sensor measures the distance of the bottom of the groove appropriately;

[0017] An angle adjustment structure is provided. When the driving motor drives the upper fixed block and the side plate to rotate, the auxiliary wheel position of the lower fixed block can be adjusted, so that the inclined side wall of the groove contacts the inclined auxiliary wheel. This contact mode is more stable than the contact between the vertical auxiliary wheel and the inclined groove side wall, and the data of the temperature sensor measuring the groove bottom temperature is more accurate.

[0018] The elastic ball is engaged with the spherical surface of the reserved groove, and the elastic ball can prevent the upper fixed block from rotating around the fixed axis, so that the lower fixed block and the auxiliary wheel maintain a certain position, ensuring that the auxiliary wheel contacts the side wall of the groove more stably, and the position of the temperature sensor does not change when measuring the temperature of the bottom of the groove;

[0019] An adaptive structure is provided. As the positions of the lower fixed block and the auxiliary wheel change, the auxiliary wheel of the rotating block floats inside the rotating block, and the auxiliary wheel can adaptively change so that the auxiliary wheel is always in contact with the side wall of the groove. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] In order to facilitate understanding by those skilled in the art, the present invention is further described below with reference to the accompanying drawings.

[0021] Figure 1 This is a main structure diagram of a tank bottom temperature measurement inspection robot according to the present invention;

[0022] Figure 2 This is a schematic diagram of the rotation state of the auxiliary wheels of a tank bottom temperature measurement inspection robot according to the present invention;

[0023] Figure 3 It is a schematic diagram of the leg lifting structure and the tank side wall of a tank bottom temperature measurement inspection robot of the present invention;

[0024] Figure 4 This is a schematic diagram of the lifting structure of the legs of a tank bottom temperature measurement inspection robot according to the present invention;

[0025] Figure 5 It is a schematic diagram of a sliding block 1 and a sliding block 2 of a tank bottom temperature measurement inspection robot according to the present invention;

[0026] Figure 6 This is a schematic diagram of the angle adjustment structure of a tank bottom temperature measurement inspection robot according to the present invention;

[0027] Figure 7 It is a schematic diagram of the side plates and fixed axis of a tank bottom temperature measurement inspection robot of the present invention;

[0028] Figure 8 It is a schematic diagram of a telescopic spring and a loose ball of a tank bottom temperature measurement inspection robot of the present invention;

[0029] Fig. 9 It is a schematic diagram of the adaptive structure of a tank bottom temperature measurement inspection robot of the present invention;

[0030] Fig.10 The figure is a schematic diagram of a worm and a worm wheel of a tank bottom temperature measurement inspection robot according to the present invention.

[0031] In the figure: 1. Inspection robot body; 2. Temperature sensor; 3. Reserved slot; 4. Support leg lifting structure; 5. Angle adjustment structure; 6. Adaptive structure; 7. Driving wheel; 8. Auxiliary wheel; 41. Upper fixed block; 42. Lower fixed block; 43. Electric push rod; 44. Retaining frame; 45. Connecting pin; 46. Sliding slot one; 47. Sliding block one; 48. Plug; 49. Sliding block two; 410. Sliding slot two; 51. Side plate; 52. Drive motor one; 53. Reserved hole; 54. Elastic ball; 55. Connecting block; 56. Fixed shaft; 57. Fixed sleeve; 58. Telescopic spring; 61. Accommodating chamber; 62. Rotating block; 63. Rotating pin; 64. Limiting slot; 65. Limiting pin; 66. Drive motor two; 67. Worm; 68. Worm wheel; 69. Rotating shaft. DETAILED DESCRIPTION

[0032] The technical solution of the present invention will be clearly and completely described below in conjunction with the embodiments. Obviously, the described embodiments are only part of the embodiments of the present invention, rather than all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0033] Embodiment 1:

[0034] See also Figure 1 , Figure 2 and Figure 4As shown, a tank bottom temperature measurement inspection robot includes an inspection robot body 1, a temperature sensor 2, a reserved slot 3, a driving wheel 7 and an auxiliary wheel 8. The temperature sensor 2 is arranged at the bottom of the inspection robot body 1, and the temperature of the tank bottom can be measured by the temperature sensor 2. The robot moves to a suitable position along the inside of the water tank or the fixed tank, so that the temperature at different positions of the tank bottom can be measured. The reserved slot 3 and the auxiliary wheel 8 are arranged at the four corners of the inspection robot body 1. A rotating shaft 69 is arranged in the middle of the auxiliary wheel 8. A worm gear 68 is installed at the end of the rotating shaft 69 and located inside the rotating block 62. A driving wheel 68 is installed on the side wall of the rotating block 62. Motor 2 66, the end of driving motor 2 66 is connected with a worm 67, which is driven by worm gear 68, and auxiliary wheel 8 can be used to contact the ground or the bottom of the groove, so that the inspection robot body 1 can walk more stably on the horizontal plane, and driving wheel 7 is set at the bottom corner of the inspection robot body 1, and the inspection robot body 1 is driven by driving wheel 7; the four corners of the inspection robot body 1 are all provided with support leg lifting structure 4, and the support leg lifting structure 4 includes an upper fixed block 41 and a lower fixed block 42, and the upper fixed block 41 is installed inside the reserved groove 3, and the four corners of the upper fixed block 41 and the four corners of the lower fixed block 42 are An electric push rod 43 is provided to provide power for changing the distance between the upper fixed block 41 and the lower fixed block 42. A retaining frame 44 is provided between the upper fixed block 41 and the lower fixed block 42. The auxiliary wheel 8 is provided at the bottom end of the lower fixed block 42. The retaining frame 44 between the upper fixed block 41 and the lower fixed block 42 can be deformed, so that the upper fixed block 41 and the lower fixed block 42 are closer to or farther away from each other. A sliding groove 2 410 is provided on the lower surface of the upper fixed block 41. A sliding block 2 49 is slidably connected inside the sliding groove 2 410. A sliding groove 1 46 is provided on the upper surface of the lower fixed block 42. A sliding block 1 47 is slidably connected inside the sliding groove 1 46. One side of the top end of the retaining frame 44 is connected to the sliding block 2 49, and the same side of the bottom end of the retaining frame 44 is connected to the sliding block 1 47. When the retaining frame 44 is deformed, the positions of the same side of the top and bottom ends of the retaining frame 44 will change, and the sliding block 1 47 slides along the inside of the sliding groove 1 46, and the sliding block 2 49 slides along the inside of the sliding groove 2 410, so that the distance between the upper fixed block 41 and the lower fixed block 42 changes. The lifting height of the retaining frame 44 is adapted to the lifting height of the electric push rod 43, and the lower fixed block 42 is lifted and lowered synchronously with the auxiliary wheel 8. When the inspection robot body 1 walks on the bottom of the groove, the auxiliary wheel 8 can make the inspection robot body 1 more stable.

[0035] See also Figure 4As shown, the retaining frame 44 is composed of a plurality of connecting rods, and the connecting rods of the retaining frame 44 are in a parallelogram structure, and the two ends of two adjacent connecting rods of the retaining frame 44 are connected by a connecting pin 45. When the connecting rods of the retaining frame 44 are deformed, the overall height of the retaining frame 44 will be changed, so that the auxiliary wheel 8 is in contact with the ground or the auxiliary wheel 8 is received by the inside of the reserved groove 3.

[0036] See also Figure 4 and Figure 5 As shown, the end of sliding groove 1 46 and the end of sliding groove 2 410 are fixedly installed with a plug 48, and the cross-sectional shapes of sliding groove 1 46, sliding block 1 47, plug 48, sliding block 2 49 and sliding groove 2 410 are all the same, and sliding groove 1 46 and sliding groove 2 410 can be blocked by plug 48, so that when the retaining frame 44 is deformed, sliding block 1 47 slides along the inside of sliding groove 1 46, and sliding block 2 49 slides along the inside of sliding groove 2 410, thereby preventing sliding block 1 47 and sliding block 2 49 from detaching from the sliding groove.

[0037] It should be noted that when the inspection robot body 1 is located at the bottom of the groove to measure the temperature, the driving wheel 7 of the inspection robot body 1 contacts the bottom of the groove. At this time, the inspection robot body 1 can be driven to move by the driving wheel 7, so that the inspection robot body 1 moves along the inside of the groove bottom, and the temperature sensor 2 at the bottom of the robot can be moved to different positions, and the temperature sensor 2 measures the specified position. Since the bottom of the groove is relatively slippery, the driving wheel 7 is prone to slipping when driving the inspection robot body 1. At this time, the driving motor 66 drives the worm 67 and the worm wheel 68 to transmit, and the worm wheel 68, the rotating shaft 69 and the auxiliary wheel 8 rotate synchronously. The auxiliary wheel 8 can also be used to drive the inspection robot body 1 to move. When the driving wheel 7 and the auxiliary wheel 8 are driven, the inspection robot body 1 can move along the bottom of the groove. When there are some foreign matter or impurities at the bottom of the groove, the inspection machine The bottom end of the robot body 1 or the temperature sensor 2 may be interfered by foreign objects or impurities at the bottom of the groove. At this time, the inspection robot body 1 can be raised by the support leg lifting structure 4. Specifically, the electric push rod 43 is extended to make the upper fixed block 41 and the lower fixed block 42 move away from each other, and the sliding block 1 47 at the bottom end of the retaining frame 44 moves along the sliding groove 1 46, and the sliding block 2 49 at the top of the retaining frame 44 moves along the sliding groove 2 410. At this time, the retaining frame 44 makes the upper fixed block 41 and the lower fixed block 42 remain stable, and the auxiliary wheel 8 of the lower fixed block 42 extends from the inside of the reserved groove 3, so that the position of the inspection robot body 1 can be raised. The inspection robot body 1 can easily pass over the foreign objects or impurities at the bottom of the groove, and will not affect the temperature sensor 2 measuring the temperature of the bottom of the groove. At the same time, the distance between the temperature sensor 2 and the foreign objects can be changed as needed, so that the measurement data is more accurate.

[0038] See also Figure 3 , Figure 6 and Figure 7 As shown, an angle adjustment structure 5 is provided at the corner of the upper fixed block 41 and the inspection robot body 1, and the angle adjustment structure 5 includes a semicircular side plate 51, the side plate 51 and the two end surfaces of the upper fixed block 41 are integrally manufactured, and the side plate 51 is arranged inside the reserved groove 3, and the reserved groove 3 is provided with a rotating groove adapted to the side plate 51, and the side plate 51 is located inside the rotating groove and rotates, and both ends of the reserved groove 3 are provided with a connecting block 55, and one end of the side plate 51 is provided with a driving motor 52, and the end of the driving motor 52 is connected to a fixed shaft 56, and the fixed shaft 56 rotates synchronously with the side plate 51 and the upper fixed block 41, and the driving motor 52 drives the fixed shaft 56 to rotate. The fixed shaft 56 rotates, thereby the fixed shaft 56 drives the side plate 51 and the auxiliary wheel 8 to rotate. A row of reserved holes 53 are provided on the arc surface of the side plate 51. A fixed sleeve 57 is installed inside each reserved hole 53. A tension ball 54 and a telescopic spring 58 are arranged inside the fixed sleeve 57. The tension ball 54 contacts the inner wall of the reserved groove 3. When the side plate 51 is rotated, the auxiliary wheel 8 can be rotated to different angles. The tension ball 54 is engaged with the reserved groove 3 so that the position of the lower fixed block 42 does not change, so that the auxiliary wheel 8 of the lower fixed block 42 contacts the side wall of the groove bottom, so that the inspection robot body 1 can be moved along the groove bottom.

[0039] See also Figure 6 , Figure 7 and Figure 8 As shown, a row of spherical surfaces are provided at both ends of the interior of the reserved groove 3, the diameter of the tension ball 54 is the same as the diameter of the spherical surface of the reserved groove 3, the tension ball 54 is movably connected to the interior of the fixed sleeve 57, and the side plate 51 is prevented from rotating when the driving motor 52 stops rotating. At the same time, the tension ball 54 contacts the spherical surface of the reserved groove 3, and the side plate 51 and the reserved groove 3 can also be prevented from rotating relative to each other.

[0040] See also Figure 6 and Figure 7 As shown, the rotation angle range of the upper fixed block 41 is 0-90°, the elastic ball 54 is engaged with the spherical surface of the reserved groove 3, and the auxiliary wheels 8 on both sides of the inspection robot body 1 are arranged tilted, so that only the auxiliary wheels 8 of the inspection robot body 1 can be brought into contact with the side surface of the groove bottom, so that the auxiliary wheels 8 can drive the inspection robot body 1 to move. The tilted auxiliary wheels 8 or the horizontally arranged auxiliary wheels 8 are in contact with the side wall, making it easier for the inspection robot body 1 to move.

[0041] It should be noted that, in some cases where the bottom of the groove is narrow or slippery, the angle of the auxiliary wheel 8 can be adjusted so that the auxiliary wheel 8 contacts the side wall of the groove. Specifically, the driving motor 52 drives the fixed shaft 56 and the side plate 51 to rotate, so that the auxiliary wheel 8 rotates synchronously with the upper fixed block 41, and the auxiliary wheel 8 is rotated to a position perpendicular to the side wall of the groove. After the driving motor 52 stops rotating, the retaining frame 44 of the leg lifting structure 4 is extended, so that the auxiliary wheel 8 contacts the side wall of the groove, and the telescopic spring 58 pushes the elastic ball 54 is always in contact with the spherical surface of the reserved groove 3, the positions of the auxiliary wheels 8 on both sides of the inspection robot body 1 will not change, the auxiliary wheels 8 and the side walls of the groove can make the inspection robot body 1 move, the length of the retaining frame 44 can be adjusted to change the internal position of the inspection robot body 1 in the groove, the active wheel 7 of the inspection robot body 1 can be in contact with the bottom surface of the groove, or the active wheel 7 of the inspection robot body 1 can be separated from the bottom surface of the groove, the distance between the temperature sensor 2 and the ground changes, and the position of the temperature sensor 2 can be adjusted according to the need to measure the temperature.

[0042] See also Fig. 9 and Fig.10 As shown, an adaptive structure 6 is provided at the bottom end of the lower fixed block 42, and the adaptive structure 6 includes a accommodating cavity 61, which is opened at the bottom end of the lower fixed block 42, and a rotating block 62 is provided inside the accommodating cavity 61, and the auxiliary wheel 8 is arranged inside the rotating block 62. Rotating pins 63 are inserted at both ends of the rotating block 62, and the rotating block 62 is located inside the accommodating cavity 61 and rotates. The position of the lower fixed block 42 is adjusted so that the rotating block 62 cannot contact the side wall and the bottom of the groove. At this time, the block 62 can be rotated to change the position of the rotating block 62, and the two ends of the rotating block 62 are rotatably connected to the lower fixed block 42, and the auxiliary wheel 8 rotates synchronously with the rotating block 62. At this time, the position of the lower fixed block 42 changes so that the auxiliary wheel 8 of the lower fixed block 42 can contact the ground, so that the auxiliary wheel 8 can drive the inspection robot body 1 to move.

[0043] See also Fig. 9 As shown, a limit pin 65 is provided at the end of the rotating pin 63, and limit slots 64 are provided at both ends of the lower fixed block 42. The limit pin 65 is movably connected with the limit slot 64, and the rotating block 62 and the rotating pin 63 rotate synchronously. The limit pin 65 can be located inside the limit slot 64 and rotate, so that the limit pin 65 limits the rotation angle of the rotating block 62 to avoid the auxiliary wheel 8 from rotating too far and causing insufficient support force of the inspection robot body 1. The four sets of auxiliary wheels 8 can improve the stability of the inspection robot body 1.

[0044] See also Fig.10As shown, a rotating shaft 69 is provided in the middle of the auxiliary wheel 8, and a worm gear 68 is installed at the end of the rotating shaft 69 and inside the rotating block 62, and a driving motor 2 66 is installed on the side wall of the rotating block 62. A worm 67 is connected to the end of the driving motor 2 66, and the worm 67 and the worm gear 68 are driven. The driving motor 2 66 can drive the worm 67, so that the worm 67 drives the worm wheel 68 to rotate, and the worm wheel 68, the rotating shaft 69 and the auxiliary wheel 8 rotate synchronously. At this time, the auxiliary wheel 8 can drive the inspection robot body 1, so that when the driving wheel 7 is separated from the ground, the auxiliary wheel 8 can provide power for the inspection robot body 1, or the driving wheel 7 and the auxiliary wheel 8 can be driven synchronously to provide power for the inspection robot body 1.

[0045] It should be noted that the driving motor 2 66 drives the worm 67 to move, at this time the worm 67 and the rotating shaft 69 rotate, the worm wheel 68, the rotating shaft 69 and the auxiliary wheel 8 rotate, at this time the auxiliary wheel 8 can provide movement for the inspection robot body 1, and the angle of the lower fixed block 42 changes so that the rotating block 62 changes, and the auxiliary wheel 8 can be in close contact with the ground, so that the inspection robot body 1 has better stability, during which it can be rotated by the rotating pin 63 and the limit pin 65, and the rotating block 62 can be limited by the limit groove 64 to avoid the rotating block 62 from rotating too much, so that when the rotating block 62 contacts the side wall of the groove, the rotating block 62 will not deflect significantly, so that the inspection robot body 1 moves with the bottom of the groove, and when detecting the ground, the distance between the temperature sensor 2 and the bottom of the groove can be guaranteed to remain unchanged.

[0046] When the present invention is used, the inspection robot body 1 is placed at the bottom of the tank. At this time, the inspection robot body 1 is in contact with the ground, and the temperature of the tank bottom is measured by the temperature sensor 2 at the bottom of the inspection robot body 1. Sometimes, it is necessary to change the distance between the temperature sensor 2 and the tank bottom. At this time, the electric push rod 43 can be extended to make the retaining frame 44 also rise and fall, and the distance between the upper fixing block 41 and the lower fixing block 42 becomes larger. The lower fixing block 42 can be raised and lowered along the auxiliary wheel 8. When the distance between the upper fixing block 41 and the lower fixing block 42 becomes larger, the electric push rod 43 can be raised and lowered. The sliding block 2 49 at the upper end and the sliding block 1 47 at the lower end will move along the sliding groove 2 410 and the sliding groove 1 46 respectively, so that the distance between the upper fixed block 41 and the lower fixed block 42 can be changed, and the position of the temperature sensor 2 is changed. In addition, the driving motor 1 52 rotates along the fixed shaft 56, and the rotating side plate 51 and the upper fixed block 41 rotate to make the lower fixed block 42 and the auxiliary wheel 8 move. The upper fixed block 41 and the lower fixed block 42 rotate around the fixed shaft 56, and the upper fixed block 41 and the side plate 51 can be moved. The auxiliary wheel 8 is rotated so that the auxiliary wheel 8 contacts the side wall of the groove, and the driving motor 2 66 drives the worm 67, the worm wheel 68, and the rotating shaft 69 to rotate, so that the auxiliary wheel 8 rotates. The inspection robot body 1 is driven by the auxiliary wheel 8 and the driving wheel 7 to make the inspection robot body 1 move more stably, and the elastic ball 54 is pushed by the telescopic spring 58 so that the elastic ball 54 is clamped with the spherical surface of the inner wall of the reserved groove 3, thereby reducing the position change of the side plate 51 of the upper fixed block 41. The angle changes, because the angle of the auxiliary wheel 8 will also change, in order to ensure that the auxiliary wheel 8 is in close contact with the side wall of the groove, the auxiliary wheel 8 can be adaptively adjusted when in contact with the side wall of the groove. At this time, the rotating block 62 on the auxiliary wheel 8 rotates around the lower fixed block 42, and the auxiliary wheel 8 of the rotating block 62 is in contact with the side wall of the groove. The limit pin 65 of the rotating pin 63 is located in the limit groove 64 and rotates, and the auxiliary wheel 8 can adapt to the positions of different angles of the upper fixed block 41 and the lower fixed block 42, so that the auxiliary wheel 8 is in contact with the side wall of the groove.

[0047] The preferred embodiments of the present invention disclosed above are only used to help explain the present invention. The preferred embodiments do not describe all the details in detail, nor do they limit the invention to only specific implementation methods. Obviously, many modifications and changes can be made according to the content of this specification. This specification selects and specifically describes these embodiments in order to better explain the principles and practical applications of the present invention, so that those skilled in the art can understand and use the present invention well. The present invention is limited only by the claims and their full scope and equivalents.

Claims

1. A tank bottom temperature measurement inspection robot, comprising an inspection robot body (1), a temperature sensor (2), a reserved slot (3), a driving wheel (7) and an auxiliary wheel (8), wherein the temperature sensor (2) is arranged at the bottom end of the inspection robot body (1), the reserved slot (3) and the auxiliary wheel (8) are arranged at the four corners of the inspection robot body (1), and the driving wheel (7) is arranged at the bottom corner of the inspection robot body (1); characterized in that: The four corners of the inspection robot body (1) are each provided with a foot lifting structure (4), the foot lifting structure (4) comprising an upper fixed block (41) and a lower fixed block (42), the upper fixed block (41) being installed inside the reserved slot (3), electric push rods (43) being provided between the four corners of the upper fixed block (41) and the four corners of the lower fixed block (42), a retaining frame (44) being provided between the upper fixed block (41) and the lower fixed block (42), an auxiliary wheel (8) being provided at the bottom end of the lower fixed block (42), and the lower end of the upper fixed block (41) and the lower end of the lower fixed block (42) being provided with an auxiliary wheel (8). A second sliding groove (410) is provided on the surface, and a second sliding block (49) is slidably connected inside the second sliding groove (410), a first sliding groove (46) is provided on the upper surface of the lower fixed block (42), and a first sliding block (47) is slidably connected inside the first sliding groove (46), a top side of the retaining frame (44) is connected to the second sliding block (49), and a bottom side of the retaining frame (44) is connected to the first sliding block (47), the lifting height of the retaining frame (44) is matched with the lifting height of the electric push rod (43), and the lower fixed block (42) and the auxiliary wheel (8) are lifted and lowered synchronously; The retaining frame (44) is composed of a plurality of connecting rods, and the connecting rods of the retaining frame (44) are in a parallelogram structure, and the two ends of two adjacent connecting rods of the retaining frame (44) are connected by a connecting pin (45); An angle adjustment structure (5) is provided at a corner between the upper fixed block (41) and the inspection robot body (1), the angle adjustment structure (5) comprising a semicircular side plate (51), the side plate (51) being integrally manufactured with both end surfaces of the upper fixed block (41), the side plate (51) being arranged inside the reserved groove (3), both ends of the reserved groove (3) being provided with a connecting block (55), and one end of the side plate (51) being provided with a drive motor (52). ), the end of the driving motor 1 (52) is connected to a fixed shaft (56), the fixed shaft (56) rotates synchronously with the side plate (51) and the upper fixed block (41), a row of reserved holes (53) are provided on the arc surface of the side plate (51), a fixed sleeve (57) is installed inside each reserved hole (53), a loose ball (54) and a telescopic spring (58) are arranged inside the fixed sleeve (57), and the loose ball (54) contacts the inner wall of the reserved groove (3); A row of spherical surfaces are provided at both ends of the reserved groove (3); the diameter of the elastic ball (54) is the same as the diameter of the spherical surface of the reserved groove (3); the elastic ball (54) is movably connected to the interior of the fixed sleeve (57); An adaptive structure (6) is provided at the bottom end of the lower fixed block (42), the adaptive structure (6) comprising a receiving cavity (61), the receiving cavity (61) being opened at the bottom end of the lower fixed block (42), a rotating block (62) being provided inside the receiving cavity (61), an auxiliary wheel (8) being provided inside the rotating block (62), rotating pins (63) being inserted at both ends of the rotating block (62), the two ends of the rotating block (62) being rotatably connected to the lower fixed block (42), and the auxiliary wheel (8) and the rotating block (62) rotating synchronously.

2. A tank bottom temperature measurement inspection robot according to claim 1, characterized in that: The ends of the sliding groove 1 (46) and the ends of the sliding groove 2 (410) are both fixedly mounted with plugs (48), and the cross-sectional shapes of the sliding groove 1 (46), the sliding block 1 (47), the plug (48), the sliding block 2 (49) and the sliding groove 2 (410) are all the same.

3. A tank bottom temperature measurement inspection robot according to claim 2, characterized in that: The upper fixed block (41) rotates in an angle range of 0-90°, the elastic ball (54) is engaged with the spherical surface of the reserved groove (3), and the auxiliary wheels (8) on both sides of the inspection robot body (1) are arranged at an angle.

4. A tank bottom temperature measurement inspection robot according to claim 3, characterized in that: A limit pin (65) is disposed at the end of the rotating pin (63), and limit slots (64) are provided at both ends of the lower fixed block (42), and the limit pin (65) is movably connected to the limit slots (64).

5. A tank bottom temperature measurement inspection robot according to any one of claims 1 to 4, characterized in that: A rotating shaft (69) is arranged in the middle of the auxiliary wheel (8), a worm wheel (68) is installed at the end of the rotating shaft (69) and located inside the rotating block (62), a second driving motor (66) is installed on the side wall of the rotating block (62), a worm (67) is connected to the end of the second driving motor (66), and the worm (67) and the worm wheel (68) are driven.

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