Self-adaptive suspension type robot for riverway inspection

Abstract

The invention relates to a self-adaptive suspension type robot for riverway inspection, and belongs to the technical field of riverway inspection robots. The self-adaptive suspension type robot for river channel inspection comprises a moving vehicle, a lifting column is arranged at the top of the moving vehicle, an electric telescopic plate is fixedly installed at the other end of the lifting column, a winch and a stable inspection mechanism are fixedly installed on one side of the electric telescopic plate, and the stable inspection mechanism comprises a moving bin, a detection assembly and a stable assembly; during inspection and sampling, river water can be rapidly sampled through the detection assembly, the flow velocity of the river water can be synchronously detected while sampling is conducted, the robot can sample and detect the water quality and the flow velocity of a river channel at the same time, and during detection, the stabilizing assembly can adjust the position of the moving bin; the flow velocity inspection part in the movable bin is consistent with the flowing direction of river water, the movable bin stably floats on the river surface, and inspection data are more accurate.

Description

Technical Field

[0001] The invention relates to the technical field of river inspection robots, and in particular to an adaptive suspension robot for river inspection. Background Art

[0002] River inspection refers to the regular monitoring and inspection of the river and its surrounding environment to assess water quality, flow rate, ecological status and structural safety. The main purpose of the inspection is to promptly discover and deal with potential pollution sources, siltation problems and river deformation, so as to protect water resources, maintain ecological balance and ensure the safety of water conservancy facilities.

[0003] As shown in the reference case "An Automatic Inspection System for a Culvertized River Channel" announcement number "CN109900250A", the relay module transmits the signal to the river channel, which can realize remote communication control of the crawler. It is easy to operate, reduces the use of wires, and saves costs. At the same time, reducing the use of wires can reduce the limitation on the running distance of the crawler due to the length of the wires. When the wires are too long, the weight of the wires will affect the forward movement of the crawler. At the same time, the movement trajectory of the crawler may intersect with the wires, creating obstacles to the movement of the crawler.

[0004] When inspecting a river, it is usually necessary to take samples of the flow rate and river water. However, during the sampling process of existing inspection robots, impurities on the river surface can easily enter the samples, affecting the accuracy of the data. In addition, when inspecting the flow rate of a river, if the detection equipment fails to remain parallel to the direction of the river water flow, it can easily lead to measurement data deviations, thereby affecting the accuracy of the river inspection data. Summary of the invention

[0005] Based on this, it is necessary to provide an adaptive suspended robot for river inspection, which is usually necessary to sample the flow velocity and river water of the river. However, during the sampling process of existing inspection robots, impurities on the river surface can easily enter the samples, affecting the accuracy of the data. Also, when inspecting the flow velocity of the river, if the detection equipment fails to remain parallel to the flow direction of the river water, it can easily lead to measurement data deviation, thereby affecting the accuracy of the river inspection data.

[0006] An adaptive suspension robot for river inspection, comprising:

[0007] A mobile vehicle, wherein a lifting column is arranged on the top of the mobile vehicle, an electric telescopic plate is fixedly installed on the other end of the lifting column, and a winch is fixedly installed on one side of the electric telescopic plate;

[0008] A stable inspection mechanism, the stable inspection mechanism comprising a mobile bin, a detection component and a stabilizing component, the mobile bin being rotatably connected to the output end of the winch, the detection component being arranged inside the mobile bin, and the stabilizing component being arranged outside the mobile bin;

[0009] Among them, the detection component includes an electric push rod, a detection chamber, a movable plate and a plurality of sampling tubes. The electric push rod and the detection chamber are fixedly installed inside the movable chamber, the electric push rod is fixedly installed on the top of the detection chamber, the output end of the electric push rod extends into the detection chamber and is fixedly connected to the movable plate, and the plurality of sampling tubes are fixedly installed on the bottom of the movable plate.

[0010] In one embodiment, the detection component also includes a fixed frame arranged between the multiple sampling tubes, the top of the fixed frame is fixedly connected to the movable plate, the surface of the fixed frame is provided with an opening, a connecting rod is rotatably installed on one side of the opening, a plurality of toggle plates are fixedly installed on the outer side of the connecting rod, a guide plate is fixedly installed on the inner bottom wall of the opening, the guide plate is arranged in a triangular shape, the guide plate is located at the bottom of the multiple toggle plates, a one-way rotating plate is rotatably installed on the bottom of the detection chamber, the one-way rotating plate is located at the bottom of the fixed frame, and a transmission belt is connected to the surface of the connecting rod for transmission.

[0011] In one embodiment, the detection component also includes a sampling tube slidably installed inside the sampling barrel, the surface of the sampling barrel is provided with a first water inlet and a second water inlet, the first water inlet is located on the top of the second water inlet, a support rod is fixedly installed on the inner top wall of the sampling barrel, the sampling tube is slidably connected to the support rod, the first water inlet is located on the top of the sampling tube, and a sampling port is provided on the surface of the sampling tube, and the sampling port is located on the top of the second water inlet.

[0012] In one of the embodiments, a guide plate is fixedly installed on the top of the sampling tube, and the cross-section of the guide plate is set to be triangular.

[0013] In one embodiment, the bottom end of the support rod is located inside the sampling tube and is fixedly connected to a fixing plate, a first spring is fixedly installed between the fixing plate and the inner top wall of the sampling tube, the first spring is located on the outside of the support rod, a sealing tube is fixedly installed on the inner top wall of the sampling tube, and the first spring and the fixing plate are both located inside the sealing tube.

[0014] In one of the embodiments, a sealing plug is fixedly installed at the bottom of the sampling tube, and one side of the sealing plug extends out of the interior of the detection chamber.

[0015] In one of the embodiments, a monitor and a water level meter are fixedly installed on one side of the electric telescopic plate, a motor is fixedly installed inside the mobile vehicle, a rotating disk is fixedly installed on the surface of the mobile vehicle, the lifting column is fixedly installed on the top of the rotating disk, and a counterweight block is fixedly installed on one side of the lifting column.

[0016] In one embodiment, the stabilizing component includes a contact plate fixedly mounted on the outside of the mobile bin, the contact plate is configured to be in a truncated cone shape, two fixed rods are fixedly mounted on the outside of the contact plate, a drive plate is provided at one end of the two fixed rods away from each other, and the drive plate is configured to be in a triangular shape.

[0017] In one of the embodiments, the driving plate is slidably connected to an adjacent fixing rod, and a second spring is fixedly installed between one end of the fixing rod and the driving plate.

[0018] In one embodiment, a plurality of fixing frames are fixedly installed at the bottom of the contact plate, a floating plate is rotatably installed on one side of each fixing frame, a water inlet groove is opened on one side of the floating plate, a contact head is fixedly installed on one side of the floating plate, and one side of the contact head is set to be inclined.

[0019] The above-mentioned adaptive suspended robot for river inspection can move along the river channel through a stable inspection mechanism when conducting river inspection, which is convenient for inspecting rivers at different positions. When conducting inspection sampling, the river water can be quickly sampled through the detection component, and the flow rate of the river water can be synchronously detected while sampling, so that the robot can achieve simultaneous sampling and detection of river water quality and flow rate. During detection, the stabilizing component can adjust the position of the mobile bin so that the flow rate inspection component in the mobile bin is consistent with the flow direction of the river water, and the mobile bin can float stably on the river surface, making the inspection data more accurate.

[0020] When the sampling tube enters the river water, the sampling tube continues to move downward. When the river water is higher than the first water inlet, the river water enters the sampling tube through the first water inlet. At this time, the river water can move the sampling tube downward. When the sampling port of the sampling tube is aligned with the second water inlet, the river water can enter the interior of the sampling tube. Sampling is not performed until the sampling tube is completely entered into the river water, thereby avoiding impurities on the river surface entering the interior of the sampling tube and affecting the sampling. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] In order to more clearly illustrate the technical solutions in the present invention or the prior art, a brief introduction is given below to the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0022] Figure 1 It is a schematic diagram of the main structure of the present invention;

[0023] Figure 2 It is a schematic diagram of the structure of the mobile warehouse and the electric telescopic plate of the present invention;

[0024] Figure 3It is a schematic diagram of the structure of the stable inspection mechanism of the present invention;

[0025] Figure 4 It is a schematic diagram of the structure of the mobile warehouse of the present invention;

[0026] Figure 5 It is a schematic diagram of the floating plate and the contact head structure of the present invention;

[0027] Figure 6 It is a schematic diagram of the contact plate and the driving plate structure of the present invention;

[0028] Figure 7 It is a schematic diagram of the internal structure of the sampling tube of the present invention;

[0029] Figure 8 It is a schematic diagram of the structure of the sampling cylinder and the sampling tube of the present invention;

[0030] Fig. 9 It is a schematic diagram of the structure of the mobile vehicle and the lifting column of the present invention.

[0031] Reference numerals:

[0032] 100, mobile vehicle; 110, motor; 120, rotating disk; 130, counterweight; 200, lifting column; 210, electric telescopic plate; 220, winch; 230, monitor; 240, water level meter; 300, stable inspection mechanism; 310, mobile warehouse; 320, detection component; 321, electric push rod; 322, detection warehouse; 323, mobile plate; 324, sampling tube; 325, first water inlet; 326, second water inlet; 327, support rod; 328, sampling tube; 329, sampling Mouth; 3210, fixed plate; 3211, first spring; 3212, sealing tube; 3213, guide plate; 3214, sealing plug; 3215, fixed frame; 3216, connecting rod; 3217, toggle plate; 3218, transmission belt; 3219, guide plate; 3220, one-way rotating plate; 330, stabilizing assembly; 331, contact plate; 332, fixed frame; 333, floating plate; 334, water inlet trough; 335, contact head; 336, fixed rod; 337, drive plate; 338, second spring. DETAILED DESCRIPTION

[0033] In order to make the purpose, technical solution and advantages of the embodiments of the present invention clearer, the technical solution in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not 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.

[0034] It should be noted that when a component is referred to as being "fixed to" or "disposed on" another component, it may be directly on the other component or there may be a central component. When a component is considered to be "connected to" another component, it may be directly connected to the other component or there may be a central component at the same time. The terms "vertical", "horizontal", "upper", "lower", "left", "right" and similar expressions used in the specification of the present invention are for illustrative purposes only and do not represent the only implementation method.

[0035] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include at least one of the features. In the description of the present invention, the meaning of "plurality" is at least two, such as two, three, etc., unless otherwise clearly and specifically defined.

[0036] In the present invention, unless otherwise clearly specified and limited, a first feature being “above” or “below” a second feature may mean that the first feature is directly in contact with the second feature, or the first feature and the second feature are indirectly in contact through an intermediate medium. Moreover, a first feature being “above”, “above” or “above” a second feature may mean that the first feature is directly above or obliquely above the second feature, or simply means that the first feature is higher in level than the second feature. A first feature being “below”, “below” or “below” a second feature may mean that the first feature is directly below or obliquely below the second feature, or simply means that the first feature is lower in level than the second feature.

[0037] Unless otherwise defined, all technical and scientific terms used in the specification of the present invention have the same meaning as those commonly understood by those skilled in the art of the present invention. The terms used in the specification of the present invention are only for the purpose of describing specific embodiments and are not intended to limit the present invention. The term "and / or" used in the specification of the present invention includes any and all combinations of one or more related listed items.

[0038] Combine the following Figure 1-Figure 9 The invention describes an adaptive suspended robot for river inspection.

[0039] In one embodiment, an adaptive suspension robot for river inspection includes:

[0040] A mobile vehicle 100, a lifting column 200 is arranged on the top of the mobile vehicle 100, an electric telescopic plate 210 is fixedly installed on the other end of the lifting column 200, and a winch 220 is fixedly installed on one side of the electric telescopic plate 210;

[0041] The stable inspection mechanism 300 includes a mobile bin 310, a detection component 320 and a stabilization component 330. The mobile bin 310 is rotatably connected to the output end of the winch 220. The detection component 320 is disposed inside the mobile bin 310, and the stabilization component 330 is disposed outside the mobile bin 310.

[0042] Among them, the detection component 320 includes an electric push rod 321, a detection chamber 322, a movable plate 323 and a plurality of sampling tubes 324. The electric push rod 321 and the detection chamber 322 are fixedly installed inside the mobile chamber 310. The electric push rod 321 is fixedly installed on the top of the detection chamber 322. The output end of the electric push rod 321 extends to the inside of the detection chamber 322 and is fixedly connected to the movable plate 323. The plurality of sampling tubes 324 are fixedly installed on the bottom of the movable plate 323.

[0043] In this embodiment, when inspecting a river channel, the stable inspection mechanism 300 can be used to move along the river channel, which facilitates the inspection of rivers at different locations. When inspecting and sampling, the detection component 320 can quickly sample river water, and the flow rate of the river water can be synchronously detected while sampling, so that the robot can simultaneously sample and detect the water quality and flow rate of the river channel, thereby improving the detection efficiency. During detection, the stabilizing component 330 can make the mobile warehouse 310 float stably on the river surface and can also adjust the position of the mobile warehouse 310 so that the flow rate inspection component in the mobile warehouse 310 is consistent with the flow direction of the river water, making the detection data more accurate.

[0044] like Figure 2 , Figure 3 , Figure 4 , Figure 8 and Fig. 9 As shown, the detection component 320 also includes a fixed frame 3215 arranged between multiple sampling tubes 324, the top of the fixed frame 3215 is fixedly connected to the movable plate 323, the surface of the fixed frame 3215 is provided with an opening, a connecting rod 3216 is rotatably installed on one side of the opening, a plurality of toggle plates 3217 are fixedly installed on the outer side of the connecting rod 3216, a guide plate 3219 is fixedly installed on the inner bottom wall of the opening, the guide plate 3219 is set in a triangular shape, the guide plate 3219 is located at the bottom of the multiple toggle plates 3217, a one-way rotating plate 3220 is rotatably installed at the bottom of the detection chamber 322, the one-way rotating plate 3220 is located at the bottom of the fixed frame 3215, and the surface of the connecting rod 3216 is connected to the transmission belt 3218 for transmission.

[0045] The detection component 320 also includes a sampling tube 328 slidably installed inside the sampling tube 324. The surface of the sampling tube 324 is provided with a first water inlet 325 and a second water inlet 326. The first water inlet 325 is located at the top of the second water inlet 326. A support rod 327 is fixedly installed on the inner top wall of the sampling tube 324. The sampling tube 328 is slidably connected to the support rod 327. The first water inlet 325 is located at the top of the sampling tube 328. A sampling port 329 is provided on the surface of the sampling tube 328. The sampling port 329 is located at the top of the second water inlet 326.

[0046] A guide plate 3213 is fixedly installed on the top of the sampling tube 328, and the cross section of the guide plate 3213 is set to be triangular.

[0047] The bottom end of the support rod 327 is located inside the sampling tube 328 and is fixedly connected to a fixing plate 3210. A first spring 3211 is fixedly installed between the fixing plate 3210 and the inner top wall of the sampling tube 324. The first spring 3211 is located on the outside of the support rod 327. A sealing tube 3212 is fixedly installed on the inner top wall of the sampling tube 328. The first spring 3211 and the fixing plate 3210 are both located inside the sealing tube 3212.

[0048] A sealing plug 3214 is fixedly installed at the bottom of the sampling tube 324 , and one side of the sealing plug 3214 extends out of the interior of the detection chamber 322 .

[0049] A monitor 230 and a water level meter 240 are fixedly installed on one side of the electric telescopic plate 210, a motor 110 is fixedly installed inside the mobile vehicle 100, a rotating disk 120 is fixedly installed on the surface of the mobile vehicle 100, a lifting column 200 is fixedly installed on the top of the rotating disk 120, and a counterweight block 130 is fixedly installed on one side of the lifting column 200.

[0050] In this embodiment, when sampling and flow rate inspection are required, the winch 220 can be started to lower the mobile bin 310, thereby moving the mobile bin 310 downward. When the mobile bin 310 contacts the river channel, the mobile bin 310 can be stably floated on the river surface through the stabilizing component 330, and rotating the mobile bin 310 can allow the mobile bin 310 to synchronously rotate the fixed frame 3215, so that the opening of the fixed frame 3215 is consistent with the flow direction of the river channel. At this time, the river water contacts the toggle plate 3217 when passing through the opening. At this time, the toggle plate 3217 can be rotated to allow the toggle plate 3217 to synchronously drive the connecting rod 3216 to rotate. When the connecting rod 3216 rotates, the rotation data can be recorded through the transmission belt 3218, thereby detecting the flow rate of the river water. When the first water inlet 325 contacts the river surface, the electric push rod 321 can drive the movable plate 323 to move, so that the movable plate 323 moves downward, and simultaneously drives the fixed frame 3215 and the plurality of sampling tubes 324 to move out of the detection chamber 322 and the movable chamber 310 for detection. When the sampling tube 324 enters the river water, the sampling tube 324 continues to move downward. When the river water is higher than the first water inlet 325, the river water enters the sampling tube 324 through the first water inlet 325. At this time, the river water can move the sampling tube 328 downward. When the sampling port 329 of the sampling tube 328 is aligned with the second water inlet 326, the river water can enter the sampling tube 328. Therefore, sampling is performed only when the sampling tube 328 is completely in the river water, so as to avoid the impurities on the river surface entering the sampling tube 328 and affecting the sampling.

[0051] like Figure 2 , Figure 3 , Figure 5 and Figure 6 As shown, the stabilizing assembly 330 includes a contact plate 331 fixedly mounted on the outside of the mobile bin 310. The contact plate 331 is configured in a truncated cone shape. Two fixing rods 336 are fixedly mounted on the outside of the contact plate 331. A driving plate 337 is provided at one end away from the other of the two fixing rods 336. The driving plate 337 is configured in a triangular shape.

[0052] The driving plate 337 is slidably connected to the adjacent fixing rod 336 , and a second spring 338 is fixedly installed between one end of the fixing rod 336 and the driving plate 337 .

[0053] A plurality of fixing frames 332 are fixedly installed at the bottom of the contact plate 331, a floating plate 333 is rotatably installed on one side of the fixing frame 332, a water inlet groove 334 is opened on one side of the floating plate 333, a contact head 335 is fixedly installed on one side of the floating plate 333, and one side of the contact head 335 is set to be inclined.

[0054] In this embodiment, when the mobile warehouse 310 contacts the river surface, the plurality of floating plates 333 and the contact plate 331 contact the river surface first. When the plurality of floating plates 333 contact the river surface, they can be rotated synchronously to open, thereby forming four-corner support pads at the bottom of the contact plate 331 to stably support the mobile warehouse 310, so that the mobile warehouse 310 can be more stable during sampling and maintenance. When the contact plate 331 contacts the river surface, the driving plates 337 on both sides also contact the river surface synchronously, and the triangular shape The driving plate 337 will be pushed by the river water. Moving the two driving plates 337 to a position parallel to the flow direction of the river water can allow the two driving plates 337 to rotate the mobile bin 310 to drive the fixed frame 3215 to rotate, and align the opening direction with the flow direction of the river water, so that the data is more accurate when inspecting the river water flow rate, and when the river water impacts the driving plate 337, the second spring 338 can be used to buffer the driving plate 337, thereby reducing the wear of the driving plate 337 caused by the scouring of the river water.

[0055] Working principle: When sampling and flow rate inspection are required, the winch 220 can be started to lower the mobile bin 310, thereby moving the mobile bin 310 downward. When the mobile bin 310 contacts the river channel, the mobile bin 310 can be stably floated on the river surface through the stabilizing component 330, and the mobile bin 310 can be rotated to allow the mobile bin 310 to synchronously rotate the fixed frame 3215, so that the opening of the fixed frame 3215 is consistent with the flow direction of the river channel. At this time, the river water contacts the toggle plate 3217 when passing through the opening. At this time, the toggle plate 3217 can be rotated to allow the toggle plate 3217 to synchronously drive the connecting rod 3216 to rotate. When the connecting rod 3216 rotates, the rotation data can be recorded through the transmission belt 3218, thereby detecting the flow rate of the river water. When in contact with the river surface, the electric push rod 321 can drive the moving plate 323 to move, so that the moving plate 323 moves downward, and simultaneously drives the fixed frame 3215 and multiple sampling tubes 324 to move out of the detection chamber 322 and the movable chamber 310 for detection. When the sampling tube 324 enters the river water, the sampling tube 324 continues to move downward. When the river water is higher than the first water inlet 325, the river water enters the sampling tube 324 through the first water inlet 325. At this time, the river water can move the sampling tube 328 downward, and when the sampling port 329 of the sampling tube 328 is aligned with the second water inlet 326, the river water can enter the sampling tube 328. Sampling is performed only when the sampling tube 328 is completely in the river water, so as to avoid impurities on the river surface entering the sampling tube 328 and affecting the sampling during sampling.

[0056] When the mobile warehouse 310 contacts the river surface, multiple floating plates 333 and contact plates 331 contact the river surface first. When multiple floating plates 333 contact the river surface, they can be rotated synchronously to open, thereby forming support pads at four corners at the bottom of the contact plate 331 to stably support the mobile warehouse 310, so that the mobile warehouse 310 can be more stable during sampling and maintenance. When the contact plate 331 contacts the river surface, the driving plates 337 on both sides also contact the river surface synchronously, and the triangular driving plates 337 will be pushed by the river water, and the two driving plates 337 are moved to a position parallel to the flow direction of the river water, so that the two driving plates 337 can rotate the mobile warehouse 310 to drive the fixed frame 3215 to rotate, and align the opening direction with the flow direction of the river water, so that the data is more accurate when the river water flow rate inspection is carried out, and when the river water impacts the driving plate 337, the second spring 338 can be used to buffer the driving plate 337, thereby reducing the wear of the driving plate 337 caused by the river water scouring.

[0057] It should be noted that the motors, lifting columns, electric telescopic plates, winches, monitors, water level meters and electric push rods in the above description are all relatively mature devices in existing technology applications. Specific models can be selected according to actual needs. At the same time, the motors, lifting columns, electric telescopic plates, winches, monitors, water level meters and electric push rods can be powered by built-in power supplies or by AC power. The specific power supply method is selected according to the situation and will not be elaborated here.

[0058] The technical features of the above-described embodiments may be arbitrarily combined. To make the description concise, not all possible combinations of the technical features in the above-described embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0059] The above-described embodiments only express several implementation methods of the present invention, and the description thereof is relatively specific and detailed, but it cannot be understood as limiting the scope of the present invention. It should be pointed out that, for a person of ordinary skill in the art, several modifications and improvements can be made without departing from the concept of the present invention, and these all belong to the protection scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the attached claims.

Claims

1. An adaptive suspension robot for river inspection, characterized in that: include: A mobile vehicle (100), wherein a lifting column (200) is arranged on the top of the mobile vehicle (100), an electric telescopic plate (210) is fixedly mounted on the other end of the lifting column (200), and a winch (220) is fixedly mounted on one side of the electric telescopic plate (210); A stable inspection mechanism (300), the stable inspection mechanism (300) comprising a mobile bin (310), a detection component (320) and a stabilization component (330), the mobile bin (310) being rotatably connected to an output end of a winch (220), the detection component (320) being disposed inside the mobile bin (310), and the stabilization component (330) being disposed outside the mobile bin (310); The detection assembly (320) comprises an electric push rod (321), a detection chamber (322), a movable plate (323) and a plurality of sampling tubes (324); the electric push rod (321) and the detection chamber (322) are both fixedly mounted inside the movable chamber (310); the electric push rod (321) is fixedly mounted on the top of the detection chamber (322); the output end of the electric push rod (321) extends into the detection chamber (322) and is fixedly connected to the movable plate (323); and the plurality of sampling tubes (324) are all fixedly mounted on the bottom of the movable plate (323).

2. The adaptive suspension robot for river inspection according to claim 1 is characterized in that: The detection assembly (320) also includes a fixed frame (3215) arranged between the plurality of sampling tubes (324), the top of the fixed frame (3215) is fixedly connected to the movable plate (323), an opening is opened on the surface of the fixed frame (3215), a connecting rod (3216) is rotatably mounted on one side of the opening, a plurality of toggle plates (3217) are fixedly mounted on the outer side of the connecting rod (3216), a guide plate (3219) is fixedly mounted on the inner bottom wall of the opening, the guide plate (3219) is arranged in a triangular shape, the guide plate (3219) is located at the bottom of the plurality of toggle plates (3217), a one-way rotating plate (3220) is rotatably mounted on the bottom of the detection chamber (322), the one-way rotating plate (3220) is located at the bottom of the fixed frame (3215), and a transmission belt (3218) is transmission-connected to the surface of the connecting rod (3216).

3. The adaptive suspension robot for river inspection according to claim 1 is characterized in that: The detection component (320) also includes a sampling tube (328) slidably mounted inside the sampling tube (324); a first water inlet (325) and a second water inlet (326) are provided on the surface of the sampling tube (324); the first water inlet (325) is located at the top of the second water inlet (326); a support rod (327) is fixedly mounted on the inner top wall of the sampling tube (324); the sampling tube (328) is slidably connected to the support rod (327); the first water inlet (325) is located at the top of the sampling tube (328); a sampling port (329) is provided on the surface of the sampling tube (328); and the sampling port (329) is located at the top of the second water inlet (326).

4. The adaptive suspension robot for river inspection according to claim 3 is characterized in that: A guide plate (3213) is fixedly mounted on the top of the sampling tube (328), and the cross-section of the guide plate (3213) is arranged to be triangular in shape.

5. The adaptive suspension robot for river inspection according to claim 3 is characterized in that: The bottom end of the support rod (327) is located inside the sampling tube (328) and is fixedly connected to a fixing plate (3210); a first spring (3211) is fixedly installed between the fixing plate (3210) and the inner top wall of the sampling tube (324); the first spring (3211) is located on the outside of the support rod (327); a sealing tube (3212) is fixedly installed on the inner top wall of the sampling tube (328); the first spring (3211) and the fixing plate (3210) are both located inside the sealing tube (3212).

6. The adaptive suspension robot for river inspection according to claim 1, characterized in that: A sealing plug (3214) is fixedly mounted on the bottom of the sampling cylinder (324), and one side of the sealing plug (3214) extends out of the interior of the detection chamber (322).

7. The adaptive suspension robot for river inspection according to claim 1, characterized in that: A monitor (230) and a water level meter (240) are fixedly mounted on one side of the electric telescopic plate (210); a motor (110) is fixedly mounted inside the mobile vehicle (100); a rotating disk (120) is fixedly mounted on the surface of the mobile vehicle (100); the lifting column (200) is fixedly mounted on the top of the rotating disk (120); and a counterweight (130) is fixedly mounted on one side of the lifting column (200).

8. The adaptive suspension robot for river inspection according to claim 1, characterized in that: The stabilizing component (330) comprises a contact plate (331) fixedly mounted on the outside of the mobile bin (310); the contact plate (331) is arranged in a truncated cone shape; two fixing rods (336) are fixedly mounted on the outside of the contact plate (331); a driving plate (337) is arranged at one end of the two fixing rods (336) that are away from each other; and the driving plate (337) is arranged in a triangular shape.

9. The adaptive suspension robot for river inspection according to claim 8, characterized in that: The driving plate (337) is slidably connected to an adjacent fixing rod (336), and a second spring (338) is fixedly installed between one end of the fixing rod (336) and the driving plate (337).

10. The adaptive suspension robot for river inspection according to claim 8, characterized in that: A plurality of fixing frames (332) are fixedly mounted on the bottom of the contact plate (331), a floating plate (333) is rotatably mounted on one side of each fixing frame (332), a water inlet groove (334) is provided on one side of the floating plate (333), a contact head (335) is fixedly mounted on one side of the floating plate (333), and one side of the contact head (335) is arranged in an inclined shape.

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