Inclinometer robot and inclinometer method

Abstract

The present application provides an inclinometer robot and an inclinometer method, wherein the inclinometer robot includes a foundation pit for inserting into the foundation pit ground, and an inclinometer slidably inserted in the inclinometer tube; the inclinometer includes a measuring rod, two swing arms and a synchronous drive assembly; the measuring rod has at least two pulley sets; the two swing arms are respectively arranged on both sides of the measuring rod and are hinged to the measuring rod; the swing end of the swing arm is rotatably connected to a rotating wheel, and the rotating wheel is transmission-connected to a rotating drive component; the synchronous drive assembly is arranged on the measuring rod and connected to the two swing arms, so as to drive the two swing arms to swing simultaneously. The aforementioned traction mechanism includes a pull rope connected to the upper end of the measuring rod, and the pull rope is rotatably connected to the upper end of the measuring rod, so that the measuring rod can rotate relative to the pull rope. The inclinometer robot and the inclinometer method provided by the present application can flexibly adjust the pulley position to ensure that the inclinometer can stably enter and exit the inclinometer tube to avoid damage to related components.

Description

Technical Field

[0001] The present application belongs to the technical field of inclinometer equipment, and specifically relates to an inclinometer robot and an inclinometer method. Background Art

[0002] In geotechnical engineering, inclinometers are needed to monitor the deep horizontal displacement of foundation pits in order to control the excavation rate of the foundation pit and decide whether the slope of the foundation pit needs to be reinforced.

[0003] In the prior art, the inclinometer is usually used in conjunction with an inclinometer tube. Specifically, the inclinometer tube is fixed at the installation position by drilling or tying. The inclinometer enters from the upper opening of the inclinometer tube, and after falling to the lower end of the inclinometer tube, moves upward to exit the inclinometer tube. During this process, the inclination angle of the inclinometer tube axis relative to the plumb line is measured by the sensor inside the inclinometer.

[0004] The inventors found that when the inclinometer moves along the axial direction of the inclinometer tube, it is easily interfered by the protrusions on the inner wall of the inclinometer tube and cannot move. If it is forcibly pulled out by a traction mechanism, it is easy to cause damage to the pull rope or the pulley, thereby making it impossible to accurately obtain the inclinometer result. Summary of the invention

[0005] The embodiments of the present application provide an inclinometer robot and an inclinometer method, which are intended to ensure that the inclinometer can stably enter and exit the inclinometer tube. When the protrusion of the inclinometer tube is contacted, the pulley position can be flexibly adjusted to avoid damage to related components.

[0006] To achieve the above purpose, the technical solution adopted in this application is:

[0007] Provided is an inclinometer robot, comprising an inclinometer tube with an upper opening for inserting into a foundation pit, and an inclinometer slidably inserted in the inclinometer tube and connected to a traction mechanism, wherein the inclinometer comprises:

[0008] A measuring rod is inserted into the inclinometer tube and has at least two pulley blocks arranged at intervals along its axial direction; each of the pulley blocks is used to abut against the inner wall of the inclinometer tube so that the measuring rod moves along the axial direction of the inclinometer tube;

[0009] Two swing arms are arranged at intervals on both sides of the measuring rod along the radial direction of the measuring rod; the upper end of each swing arm is hinged to the measuring rod, and the hinge axis is perpendicular to the axis of the measuring rod; the lower end of each swing arm is rotatably connected to a rotating wheel, the rotating axis of the rotating wheel is parallel to the length direction of the swing arm, and the rotating wheel is transmission-connected to a rotating driving component for driving the rotating wheel to rotate;

[0010] A synchronous drive assembly is arranged on the measuring rod and connected to the two swing arms, so as to drive the swing arms to swing outward until the outer wall of the rotating wheel abuts against the inner wall of the inclinometer tube, or to drive the swing arms to swing until the axial direction thereof is parallel to the measuring rod;

[0011] Wherein, the traction mechanism includes a pull rope connected to the upper end of the measuring rod, and the pull rope is rotatably connected to the upper end of the measuring rod, so that the measuring rod can rotate relative to the pull rope with its axis as the axis.

[0012] In a possible implementation, the measuring rod is provided with a mounting hole which penetrates in a radial direction thereof, the mounting hole is located between two of the pulley blocks, and the two swing arms are both arranged in the mounting hole and hinged to the inner wall of the mounting hole;

[0013] Wherein, when the synchronous driving component drives the swing arm to swing until its axial direction is parallel to the measuring rod, the swing arm is located in the mounting hole.

[0014] In a possible implementation, adjacent sides of the two swing arms are provided with inclined surfaces, so that when the two swing arms are swung until their axes are parallel to the measuring rod, the distance between the two swing arms gradually decreases from bottom to top; the synchronous drive assembly comprises:

[0015] A lifting block is slidably connected to the inner wall of the mounting hole in the up-down direction, is located between the two swing arms, and is transmission-connected to a lifting driving member for driving the lifting block to move;

[0016] An elastic band is arranged between the two swing arms, and its two ends are respectively connected to the two swing arms;

[0017] Wherein, when the lifting drive component drives the lifting block to move upward, both sides of the lifting block can be respectively connected with the two inclined surfaces, so that the two swing arms swing outward and the two rotating wheels abut against the inner wall of the inclinometer casing;

[0018] When the lifting block moves downward to be separated from the swing arm, the elastic band is in an elastically stretched state to drive the two swing arms to swing inward so that the axes of the two swing arms are parallel to the measuring rod.

[0019] In a possible implementation, the lifting drive component includes:

[0020] A shell is detachably arranged in the mounting hole, is located on the upper side of the swing arm, and has a wire outlet hole communicating with the interior of the shell on the lower side;

[0021] A fixed rod, detachably arranged in the housing, on which a winding shaft sleeve is sleeved, and a bidirectional driving component which is transmission-connected with the winding shaft sleeve and is suitable for driving the winding shaft sleeve to rotate forward and reversely;

[0022] A traction belt is wound around the winding sleeve; one end of the traction belt is connected to the outer wall of the winding sleeve, and the other end of the traction belt passes through the wire outlet hole and is connected to the lifting block.

[0023] In a possible implementation, the measuring rod has a plurality of accommodating holes arranged at intervals along its axial direction and corresponding to the plurality of pulley blocks one by one, each of the accommodating holes penetrates along the radial direction of the inclinometer casing, and the pulley block includes:

[0024] A mounting plate is detachably arranged in the receiving hole; the mounting plate has two sliders arranged at intervals along the axial direction of the measuring rod and slidably connected to the mounting plate on both sides of the axial direction of the receiving hole, and a distance adjustment driving component for driving the two sliders on the same side to move toward or away from each other;

[0025] Two pulley seats are respectively arranged on both sides of the mounting plate facing the accommodating hole in the axial direction; each of the pulley seats is rotatably connected to a pulley body and is hinged to two transmission arms arranged in parallel along the axial direction of the measuring rod;

[0026] Wherein, the two transmission arms correspond to the two sliders on the same side, and the swing end of each transmission arm is hinged to the corresponding slider;

[0027] When the distance adjustment driving member drives the two sliders to move toward or away from each other, the pulley seat can move toward or away from the mounting plate under the action of the two transmission arms, so that the pulley body moves away from the mounting plate to abut against the inner wall of the inclinometer casing.

[0028] In a possible implementation, the distance adjustment driving component includes:

[0029] Two double-headed screws are arranged in parallel on both sides of the mounting plate facing the accommodating hole in an axial direction, and are both rotatably connected to the mounting plate; each of the double-headed screws has two threaded parts with opposite thread directions, and the two threaded parts are respectively threadedly connected to the two sliders; and each end of the double-headed screw has a first driven gear coaxially arranged therewith;

[0030] The first rotating motor is fixedly arranged between the two double-headed screws, and its power output axis is parallel to the double-headed screws. The power output end of the first rotating motor is coaxially connected to a first driving gear meshing with the two first driven gears.

[0031] In a possible implementation, the traction mechanism further includes:

[0032] Two vertical plates, used for being fixed inside the foundation pit and respectively located on both sides of the inclinometer tube;

[0033] A winding drum is arranged between the two vertical plates, with its axial direction parallel to the arrangement direction of the two vertical plates, and the winding drum is drivingly connected to a rotating driving member for driving the winding drum to rotate;

[0034] The pull rope is wound around the winding drum, and one end of the pull rope is connected to the winding drum, so that when the rotating driving component drives the winding drum to rotate, the pull rope is wound around the outer circumference of the winding drum and pulls the measuring rod upward, or the pull rope is detached from the winding drum to make the measuring rod fall.

[0035] In a possible implementation, a wire binding member is provided between the two vertical plates for keeping the portion of the pull rope separated from the winding drum in a vertical state, and the wire binding member includes:

[0036] A lifting plate is slidably arranged between the two vertical plates in the up-down direction, is located at the lower side of the winding drum, and is connected to an elastic driving member for driving it to move upward; an upper through hole is opened on the lifting plate, which is through in the up-down direction and suitable for the pull rope to pass through;

[0037] A fixing plate is fixedly arranged on the lower side of the lifting plate, and is provided with a lower through hole which penetrates in the up-down direction and is coaxially arranged with the upper through hole, so that the pull rope can pass through the upper through hole and the lower through hole from top to bottom, and the part of the pull rope on the lower side of the lifting plate can be kept in a vertical state.

[0038] In a possible implementation, the winding drum has a barrel cavity coaxially arranged therewith and axially penetrating therewith, and the inner circumferential wall of the barrel cavity has a plurality of tooth grooves spaced along the circumferential direction thereof; the rotation driving member comprises:

[0039] A rotating roller is coaxially inserted into the cylindrical cavity, and its two ends are respectively rotatably connected to the two vertical plates; the outer peripheral wall of the rotating roller has a plurality of convex teeth arranged at intervals along its circumference and suitable for being inserted into the plurality of tooth grooves in a one-to-one correspondence, and one end of the rotating roller is connected to a second driven gear;

[0040] A second rotating motor is fixedly mounted on one of the vertical plates, with its power output axis parallel to the axis of the rotating roller, and a second driving gear meshing with the second driven gear is connected to the power output end of the rotating motor;

[0041] Wherein, when the second rotating motor is started, the second driving gear drives the second driven gear to rotate, so that the rotating roller rotates, and the winding drum is driven to rotate through the meshing relationship between the convex teeth and the tooth grooves;

[0042] Furthermore, a support platform connected to the two vertical plates is provided on the upper side of the winding drum, and the support platform further comprises:

[0043] A reciprocating cylinder is fixedly arranged on the support platform, and its power output axis is parallel to the axis of the winding drum;

[0044] Two sleeves are respectively sleeved on the two ends of the winding drum and are both transmission-connected with the power output end of the reciprocating cylinder, so that when the reciprocating cylinder is started, the two sleeves drive the winding drum to reciprocate relative to the rotating roller.

[0045] In the embodiment of the present application, the sensor can be fixed on the measuring rod, so that after the measuring rod is inserted into the inclinometer tube and the measuring rod falls and rises relative to the inclinometer tube, the sensor can obtain the inclinometer value.

[0046] When the pulley block contacts the protrusion on the inner wall of the inclinometer tube and generates motion interference, the two swing arms are driven to swing outward by the synchronous drive component, so that the corresponding two rotating wheels can abut against the inner wall of the inclinometer tube; based on this, the rotating wheels are driven to rotate by the rotating drive component, so that the measuring rod can be rotated relative to the pull rope, so that the pulley block avoids the interfering protrusion.

[0047] Compared with the prior art, the inclinometer robot provided in this embodiment can ensure that the inclinometer can stably enter and exit the inclinometer tube. When the protrusion of the inclinometer tube is contacted, the pulley position can be flexibly adjusted to avoid damage to related components.

[0048] The technical solution adopted in the present application also provides an inclinometer method, based on the inclinometer robot proposed in any of the above items, comprising the following steps:

[0049] 1) Inserting the inclinometer tube into the foundation pit, inserting the measuring rod into the inclinometer tube, and making the pulley block abut against the inner wall of the inclinometer tube;

[0050] 2) releasing the pull rope through the traction mechanism, so that the measuring rod moves downward to abut against the lower end of the inclinometer casing;

[0051] 3) tightening the pull rope through the traction mechanism to move the measuring rod upward to be separated from the inclinometer casing;

[0052] When the pulley block abuts against the protrusion on the inner wall of the inclinometer tube, the synchronous drive assembly can drive the two swing arms to swing outward until the rotating wheel abuts against the inclinometer tube, so that the rotating wheel can be driven to rotate through the rotating drive component, so that the measuring rod rotates relative to the pull rope until the pulley block avoids the protrusion on the inner wall of the inclinometer tube.

[0053] The beneficial effects of the inclinometer method provided in this embodiment are the same as the beneficial effects of the aforementioned inclinometer robot, and will not be described in detail here. BRIEF DESCRIPTION OF THE DRAWINGS

[0054] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative labor.

[0055] Figure 1 One of the three-dimensional structural schematic diagrams of the inclinometer robot provided in an embodiment of the present application;

[0056] Figure 2 The second schematic diagram of the three-dimensional structure of the inclinometer robot provided in the embodiment of the present application;

[0057] Figure 3 This is a schematic cross-sectional structural diagram of the measuring rod and the pulley assembly in the assembled state used in the embodiment of the present application;

[0058] Figure 4 This is a schematic diagram of the structure of the double-headed screw and the pulley seat in the assembled state used in the embodiment of the present application;

[0059] Figure 5 A partially enlarged schematic diagram of the first driven gear and the first driving gear used in the embodiment of the present application in an assembled state;

[0060] Figure 6 This is one of the cross-sectional structural schematic diagrams of the measuring rod and the swing arm in the assembled state used in the embodiment of the present application;

[0061] Figure 7 for Figure 6 A partial enlarged schematic diagram of the upper circle A;

[0062] Figure 8 The second schematic cross-sectional structure diagram of the measuring rod and the swing arm in the assembled state used in the embodiment of the present application;

[0063] Fig. 9 A schematic diagram of the partial structure of the swing arm and the rotating wheel used in the embodiment of the present application from an explosion perspective;

[0064] Fig.10 This is a schematic diagram of the exploded structure of the lifting drive component used in the embodiment of the present application;

[0065] Fig.11 A schematic cross-sectional view of the housing used in the embodiment of the present application;

[0066] Fig.12 A schematic diagram of the three-dimensional structure of the traction mechanism used in the embodiment of the present application;

[0067] Fig.13 A partially enlarged schematic diagram of a rotation driving component used in an embodiment of the present application;

[0068] Fig.14 A schematic diagram of the structure of a wire harness component used in an embodiment of the present application;

[0069] Fig.15 This is a schematic diagram of the combined structure of the pull rope and the winding drum used in the embodiment of the present application;

[0070] Explanation of reference numerals: 1. measuring rod; 11. mounting hole; 12. receiving hole; 2. swing arm; 3. synchronous drive assembly; 31. lifting block; 32. elastic band; 4. pulley block; 41. mounting plate; 411. slider; 42. pulley seat; 421. pulley body; 422. transmission arm; 5. rotating wheel; 51. rotating drive member; 6. lifting drive member; 61. housing; 611. outlet hole; 62. fixing rod; 621. winding shaft sleeve; 622. bidirectional drive member; 63. traction belt; 7. pitch-adjusting drive member; 71. double-headed screw; 711. first slave Moving gear; 72, first rotating motor; 721, first driving gear; 8, wire bundle member; 81, lifting plate; 811, elastic driving member; 812, upper through hole; 82, fixing plate; 821, lower through hole; 9, rotating driving member; 91, rotating roller; 911, convex teeth; 912, second driven gear; 92, second rotating motor; 921, second driving gear; 10, inclinometer tube; 20, traction mechanism; 201, pull rope; 202, vertical plate; 203, winding drum; 2031, tooth groove; 30, support platform; 301, reciprocating cylinder; 302, sleeve ring. DETAILED DESCRIPTION

[0071] In order to make the technical problems, technical solutions and beneficial effects to be solved by the present application more clearly understood, the present application is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and are not used to limit the present application.

[0072] It should be noted that when an element is referred to as being "fixed to" or "disposed on" another element, it can be directly on the other element or indirectly on the other element. When an element is referred to as being "connected to" another element, it can be directly connected to the other element or indirectly connected to the other element.

[0073] It should be understood that the orientation or position relationship indicated by terms such as "length", "width", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside" and "outside" are based on the orientation or position relationship shown in the drawings, and are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the present application.

[0074] 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. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of the features. In the description of this application, the meaning of "plurality" is two or more, unless otherwise clearly and specifically defined.

[0075] Please also read Figures 1 to 15 The inclinometer robot provided in the present application is now described. The inclinometer robot provided in the present application comprises an inclinometer tube 10 and an inclinometer.

[0076] The inclinometer tube 10 is used to be inserted into the foundation pit, and has an upper open structure. The inclinometer is slidably inserted in the inclinometer tube 10, and can move along the axial direction of the inclinometer tube 10, and the inclinometer is connected to a traction mechanism 20 for pulling it to move upward.

[0077] In this embodiment, the inclinometer comprises a measuring rod 1 , two swing arms 2 and a synchronous drive assembly 3 .

[0078] The measuring rod 1 is inserted into the inclinometer casing 10 and has at least two pulley blocks 4 arranged at intervals along its axial direction. In this embodiment, there are two pulley blocks 4.

[0079] Each pulley block 4 is used to move away from the measuring rod 1 to abut against the inner wall of the inclinometer casing 10 , so that the measuring rod 1 can move axially along the inclinometer casing 10 with the assistance of the pulley block 4 .

[0080] Two swing arms 2 are arranged at intervals on both sides of the measuring rod 1 along the radial direction of the measuring rod 1 . The upper end of each swing arm 2 is hinged to the measuring rod 1 , and the hinge axis is perpendicular to the axis of the measuring rod 1 .

[0081] In actual use, the swing arm 2 can swing outward until its swing end abuts against the inner wall of the inclinometer tube 10 , or swing inward until its axial direction is parallel to the axial direction of the measuring rod 1 .

[0082] Among them, the lower end of each swing arm 2 is rotatably connected to a rotating wheel 5, the axial direction and the rotational axis of the rotating wheel 5 are parallel to the length direction of the swing arm 2, and the rotating wheel 5 is transmission-connected to a rotating driving component 51 for driving the rotating wheel 5 to rotate; when the swing arm 2 swings to its swing end and connects with the inner wall of the inclinometer tube 10, the outer peripheral surface of the rotating wheel 5 and the inclinometer tube 10 are synchronously contacted, and at this time, the rotating wheel 5 is driven to rotate by the rotating driving component 51, which can drive the measuring rod 1 to rotate with its central axis as the axis.

[0083] The synchronous drive assembly 3 is arranged on the measuring rod 1 and connected to the two swing arms 2, so as to drive the swing arms 2 to swing outward until the outer wall of the rotating wheel 5 abuts against the inner wall of the inclinometer tube 10, or drive the swing arms 2 to swing until their axes are parallel to the measuring rod 1.

[0084] Based on this, the traction mechanism 20 includes a pull rope 201 connected to the upper end of the measuring rod 1, and the pull rope 201 is rotatably connected to the upper end of the measuring rod 1 so that the measuring rod 1 can rotate relative to the pull rope 201 about its central axis.

[0085] In the embodiment of the present application, the sensor can be fixed on the measuring rod 1, so that after the measuring rod 1 is inserted into the inclinometer tube 10, and the measuring rod 1 falls and rises relative to the inclinometer tube 10, the sensor can obtain the inclinometer value.

[0086] When the pulley block 4 contacts the protrusion on the inner wall of the inclinometer tube 10 and generates motion interference, the two swing arms 2 are driven to swing outward by the synchronous drive component 3, so that the corresponding two rotating wheels 5 can abut against the inner wall of the inclinometer tube 10; based on this, the rotating drive component 51 is used to drive the rotating wheels 5 to rotate, so that the measuring rod 1 can be rotated relative to the pull rope 201, so that the pulley block 4 avoids the interfering protrusion.

[0087] Compared with the prior art, the inclinometer robot provided in this embodiment can ensure that the inclinometer can stably enter and exit the inclinometer tube 10. When the protrusion of the inclinometer tube 10 is contacted, the pulley position can be flexibly adjusted to avoid damage to related components.

[0088] In some embodiments, Figure 6 and Fig.11 As shown, the measuring rod 1 is provided with a mounting hole 11 which penetrates in the radial direction thereof. The mounting hole 11 is located between any two pulley blocks 4 , and the two swing arms 2 are both arranged in the mounting hole 11 and hinged to the inner wall of the mounting hole 11 .

[0089] By adopting the above technical solution, when the synchronous driving component drives the swing arm 2 to swing until its axial direction is parallel to the measuring rod 1, the swing arm 2 is located in the mounting hole 11 to achieve the storage effect of the swing arm 2.

[0090] In some embodiments, Figures 6 to 8 As shown, the adjacent sides of the two swing arms 2 are inclined so that when the two swing arms 2 are swung to their axes being parallel to the measuring rod 1, the distance between the two swing arms 2 is gradually reduced from bottom to top. Based on this, the synchronous drive assembly 3 includes a lifting block 31 and an elastic belt 32.

[0091] The lifting block 31 is slidably connected to the inner wall of the mounting hole 11 along the up-down direction, and is located between the two swing arms 2. The lifting block 31 is transmission-connected to a lifting driving member 6 for driving the lifting block 31 to move.

[0092] The elastic band 32 is arranged between the two swing arms 2, and its two ends are respectively connected to the two swing arms 2; it should be noted that the elastic band 32 is arranged close to the swing end of the swing arm 2, and this elastic band 32 is on the lower side of the lifting block 31 to avoid the moving trajectory of the lifting block 31.

[0093] When the lifting drive component 6 drives the lifting block 31 to move upward, both sides of the lifting block 31 can respectively contact the two inclined surfaces, so that the two swing arms 2 swing outward and the two rotating wheels 5 abut against the inner wall of the inclinometer tube 10.

[0094] When the lifting block 31 moves downward to separate from the swing arm 2, the elastic band 32 is in an elastically stretched state to drive the two swing arms 2 to swing inward until the axes of the two swing arms 2 are parallel to the measuring rod 1, that is, they are restored to the idle state stored in the mounting hole 11.

[0095] In some embodiments, Figures 6 to 8 As shown, the lifting drive component 6 includes a housing 61 , a fixing rod 62 and a traction belt 63 .

[0096] The shell 61 is detachably disposed in the mounting hole 11 , and is located on the upper side of the two swing arms 2 . A wire outlet hole 611 communicating with the interior of the shell 61 is provided on the lower side (ie, the side facing the swing arms 2 ).

[0097] The fixing rod 62 is detachably disposed in the housing 61 , and is sleeved with a winding shaft sleeve 621 and a bidirectional driving component 622 which is transmission-connected with the winding shaft sleeve 621 and is suitable for driving the winding shaft sleeve 621 to rotate forwardly and reversely.

[0098] The traction belt 63 is wound around the winding sleeve 621 ; and one end of the traction belt 63 is connected to the outer wall of the winding sleeve 621 , and the other end thereof passes through the outlet hole 611 and is connected to the lifting block 31 .

[0099] By adopting the above technical solution, when the bidirectional driving component 622 drives the winding sleeve 621 to rotate, the traction belt 63 is wound around the winding sleeve 621 to pull the lifting block 31 to move upward, or the traction belt 63 is detached from the winding sleeve 621, so that the lifting block 31 moves downward under the action of its own gravity and the extrusion of the elastic belt 32 transmitted to the lifting block 31 through the inclined surface of the swing arm 2.

[0100] In some embodiments, Figure 3 As shown, the measuring rod 1 has a plurality of receiving holes 12 arranged at intervals along its axial direction and corresponding to a plurality of pulley blocks 4 one by one, each of the receiving holes 12 passes through the inclinometer tube 10 in the radial direction, and the pulley block 4 includes a mounting plate 41 and two pulley seats 42.

[0101] The mounting plate 41 is detachably disposed in the accommodating hole 12; specifically, the mounting plate 41 is inserted into the accommodating hole 12 so that its plate surface faces the axial direction of the accommodating hole 12; at the same time, both sides of the mounting plate 41 are provided with limit blocks connected to the inner wall of the accommodating hole 12 and abutting against the surface of the mounting plate 41.

[0102] The mounting plate 41 further includes two groups of sliding blocks 411 and two distance adjustment driving components 7 .

[0103] Two groups of sliders 411 are respectively arranged on both sides of the mounting plate 41 and correspond to the two distance adjustment driving components 7; each group of sliders 411 includes two sliders 411 that are spaced apart along the axial direction of the measuring rod 1 (i.e., the height direction of the mounting plate 41) and are slidably connected to the mounting plate 41, and the corresponding distance adjustment driving components 7 are transmission connected to the two sliders 411 to drive the two sliders 411 to move toward or away from each other.

[0104] The two pulley seats 42 are respectively arranged on both sides of the mounting plate 41 facing the accommodating hole 12 axially; each pulley seat 42 is rotatably connected to a pulley body 421 and is hinged to two transmission arms 422 arranged in parallel along the axial direction of the measuring rod 1 .

[0105] Among them, the two transmission arms 422 correspond to the two sliders 411 on the same side, and the swing end of each transmission arm 422 is hinged to the corresponding slider 411, so that when the distance adjustment driving component 7 drives the two sliders 411 to move toward or away from each other, the pulley seat 42 can move toward or away from the mounting plate 41 under the action of the two transmission arms 422, so that the pulley body 421 moves away from the mounting plate 41 to abut against the inner wall of the inclinometer tube 10, or moves toward the mounting plate 41 to be accommodated in the accommodating hole 12.

[0106] In some embodiments, Figures 3 to 5 As shown, the pitch-adjusting driving component 7 includes two double-headed screws 71 and a first rotating motor 72 .

[0107] Two double-headed screws 71 are arranged in parallel on both sides of the mounting plate 41 axially toward the accommodating hole 12, and are both rotatably connected to the mounting plate 41; each double-headed screw 71 has two threaded portions with opposite thread directions, and the two threaded portions are respectively threadedly connected to the two sliders 411; and the end of each double-headed screw 71 has a first driven gear 711 coaxially arranged therewith.

[0108] The first rotary motor 72 is fixedly disposed between the two double-headed screws 71 , and its power output axis is parallel to the double-headed screws 71 . The power output end of the first rotary motor 72 is coaxially connected to a first driving gear 721 meshing with the two first driven gears 711 .

[0109] By adopting the above technical solution, when the first rotating motor 72 is started, the first driven gear 711 drives the two first driving gears 721 to rotate synchronously, so that the two double-headed screws 71 rotate simultaneously, thereby driving the two sliders 411 on both sides to move toward or away from each other at the same time.

[0110] In some embodiments, Fig.12 As shown, the traction mechanism 20 further includes two vertical plates 202 and a winding drum 203 .

[0111] The two vertical plates 202 are used to be fixed inside the foundation pit and are respectively located on both sides of the inclinometer casing 10 .

[0112] The winding drum 203 is disposed between the two vertical plates 202 , with its axial direction being parallel to the arrangement direction of the two vertical plates 202 , and the winding drum 203 is transmission-connected to a rotating driving member 9 for driving it to rotate relative to the vertical plates 202 .

[0113] Among them, the pull rope 201 is wound on the winding drum 203, and one end of it is connected to the winding drum 203, so that when the rotating driving component 9 drives the winding drum 203 to rotate, the pull rope 201 is wound around the outer periphery of the winding drum 203 and pulls the measuring rod 1 upward, or the pull rope 201 is detached from the winding drum 203 to make the measuring rod 1 fall.

[0114] In some embodiments, Fig.14 As shown, a wire binding member 8 for keeping the portion of the pull rope 201 separated from the winding drum 203 in a vertical state is provided between the two vertical plates 202 . The wire binding member 8 includes a lifting plate 81 and a fixing plate 82 .

[0115] The lifting plate 81 is slidably arranged between the two vertical plates 202 in the up and down directions. It is located at the lower side of the winding drum 203 and is connected to an elastic driving component 811 for driving it to move upward. In this embodiment, the elastic driving component 811 includes a fixed block fixed on the vertical plate 202, and a spring arranged between the fixed block and the lifting plate 81, so as to drive the lifting plate 81 to move upward until it abuts the winding drum 203, or abuts the pull rope 201 wound on the winding drum 203.

[0116] The fixed plate 82 is fixedly disposed on the lower side of the lifting plate 81 , and its two ends are fixedly connected to the two vertical plates 202 respectively.

[0117] The lifting plate 81 is provided with an upper through hole 812 which penetrates in the up-down direction and is suitable for the pull rope 201 to pass through, and the fixing plate 82 is provided with a lower through hole 821 which penetrates in the up-down direction and is coaxially arranged with the upper through hole 812 .

[0118] By adopting the above technical solution, the pull rope 201 can pass through the upper through hole 812 and the lower through hole 821 from top to bottom, and the part of the pull rope 201 on the lower side of the lifting plate 81 can be kept in a vertical state.

[0119] In some embodiments, Fig.13 and Fig.15 As shown, the winding drum 203 has a barrel cavity coaxially arranged therewith and penetrating along its axial direction, and the inner peripheral wall of the barrel cavity has a plurality of tooth grooves 2031 arranged at intervals along its circumferential direction. Based on this, the rotation driving member 9 includes a rotating roller 91 and a second rotating motor 92.

[0120] The rotating roller 91 is coaxially inserted into the cylindrical cavity, and its two ends are rotatably connected to the two vertical plates 202 respectively; the outer wall of the rotating roller 91 has a plurality of convex teeth 911 arranged at intervals along its circumference and suitable for one-to-one insertion into a plurality of tooth grooves 2031, and one end of the rotating roller 91 is connected to the second driven gear 912.

[0121] The second rotating motor 92 is fixedly disposed on one of the vertical plates 202 , and its power output axis is parallel to the axis of the rotating roller 91 , and the power output end of the rotating motor is connected to a second driving gear 921 meshing with the second driven gear 912 .

[0122] By adopting the above technical solution, when the second rotating motor 92 is started, the second driving gear 921 drives the second driven gear 912 to rotate, so that the rotating roller 91 rotates, and drives the winding drum 203 to rotate through the meshing relationship between the protruding teeth 911 and the tooth grooves 2031.

[0123] In addition, a support platform 30 extending along the arrangement direction of the two vertical plates 202 and detachably connected to the two vertical plates 202 is also provided on the upper side of the winding drum 203 . Based on this, the support platform 30 also includes a reciprocating cylinder 301 and two rings 302 .

[0124] The reciprocating cylinder 301 is fixedly disposed on the support platform 30 , and its power output axis is parallel to the axis of the winding drum 203 .

[0125] The two collars 302 are respectively sleeved on the two ends of the winding drum 203 and are both transmission-connected to the power output end of the reciprocating cylinder 301 . Specifically, the collars 302 have a rod structure extending outward and connected to the power output end of the reciprocating cylinder 301 .

[0126] By adopting the above technical solution, when the reciprocating cylinder 301 is started, the two rings 302 can drive the winding drum 203 to reciprocate axially relative to the rotating roller 91 without interfering with the rotation of the winding drum 203 relative to the rotating roller 91 .

[0127] Based on the same inventive concept, an embodiment of the present application further provides an inclinometer method, based on the inclinometer robot proposed in any of the above items, comprising the following steps:

[0128] 1) Insert the inclinometer tube 10 into the foundation pit, insert the measuring rod 1 into the inclinometer tube 10, and make the pulley block 4 abut against the inner wall of the inclinometer tube 10;

[0129] 2) Release the pull rope 201 through the traction mechanism 20, so that the measuring rod 1 moves downward to abut against the lower end of the inclinometer casing 10;

[0130] 3) Tighten the pull rope 201 through the traction mechanism 20 to move the measuring rod 1 upward to be separated from the inclinometer casing 10;

[0131] Among them, when the pulley block 4 abuts against the protrusion on the inner wall of the inclinometer tube 10, the synchronous drive component 3 can drive the two swing arms 2 to swing outward until the rotating wheel 5 abuts against the inclinometer tube 10, and at the same time retract the pulley block 4 inward to avoid the pulley block 4 interfering with the rotation of the measuring rod 1; then, the rotating drive component 51 drives the rotating wheel 5 to rotate, so that the measuring rod 1 rotates relative to the pull rope 201 until the pulley block 4 can effectively avoid the protrusion on the inner wall of the inclinometer tube 10.

[0132] The beneficial effects of the inclinometer method provided in this embodiment are the same as the beneficial effects of the aforementioned inclinometer robot, and will not be repeated here.

[0133] The above content is only a preferred embodiment of the present application and is not intended to limit the present application. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present application should be included in the protection scope of the present application.

Claims

1. An inclinometer robot, comprising an inclinometer tube with an upper opening for inserting into a foundation pit, and an inclinometer slidably inserted in the inclinometer tube and connected to a traction mechanism, characterized in that: The inclinometer comprises: A measuring rod is inserted into the inclinometer tube and has at least two pulley blocks arranged at intervals along its axial direction; each of the pulley blocks is used to abut against the inner wall of the inclinometer tube so that the measuring rod moves along the axial direction of the inclinometer tube; Two swing arms are arranged at intervals on both sides of the measuring rod along the radial direction of the measuring rod; the upper end of each swing arm is hinged to the measuring rod, and the hinge axis is perpendicular to the axis of the measuring rod; the lower end of each swing arm is rotatably connected to a rotating wheel, the rotating axis of the rotating wheel is parallel to the length direction of the swing arm, and the rotating wheel is transmission-connected to a rotating driving component for driving the rotating wheel to rotate; A synchronous drive assembly is arranged on the measuring rod and connected to the two swing arms, so as to drive the swing arms to swing outward until the outer wall of the rotating wheel abuts against the inner wall of the inclinometer tube, or to drive the swing arms to swing until the axial direction thereof is parallel to the measuring rod; Wherein, the traction mechanism includes a pull rope connected to the upper end of the measuring rod, and the pull rope is rotatably connected to the upper end of the measuring rod, so that the measuring rod can rotate relative to the pull rope with its axis as the axis.

2. The inclinometer robot according to claim 1, characterized in that: The measuring rod is provided with a mounting hole which penetrates in the radial direction thereof, the mounting hole is located between two of the pulley blocks, and the two swing arms are both arranged in the mounting hole and hinged to the inner wall of the mounting hole; Wherein, when the synchronous driving component drives the swing arm to swing until its axial direction is parallel to the measuring rod, the swing arm is located in the mounting hole.

3. The inclinometer robot according to claim 2, characterized in that: The adjacent sides of the two swing arms are inclined so that when the two swing arms are swung until their axes are parallel to the measuring rod, the distance between the two swing arms gradually decreases from bottom to top; the synchronous drive assembly includes: A lifting block is slidably connected to the inner wall of the mounting hole in the up-down direction, is located between the two swing arms, and is transmission-connected to a lifting driving member for driving the lifting block to move; An elastic band is arranged between the two swing arms, and its two ends are respectively connected to the two swing arms; Wherein, when the lifting drive component drives the lifting block to move upward, both sides of the lifting block can be respectively connected with the two inclined surfaces, so that the two swing arms swing outward and the two rotating wheels abut against the inner wall of the inclinometer casing; When the lifting block moves downward to be separated from the swing arm, the elastic band is in an elastically stretched state to drive the two swing arms to swing inward so that the axes of the two swing arms are parallel to the measuring rod.

4. The inclinometer robot according to claim 3, characterized in that: The lifting drive component comprises: A shell is detachably arranged in the mounting hole, is located on the upper side of the swing arm, and has a wire outlet hole communicating with the interior of the shell on the lower side; A fixed rod, detachably arranged in the housing, on which a winding shaft sleeve is sleeved, and a bidirectional driving component which is transmission-connected with the winding shaft sleeve and is suitable for driving the winding shaft sleeve to rotate forward and reversely; A traction belt is wound around the winding sleeve; one end of the traction belt is connected to the outer wall of the winding sleeve, and the other end of the traction belt passes through the wire outlet hole and is connected to the lifting block.

5. The inclinometer robot according to claim 1, characterized in that: The measuring rod has a plurality of accommodating holes arranged at intervals along its axial direction and corresponding to the plurality of pulley blocks one by one, each of the accommodating holes penetrates along the radial direction of the inclinometer casing, and the pulley block includes: A mounting plate is detachably arranged in the receiving hole; the mounting plate has two sliders arranged at intervals along the axial direction of the measuring rod and slidably connected to the mounting plate on both sides of the axial direction of the receiving hole, and a distance adjustment driving component for driving the two sliders on the same side to move toward or away from each other; Two pulley seats are respectively arranged on both sides of the mounting plate facing the accommodating hole in the axial direction; each of the pulley seats is rotatably connected to a pulley body and is hinged to two transmission arms arranged in parallel along the axial direction of the measuring rod; Wherein, the two transmission arms correspond to the two sliders on the same side, and the swing end of each transmission arm is hinged to the corresponding slider; When the distance adjustment driving member drives the two sliders to move toward or away from each other, the pulley seat can move toward or away from the mounting plate under the action of the two transmission arms, so that the pulley body moves away from the mounting plate to abut against the inner wall of the inclinometer casing.

6. The inclinometer robot according to claim 5, characterized in that: The pitch adjustment driving component comprises: Two double-headed screws are arranged in parallel on both sides of the mounting plate facing the accommodating hole in an axial direction, and are both rotatably connected to the mounting plate; each of the double-headed screws has two threaded parts with opposite thread directions, and the two threaded parts are respectively threadedly connected to the two sliders; and each end of the double-headed screw has a first driven gear coaxially arranged therewith; The first rotating motor is fixedly arranged between the two double-headed screws, and its power output axis is parallel to the double-headed screws. The power output end of the first rotating motor is coaxially connected to a first driving gear meshing with the two first driven gears.

7. The inclinometer robot according to claim 1, characterized in that: The traction mechanism also includes: Two vertical plates, used for being fixed inside the foundation pit and respectively located on both sides of the inclinometer tube; A winding drum is arranged between the two vertical plates, with its axial direction parallel to the arrangement direction of the two vertical plates, and the winding drum is drivingly connected to a rotating driving member for driving the winding drum to rotate; The pull rope is wound around the winding drum, and one end of the pull rope is connected to the winding drum, so that when the rotating driving component drives the winding drum to rotate, the pull rope is wound around the outer circumference of the winding drum and pulls the measuring rod upward, or the pull rope is detached from the winding drum to make the measuring rod fall.

8. The inclinometer robot according to claim 7, characterized in that: A wire tying member is provided between the two vertical plates for keeping the portion of the pull rope separated from the winding drum in a vertical state, and the wire tying member includes: A lifting plate is slidably arranged between the two vertical plates in the up-down direction, is located at the lower side of the winding drum, and is connected to an elastic driving member for driving it to move upward; an upper through hole is opened on the lifting plate, which is through in the up-down direction and suitable for the pull rope to pass through; A fixing plate is fixedly arranged on the lower side of the lifting plate, and is provided with a lower through hole which penetrates in the up-down direction and is coaxially arranged with the upper through hole, so that the pull rope can pass through the upper through hole and the lower through hole from top to bottom, and the part of the pull rope on the lower side of the lifting plate can be kept in a vertical state.

9. The inclinometer robot according to claim 7 or 8, characterized in that: The winding drum has a barrel cavity which is coaxially arranged therewith and penetrates the barrel cavity along its axial direction, and the inner peripheral wall of the barrel cavity has a plurality of tooth grooves which are arranged at intervals along its circumferential direction; the rotation driving member comprises: A rotating roller is coaxially inserted into the cylindrical cavity, and its two ends are respectively rotatably connected to the two vertical plates; the outer peripheral wall of the rotating roller has a plurality of convex teeth arranged at intervals along its circumference and suitable for being inserted into the plurality of tooth grooves in a one-to-one correspondence, and one end of the rotating roller is connected to a second driven gear; A second rotating motor is fixedly mounted on one of the vertical plates, with its power output axis parallel to the axis of the rotating roller, and a second driving gear meshing with the second driven gear is connected to the power output end of the rotating motor; Wherein, when the second rotating motor is started, the second driving gear drives the second driven gear to rotate, so that the rotating roller rotates, and the winding drum is driven to rotate through the meshing relationship between the convex teeth and the tooth grooves; Furthermore, a support platform connected to the two vertical plates is provided on the upper side of the winding drum, and the support platform further comprises: A reciprocating cylinder is fixedly arranged on the support platform, and its power output axis is parallel to the axis of the winding drum; Two sleeves are respectively sleeved on the two ends of the winding drum and are both transmission-connected with the power output end of the reciprocating cylinder, so that when the reciprocating cylinder is started, the two sleeves drive the winding drum to reciprocate relative to the rotating roller.

10. An inclinometer method, based on the inclinometer robot according to any one of claims 1 to 9, characterized in that: The following steps are involved: 1) Inserting the inclinometer tube into the foundation pit, inserting the measuring rod into the inclinometer tube, and making the pulley block abut against the inner wall of the inclinometer tube; 2) releasing the pull rope through the traction mechanism, so that the measuring rod moves downward to abut against the lower end of the inclinometer casing; 3) tightening the pull rope through the traction mechanism to move the measuring rod upward to be separated from the inclinometer casing; When the pulley block abuts against the protrusion on the inner wall of the inclinometer tube, the synchronous drive assembly can drive the two swing arms to swing outward until the rotating wheel abuts against the inclinometer tube, so that the rotating wheel can be driven to rotate through the rotating drive component, so that the measuring rod rotates relative to the pull rope until the pulley block avoids the protrusion on the inner wall of the inclinometer tube.

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