Sand filter inspection robot for water quality evaluation of water plant

Abstract

The invention discloses a sand filter inspection robot for water quality evaluation of a water plant, and belongs to the technical field of water quality monitoring. The sand filter is internally provided with a track for the inspection robot to inspect, the inspection robot comprises a robot body, a driving mechanism and a stabilizing mechanism, the driving mechanism and the stabilizing mechanism are both arranged on the track, the driving mechanism drives the stabilizing mechanism to reciprocate along the track, and the stabilizing mechanism is arranged on the track. The robot body is connected to the lower portion of the driving mechanism, and the robot body synchronously follows the stabilizing mechanism to reciprocate along the track. According to the invention, the robot body can be ensured not to be unbalanced and shake during walking, the robot body can accurately monitor the water level of the sand filter, the accuracy of backwashing time is improved, and the water quality of a water plant is benefited; and the angle and height of the robot body can be adjusted according to actual needs.

Description

Technical Field

[0001] The invention relates to the technical field of water quality monitoring, and in particular to a sand filter tank inspection robot for water quality assessment in a water plant. Background Art

[0002] Sand filter is a purification device that uses a sand layer to intercept impurities in water. When water passes through the sand layer, impurities such as suspended matter, organic matter, and bacteria will be intercepted by the sand, thereby achieving the purpose of purifying water quality. Sand filters mainly include uniformly graded quartz sand filters, double-layer filter media filters, and single-layer fine sand filter media filters. Among them, uniformly graded quartz sand filters (such as V-type filters) are more widely used.

[0003] Raw water enters the sand filter tank through the water inlet pipe and is evenly distributed on the sand layer through the water distributor. Water flows downward under the action of gravity. When passing through the sand layer, the impurities in it are intercepted by the sand particles. The purified water is discharged from the bottom of the filter tank. As the operation time increases, the impurities in the sand layer gradually accumulate, resulting in increased resistance of the filter layer, rising water level in the filter tank, and decreased filtering effect. At this time, the sand filter tank needs to be backwashed to restore its filtering capacity. During backwashing, the backwashing water flows upstream to expand the sand particles, and then the trapped impurities are flushed out of the filter tank through the combined backwashing of air and water.

[0004] The sand filter tank inspection robot is an intelligent inspection device designed for specific environments such as sand filter tanks. The sand filter tank inspection robot can autonomously perform inspections in the sand filter tank area according to preset routes and tasks. The existing intelligent sand filter tank inspection robot is equipped with wheels. The intelligent sand filter tank inspection robot autonomously walks along the guide rails in the sewage treatment plant according to the pre-set inspection mode. When walking, the intelligent inspection robot is prone to imbalance and shaking, resulting in inaccurate monitored water levels and backwashing time is either advanced or delayed. Summary of the invention

[0005] The purpose of the present invention is to provide a sand filter tank inspection robot for water quality assessment in a water treatment plant, aiming to solve the problem that the water level of the sand filter tank monitored is inaccurate due to the unbalanced shaking of the existing intelligent inspection robots when walking. To achieve the above purpose, the technical solutions adopted by the present invention are as follows:

[0006] A sand filter tank inspection robot for water quality assessment in a water treatment plant, wherein a track for the inspection robot to inspect is arranged in the sand filter tank, the inspection robot comprises a robot body, a driving mechanism and a stabilizing mechanism, the driving mechanism and the stabilizing mechanism are both arranged on the track, the driving mechanism drives the stabilizing mechanism to reciprocate along the track, the robot body is connected below the driving mechanism, and the robot body synchronously follows the stabilizing mechanism to reciprocate along the track.

[0007] As a further solution of the present invention: the driving mechanism includes a threaded guide rod, a No. 1 servo motor, a driving seat and a connecting rod, at least two of the threaded guide rods are rotatably arranged at the bottom of the track, one end of the threaded guide rod is fixedly connected to the No. 1 servo motor, the driving seat is screwed on the threaded guide rod, and the connecting rod is fixedly arranged between two adjacent driving seats.

[0008] As a further solution of the present invention: the stabilizing mechanism includes an upper stabilizing wheel assembly, a left stabilizing wheel assembly and a right stabilizing wheel assembly; the upper stabilizing wheel assembly rolls in contact with the top surface of the track; the left stabilizing wheel assembly is fixedly connected between the left side of the upper stabilizing wheel assembly and the left side of the leftmost driving seat, and the left stabilizing wheel assembly rolls in contact with the left side of the track; the right stabilizing wheel assembly is fixedly connected between the right side of the upper stabilizing wheel assembly and the right side of the rightmost driving seat, and the right stabilizing wheel assembly rolls in contact with the right side of the track.

[0009] As a further solution of the present invention: the upper stabilizing wheel assembly includes an upper stabilizing seat, an upper rolling wheel and a weight-increasing block, a plurality of the upper rolling wheels are rotatably arranged at the bottom of the upper stabilizing seat, and the upper rolling wheels are rotatably arranged in a groove opened on the top surface of the track, and the weight-increasing block is fixedly installed on the top of the upper stabilizing seat.

[0010] As a further solution of the present invention: the left stabilizing wheel assembly includes a left stabilizing seat, a left rolling wheel and a left connecting portion, the left rolling wheel is rotatably arranged on the right side of the left stabilizing seat, and the left rolling wheel is rotatably arranged in a groove opened on the left side of the track, the upper side of the left stabilizing seat is fixedly connected to the left side of the upper stabilizing seat through the left connecting portion, and the lower side of the left stabilizing seat is fixedly connected to the left side of the leftmost driving seat through the left connecting portion.

[0011] As a further solution of the present invention: the right stabilizing wheel assembly includes a right stabilizing seat, a right rolling wheel and a right connecting portion, the right rolling wheel is rotatably arranged on the left side of the right stabilizing seat, and the right rolling wheel is rotatably arranged in a groove opened on the right side of the track, the upper side of the right stabilizing seat is fixedly connected to the right side of the upper stabilizing seat through the left connecting portion, and the lower side of the right stabilizing seat is fixedly connected to the right side of the rightmost driving seat through the left connecting portion.

[0012] As a further solution of the present invention: the inspection robot also includes a rotating and lifting mechanism, which includes a mounting plate, a support frame, a rotating part, a lifting part and a sleeve. The mounting plate is fixedly arranged at the bottom of all the driving seats, the support frame is fixedly arranged at the bottom of the mounting plate, the sleeve is movably inserted in the support frame, and the sleeve is fixedly connected to the robot body, the rotating part and the lifting part are respectively arranged in the support frame, the rotating part is used to drive the sleeve to rotate, and the lifting part is used to drive the sleeve to lift and lower.

[0013] As a further solution of the present invention: the rotating part includes a No. 2 servo motor and a rotating rod, the No. 2 servo motor is arranged at the top of the support frame, the rotating shaft of the No. 2 servo motor is fixedly connected to the rotating rod, and the rotating rod is slidably inserted in the sleeve.

[0014] As a further solution of the present invention: the lifting component includes a No. 3 servo motor, a swing fork, a rectangular lifting sleeve and a rolling ring. The No. 3 servo motor is fixedly arranged on the inner wall of the support frame. The rectangular lifting sleeve is rotatably sleeved on the outer periphery of the sleeve through a bearing. The two rolling rings are respectively rollingly engaged in the channels on the two symmetrical sides of the rectangular lifting sleeve. One end of the swing fork is fixedly connected to the rotating shaft of the No. 3 servo motor, and the other two ends of the swing fork are respectively rotatably connected to the corresponding rolling rings.

[0015] Beneficial effects of the present invention:

[0016] (1) The present invention sets a driving mechanism and a stabilizing mechanism, and drives the threaded guide rod to rotate through a No. 1 servo motor. As the threaded guide rod rotates, all the driving seats move synchronously in the same direction along the threaded guide rod, and the robot body moves synchronously with the driving seat. When the driving seat moves synchronously along the threaded guide rod, the upper stabilizing wheel assembly, the left stabilizing wheel assembly and the right stabilizing wheel assembly cooperate together, so that the driving seat has strong stability when moving, ensuring that the robot body does not appear unbalanced or shaking when walking, ensuring that the robot body accurately monitors the water level of the sand filter tank, improving the accuracy of the backwashing time, and benefiting the water quality of the water treatment plant;

[0017] (2) The present invention sets up a rotating lifting mechanism, and drives the rotating rod to rotate through the No. 2 servo motor. When the rotating rod rotates, the sleeve rotates synchronously with the rotating rod, and the sleeve drives the robot body to rotate, so as to adjust the angle of the robot body. The No. 3 servo motor can also be used to drive the swing fork to swing up and down. The swing fork drives the rectangular lifting sleeve to move up and down through the rolling ring. The lifting sleeve drives the sleeve to move up and down synchronously, so as to adjust the height of the robot body. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] The present invention will be further described below in conjunction with the accompanying drawings.

[0019] Figure 1 It is a schematic side cross-sectional view of the structure of a sand filter tank inspection robot for water quality assessment in a water treatment plant according to the present invention;

[0020] Figure 2 This is a front view of the structure of a sand filter tank inspection robot for water quality assessment in a water treatment plant according to the present invention;

[0021] Figure 3 yes Figure 2 A magnified schematic diagram of the structure at heavy A;

[0022] Figure 4 It is a schematic diagram of the structure of the rotating part of the present invention;

[0023] Figure 5 It is a schematic diagram of the lifting member structure of the present invention.

[0024] In the figure: 1. track; 2. robot body; 3. driving mechanism; 31. threaded guide rod; 32. servo motor No. 1; 33. driving seat; 34. connecting rod; 4. upper stabilizing wheel assembly; 41. upper stabilizing seat; 42. upper rolling wheel; 43. weight block; 5. left stabilizing wheel assembly; 51. left stabilizing seat; 52. left rolling wheel; 53. left connecting part; 6. right stabilizing wheel assembly; 61. right stabilizing seat; 62. right rolling wheel; 63. right connecting part; 7. rotating lifting mechanism; 71. mounting plate; 72. support frame; 73. sleeve; 74. servo motor No. 2; 75. rotating rod; 76. servo motor No. 3; 77. swing fork; 78. rectangular lifting sleeve; 79. rolling ring. DETAILED DESCRIPTION

[0025] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only 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.

[0026] In the description of the present invention, it should be understood that terms such as "up", "down", "left", "right", "front" and "back" indicating directions or positional relationships are based on the directions or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific direction, and a specific direction structure and operation. Therefore, they should not be understood as limitations on the present invention.

[0027] In addition, unless otherwise clearly specified and limited, the terms "installed", "connected", "connected", etc. should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0028] Embodiment 1

[0029] See also Figure 1 and Figure 2 As shown, the present embodiment provides a sand filter tank inspection robot for water quality assessment in a water treatment plant, and a track 1 for the inspection robot to inspect is provided in the sand filter tank. The inspection robot comprises a robot body 2, a driving mechanism 3 and a stabilizing mechanism. Among them, the driving mechanism 3 and the stabilizing mechanism are both provided on the track 1, and the driving mechanism 3 is used to drive the stabilizing mechanism to move back and forth steadily along the track 1, the robot body 2 is connected to the bottom of the driving mechanism 3, and the robot body 2 synchronously follows the stabilizing mechanism to move back and forth along the track 1. Under the cooperation of the driving mechanism 3 and the stabilizing mechanism, the robot body 2 moves back and forth steadily along the track 1, preventing the robot body 2 from being unbalanced, shaking, etc. when walking, ensuring that the robot body 2 accurately monitors the water level of the sand filter tank, improving the accuracy of the backwashing time, and benefiting the water quality of the water treatment plant.

[0030] In this embodiment, the driving mechanism 3 includes a threaded guide rod 31, a servo motor 32, a driving seat 33 and a connecting rod 34. At least two threaded guide rods 31 are rotatably arranged at the bottom of the track 1, and one end of the threaded guide rod 31 is fixedly connected to the servo motor 32, and the servo motor 32 is used to drive the threaded guide rod 31 to rotate. The driving seat 33 is screwed on the threaded guide rod 31, and a connecting rod 34 is fixedly arranged between two adjacent driving seats 33. Under the fixation of the connecting rod 34, as the threaded guide rod 31 rotates, all the driving seats 33 move synchronously and in the same direction along the threaded guide rod 31.

[0031] In this embodiment, the stabilizing mechanism includes an upper stabilizing wheel assembly 4, a left stabilizing wheel assembly 5, and a right stabilizing wheel assembly 6. The upper stabilizing wheel assembly 4 rolls and fits the top surface of the track 1. The left stabilizing wheel assembly 5 is fixedly connected between the left side of the upper stabilizing wheel assembly 4 and the left side of the leftmost driving seat 33, and the left stabilizing wheel assembly 5 rolls and fits the left side surface of the track 1. The right side of the upper stabilizing wheel assembly 4 and the right side of the rightmost driving seat 33 are fixedly connected, and the right stabilizing wheel assembly 6 rolls and fits the right side surface of the track 1. With the cooperation of the upper stabilizing wheel assembly 4, the left stabilizing wheel assembly 5, and the right stabilizing wheel assembly 6, the stability of the driving seat 33 when moving along the threaded guide rod 31 is further guaranteed.

[0032] Among them, see Figure 1 As shown, in this embodiment, the upper stabilizing wheel assembly 4 includes an upper stabilizing seat 41, an upper rolling wheel 42 and a weight block 43. A plurality of upper rolling wheels 42 are rollingly arranged at the bottom of the upper stabilizing seat 41, and the upper rolling wheels 42 are rollingly arranged in a groove opened on the top surface of the track 1. When the driving seat 33 moves along the threaded guide rod 31, the upper rolling wheel 42 moves along the groove on the top surface of the track 1. The weight block 43 is fixedly installed on the top of the upper stabilizing seat 41, and the weight block 43 increases the stability of the upper stabilizing seat 41. In this embodiment, the left stabilizing wheel assembly 5 includes a left stabilizing seat 51, a left rolling wheel 52 and a left connecting portion 53. The left rolling wheel 52 is rotatably arranged on the right side of the left stabilizing seat 51, and the left rolling wheel 52 is rotatably arranged in a groove opened on the left side of the track 1. The upper side of the left stabilizing seat 51 is fixedly connected to the left side of the upper stabilizing seat 41 through the left connecting portion 53, and the lower side of the left stabilizing seat 51 is fixedly connected to the left side of the leftmost driving seat 33 through the left connecting portion 53. When the driving seat 33 moves along the threaded guide rod 31, the left rolling wheel 52 moves along the groove on the left side of the track 1. In this embodiment, the right stabilizing wheel assembly 6 includes a right stabilizing seat 61, a right rolling wheel 62 and a right connecting portion 63. The right rolling wheel 62 is rotatably arranged on the left side of the right stabilizing seat 61, and the right rolling wheel 62 is rotatably arranged in a groove opened on the right side of the track 1. The upper side of the right stabilizing seat 61 is fixedly connected to the right side of the upper stabilizing seat 41 through the left connecting portion 53, and the lower side of the right stabilizing seat 61 is fixedly connected to the right side of the rightmost driving seat 33 through the left connecting portion 53. When the driving seat 33 moves along the threaded guide rod 31, the right rolling wheel 62 moves along the groove on the right side of the track 1.

[0033] Embodiment 2

[0034] See also Figure 1 As shown, on the basis of the first embodiment, the inspection robot in this embodiment further includes a rotating lifting mechanism 7. The rotating lifting mechanism 7 includes a mounting plate 71, a support frame 72, a rotating member, a lifting member, and a sleeve 73. Among them, the mounting plate 71 is fixedly arranged at the bottom of all the drive seats 33, so that the mounting plate 71 moves synchronously with the drive seats 33, the support frame 72 is fixedly arranged at the bottom of the mounting plate 71, so that the support frame 72 moves synchronously with the mounting plate 71, the sleeve 73 is movably inserted in the support frame 72, and the sleeve 73 is fixedly connected to the robot body 2, so that the sleeve 73 can drive the robot body 2 to rotate or lift. The rotating member and the lifting member are respectively arranged in the support frame 72, the rotating member is used to drive the sleeve 73 to rotate, and the lifting member is used to drive the sleeve 73 to lift. Thereby, the height and angle of the robot body 2 can be adjusted according to actual needs.

[0035] See also Figure 4 As shown, in this embodiment, the rotating member includes a second servo motor 74 and a rotating rod 75, see Figure 2As shown, the second servo motor 74 is arranged at the top of the support frame 72, and the rotating shaft of the second servo motor 74 is fixedly connected to the rotating rod 75. The rotating rod 75 is slidably inserted into the sleeve 73. A plurality of vertical ridges are evenly arranged on the outer periphery of the rotating rod 75, and a plurality of vertical grooves are evenly arranged inside the sleeve 73. When the rotating rod 75 is inserted into the sleeve 73, the plurality of vertical ridges are respectively inserted into the corresponding vertical grooves, so that when the rotating rod 75 rotates, the sleeve 73 rotates synchronously with the rotating rod 75.

[0036] See also Figure 3 and Figure 5 As shown, the lifting member includes a No. 3 servo motor 76, a swing fork 77, a rectangular lifting sleeve 78 and a rolling ring 79. The No. 3 servo motor 76 is fixedly arranged on the inner side wall of the support frame 72, and the rectangular lifting sleeve 78 is rotatably sleeved on the outer periphery of the sleeve 73 through a bearing. The rectangular lifting sleeve 78 is fixed to the outer periphery of the sleeve 73 through the inner ring of the bearing without affecting the rotation of the sleeve 73. The two rolling rings 79 are respectively rotatably engaged in the channels on the two symmetrical sides of the rectangular lifting sleeve 78, and the rolling rings 79 can roll in the corresponding channels. One end of the swing fork 77 is fixedly connected to the rotating shaft of the No. 3 servo motor 76, and the other two ends of the swing fork 77 are respectively rotatably connected to the corresponding rolling rings 79. The rotating shaft of the No. 3 servo motor 76 drives the swing fork 77 to swing up and down, and the swing fork 77 swings up and down to drive the rectangular lifting sleeve 78 to move up and down through the rolling ring 79, and the lifting sleeve drives the sleeve 73 to move up and down synchronously.

[0037] When using the sand filter tank inspection robot for water quality assessment in a water treatment plant provided by the present invention, a No. 1 servo motor 32 drives the threaded guide rod 31 to rotate. As the threaded guide rod 31 rotates, all the drive seats 33 move synchronously in the same direction along the threaded guide rod 31, and the robot body 2 moves synchronously with the drive seat 33. When the drive seat 33 moves synchronously along the threaded guide rod 31, the upper stabilizing wheel assembly 4, the left stabilizing wheel assembly 5 and the right stabilizing wheel assembly 6 cooperate with each other, so that the drive seat 33 has strong stability when moving, ensuring that the robot body 2 does not appear unbalanced or shaking when walking, ensuring that the robot body 2 can accurately monitor the water level of the sand filter tank, and improve the accuracy of the backwashing time, which is beneficial to the water quality of the water treatment plant.

[0038] In addition, the rotating rod 75 can be driven to rotate by the No. 2 servo motor 74. When the rotating rod 75 rotates, the sleeve 73 rotates synchronously with the rotating rod 75. The sleeve 73 drives the robot body 2 to rotate, thereby adjusting the angle of the robot body 2. The swing fork 77 can also be driven to swing up and down by the No. 3 servo motor 76. The swing fork 77 swings up and down, driving the rectangular lifting sleeve 78 to move up and down through the rolling ring 79. The lifting sleeve drives the sleeve 73 to move up and down synchronously, thereby adjusting the height of the robot body 2.

[0039] The above is a detailed description of the preferred embodiments of the present invention, which cannot be considered to limit the scope of the present invention. All equivalent changes and improvements made within the scope of the present invention should still fall within the scope of the present invention.

Claims

1. A sand filter tank inspection robot for water quality assessment in a water treatment plant, wherein a track (1) for the inspection robot to inspect is provided in the sand filter tank, and wherein: The inspection robot comprises a robot body (2), a driving mechanism (3) and a stabilizing mechanism, wherein the driving mechanism (3) and the stabilizing mechanism are both arranged on the track (1), the driving mechanism (3) drives the stabilizing mechanism to move back and forth along the track (1), the robot body (2) is connected below the driving mechanism (3), and the robot body (2) synchronously follows the stabilizing mechanism to move back and forth along the track (1).

2. A sand filter tank inspection robot for water quality assessment in a water treatment plant according to claim 1, characterized in that: The driving mechanism (3) comprises a threaded guide rod (31), a first servo motor (32), a driving seat (33) and a connecting rod (34); at least two of the threaded guide rods (31) are rotatably arranged at the bottom of the track (1); one end of the threaded guide rod (31) is fixedly connected to the first servo motor (32); the driving seat (33) is screwed onto the threaded guide rod (31); and the connecting rod (34) is fixedly arranged between two adjacent driving seats (33).

3. A sand filter tank inspection robot for water quality assessment in a water treatment plant according to claim 2, characterized in that: The stabilizing mechanism comprises an upper stabilizing wheel assembly (4), a left stabilizing wheel assembly (5) and a right stabilizing wheel assembly (6); the upper stabilizing wheel assembly (4) is rollably fitted on the top surface of the track (1); the left stabilizing wheel assembly (5) is fixedly connected between the left side of the upper stabilizing wheel assembly (4) and the left side of the leftmost driving seat (33), and the left stabilizing wheel assembly (5) is rollably fitted on the left side surface of the track (1); the right side of the upper stabilizing wheel assembly (4) is fixedly connected between the right side of the rightmost driving seat (33), and the right stabilizing wheel assembly (6) is rollably fitted on the right side surface of the track (1).

4. A sand filter tank inspection robot for water quality assessment in a water treatment plant according to claim 3, characterized in that: The upper stabilizing wheel assembly (4) comprises an upper stabilizing seat (41), an upper rolling wheel (42) and a weight-increasing block (43); a plurality of the upper rolling wheels (42) are rotatably arranged at the bottom of the upper stabilizing seat (41), and the upper rolling wheels (42) are rotatably arranged in a groove provided on the top surface of the track (1); and the weight-increasing block (43) is fixedly mounted on the top of the upper stabilizing seat (41).

5. A sand filter tank inspection robot for water quality assessment in a water treatment plant according to claim 4, characterized in that: The left stabilizing wheel assembly (5) comprises a left stabilizing seat (51), a left rolling wheel (52) and a left connecting portion (53); the left rolling wheel (52) is rotatably arranged on the right side of the left stabilizing seat (51), and the left rolling wheel (52) is rotatably arranged in a groove provided on the left side of the track (1); the upper side of the left stabilizing seat (51) is fixedly connected to the left side of the upper stabilizing seat (41) through the left connecting portion (53); and the lower side of the left stabilizing seat (51) is fixedly connected to the left side of the leftmost driving seat (33) through the left connecting portion (53).

6. A sand filter tank inspection robot for water quality assessment in a water treatment plant according to claim 5, characterized in that: The right stabilizing wheel assembly (6) comprises a right stabilizing seat (61), a right rolling wheel (62) and a right connecting portion (63); the right rolling wheel (62) is rollingly arranged on the left side of the right stabilizing seat (61), and the right rolling wheel (62) is rollingly arranged in a groove opened on the right side of the track (1); the upper side of the right stabilizing seat (61) is fixedly connected to the right side of the upper stabilizing seat (41) through the left connecting portion (53); and the lower side of the right stabilizing seat (61) is fixedly connected to the right side of the rightmost driving seat (33) through the left connecting portion (53).

7. A sand filter tank inspection robot for water quality assessment in a water treatment plant according to claim 2, characterized in that: The inspection robot also includes a rotating and lifting mechanism (7), which includes a mounting plate (71), a support frame (72), a rotating member, a lifting member and a sleeve (73). The mounting plate (71) is fixedly arranged at the bottom of all the driving seats (33), the support frame (72) is fixedly arranged at the bottom of the mounting plate (71), the sleeve (73) is movably inserted into the support frame (72), and the sleeve (73) is fixedly connected to the robot body (2). The rotating member and the lifting member are respectively arranged in the support frame (72), the rotating member is used to drive the sleeve (73) to rotate, and the lifting member is used to drive the sleeve (73) to rise and fall.

8. A sand filter tank inspection robot for water quality assessment in a water treatment plant according to claim 7, characterized in that: The rotating member comprises a second servo motor (74) and a rotating rod (75); the second servo motor (74) is arranged at the top of the support frame (72); the rotating shaft of the second servo motor (74) is fixedly connected to the rotating rod (75); and the rotating rod (75) is slidably inserted into the sleeve (73).

9. A sand filter tank inspection robot for water quality assessment in a water treatment plant according to claim 8, characterized in that: The lifting component comprises a No. 3 servo motor (76), a swing fork (77), a rectangular lifting sleeve (78) and a rolling ring (79); the No. 3 servo motor (76) is fixedly arranged on the inner wall of the support frame (72); the rectangular lifting sleeve (78) is rotatably sleeved on the outer periphery of the sleeve (73) through a bearing; the two rolling rings (79) are respectively rollingly engaged in channels on two symmetrical sides of the rectangular lifting sleeve (78); one end of the swing fork (77) is fixedly connected to the rotating shaft of the No. 3 servo motor (76); and the other two ends of the swing fork (77) are respectively rotatably connected to the corresponding rolling rings (79).

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