Concrete quality detection robot

Abstract

The invention relates to the technical field of concrete detection, in particular to a concrete quality detection robot which comprises a support, a shell is fixedly connected to the surface of the support, an unfolding mechanism is arranged at the end of the shell, a moving mechanism is arranged at one end of the support, an air blowing mechanism is arranged in the shell, and the moving mechanism comprises an arc-shaped block. A sliding rail is fixedly connected to one end of the arc-shaped block, a sliding block is slidably connected to the interior of the sliding rail, an arc-shaped plate is fixedly connected to one end of the sliding block, a camera is fixedly connected to the surface of the arc-shaped plate, the moving mechanism is further provided with a swing mechanism which is arranged between the arc-shaped block and the sliding block, and a cleaning mechanism is arranged at the lower end of the arc-shaped block; the detection precision is ensured through self-adaptive attachment to a taper telegraph pole body, the imaging quality is improved through pneumatic dust sweeping and lens self-cleaning, efficient full-surface detection is achieved through multi-component pneumatic linkage, the omission ratio is reduced, the air pump drives the fan blades to rotate, meanwhile, the camera is pushed to swing slowly through the airflow channel, and the brush is linked to remove dust on the telegraph pole.

Description

Technical Field

[0001] This invention relates to the field of concrete testing technology, specifically a concrete quality testing robot. Background Technology

[0002] Concrete quality inspection robots are intelligent equipment that integrates multiple disciplines such as mechanics, electronics, computer vision, and non-destructive testing. They are specifically designed for automated quality assessment of concrete structures (such as utility poles, bridges, tunnels, and building facades). Belonging to the category of special service robots, these robots utilize onboard sensors (such as ultrasonic probes, infrared thermal imagers, and cameras), actuators (such as mobile platforms and robotic arms), and intelligent algorithms to achieve non-destructive testing, defect identification, and quantitative assessment of concrete structures. In high-altitude or confined space inspections such as those of utility poles and bridge piers, the robot can replace manual climbing, significantly reducing operational risks.

[0003] When existing concrete quality inspection robots inspect concrete utility poles, the varying thickness (thinner at the top and thicker at the bottom) and the difficulty of inspecting the poles at heights not only increase the difficulty and safety risks but also potentially affect the stability of the inspection results. Operating at heights presents stability challenges, such as wind causing equipment swaying and impacting accuracy. Current camera-based pole inspections require real-time angle adjustments, resulting in low efficiency. Furthermore, dust and impurities accumulate on the pole's surface over time, forming a diffuse reflection layer that reduces the contrast between cracks, honeycomb, and other defects and the background. Airborne dust particles adhere to the camera's optical lens, creating irregular spots that blur images and can even cause overexposure or underexposure, directly affecting concrete surface texture analysis. Summary of the Invention

[0004] To address the problems in the existing technology, the present invention provides a concrete quality inspection robot.

[0005] The technical solution adopted by this invention to solve its technical problem is as follows: a concrete quality inspection robot, including a support frame, a shell fixedly connected to the surface of the support frame, an adaptive deployment mechanism for realizing the circumferential wrapping of the robot with a rod-like structure at the end of the shell, a moving mechanism for moving the inspection robot on a utility pole at one end of the support frame, an air blowing mechanism for cleaning the environment of the inspection area on the surface of the utility pole inside the shell, the moving mechanism including an arc-shaped block, a slide rail fixedly connected to one end of the arc-shaped block, a sliding block slidably connected inside the slide rail, an arc-shaped plate fixedly connected to one end of the sliding block, a camera fixedly connected to the surface of the arc-shaped plate, the moving mechanism also having a swing mechanism disposed between the arc-shaped block and the sliding block for adjusting the angle of the circumferential scanning of the camera, and a cleaning mechanism for cleaning dust and impurities on the surface of the utility pole at the lower end of the arc-shaped block.

[0006] Preferably, the unfolding mechanism includes a connecting block, one end of which is fixedly connected to the housing, and one end of which is elastically connected to a first sleeve via a compression spring.

[0007] Preferably, the moving mechanism includes a telescopic barrel, the lower end of which is fixedly connected to the bracket, and a telescopic rod is elastically connected inside the telescopic barrel via a compression spring, with a fixing block fixedly connected to one end of the telescopic rod.

[0008] Preferably, the moving mechanism further includes a rotating shaft, with the rotating shaft fixedly connected to both ends of the fixed block. An arc-shaped block is elastically connected to the surface of the rotating shaft via a torsion spring. A roller motor is rotatably connected to one end of the arc-shaped block, and a bellows is fixedly connected inside the slide rail.

[0009] Preferably, the air blowing mechanism includes a second sleeve, which is fixedly connected to the housing. A first rotating rod is rotatably connected inside the second sleeve, and a fan blade is fixedly connected to the surface of the first rotating rod. An air outlet pipe is fixedly connected inside the second sleeve, and an air pump is fixedly connected to one end of the air outlet pipe.

[0010] Preferably, the swing mechanism includes a first gear, the center of the first gear is fixedly connected to the first rotating rod, one end of the first gear meshes with a second gear, the center of the second gear is fixedly connected to a second rotating rod, a cam is fixedly connected to the surface of the second rotating rod, the lower end of the cam is attached to a pressure plate, and one end of the pressure plate is fixedly connected to a sliding plate.

[0011] Preferably, the swing mechanism further includes a first connecting plate, the lower end of the sliding plate is attached to the first connecting plate, a steel wire rope is fixedly connected to the surface of the first connecting plate, a rotating pin is attached to the surface of the steel wire rope, both ends of the rotating pin are rotatably connected to the slide rail, one end of the steel wire rope is fixedly connected to a sliding block, the sliding block is fixedly connected to the bellows, one end of the sliding block is fixedly connected to a spring, one end of the spring is fixedly connected to the slide rail, and a nozzle is fixedly connected to the upper end of the arc plate.

[0012] Preferably, the cleaning mechanism includes a second connecting plate, the upper end of which is fixedly connected to the arc-shaped block, and a brush is fixedly connected to one end of the second connecting plate.

[0013] The beneficial effects of this invention are:

[0014] (1) The concrete quality inspection robot of the present invention has two roller motors on the arc block and the camera is located between the two roller motors, so that the distance between the camera and the utility pole is always consistent, thereby enabling efficient inspection of the surface of the utility pole.

[0015] (2) The concrete quality inspection robot of the present invention uses an arc-shaped plate to discharge air through a nozzle. The air discharged through the nozzle blows dust downwards and cleans the lens of the camera while the air is discharged through the nozzle, thereby improving the inspection quality.

[0016] (3) The concrete quality inspection robot of the present invention uses an air pump to drive the arc plate to swing slowly. The arc plate drives the camera and nozzle to swing slowly, so as to achieve uniform detection of concrete surface and significantly improve the detection rate of concrete quality defects of utility poles.

[0017] (4) Through the structure set, the curved plate will drive the camera to swing slowly while also driving the brush to swing, and the brush will clean the surface of the utility pole. Attached Figure Description

[0018] The present invention will be further described below with reference to the accompanying drawings and embodiments.

[0019] Figure 1 This is a schematic diagram of the overall structure of the present invention;

[0020] Figure 2 This is a schematic diagram of the connection structure between the bracket and the housing;

[0021] Figure 3 This is a schematic diagram of the connection structure between the support frame and the telescopic bucket;

[0022] Figure 4 This is a schematic diagram of the connection structure between the arc-shaped block and the roller motor;

[0023] Figure 5 This is a schematic diagram of the connection structure between the curved plate and the camera;

[0024] Figure 6 This is a schematic diagram of the connection structure between the telescopic rod and the fixed block;

[0025] Figure 7 This is a schematic diagram of the slide rail and sliding connection structure;

[0026] Figure 8 This is a sectional view of the second sleeve;

[0027] Figure 9 This is a schematic diagram of the connection structure between the cam and the pressure plate;

[0028] Figure 10 This is a schematic diagram of the connection structure between the sliding plate and the first connecting plate;

[0029] Figure 11 This is a cross-sectional view of the inside of the slide rail;

[0030] Figure 12 for Figure 11 The diagram shows an enlarged view of part A.

[0031] In the diagram: 100, bracket; 200, housing; 300, unfolding mechanism; 301, connecting block; 302, first sleeve; 400, moving mechanism; 401, telescopic barrel; 402, telescopic rod; 403, fixing block; 404, rotating shaft; 405, arc-shaped block; 406, roller motor; 407, slide rail; 408, bellows; 500, air blowing mechanism; 501, second sleeve; 502, first rotating rod; 503, fan blade; 504, air outlet pipe. 505. Air pump; 600. Swinging mechanism; 601. First gear; 602. Second gear; 603. Second rotating rod; 604. Cam; 605. Pressure plate; 606. Sliding plate; 607. First connecting plate; 608. Steel wire rope; 609. Rotating pin; 610. Sliding block; 611. Spring; 612. Arc plate; 613. Camera; 614. Nozzle; 700. Cleaning mechanism; 701. Second connecting plate; 702. Brush. Detailed Implementation

[0032] To make the technical means, creative features, objectives and effects of this invention easier to understand, the invention will be further described below in conjunction with specific embodiments.

[0033] like Figures 1-12As shown, the concrete quality inspection robot of the present invention includes a support 100, a housing 200 fixedly connected to the surface of the support 100, an adaptive deployment mechanism 300 for realizing the circumferential wrapping of the robot with a rod-shaped structure at one end of the housing 200, a moving mechanism 400 for moving the inspection robot on a utility pole at one end of the support 100, and an air blowing mechanism 500 for cleaning the environment of the inspection area on the surface of the utility pole inside the housing 200. The moving mechanism 400 includes an arc-shaped block 405. One end of the 05 is fixedly connected to a slide rail 407, and a sliding block 610 is slidably connected inside the slide rail 407. One end of the sliding block 610 is fixedly connected to an arc plate 612, and a camera 613 is fixedly connected to the surface of the arc plate 612. The moving mechanism 400 is also equipped with a swing mechanism 600, which is located between the arc block 405 and the sliding block 610, for adjusting the angle of the circumferential scanning of the camera 613. The lower end of the arc block 405 is provided with a cleaning mechanism 700 for cleaning dust and impurities on the surface of the utility pole.

[0034] Specifically, the unfolding mechanism 300 includes a connecting block 301, one end of which is fixedly connected to the housing 200, and the other end of which is elastically connected to a first sleeve 302 via a compression spring. By pulling the connecting block 301 away from the first sleeve 302, the connecting block 301 will compress the compression spring inside the first sleeve 302, thus pulling the two connecting blocks 301 apart and fitting them onto the utility pole. The concrete quality inspection robot then inspects the utility pole from top to bottom.

[0035] Additionally, the moving mechanism 400 includes a telescopic barrel 401, the lower end of which is fixedly connected to the bracket 100. A telescopic rod 402 is elastically connected inside the telescopic barrel 401 via a compression spring. A fixing block 403 is fixedly connected to one end of the telescopic rod 402, and a rotating shaft 404 is fixedly connected to both ends of the fixing block 403. An arc-shaped block 405 is elastically connected to the surface of the rotating shaft 404 via a torsion spring. A roller motor 406 is rotatably connected to one end of the arc-shaped block 405. A bellows 408 is fixedly connected inside the slide rail 407. The compression spring inside the telescopic barrel 401 causes the telescopic rod 402 to move closer to the utility pole. As the telescopic rod 402 approaches the utility pole, the fixing block 403 moves inward. This inward movement of the fixing block 403 causes the rotating shaft 404 to move inward, which in turn causes the arc-shaped block 405 to move inward. This inward movement of the arc-shaped block 405 then... The roller motor 406 moves inward; at this time, the roller motor 406 is activated to rotate, which drives the robot to move up and down. Two roller motors 406 are set on the arc block 405, and the camera 613 is positioned between the two roller motors 406, so that the distance between the camera 613 and the utility pole is always consistent, thus enabling the surface of the utility pole to be inspected. The compression spring inside the telescopic barrel 401 drives the roller motor 406 to fit against the utility pole. Since the utility pole is thinner at the top and thicker at the bottom, the roller motor 406 is adjusted by the arc block 405 and the rotating shaft 404 to make the roller motor 406 fit against the surface of the utility pole. By setting two roller motors 406 on the arc block 405 and positioning the camera 613 between the two roller motors 406, the distance between the camera 613 and the utility pole is always consistent, thus enabling efficient surface inspection of the utility pole.

[0036] Further, the air blowing mechanism 500 includes a second sleeve 501, which is fixedly connected to the housing 200. A first rotating rod 502 is rotatably connected inside the second sleeve 501, and a fan blade 503 is fixedly connected to the surface of the first rotating rod 502. An air outlet pipe 504 is fixedly connected inside the second sleeve 501, and an air pump 505 is fixedly connected to one end of the air outlet pipe 504. When the air pump 505 is started, the gas generated by the air pump 505 enters the second sleeve 501 through the air outlet pipe 504. The high-pressure gas inside the second sleeve 501 drives the fan blade 503 to rotate, and the rotation of the fan blade 503 drives the first rotating rod 502 to rotate. The gas generated by the air pump 505 enters the hose inside the housing 200 through the second sleeve 501, then enters the hose inside the bracket 100, and finally enters the telescopic barrel 401. The gas inside the rotating shaft 404 enters through the telescopic rod 402 and the fixed block 403. The gas then enters the slide rail 407 through the arc-shaped block 405. The gas in the slide rail 407 then enters the arc-shaped plate 612 through the bellows 408 and the sliding block 610. The air inside the arc-shaped plate 612 is discharged through the nozzle 614. The nozzle 614 has several small holes arranged in multiple directions to ensure even gas dispersion and eliminate dead zones. The air discharged through the nozzle 614 blows dust downwards and simultaneously cleans the lens of the camera 613, thus improving detection quality. The air inside the arc-shaped plate 612 is discharged through the nozzle 614, which blows dust downwards and simultaneously cleans the lens of the camera 613, thereby improving detection quality.

[0037] Further, the swing mechanism 600 includes a first gear 601, the center of which is fixedly connected to the first rotating rod 502. One end of the first gear 601 meshes with a second gear 602. The center of the second gear 602 is fixedly connected to a second rotating rod 603. A cam 604 is fixedly connected to the surface of the second rotating rod 603. A pressure plate 605 is attached to the lower end of the cam 604. A sliding plate 606 is fixedly connected to one end of the pressure plate 605. A first connecting plate 607 is attached to the lower end of the sliding plate 606. A steel wire rope 608 is fixedly connected to the surface of the first connecting plate 607. The surface of the steel wire rope 608 is attached to... A rotating pin 609 is provided, with both ends of the rotating pin 609 rotatably connected to the slide rail 407. A sliding block 610 is fixedly connected to one end of the wire rope 608, and the sliding block 610 is fixedly connected to the bellows 408. A spring 611 is fixedly connected to one end of the sliding block 610, and one end of the spring 611 is fixedly connected to the slide rail 407. A nozzle 614 is fixedly connected to the upper end of the arc-shaped plate 612. Simultaneously, the rotation of the first rotating rod 502 drives the first gear 601 to rotate, which in turn drives the second gear 602 to rotate. The diameter of the second gear 602 is larger than the diameter of the first gear 601, therefore the first gear 601... The rotation of gear 1 causes the second gear 602 to rotate, which in turn causes the second rotating rod 603 to rotate, thus reducing its speed. The rotation of the second rotating rod 603 then causes the cam 604 to rotate, which in turn causes the pressure plate 605 to move downwards. This downward movement of the pressure plate 605 causes the sliding plate 606 to move downwards, which in turn causes the first connecting plate 607 to move downwards. This downward movement of the first connecting plate 607 causes the wire rope 608 to move downwards. The wire rope 608 is deflected in the direction of tension by the rotating shaft 404 and also by the rotating pin 609. The sliding block 610 moves to one end, compressing the spring 611. This movement also causes the curved plate 612 to move to one end, which in turn moves the camera 613 and the nozzle 614. The camera 613 detects the utility pole by using high-definition imaging and computer vision technology to perform non-contact scanning of the concrete surface and identify defects such as cracks and honeycombs. The operation of the air pump 505 causes the curved plate 612 to swing slowly, which in turn causes the camera 613 and the nozzle 614 to swing slowly, allowing the camera 613 to more evenly inspect the concrete quality of the utility pole.

[0038] It should be noted that the cleaning mechanism 700 includes a second connecting plate 701, the upper end of which is fixedly connected to the arc-shaped block 405, and a brush 702 is fixedly connected to one end of the second connecting plate 701. When the arc-shaped plate 612 moves to one end, it will drive the second connecting plate 701 to move to one end. The movement of the second connecting plate 701 to one end will drive the brush 702 to move to one end. The brushes 702 are misaligned due to their different heights. Through the structure, when the arc-shaped plate 612 drives the camera 613 to swing slowly, it will also drive the brush 702 to swing. The swinging of the brush 702 will clean the surface of the utility pole.

[0039] Working principle: When using this invention, firstly, by pulling the connecting block 301 away from the first sleeve 302, the connecting block 301 will compress the compression spring inside the first sleeve 302, thus pulling the two connecting blocks 301 apart and fitting them onto the utility pole. Then, the roller motor 406 is started to move the concrete quality inspection robot up and down. The concrete quality inspection robot inspects the utility pole from top to bottom.

[0040] The compression spring inside the telescopic bucket 401 causes the telescopic rod 402 to move closer to the utility pole. As the telescopic rod 402 approaches the utility pole, the fixing block 403 moves inward. This inward movement of the fixing block 403 causes the rotating shaft 404 to move inward, which in turn causes the arc-shaped block 405 to move inward. The inward movement of the arc-shaped block 405 then causes the roller motor 406 to move inward. At this point, the roller motor 406 starts rotating, causing the robot to move up and down. Two roller motors 406 are mounted on the arc-shaped block 405, and the camera 613 is positioned between the two roller motors 406, allowing the camera to record... The distance between the camera 613 and the utility pole remains constant, allowing for surface inspection of the utility pole. The compression spring inside the telescopic barrel 401 drives the roller motor 406 to contact the utility pole. Since the utility pole is thinner at the top and thicker at the bottom, the roller motor 406 is adjusted via the arc block 405 and the rotating shaft 404 to ensure it contacts the surface of the utility pole. By installing two roller motors 406 on the arc block 405 and positioning the camera 613 between them, the distance between the camera 613 and the utility pole remains constant, enabling efficient surface inspection of the utility pole.

[0041] When the air pump 505 is started, the gas generated by the air pump 505 enters the second sleeve 501 through the air outlet pipe 504. The high-pressure gas inside the second sleeve 501 drives the fan blade 503 to rotate. The rotation of the fan blade 503 drives the first rotating rod 502 to rotate. The gas generated by the air pump 505 enters the hose inside the housing 200 through the second sleeve 501. The gas entering the hose inside the housing 200 enters the hose inside the bracket 100. The gas entering the hose inside the bracket 100 enters the telescopic barrel 401. The gas entering the telescopic barrel 401 passes through the telescopic rod 402 and the fixing block 403 and enters the rotating shaft 404. The gas entering the rotating shaft 404 passes through the arc-shaped block 405 and enters the slide rail 407. Inside the slide rail 407, the gas enters through the bellows 408 and the sliding block 610 and then enters the arc plate 612. The air inside the arc plate 612 is discharged through the nozzle 614. The air discharged through the nozzle 614 blows dust downwards and also blows dust and impurities in the detection area downwards, improving the detection quality. At the same time, the air discharged through the nozzle 614 also cleans the lens of the camera 613, thereby improving the detection quality.

[0042] While the first rotating rod 502 rotates, it also drives the first gear 601 to rotate. The rotation of the first gear 601 drives the second gear 602 to rotate. The diameter of the second gear 602 is larger than that of the first gear 601. Therefore, after the rotation of the first gear 601 drives the rotation of the second gear 602, the rotation of the second gear 602 drives the second rotating rod 603 to rotate, thus reducing its speed. The rotation of the second rotating rod 603 drives the cam 604 to rotate, which in turn drives the pressure plate 605 to move downward. The downward movement of the pressure plate 605 drives the sliding plate 606 to move downward, which in turn drives the first connecting plate 607 to move downward. The downward movement of the first connecting plate 607 drives the wire rope 608 to move downward, and the wire rope 608 passes through the rotating shaft 404. The wire rope 608 also deflects the direction of the tension through the rotating pin 609. The wire rope 608 moves downward and the sliding block 610 moves to one end. The sliding block 610 moves to one end and compresses the spring 611. The sliding block 610 moves to one end and drives the arc plate 612 to move to one end. The arc plate 612 moves to one end and the camera 613 and nozzle 614 move to one end. The camera 613 detects the utility pole by non-contact scanning the concrete surface using high-definition imaging and computer vision technology to identify defects such as cracks and honeycomb. The operation of the air pump 505 drives the arc plate 612 to swing slowly. The arc plate 612 drives the camera 613 and nozzle 614 to swing slowly, which allows the camera 613 to detect the concrete quality of the utility pole more evenly.

[0043] As the curved plate 612 moves to one end, it will also drive the second connecting plate 701 to move to one end. The movement of the second connecting plate 701 to one end will drive the brush 702 to move to one end. The brushes 702 are misaligned due to their different heights. Through the structure, as the curved plate 612 drives the camera 613 to swing slowly, it will also drive the brush 702 to swing. The swinging of the brush 702 will clean the surface of the utility pole.

[0044] The foregoing has shown and described the basic principles, main features, and advantages of the present invention. Those skilled in the art should understand that the present invention is not limited to the above embodiments. The embodiments and descriptions in the specification are merely illustrative of the principles of the invention. Various changes and modifications can be made to the invention without departing from its spirit and scope, and all such changes and modifications fall within the scope of protection claimed by the present invention. The scope of protection of the present invention is defined by the appended claims and their equivalents.

Claims

1. A concrete quality inspection robot, comprising a support frame (100), characterized in that: A housing (200) is fixedly connected to the surface of the support (100). An adaptive deployment mechanism (300) for circumferentially wrapping the rod-shaped structure of the robot is configured at the end of the housing (200). A moving mechanism (400) for moving the inspection robot on the utility pole is provided at one end of the support (100). An air-blowing mechanism (500) for cleaning the inspection area on the surface of the utility pole is provided inside the housing (200). The moving mechanism (400) includes an arc-shaped block (405), one end of which is fixedly connected to a slide rail (407). The slide rail (407) is internally slidably connected to a sliding block (610). One end of the sliding block (610) is fixedly connected to an arc plate (612). A camera (613) is fixedly connected to the surface of the arc plate (612). The moving mechanism (400) is also equipped with a swing mechanism (600) located between the arc block (405) and the sliding block (610) for adjusting the circumferential scanning angle of the camera (613). The lower end of the arc block (405) is provided with a cleaning mechanism (700) for cleaning dust and impurities from the surface of the utility pole.

2. The concrete quality inspection robot according to claim 1, characterized in that: The unfolding mechanism (300) includes a connecting block (301), one end of which is fixedly connected to the housing (200), and one end of which is elastically connected to a first sleeve (302) via a compression spring.

3. The concrete quality inspection robot according to claim 2, characterized in that: The moving mechanism (400) includes a telescopic barrel (401), the lower end of which is fixedly connected to the bracket (100). The telescopic barrel (401) is elastically connected to a telescopic rod (402) through a compression spring. One end of the telescopic rod (402) is fixedly connected to a fixing block (403).

4. A concrete quality inspection robot according to claim 3, characterized in that: The moving mechanism (400) also includes a rotating shaft (404). The two ends of the fixed block (403) are fixedly connected to the rotating shaft (404). The surface of the rotating shaft (404) is elastically connected to an arc-shaped block (405) by a torsion spring. One end of the arc-shaped block (405) is rotatably connected to a roller motor (406). The inside of the slide rail (407) is fixedly connected to a bellows (408).

5. A concrete quality inspection robot according to claim 4, characterized in that: The air blowing mechanism (500) includes a second sleeve (501), which is fixedly connected to the housing (200). A first rotating rod (502) is rotatably connected inside the second sleeve (501), and a fan blade (503) is fixedly connected to the surface of the first rotating rod (502). An air outlet pipe (504) is fixedly connected inside the second sleeve (501), and an air pump (505) is fixedly connected to one end of the air outlet pipe (504).

6. A concrete quality inspection robot according to claim 5, characterized in that: The swing mechanism (600) includes a first gear (601), the center of which is fixedly connected to the first rotating rod (502). One end of the first gear (601) is meshed with a second gear (602). The center of the second gear (602) is fixedly connected to a second rotating rod (603). A cam (604) is fixedly connected to the surface of the second rotating rod (603). The lower end of the cam (604) is attached to a pressure plate (605). One end of the pressure plate (605) is fixedly connected to a sliding plate (606).

7. A concrete quality inspection robot according to claim 6, characterized in that: The swing mechanism (600) further includes a first connecting plate (607), the lower end of the sliding plate (606) is attached to the first connecting plate (607), a steel wire rope (608) is fixedly connected to the surface of the first connecting plate (607), a rotating pin (609) is attached to the surface of the steel wire rope (608), both ends of the rotating pin (609) are rotatably connected to the slide rail (407), one end of the steel wire rope (608) is fixedly connected to a sliding block (610), the sliding block (610) is fixedly connected to the corrugated pipe (408), one end of the sliding block (610) is fixedly connected to a spring (611), one end of the spring (611) is fixedly connected to the slide rail (407), and the upper end of the arc plate (612) is fixedly connected to a nozzle (614).

8. A concrete quality inspection robot according to claim 7, characterized in that: The cleaning mechanism (700) includes a second connecting plate (701), the upper end of which is fixedly connected to the arc-shaped block (405), and a brush (702) is fixedly connected to one end of the second connecting plate (701).

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