A reciprocating type inclination and settlement monitoring robot

Abstract

The present application relates to the technical fields of deformation monitoring of foundation pit, slope and tunnel engineering, and discloses a reciprocating type inclinometer and settlement monitoring robot, which comprises an upper shell, the bottom end of the upper shell is fixed on the upper part of an inclinometer tube body, a tensioning wheel is movably arranged on the inner top of the upper shell, a fixed pulley is fixedly installed on the inner bottom of the upper shell on both sides, a counterweight is movably arranged on the inner bottom of the inclinometer tube body, a counterweight wheel is fixedly installed on the top of the counterweight, a traction steel wire rope is wound on the outer diameter of the driving wheel, one end of the traction steel wire rope extends to the outside after passing through the outer diameter of the tensioning wheel and one side fixed pulley, and the other end is fixedly arranged on the top of a cleaning mechanism. The present application realizes automatic remote reciprocating monitoring in the scene of foundation pit, realizes stable traction, bidirectional collection and automatic cleaning, guarantees data accuracy, captures slight deformation, adapts to complex environment, reduces cost and increases efficiency, and improves safety warning reliability.

Description

Technical Field

[0001] This invention relates to the field of deformation monitoring technology for foundation pits, slopes and tunnels, specifically a reciprocating tilt measuring and settlement monitoring robot. Background Technology

[0002] In engineering fields such as foundation pit excavation, slope protection, and tunnel construction, structural deformation monitoring is a core component in ensuring construction safety and project stability. With the expansion of project scale and the increasing complexity of geological conditions, risks and hidden dangers such as foundation pit collapse, slope landslides, and tunnel surrounding rock deformation occur frequently, placing higher demands on the accuracy, timeliness, and continuity of monitoring data. Deformation in such projects often exhibits a gradual development characteristic; timely capture of early, minute deformations is crucial for achieving safety warnings. This requires high-density data collection along the depth direction to provide reliable decision-making basis for project operation and maintenance. Therefore, efficient and accurate inclination and settlement monitoring technologies have become an essential requirement in the industry.

[0003] Current mainstream monitoring methods still have significant limitations: traditional manual handheld instrument segmented measurements are not only labor-intensive and inefficient, but also pose safety risks due to harsh working environments (such as deep foundation pits and high-humidity tunnels). Furthermore, single measurements are susceptible to human error, making it difficult to form a complete deformation data chain. While some automated monitoring equipment achieves remote control, it often uses a unidirectional, single-monitoring mode, resulting in insufficient data density and difficulty in capturing minute deformations. Additionally, the traction mechanism is prone to problems such as wire rope jamming and vibration, leading to decreased measurement accuracy. Moreover, environmental factors such as dust and moisture inside the monitoring hole can easily adhere to the surface of the equipment's light-transmitting components, obstructing sensor signals and further affecting data accuracy. Existing equipment lacks an effective automatic cleaning mechanism, requiring regular manual maintenance, which increases operating costs. Summary of the Invention

[0004] To address the shortcomings of existing technologies, this invention provides a reciprocating tilt and settlement monitoring robot, which solves the technical problems of low monitoring accuracy, susceptibility to environmental interference, high labor costs, unstable traction, lack of effective self-cleaning, and difficulty in capturing minute deformations in traditional monitoring.

[0005] To achieve the above objectives, the present invention provides the following technical solution: a reciprocating inclinometer and settlement monitoring robot, comprising an upper shell, an inclinometer tube fixedly mounted at the bottom of the upper shell, a drive wheel fixedly mounted on one side of the inner top of the upper shell, a tension wheel movably mounted on the other side of the inner top of the upper shell, fixed pulleys fixedly mounted on both sides of the inner bottom of the upper shell, a counterweight block movably mounted at the inner bottom of the inclinometer tube, a counterweight wheel fixedly mounted on the top of the counterweight block, a traction steel wire rope wound around the outer diameter of the drive wheel, one end of the traction steel wire rope extending to the outside after passing over the outer diameter of the tension wheel and one side fixed pulley, and the end fixedly mounted on the top of the cleaning mechanism, the other end of the traction steel wire rope extending to the outside after passing over the outer diameter of the other side fixed pulley, and the end passing over the outer diameter of the counterweight wheel and fixedly mounted on the bottom of the lower positioning frame, an upper positioning frame being provided below the cleaning mechanism, a sensor assembly movably mounted at the bottom of the upper positioning frame, and the bottom of the sensor assembly being fixedly mounted on the top of the lower positioning frame.

[0006] Preferably, a geared motor is fixedly installed on one side of the inner side of the upper housing, and the drive end of the geared motor is fixedly installed in the middle of the drive wheel.

[0007] Preferably, a support frame is fixedly installed on the inner bottom of the upper housing near the tension wheel, and a rotating frame is movably installed on the top of the support frame. The end of the rotating frame near the tension wheel is movably connected to the tension wheel via a pull rod.

[0008] Preferably, a spring sheet is fixedly installed inside the upright frame, and the end of the spring sheet extends into the interior of the rotating frame. A pressure roller is fixedly installed on the inner side wall of the rotating frame, and the end of the pressure roller abuts against the surface of the spring sheet.

[0009] Preferably, the middle of both the lower positioning frame and the upper positioning frame is movably mounted with a first pulley bracket via a coil spring, and both ends of the first pulley bracket are movably mounted with first abutting pulleys.

[0010] Preferably, the upper and lower sides of the counterweight are movably mounted with second pulley brackets via coil springs, and the two ends of the second pulley brackets are movably mounted with second abutment pulleys.

[0011] Preferably, the sensor assembly includes an outer chamber, an inner chamber is fixedly installed inside the outer chamber, a sensing element is fixedly installed inside the inner chamber, a negative pressure chamber is provided between the outer chamber and the inner chamber and the negative pressure chamber is filled with nitrogen, and heat dissipation fins are fixedly installed on the upper and lower sides of the outer side of the inner chamber.

[0012] Preferably, the cleaning mechanism includes a fixed cylinder, a micro motor is fixedly installed at the top of the fixed cylinder, a side shaft is movably installed on one side inside the fixed cylinder, a first cam is fixedly installed at the end of the side shaft, an output shaft is movably installed on the lower inside of the fixed cylinder and the bottom end of the output shaft is fixedly installed at the top of the upper positioning frame, a second cam is fixedly installed at the top of the output shaft, and the end of the second cam is connected to the end of the first cam by a connecting rod.

[0013] Preferably, the drive end of the micro motor extends into the interior of the fixed cylinder and is fixedly mounted with a drive gear, and a driven gear is fixedly mounted on the outer diameter of the middle part of the side shaft, and the driven gear meshes with the inner end of the drive gear.

[0014] Preferably, an extension rod is fixedly installed on one side of the bottom of the upper positioning frame, and an opening is provided on one side of the upper part of the inclinometer tube. The end of the extension rod extends to the outside of the opening and two cleaning brushes are fixedly installed at the bottom.

[0015] This invention provides a reciprocating tilt-measuring and settlement monitoring robot. It has the following beneficial effects: 1. This invention adopts a bidirectional reciprocating monitoring cycle of "descending and rising" and collects data bidirectionally at 500mm intervals to avoid accidental deviations in single measurements. Through data cross-validation, it improves the measurement accuracy of tilt angle and settlement displacement values, providing reliable data support for capturing minute deformations.

[0016] 2. The present invention uses the drive wheel and the counterweight wheel to achieve uniform lifting and lowering of the sensor assembly. The first and second abutment pulleys limit the offset. Combined with the stable tensioning mechanism of the tensioning wheel, it effectively avoids jamming and vibration of the traction steel wire rope, ensuring that the sensing element moves smoothly along the depth direction, realizing high-density data acquisition, greatly improving the ability to identify small deformations of foundation pits, slopes and tunnels, and providing an accurate data foundation for early warning.

[0017] 3. The cleaning mechanism of this invention uses a micro motor to drive the cleaning brush to swing back and forth, simultaneously cleaning the inner and outer walls of the inclinometer tube, thoroughly removing dust, dirt and other obstructions, avoiding them from affecting the sensor signal transmission or visual monitoring accuracy, and ensuring the continuity of the measurement process and the authenticity of the data. Attached Figure Description

[0018] Figure 1 This is a perspective view of the present invention; Figure 2 This is a schematic diagram of the internal structure of the present invention; Figure 3 for Figure 2 Enlarged view of point A in the middle; Figure 4 This is a schematic diagram of the internal structure of the upper shell in this invention; Figure 5 This is a schematic diagram of the internal structure of the sensor assembly in this invention; Figure 6 for Figure 5 Enlarged view at point B in the middle; Figure 7 This is a schematic diagram of the internal structure of the fixed cylinder in this invention.

[0019] The components include: 1. Upper housing; 2. Inclined tube; 3. Drive wheel; 4. Tensioning wheel; 5. Fixed pulley; 6. Counterweight; 7. Counterweight wheel; 8. Traction wire rope; 9. Cleaning mechanism; 901. Fixed cylinder; 902. Micro motor; 903. Drive gear; 904. Side shaft; 905. Driven gear; 906. First cam; 907. Output shaft; 908. Second cam; 909. Connecting rod; 910. Extension rod; 911. Cleaning brush; 91 2. Opening; 10. Lower positioning frame; 11. Sensor assembly; 1101. Outer compartment; 1102. Inner compartment; 1103. Sensing element; 1104. Negative pressure chamber; 1105. Heat dissipation fins; 12. Upper positioning frame; 13. Gear motor; 14. Stand; 15. Rotating frame; 16. Spring plate; 17. Pressure roller; 18. Pull rod; 19. First pulley bracket; 20. First contact pulley; 21. Second pulley bracket; 22. Second contact pulley. Detailed Implementation

[0020] The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0021] Please see the appendix Figure 1 -Appendix Figure 7 This invention provides a reciprocating tilt-measuring and settlement monitoring robot, such as... Figure 1As shown, the device includes an upper housing 1, which serves as the top load-bearing structure of the entire device. It is used to install and fix core transmission components such as the drive wheel 3 and tension wheel 4, providing a stable mounting base and protective space for the internal components. An inclinometer tube 2 is fixedly installed at the bottom of the upper housing 1. The inclinometer tube 2 not only guides the sensor assembly 11 to move smoothly up and down, but its transparency also ensures that the signal transmission of the sensing element 1103 inside the sensor assembly 11 is not obstructed. Simultaneously, it provides operational space for the cleaning mechanism 9. A drive wheel 3 is fixedly installed on one side of the inner top of the upper housing 1. As the core component for power transmission, the drive wheel 3 is fixedly connected to the drive end of the reduction motor 13, enabling it to rotate in both directions under the drive of the reduction motor 13. This, in turn, pulls the traction steel wire rope 8 to complete the lifting and lowering action of the sensor assembly 11. A tension wheel 4 is movably installed on the other side of the inner top of the upper housing 1. The tension wheel 4 can flexibly adjust its position according to the tension changes of the traction steel wire rope 8, always providing a stable tension force to the traction steel wire rope 8, avoiding jamming or vibration during the traction process. Fixed pulleys 5 are fixedly installed on both sides of the inner bottom of the upper housing 1. The fixed pulleys 5 change the direction of force on the traction steel wire rope 8, enabling the traction force output by the drive wheel 3 to be accurately transmitted to the cleaning mechanism 9 and the lower positioning frame 10, ensuring efficient and stable force transmission. A counterweight 6 is movably installed on the inner bottom of the inclinometer tube 2. The counterweight 6 provides a balancing force for the lifting and lowering of the sensor assembly 11 through its own weight, working in conjunction with the drive wheel 3 to achieve… The sensor assembly 11 moves at a constant speed. A counterweight wheel 7 is fixedly installed on the top of the counterweight block 6. The counterweight wheel 7 cooperates with the traction steel wire rope 8 to further optimize the transmission of traction force, reduce friction during traction, and improve the stability of the sensor assembly 11's lifting and lowering. The traction steel wire rope 8 is wound around the outer diameter of the drive wheel 3. The traction steel wire rope 8 serves as the medium for power transmission, connecting the drive wheel 3, tension wheel 4, fixed pulley 5, counterweight wheel 7, cleaning mechanism 9, and lower positioning frame 10. It converts the rotational motion of the drive wheel 3 into the linear lifting and lowering motion of the sensor assembly 11. One end of the traction steel wire rope 8 passes around the outer diameter of the tension wheel 4 and one side of the fixed pulley 5 and extends to the outside, with its end fixedly installed on the top of the cleaning mechanism 9. Through its fixed connection with the cleaning mechanism 9, When the traction wire rope 8 moves, it drives the cleaning mechanism 9 to move synchronously, providing the power basis for the cleaning action of the cleaning mechanism 9. The other end of the traction wire rope 8 extends to the outside after passing over the outer diameter of the fixed pulley 5 on the other side, and the end passes over the outer diameter of the counterweight wheel 7 and is fixedly set at the bottom of the lower positioning frame 10. Through the connection with the lower positioning frame 10, it directly drives the sensor assembly 11 to rise and fall. At the same time, with the guidance and balance of the counterweight wheel 7, the stability of the sensor assembly 11 during the rising and falling process is ensured. An upper positioning frame 12 is set below the cleaning mechanism 9. The upper positioning frame 12 provides top mounting support for the sensor assembly 11 and is linked with the cleaning mechanism 9. When the cleaning mechanism 9 moves, it swings along with it, thereby driving the cleaning brush 911 to complete the cleaning operation.A sensor assembly 11 is movably mounted on the bottom of the upper positioning frame 12, and the bottom of the sensor assembly 11 is fixedly mounted on the top of the lower positioning frame 10. The sensor assembly 11 is the core component for inclination measurement and settlement monitoring. The fixed installation of the upper and lower positioning frames ensures stability during lifting and lowering, preventing swaying from affecting measurement accuracy.

[0022] In this embodiment, a geared motor 13 is fixedly installed on one side of the inner side of the upper housing 1, and the drive end of the geared motor 13 is fixedly installed in the middle of the drive wheel 3. The geared motor 13 serves as the power source of the entire device, receives instructions from the remote monitoring platform to start or stop, and drives the drive wheel 3 to rotate precisely through the drive end, providing stable power output for the lifting and lowering of the sensor assembly 11. Its deceleration characteristics can ensure that the speed of the drive wheel 3 is stable, thereby realizing the uniform movement of the sensor assembly 11.

[0023] Furthermore, a support frame 14 is fixedly installed on the inner bottom of the upper housing 1 near the tension wheel 4. The support frame 14 provides a fixed mounting base for the rotating frame 15 and the spring plate 16, ensuring that the components of the tensioning mechanism can work stably together. The rotating frame 15 is movably installed on the top of the support frame 14. The rotating frame 15 can rotate flexibly around the top of the support frame 14. Through the connection with the pull rod 18 and the pressure roller 17, the displacement of the tension wheel 4 is converted into pressure on the spring plate 16. The end of the rotating frame 15 near the tension wheel 4 is movably connected to the tension wheel 4 through the pull rod 18. The pull rod 18 plays the role of force transmission. When the tension wheel 4 moves due to the tension change of the traction wire rope 8, the pull rod 18 drives the rotating frame 15 to rotate synchronously, thereby realizing the adjustment of the tension force.

[0024] Furthermore, a spring plate 16 is fixedly installed inside the upright frame 14, and the end of the spring plate 16 extends into the interior of the rotating frame 15. The spring plate 16 has good elastic deformation capability and bends under the pressure of the rotating frame 15. It provides a reverse tension to the tension wheel 4 through elastic restoring force, thereby providing a stable tension to the traction wire rope 8. A pressure roller 17 is fixedly installed on the inner side wall of the rotating frame 15, and the end of the pressure roller 17 abuts against the surface of the spring plate 16. The pressure roller 17 can reduce the friction between the rotating frame 15 and the spring plate 16. Under the drive of the rotating frame 15, the pressure roller 17 slides along the surface of the spring plate 16, so that the bending degree of the spring plate 16 is adaptively adjusted with the displacement of the tension wheel 4, ensuring that the elastic force of the spring plate 16 is always stable.

[0025] Furthermore, a first pulley bracket 19 is movably mounted on the middle of both the lower positioning frame 10 and the upper positioning frame 12 via a coil spring. The coil spring provides elastic support for the first pulley bracket 19, allowing the first pulley bracket 19 to flexibly adjust its angle according to the inner wall of the inclinometer tube 2. A first abutting pulley 20 is movably mounted on both ends of the first pulley bracket 19. The first abutting pulley 20 is in close contact with the inner wall of the inclinometer tube 2 and rolls along the inner wall during the lifting and lowering of the sensor assembly 11, limiting the lateral displacement of the sensor assembly 11 and ensuring that it always moves in the vertical direction, thereby improving the accuracy of the monitoring data.

[0026] Furthermore, the upper and lower sides of the counterweight 6 are movably mounted with second pulley brackets 21 via coil springs. The coil springs give the second pulley brackets 21 a certain elastic adjustment capability, enabling them to adapt to changes in the dimensions of the inner wall of the inclinometer tube 2. The two ends of the second pulley brackets 21 are movably mounted with second abutment pulleys 22. The second abutment pulleys 22 roll in cooperation with the inner wall of the inclinometer tube 2, and together with the first abutment pulley 20, further enhance the guiding effect of the counterweight 6 and the sensor assembly 11, preventing swaying or deviation during lifting and ensuring the stability of the device operation.

[0027] Furthermore, the sensor assembly 11 includes an outer cabin 1101, which provides external protection for the sensor assembly 11, resisting the corrosion of internal components by dust, moisture, etc. in the external environment. An inner cabin 1102 is fixedly installed inside the outer cabin 1101, providing a stable installation environment for the sensing element 1103 and reducing the impact of external vibrations on the sensing element 1103. The sensing element 1103, including an inclinometer and a settlement displacement sensor, is the core component for realizing the measurement of tilt angle and settlement displacement, and can accurately collect data within the monitoring hole. For environmental data at the same depth, a negative pressure chamber 1104 is provided between the outer chamber 1101 and the inner chamber 1102, and the interior of the negative pressure chamber 1104 is filled with nitrogen. The design of the negative pressure chamber 1104 and the nitrogen filling can effectively isolate external moisture and oxygen, prevent the sensing element 1103 from getting damp and oxidized, extend its service life and ensure measurement accuracy. Heat dissipation fins 1105 are fixedly installed on the upper and lower sides of the outer side of the inner chamber 1102. The heat dissipation fins 1105 can quickly dissipate the heat generated by the sensing element 1103 during operation, avoid the working performance of the sensing element 1103 due to excessive temperature, and ensure its stable operation in complex environments.

[0028] Furthermore, the cleaning mechanism 9 includes a fixed cylinder 901, which provides a mounting carrier for the various components of the cleaning mechanism 9, ensuring that the various transmission components can work in an orderly manner. A micro motor 902 is fixedly installed at the top of the fixed cylinder 901. The micro motor 902 serves as the power source for the cleaning mechanism 9. After receiving a control command and starting, it provides power for the reciprocating oscillation of the cleaning brush 911. A side shaft 904 is movably installed on one side inside the fixed cylinder 901. The side shaft 904 transmits power, transmitting the rotational motion of the micro motor 902 to the first cam 906. The first cam 906 is fixedly installed at the end of the side shaft 904. The first cam 906 drives the connecting rod 909 to generate a reciprocating thrust through its rotational motion, thereby driving the second cam 908 to move. An output shaft 907 is movably mounted on the lower side of the interior of 901, and the bottom end of the output shaft 907 is fixedly mounted on the top end of the upper positioning frame 12. The output shaft 907 can convert the rotational motion of the second cam 908 into reciprocating oscillation, thereby driving the upper positioning frame 12 to oscillate synchronously. The top end of the output shaft 907 is fixedly mounted with the second cam 908. The second cam 908 rotates under the drive of the connecting rod 909. Through its own cam structure, it converts the linear thrust into the oscillating power of the output shaft 907. The end of the second cam 908 is connected to the end of the first cam 906 through the connecting rod 909. The connecting rod 909 serves to connect the first cam 906 and the second cam 908, realize the transmission of power, and convert the rotational motion of the first cam 906 into the rotational motion of the second cam 908.

[0029] Furthermore, the drive end of the micro motor 902 extends into the interior of the fixed cylinder 901 and is fixedly mounted with a drive gear 903. The drive gear 903 rotates under the drive of the micro motor 902, transmitting power to the driven gear 905. The driven gear 905 is fixedly mounted on the outer diameter of the middle part of the side shaft 904, and the driven gear 905 meshes with the inner end of the drive gear 903. Through meshing with the drive gear 903, the driven gear 905 transmits the rotational motion of the drive gear 903 to the side shaft 904, thereby reducing and reversing the power, and ensuring that the rotational speed of the side shaft 904 meets the cleaning requirements of the cleaning brush 911.

[0030] Furthermore, an extension rod 910 is fixedly installed on one side of the bottom of the upper positioning frame 12. The extension rod 910 serves to connect the upper positioning frame 12 and the cleaning brush 911, transmitting the reciprocating swing of the upper positioning frame 12 to the cleaning brush 911. An opening 912 is provided on one side of the upper part of the inclinometer tube 2, providing space for the swing of the extension rod 910, ensuring that the extension rod 910 can drive the cleaning brush 911 to smoothly complete the cleaning of the inner and outer walls of the inclinometer tube 2. The end of the extension rod 910 extends to the outside of the opening 912 and two cleaning brushes 911 are fixedly installed at the bottom. The two cleaning brushes 911 correspond to the inner and outer walls of the inclinometer tube 2, respectively, and swing back and forth under the drive of the extension rod 910, effectively removing dust, dirt and other impurities attached to the surface of the inclinometer tube 2, and avoiding them from affecting the measurement accuracy of the sensing element 1103.

[0031] Working principle: A fixed bracket is installed at the top of a pre-set monitoring hole in the foundation pit, slope, or tunnel. The bracket is fixed to the concrete base with expansion bolts to ensure that the bracket is stable and does not shake. The device is slowly lowered into the monitoring hole, ensuring that the inclinometer tube 2 of the device is perpendicular to the inner wall of the hole to avoid lateral displacement. The remote monitoring platform issues a monitoring command to start the reduction motor 13. The reduction motor 13 drives the drive wheel 3 to rotate, pulling the traction steel wire rope 8 to drive the sensor assembly 11 to descend at a constant speed. The sensor assembly 11 moves along the inner wall of the inclinometer tube 2 through the first contact pulley 20 and the second contact pulley 22 to limit the displacement of the sensor assembly 11. During the descent of the sensor assembly 11, the internal sensor elements, including the inclinometer sensor and the settlement displacement sensor, measure the tilt angle and depth settlement value at the current depth, respectively. Data acquisition is triggered every 500mm descent. After completion, the reduction motor 13 reverses, and the sensor assembly 11 rises at a constant speed. During the ascent, data is collected again at the same intervals, forming a descent-ascent reciprocating monitoring cycle. This avoids random errors in single measurements. The drive wheel 3 and the counterweight wheel 7 work together to achieve smooth lifting and lowering of the sensor assembly 11, improving the stability of the monitoring process. The sensing element, in conjunction with the constant speed traction mechanism, achieves high-density data acquisition along the depth direction. This improves the ability to capture minute deformations and provides more accurate data support for early warning. The automated and remote operation and maintenance drive control module supports remote control and data transmission, enabling periodic monitoring to be completed without manual on-site operation. This reduces labor costs while improving the safety of monitoring operations in harsh environments.

[0032] During the measurement process, when dust and other dirt adhere to the inner and outer walls of the inclinometer tube 2, the micro motor 902 is activated. The micro motor 902 drives the drive gear 903 to rotate, which in turn drives the driven gear 905 and the side shaft 904 to rotate. The side shaft 904 drives one end of the first cam 906 to rotate. The other end of the first cam 906, through the action of the connecting rod 909 and the second cam 908, drives the output shaft 907 to reciprocate, thereby causing the upper positioning frame 12 to follow the reciprocating motion. The upper positioning frame 12, through the extension rod 910, drives the cleaning brush 911 to follow the reciprocating motion, thus cleaning the inner and outer walls of the inclinometer tube 2 and preventing dust and dirt from affecting the measurement process.

[0033] Simultaneously, during the measurement process, the tension wheel 4 pulls the steel wire rope 8 to maintain a taut state. When the traction steel wire rope 8 moves, it drives the tension wheel 4 to move. The tension wheel 4, through the pull rod 18, causes the rotating frame 15 to bend. The bent rotating frame 15 bends the spring plate 16 through the pressure roller 17. The elastic force generated by the bent spring plate 16 pulls the tension wheel 4 in the opposite direction, providing tension to the traction steel wire rope 8. At the same time, during the bending process of the pressure roller 17, relative sliding occurs on its surface, causing the lever arm of the bent spring plate 16 to change. This compensates for the constantly changing elastic force caused by the changing degree of bending of the spring plate 16, ensuring that the elastic force generated by the spring plate 16 remains stable. The tension provided by the tension wheel 4 to the traction steel wire rope 8 also remains stable, effectively preventing the traction steel wire rope 8 from jamming and vibrating during movement, thus improving measurement accuracy.

[0034] Although embodiments of the invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the appended claims and their equivalents.

Claims

1. A reciprocating tilt and settlement monitoring robot, comprising an upper shell (1), characterized in that, The bottom end of the upper shell (1) is fixed to the upper part of the inclinometer tube (2). A drive wheel (3) is fixedly installed on one side of the inner top of the upper shell (1). A tension wheel (4) is movably installed on the other side of the inner top of the upper shell (1). Fixed pulleys (5) are fixedly installed on both sides of the inner bottom of the upper shell (1). A counterweight (6) is movably installed on the inner bottom of the inclinometer tube (2). A counterweight wheel (7) is fixedly installed on the top of the counterweight (6). A traction steel wire rope (8) is wound around the outer diameter of the drive wheel (3). One end of the traction steel wire rope (8) After passing the outer diameter of the tension wheel (4) and the fixed pulley (5) on one side, the traction wire rope (8) extends to the outside and its end is fixedly set on the top of the cleaning mechanism (9). The other end of the traction wire rope (8) passes the outer diameter of the fixed pulley (5) on the other side and extends to the outside. Its end passes the outer diameter of the counterweight wheel (7) and is fixedly set at the bottom of the lower positioning frame (10). An upper positioning frame (12) is provided below the cleaning mechanism (9). A sensor assembly (11) is movably installed at the bottom of the upper positioning frame (12) and the bottom of the sensor assembly (11) is fixedly installed on the top of the lower positioning frame (10).

2. The reciprocating inclinometer and settlement monitoring robot according to claim 1, characterized in that, A geared motor (13) is fixedly installed on one side of the inner side of the upper housing (1), and the drive end of the geared motor (13) is fixedly installed in the middle of the drive wheel (3).

3. The reciprocating inclinometer and settlement monitoring robot according to claim 1, characterized in that, A support frame (14) is fixedly installed on the inner bottom of the upper housing (1) near the tension wheel (4). A rotating frame (15) is movably installed on the top of the support frame (14). The end of the rotating frame (15) near the tension wheel (4) is movably connected to the tension wheel (4) through a pull rod (18).

4. The reciprocating inclinometer and settlement monitoring robot according to claim 3, characterized in that, A spring sheet (16) is fixedly installed inside the upright frame (14), and the end of the spring sheet (16) extends into the interior of the rotating frame (15). A pressure roller (17) is fixedly installed on the inner side wall of the rotating frame (15), and the end of the pressure roller (17) abuts against the surface of the spring sheet (16).

5. The reciprocating inclinometer and settlement monitoring robot according to claim 1, characterized in that, The lower positioning frame (10) and the upper positioning frame (12) are each equipped with a first pulley bracket (19) via a coil spring in the middle. Both ends of the first pulley bracket (19) are equipped with first abutting pulleys (20).

6. The reciprocating inclinometer and settlement monitoring robot according to claim 1, characterized in that, The counterweight (6) has a second pulley bracket (21) movably mounted on both the upper and lower sides via a coil spring, and a second abutting pulley (22) is movably mounted on both ends of the second pulley bracket (21).

7. The reciprocating inclinometer and settlement monitoring robot according to claim 1, characterized in that, The sensor assembly (11) includes an outer cabin (1101), an inner cabin (1102) is fixedly installed inside the outer cabin (1101), a sensing element (1103) is fixedly installed inside the inner cabin (1102), a negative pressure chamber (1104) is provided between the outer cabin (1101) and the inner cabin (1102) and the negative pressure chamber (1104) is filled with nitrogen gas, and heat dissipation fins (1105) are fixedly installed on the upper and lower sides of the outer side of the inner cabin (1102).

8. The reciprocating inclinometer and settlement monitoring robot according to claim 1, characterized in that, The cleaning mechanism (9) includes a fixed cylinder (901), a micro motor (902) is fixedly installed at the top of the fixed cylinder (901), a side shaft (904) is movably installed on one side inside the fixed cylinder (901), a first cam (906) is fixedly installed at the end of the side shaft (904), an output shaft (907) is movably installed on the lower side inside the fixed cylinder (901), and the bottom end of the output shaft (907) is fixedly installed at the top of the upper positioning frame (12). A second cam (908) is fixedly installed at the top of the output shaft (907), and the end of the second cam (908) is connected to the end of the first cam (906) through a connecting rod (909).

9. A reciprocating inclinometer and settlement monitoring robot according to claim 8, characterized in that, The drive end of the micro motor (902) extends into the interior of the fixed cylinder (901) and is fixedly mounted with a drive gear (903). A driven gear (905) is fixedly mounted on the outer diameter of the middle part of the side shaft (904), and the driven gear (905) meshes with the inner end of the drive gear (903).

10. A reciprocating inclinometer and settlement monitoring robot according to claim 1, characterized in that, An extension rod (910) is fixedly installed on one side of the bottom of the upper positioning frame (12), and an opening (912) is opened on one side of the upper part of the inclinometer tube (2). The end of the extension rod (910) extends to the outside of the opening (912) and two cleaning brushes (911) are fixedly installed at the bottom.

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