Sludge thickness detection device capable of stable movement across a lagoon

Abstract

The present application provides a kind of sedimentation tank sludge thickness detection device capable of moving across pool, belong to water treatment technical field.It includes: universal moving chassis, can move forward and backward and left and right;Multiple lateral support shafts are arranged at the four corners of the chassis, with rollers arranged coaxially, initially downward, with left and right and forward and backward two kinds of turnover modes, can be respectively turned to the left or right or front and back side edges outside to avoid pool wall;Wire detection platform includes rotating disc rotating on the top of chassis, extending arm extending laterally, weight and wire marker, weight is suspended below extending arm by wire marker, wire marker can detect wire length and wire end tension.The present application realizes full-automatic fast transfer between sedimentation tank group through the clamping travel and step-by-step turnover mechanism of universal chassis combined with multiple support shafts, combined with weight mud detection sludge thickness, effectively solves the problem of large scale of sedimentation tank cluster horizontal arrangement, low efficiency of artificial detection one by one.

Description

Technical Field

[0001] This invention relates to the field of water treatment technology, and more specifically to a sedimentation tank sludge thickness detection device capable of stable movement across different tanks. Background Technology

[0002] Water treatment is a crucial aspect of ecological environmental protection. Sedimentation tanks, as key structures in water treatment processes, play a vital role in removing suspended solids, colloids, and other impurities from raw water. During long-term operation, sludge accumulates at the bottom of sedimentation tanks. If not removed promptly, this will lead to a reduction in effective volume, deterioration of effluent quality, and even disruption of the entire water treatment system's normal operation. Therefore, monitoring the sludge thickness in sedimentation tanks is an indispensable part of the daily operation and maintenance management of water treatment plants, and is of great significance for rationally scheduling sludge removal cycles and ensuring treatment effectiveness.

[0003] However, in actual water treatment plants, sedimentation tanks are typically arranged in a cluster, resulting in a large overall scale with numerous tanks spread over a wide area. Current methods for detecting sludge thickness often rely on manual handheld measuring rods or simple stringing devices, requiring operators to work across each tank individually. This is not only time-consuming and labor-intensive, but also extremely inconvenient for personnel moving and transporting equipment in densely packed tank conditions. While robotic intelligent inspection is also used, the thinness of the tank walls leads to accumulating deviations in the robot's direction of travel as it moves along the walls, potentially causing it to fall into the tank. Summary of the Invention

[0004] To address the shortcomings of existing technologies, this invention proposes a sedimentation tank sludge thickness detection device capable of stable movement across different tanks. This device solves the technical problems of large-scale horizontal arrangement of sedimentation tanks, low efficiency of manual inspection, and unstable movement path and easy fall of robots during intelligent inspection.

[0005] The technical solution adopted in this invention is: a sedimentation tank sludge thickness detection device capable of stable movement across tanks, comprising: The mobile chassis can move forward and backward as well as left and right. A lateral support shaft is provided with rollers on the same axis. Multiple sets of the lateral support shafts are respectively arranged at the four corners of the mobile chassis. Initially, the lateral support shafts extend towards the bottom of the mobile chassis. Each lateral support shaft can be rotatably installed on the mobile chassis and includes two rotatable modes. In the left-right rotatable mode, the lateral support shaft rotates in the left and right planes of the mobile chassis and rotates to the left and right side edges of the mobile chassis. In the front-back rotatable mode, the lateral support shaft rotates in the front and back planes of the mobile chassis and rotates to the front and back side edges of the mobile chassis. In addition, a wire laying detection platform includes a rotating disk and an extension arm. The rotating disk is rotatably mounted on the top of the movable chassis. The extension arm extends laterally and beyond the outline of the movable chassis. The wire laying detection platform also includes a weight and a wire laying device. The weight is suspended from the extension arm by the wire laying device. The wire laying device is capable of detecting the wire laying length and the tension at the wire end.

[0006] Optionally, the movable chassis is provided with a ball joint cavity at one corner, which mates with the spherical end of the lateral support shaft. The ball joint cavity is provided with a first flipping channel for the lateral support shaft to flip forward and backward and a second flipping channel for the lateral support shaft to flip left and right. The first flipping channel includes a first rod channel, a first ball channel, and a first rod tail channel. The first rod channel is located at the edge of the movable chassis, the first ball channel overlaps with the ball joint cavity, and the first rod tail channel is located inside the movable chassis. The second flipping channel includes a second rod channel, a second ball channel, and a second rod tail channel. The second rod channel is located at the edge of the movable chassis, the second ball channel overlaps with the ball joint cavity, and the second rod tail channel is located inside the movable chassis.

[0007] Optionally, the first tail channel and the second tail channel are perpendicular to each other and connected to each other, and the connection point is the area where the tail is located when the lateral support shaft is in its initial state.

[0008] Optionally, the first rod tail channel and the second rod tail channel are respectively provided with arc-shaped guide cavities. The arc-shaped guide cavities are arranged along their respective flipping directions. The tail rod segment of the lateral support shaft is respectively provided with a locking block that slides with the arc-shaped guide cavity. When the tail rod segment of the lateral support shaft is located in the connecting point area, the two locking blocks of the tail rod segment are respectively locked into the arc-shaped guide cavities of the first rod tail channel and the second rod tail channel. At this time, the tail rod segment of the support shaft can flip along the arc-shaped guide cavity of the first rod tail channel or the second rod tail channel.

[0009] Optionally, the first rod tail channel and the second rod tail channel are connected to form an L-shape, with the inner side of the L-shape being the flipping space of the tail end of the lateral support shaft and the outer side being the driving space. Within the driving space, at the starting and ending points of the arc-shaped guide cavity, at the corners of the two outer ends of the L-shape, and at the edges of the inner corners of the L-shape, a first reversing clip, a second reversing clip, a third reversing clip, a fourth reversing clip, and a fifth reversing clip are respectively provided. At the inner corner of the L-shape, a winding reel controlled by a power source is also provided. One end of the first cable and the second cable are fixed to the winding reel through opposite winding directions, and the other ends of the first cable and the second cable are respectively connected to the two clips of the lateral support shaft through the reversing clips on the two right-angled sides of the L-shape.

[0010] Optionally, the first reversing bracket includes two opposing gateposts, each with an elastic telescopic post at its end. Initially, both telescopic posts extend and close the area between the two gateposts. During the process of the lateral support shaft flipping left and right or forward and backward to its initial position, the locking block at the tail end of the lateral support shaft squeezes and opens the elastic telescopic post when it passes the first reversing bracket, thereby passing through the first reversing bracket and allowing the first or second cable connected to the locking block to bypass the first reversing bracket. The remaining reversing brackets are U-shaped structures.

[0011] Optionally, the wire feeding device includes a reversing seat, a force measuring seat, and a wire feeding seat. The reversing seat is located at the end of the extended arm, and the force measuring seat is located between the reversing seat and the wire feeding seat. The reversing seat, the force measuring seat, and the wire feeding seat are arranged in a V-shape. The wire feeding seat is equipped with a wire feeding motor. One end of the third cable is fixed to the shaft of the wire feeding motor, and the other end passes through the wire feeding seat, the force measuring seat, and the reversing seat in sequence before suspending the counterweight. The reversing seat or the wire feeding seat can detect the wire feeding length, and the force measuring seat can detect the tension of the third cable.

[0012] Optionally, the force measuring base includes a fixed bracket, a sliding bracket, and a force gauge. The fixed bracket is fixedly installed on the extended arm, and the sliding bracket is slidably installed on the fixed bracket with the sliding direction consistent with the normal direction of the third cable. The lower end of the sliding bracket is provided with a guide wheel, and the third cable is V-shaped and hung on the wheel surface of the guide wheel. The upper end of the sliding bracket abuts against the fixed bracket through the force gauge.

[0013] Optionally, the tail end of the hammer is connected to the third cable, the hammer has a shell structure, and a propeller is installed inside the hammer for rotation.

[0014] Optionally, the head end of the weight housing is open, and the tail end is provided with a filter screen.

[0015] As can be seen from the above technical solution, the beneficial technical effects of the present invention are as follows: The mobile chassis enables forward, backward, left, and right movement. Combined with lateral support shafts and rollers featuring two tilting modes, it flexibly adapts to different edge conditions in sedimentation tanks, allowing for rapid and stable transfer between tank groups without manual handling or concerns about the inspection robot falling into the tanks. The rotating disk and extension arm of the wire-laying inspection platform can extend beyond the chassis outline. The wire-laying device simultaneously detects the wire length and end tension, achieving automated measurement of sludge thickness. This significantly improves the inspection efficiency of large-scale sedimentation tank groups and drastically reduces manual labor intensity. Attached Figure Description

[0016] To more clearly illustrate the specific embodiments of the present invention or the technical solutions in the prior art, the accompanying drawings used in the description of the specific embodiments or the prior art will be briefly introduced below. In all the drawings, similar elements or parts are generally identified by similar reference numerals. In the drawings, the elements or parts are not necessarily drawn to scale.

[0017] Figure 1 This is a side view of the device.

[0018] Figure 2 This is a top view of the device.

[0019] Figure 3 This is a three-dimensional schematic diagram of the device.

[0020] Figure 4 This is a schematic diagram of the extension arm and wire feeder.

[0021] Figure 5 This is a schematic diagram of a section cut by a heavy hammer.

[0022] Figure 6 This is a schematic diagram of the overall device frame.

[0023] Figure 7 This is a schematic diagram of the outer side of the frame foot of the device.

[0024] Figure 8 This is a schematic diagram showing the outer side of the device frame foot without an outer frame.

[0025] Figure 9 This is a schematic diagram showing the arrangement of the first and second cables.

[0026] Figure 10 for Figure 9 A magnified view of a portion of point A in the middle.

[0027] Figure 11 This is a schematic diagram of the lateral support shaft.

[0028] Figure 12 This is a schematic diagram showing the inner side of the device frame foot without an outer frame.

[0029] Figure 13 This is a schematic diagram of two flipping modes for the lateral support shaft.

[0030] Reference numerals: 1. Moving chassis; 11. Ball joint cavity; 121. First rod channel; 122. First ball channel; 123. First rod tail channel; 131. Second rod channel; 132. Second ball channel; 133. Second rod tail channel; 14. Connecting point; 15. Arc-shaped guide cavity; 16. Tilting space; 17. Driving space; 18. Winding reel; 181. First cable; 182. Second cable; 2. Lateral support shaft; 21. Locking block; 22. Left-right tilting mode; 22. Front-back tilting mode. 23. Roller 3. Wire feeding detection platform 4. Rotary disk 41. Extending arm 42. Weight 43. Filter screen 431. Wire feeder 44. Reversing seat 441. Force measuring seat 442. Fixed bracket 4421. Sliding bracket 4422. Force gauge 4423. Wire feeding seat 443. Wire feeding motor 4431. Third cable 45. First reversing clip 5. Door post 51. Elastic telescopic post 52. Second reversing clip 6. Third reversing clip 7. Fourth reversing clip 8. Fifth reversing clip 9. Detailed Implementation

[0031] The embodiments of the technical solution of the present invention will now be described in detail with reference to the accompanying drawings. These embodiments are merely illustrative of the technical solution of the present invention and are therefore intended to limit the scope of protection of the present invention.

[0032] It should be noted that, unless otherwise stated, the technical or scientific terms used in this application should have the ordinary meaning as understood by one of ordinary skill in the art to which this invention pertains.

[0033] For a sedimentation tank sludge thickness detection device capable of stable movement across different tanks, please refer to the attached document. Figure 13 One possible implementation method is as follows: The movable chassis 1 is capable of moving forward and backward as well as left and right. Lateral support shaft 2, with roller 3 coaxially provided, and multiple sets of lateral support shaft 2 are respectively set on the four corners of the movable chassis 1. Initially, the lateral support shaft 2 extends toward the bottom of the movable chassis 1. Each lateral support shaft 2 can be rotated and installed on the movable chassis 1 and includes two rotation modes. In the left and right rotation mode 22, the lateral support shaft 2 rotates in the left and right planes of the movable chassis 1 and rotates to the left and right side edges facing the movable chassis 1. In the front and back rotation mode 23, the lateral support shaft 2 rotates in the front and back planes of the movable chassis 1 and rotates to the front and back side edges facing the movable chassis 1. The wire feeding detection platform 4 includes a rotating disk 41 and an extension arm 42. The rotating disk 41 is rotatably mounted on the top of the movable chassis 1, and the extension arm 42 extends laterally and beyond the outline of the movable chassis 1. The wire feeding detection platform 4 also includes a weight 43 and a wire feeder 44. The weight 43 is suspended from the extension arm 42 by the wire feeder 44, and the wire feeder 44 can detect the wire feeding length and the tension at the wire end.

[0034] Mobile chassis 1 is an omnidirectional chassis, capable of moving forward and backward or left and right as needed; this type of chassis is existing technology. For example, it employs a dual-track differential drive structure, with one track on each side, each track driven by an independent motor. When moving in a straight line, the two tracks rotate at the same speed and in the same direction, allowing the chassis to move smoothly forward and backward. When left and right movement is required, the two tracks rotate at the same speed but in opposite directions, causing the chassis to turn 90 degrees in place, changing the direction of travel to left or right. In other solutions, existing AGVs capable of omnidirectional movement can be directly used as mobile chassis 1. These chassis can move forward and backward and left and right directly without steering. AGVs are existing technology.

[0035] Taking the AGV omnidirectional moving chassis as an example, when the device moves forward along the pool wall, all four lateral support shafts 2 remain in their initial downward orientation. Figure 1 , Figure 2 The two sets of lateral support shafts 2 are respectively attached to both sides of the pool wall thickness, clamping and fixing them to maintain smooth movement and centering, ensuring that the device will not fall into the pool. When the device moves to the edge of the pool wall, that is, the corner where the two pool walls are perpendicular to each other, if it needs to continue moving forward in the original direction, first lift the two sets of lateral support shafts 2 on the front side upwards and flatten them, as shown. Figure 3 After detaching from the pool surface, the two sets of lateral support shafts 2 on the rear side remain in their initial downward position, clamping the pool wall, and the chassis continues to move forward; after moving forward until the two sets of lateral support shafts 2 on the front side completely cross the thickness of the transverse pool wall, the two sets of lateral support shafts 2 on the front side flip back to their initial downward position, clamping the other side of the pool wall. At this time, the four lateral support shafts 2 are located in the four pools respectively, and the device spans between the four adjacent pools.

[0036] Next, if it is necessary to continue moving forward in the original direction, the two sets of lateral support shafts 2 on the rear side are lifted and retracted, while the two sets of lateral support shafts 2 on the front side remain facing downwards to clamp the pool wall and continue to move forward. After the two sets of lateral support shafts 2 on the rear side have completely crossed the thickness of the transverse pool wall, they are flipped back to the initial downward position, and the device is then fully inserted into the adjacent pool and returns to a stable moving state with all four sets of support shafts facing downwards.

[0037] If the device spans four pools and needs to be moved laterally to the right, lift and retract the two sets of lateral support shafts 2 on the left, while keeping the two sets of lateral support shafts 2 facing downwards to clamp the pool wall. Move the chassis laterally to the right. After the two sets of lateral support shafts 2 on the left have completely crossed the thickness of the transverse pool wall, flip them back to their initial downward position to clamp the pool wall again. The device will then enter the lateral movement state of the adjacent pool. If it needs to be moved laterally to the left, lift and retract the two sets of lateral support shafts 2 on the right, while keeping the two sets of lateral support shafts 2 facing downwards to the ground. Move the chassis laterally to the left, and after the two sets of lateral support shafts 2 have crossed the pool wall, flip them back to their original position.

[0038] In the above embodiments, the universal chassis, in conjunction with the four corner lateral support shafts 2, employs a coordinated mechanism of "clamping and moving—step-by-step lifting—flipping and crossing—resetting and clamping." This mechanism ensures that the device moves smoothly along the pool wall by clamping both sides of the pool wall with two sets of support shafts. When crossing a pool corner, the corresponding side support shaft is selectively lifted according to the subsequent path, and the device flips and resets after stepping across the thickness of the transverse pool wall. The entire process requires no manual handling, and the center of gravity and center are always controllable. This not only ensures the high stability of the chassis during line laying and testing but also enables fully automatic and rapid transfer between sedimentation tank groups. It not only prevents the device from falling into the pool but also significantly improves the efficiency of continuous sludge testing in multiple pools.

[0039] In the above embodiment, the rotating disk 41 of the line-laying detection platform 4 rotates to align the extension arm 42 with the point to be tested, that is, to extend into the pool. The weight 43 is lowered at a constant speed along the direction of the extension arm 42 through the line-laying device 44. After passing through the water layer on the pool surface, the weight 43 continues to sink until it touches the interface between the silt and the water. At this time, the weight 43 stops sinking and the line-laying device 44 detects a decrease in the tension at the end of the line, which indicates that the weight 43 has reached the mud-water interface. The line length recorded by the line-laying device 44 is the distance from the pool surface to the silt surface. The silt thickness is obtained by subtracting this distance from the pool surface elevation.

[0040] In one possible implementation, see Appendix Figures 6-12 The movable chassis 1 has a ball joint cavity 11 at one corner that mates with the spherical end of the lateral support shaft 2. The ball joint cavity 11 has a first flipping channel for the lateral support shaft 2 to flip forward and backward and a second flipping channel for the lateral support shaft 2 to flip left and right. The first flipping channel includes a first rod channel 121, a first ball channel 122 and a first rod tail channel 123. The first rod channel 121 is located at the edge of the movable chassis 1, the first ball channel 122 coincides with the ball joint cavity 11, and the first rod tail channel 123 is located inside the movable chassis 1. The second flipping channel includes a second rod channel 131, a second ball channel 132 and a second rod tail channel 133. The second rod channel 131 is located at the edge of the movable chassis 1, the second ball channel 132 coincides with the ball joint cavity 11, and the second rod tail channel 133 is located inside the movable chassis 1.

[0041] Furthermore, the first tail channel 123 and the second tail channel 133 are perpendicular to each other and interconnected, with the connection point 14 being the area where the tail of the lateral support shaft 2 is located in its initial state. The first tail channel 123 and the second tail channel 133 are each provided with an arc-shaped guide cavity 15. Along their respective flipping directions, the tail section of the lateral support shaft 2 is provided with a locking block 21 that slides into the arc-shaped guide cavity 15. When the tail section of the lateral support shaft 2 is located in the area of ​​the connection point 14, the two locking blocks 21 of the tail section respectively engage with the arc-shaped guide cavities 15 of the first tail channel 123 and the second tail channel 133. At this time, the tail section of the support shaft can flip along the arc-shaped guide cavity 15 of either the first tail channel 123 or the second tail channel 133.

[0042] The first rod tail channel 123 and the second rod tail channel 133 are connected to form an L-shape. The inner side of the L-shape is the flipping space 16 at the tail end of the lateral support shaft 2, and the outer side is the driving space 17. In the driving space 17, at the starting point and ending point of the arc-shaped guide cavity 15, at the corners of the two outer ends of the L-shape, and at the edge of the inner corner of the L-shape, a first reversing card 5, a second reversing card 6, a third reversing card 7, a fourth reversing card 8, and a fifth reversing card 9 are respectively provided. At the inner corner of the L-shape, a winding reel 18 controlled by a power source is also provided. One end of the first cable 181 and the second cable 182 are fixed to the winding reel 18 by opposite winding directions. The other ends of the first cable 181 and the second cable 182 are respectively connected to the two card blocks 21 of the lateral support shaft 2 through the reversing cards on the two right-angled sides of the L-shape.

[0043] The first reversing bracket 5 includes two opposing gateposts 51, with elastic telescopic columns 52 at the ends of the gateposts 51. Initially, the telescopic columns of both gateposts 51 extend and close the area between the two gateposts 51. During the process of the lateral support shaft 2 flipping left and right or forward and backward to the initial position, the locking block 21 at the tail end of the lateral support shaft 2 will squeeze and open the elastic telescopic column 52 when it passes the first reversing bracket 5, thereby passing through the first reversing bracket 5 and the first cable 181 or the second cable 182 connected to the locking block 21 bypassing the first reversing bracket 5; the remaining reversing brackets are U-shaped structures.

[0044] In the above embodiments, when the lateral support shaft 2 of the device needs to be rotated from a state facing the bottom of the chassis to a state parallel to the chassis, the process is as follows: First, the lateral support shaft 2 is originally in a state perpendicular to the chassis, that is, perpendicular to the horizontal plane, such as... Figure 8 As shown. At this time, the two vertically distributed locking blocks 21 on the lateral support shaft 2 are respectively inserted into the starting ends of the arc-shaped guide cavities 15 of the first rod tail channel 123 and the second rod tail channel 133, which are located in the region of the connecting point 14. The starting end of the arc-shaped guide cavity 15 has a large opening to facilitate the insertion of the lateral support shaft 2 during sliding. See reference. Figure 11 and Figure 12When the lateral support shaft 2 flips, the winding disc 18 rotates first. During this rotation, the first cable 181 and the second cable 182 are in a tensioned state and a relaxed state, respectively, with the tension and relaxation amounts being the same. Figure 8 and Figure 9 The first cable 181 and the second cable 182 are connected from two directions to the two card blocks 21 on both sides of the lateral support shaft 2 through each reversing card.

[0045] by Figure 9 Taking the example (with the lateral support shaft 2's rod body hidden), when the first cable 181 is tensioned, it pulls the lateral support shaft 2's rod body around the ball joint cavity 11 via the locking block 21. During this process, the second rod tail channel 133 and the arc-shaped guide cavity 15 guide the lateral support shaft 2. Simultaneously, the second cable 182 relaxes at a relatively synchronized speed, and the end of the second cable 182 enters the second rod tail channel 133 along with the locking block 21. At this time, the outer end of the lateral support shaft 2 rotates to a state parallel to the horizontal plane. However, it should be noted that the lateral support shaft 2 does not need to be completely parallel to the horizontal plane; it only needs to be raised to a range that does not interfere with the pool wall. Furthermore, the winding and unwinding of the first cable 181 and the second cable 182 do not necessarily need to be completely synchronized; a slight difference is acceptable and will not affect the implementation of this solution. This solution does not require precise control; it only needs the lateral support shaft 2 to be able to lift and pass over the top surface of the pool wall.

[0046] Furthermore, when the raised lateral support shaft 2 needs to be leveled, simply rotate the winding reel 18 in the opposite direction, and the second cable 182 will pull the lateral support shaft 2 to flip in the opposite direction. Once pulled to the initial position (e.g....), Figure 8 As the winding disc 18 continues to rotate and pulls the second cable 182, the other end of the lateral support shaft 2 can be flipped in the other direction.

[0047] The above embodiment uses a single winding disc 18 in conjunction with the tensioning and untensioning of the first cable 181 and the second cable 182 to drive the lateral support shaft 2 to reliably switch between three states: vertical operation, forward movement and side movement. Combined with the guiding cooperation of the ball joint cavity 11 and the arc-shaped guide cavity 15, the locking block 21 can smoothly rotate without jamming in the first rod tail channel 123 and the second rod tail channel 133. Multiple working states can be switched without precise control. The structure is extremely simple, the cost is low, the operation is convenient and the control is simple.

[0048] In the above embodiments, the structure of the first reversing card 5 is somewhat special, see reference. Figure 10Without external force, both opposing elastic telescopic columns 52 extend and their ends approach each other. When the locking block 21, carrying the first cable 181 or the second cable 182, slides from the lower end of the arc-shaped guide cavity 15 to the higher end and passes through the first reversing clip 5, the lateral inclined surface of the locking block 21 presses against the elastic telescopic column 52, causing the elastic telescopic column 52 to retract. The locking block 21 passes through the first reversing clip 5, while the first cable 181 or the second cable 182 connected to the locking block 21 bypasses the first reversing clip 5, thus becoming as follows: Figure 10 The state shown is intended to ensure that the direction of the first cable 181 or the second cable 182 after being reversed by the first reversing card 5 is perpendicular to the direction before reversing. This ensures that during the rotation of the lateral support shaft 2, the movement and force direction of the first cable 181 and the second cable 182 are the same, making the operation more reliable.

[0049] In one possible implementation, see Appendix Figure 4 The wire feeder 44 includes a reversing seat 441, a force measuring seat 442, and a wire feeder 443. The reversing seat 441 is located at the end of the extension arm 42, and the force measuring seat 442 is located between the reversing seat 441 and the wire feeder 443. The reversing seat 441, the force measuring seat 442, and the wire feeder 443 are arranged in a V-shape. The wire feeder 443 is equipped with a wire feeder motor 4431. One end of the third cable 45 is fixed to the shaft of the wire feeder motor 4431, and the other end passes through the wire feeder 443, the force measuring seat 442, and the reversing seat 441 in sequence before suspending a counterweight 43. The reversing seat 441 or the wire feeder 443 can detect the wire feed length, and the force measuring seat 442 can detect the tension of the third cable 45.

[0050] The force measuring base 442 includes a fixed bracket 4421, a sliding bracket 4422, and a force gauge 4423. The fixed bracket 4421 is fixedly installed on the extended arm 42. The sliding bracket 4422 is slidably installed on the fixed bracket 4421 and the sliding direction is consistent with the normal direction of the third cable 45. The lower end of the sliding bracket 4422 is provided with a guide wheel, and the third cable 45 is V-shaped and hung on the wheel surface of the guide wheel. The upper end of the sliding bracket 4422 abuts against the fixed bracket 4421 through the force gauge 4423.

[0051] In the above embodiment, the wire feeder 44 adopts a V-shaped structure in which the reversing seat 441, the force measuring seat 442, and the wire feeder 443 are distributed. The third cable 45 passes through the wire feeder 443, the force measuring seat 442, and the reversing seat 441 in sequence before suspending the weight 43. In the force measuring seat 442, the sliding bracket 4422 slides along the normal direction of the third cable 45. The cable is V-shaped and mounted on the guide wheel, which can be arranged according to an inverted isosceles triangle. The sliding bracket 4422 abuts against the fixed bracket 4421 through the force gauge 4423. During wire feed, the wire feeder 443 only needs a regular wire feeder motor 4431 to drive the wire feed and take-up, and does not need to perform the force measuring function. The tension of the cable pushes the sliding bracket 4422 to slide along the normal direction, compressing the force gauge 4423, and measuring the normal force F. Since the cable is V-shaped at the guide wheel, and the angle between the cable and the sliding direction is θ, the tension at the rope end T = F / (2sinθ). The real-time tension of the third cable 45 can be calculated from the reading of the force gauge 4423 using trigonometric functions. This scheme completely decouples the cable laying and force measurement functions. Only a standard model of cable laying motor is needed, reducing equipment cost and control complexity. Simultaneously, the V-shaped load allows a smaller normal force to reflect a larger rope end tension, resulting in high measurement sensitivity. When the weight 43 touches the mud-water interface, the tension changes abruptly, allowing for accurate determination of the interface position.

[0052] In the above embodiments, the length of the line laid out can be obtained by the number of rotations of the guide roller. The number of rotations of the roller can be detected by a sensor, and the relevant technical solution is prior art.

[0053] In one possible implementation, see Appendix Figure 5 The tail end of the weight 43 is connected to the third cable 45. The weight 43 has a shell structure, and a propeller is installed inside the weight 43 for rotation. The head end of the weight 43 shell is open, and the tail end is equipped with a filter screen 431. During the lowering process, the water flow impacts the propeller, causing it to rotate at high speed and generate a gyroscopic effect, ensuring that the weight 43 falls stably along the axial direction without swaying. When the weight 43 touches the surface of the silt, the open head end embeds into the silt. The rotation of the propeller agitates the surrounding silt, causing the silt to surge towards the tail end and gradually block the filter screen 431. The flow area of ​​the filter screen 431 decreases, and the water flow resistance increases sharply, which is equivalent to forming a hydraulic damping pad at the tail end of the weight 43. This quickly suppresses the sinking speed of the weight 43 and prevents it from sinking too deeply into the silt due to its own weight. This ensures that the length of the lowered line detected by the third cable 45 accurately corresponds to the mud-water interface position, thereby improving the measurement accuracy of the silt thickness.

[0054] In summary, the omnidirectional mobile chassis 1, in conjunction with the four corner lateral support shafts 2, employs a coordinated mechanism of "clamping and moving—step-by-step lifting—flipping and crossing—resetting and clamping." This mechanism ensures stability and prevents the device from falling when moving between pool walls, as the two sets of support shafts clamp the pool walls. When crossing pool corners, the corresponding side support shafts are lifted step by step and flipped back to their original position. The entire process requires no manual handling, and the center of gravity is controllable, enabling fully automated and rapid detection of continuous sludge in multiple pools. The lateral support shafts 2 are guided by the ball joint cavity 11, the first rod tail channel 123, the second rod tail channel 133, and the arc-shaped guide cavity 15. Together with the winding disc 18, they drive the tensioning and relaxation of the first cable 181 and the second cable 182 synchronously. A single power source can reliably switch between three states: vertical operation, forward and backward avoidance, and left and right avoidance. The structure is extremely simple and cost-effective. The wire laying device 44 of the wire laying detection platform 4 decouples the wire laying and force measurement functions. The third cable 45 is mounted on a V-shaped guide wheel, and the tension at the end of the rope is calculated by reading the force gauge 4423, which has high sensitivity. The built-in propeller of the weight 43 generates a gyro effect to ensure stable descent. The tail filter 431 forms a hydraulic damping pad after contacting the mud to prevent it from penetrating too deeply, ensuring accurate judgment of the mud-water interface and high accuracy in measuring the mud thickness.

[0055] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, and not to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some or all of the technical features; and these modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present invention, and they should all be covered within the scope of the claims and specification of the present invention.

Claims

1. A sedimentation tank sludge thickness detection device capable of stable movement across different tanks, characterized in that, include: The movable chassis (1) is capable of moving forward and backward as well as left and right; A lateral support shaft (2) is provided with a roller (3) on the same axis. Multiple sets of the lateral support shafts (2) are respectively set on the four corners of the mobile chassis (1). Initially, the lateral support shafts (2) extend toward the bottom of the mobile chassis (1). Each lateral support shaft (2) can be rotated and installed on the mobile chassis (1) and includes two rotation modes. In the left and right rotation mode (22), the lateral support shaft (2) rotates in the left and right planes of the mobile chassis (1) and rotates to the left and right side edges of the mobile chassis (1). In the front and back rotation mode (23), the lateral support shaft (2) rotates in the front and back planes of the mobile chassis (1) and rotates to the front and back side edges of the mobile chassis (1). In addition, the wire laying detection platform (4) includes a rotating disk (41) and an extension arm (42). The rotating disk (41) is rotatably mounted on the top of the movable chassis (1). The extension arm (42) extends laterally and beyond the outline of the movable chassis (1). The wire laying detection platform (4) also includes a weight (43) and a wire laying device (44). The weight (43) is suspended from the extension arm (42) by the wire laying device (44). The wire laying device (44) can detect the wire laying length and the tension at the wire end. The mobile chassis (1) is provided with a ball joint cavity (11) at the corner that mates with the spherical end of the lateral support shaft (2). The ball joint cavity (11) is provided with a first flipping channel for the lateral support shaft (2) to flip back and forth and a second flipping channel for the lateral support shaft (2) to flip left and right. The first flipping channel includes a first rod body channel (121), a first ball channel (122) and a first rod tail channel (123). The first rod body channel (121) is located at the edge of the movable chassis (1), the first ball channel (122) coincides with the ball joint cavity (11), and the first rod tail channel (123) is located inside the movable chassis (1). The second flipping channel includes a second rod channel (131), a second ball channel (132), and a second rod tail channel (133). The second rod channel (131) is located at the edge of the movable chassis (1), the second ball channel (132) coincides with the ball joint cavity (11), and the second rod tail channel (133) is located inside the movable chassis (1).

2. The sedimentation tank sludge thickness detection device capable of stable movement across tanks as described in claim 1, characterized in that: The first rod tail channel (123) and the second rod tail channel (133) are perpendicular to each other and connected to each other, and the connection point (14) is the area where the rod tail is located when the lateral support shaft (2) is in the initial state.

3. The sedimentation tank sludge thickness detection device capable of stable movement across tanks as described in claim 2, characterized in that: The first rod tail channel (123) and the second rod tail channel (133) are respectively provided with arc-shaped guide cavities (15). The arc-shaped guide cavities (15) are arranged along their respective flipping directions. The tail rod section of the lateral support shaft (2) is respectively provided with a locking block (21) that slides with the arc-shaped guide cavity (15). When the tail section of the lateral support shaft (2) is located in the area of ​​the connecting point (14), the two locking blocks (21) of the tail section are respectively locked into the arc-shaped guide cavity (15) of the first tail channel (123) and the second tail channel (133). At this time, the tail section of the support shaft can be flipped along the arc-shaped guide cavity (15) of the first tail channel (123) or the second tail channel (133).

4. The sedimentation tank sludge thickness detection device capable of stable movement across tanks as described in claim 3, characterized in that: The first rod tail channel (123) and the second rod tail channel (133) are connected to form an L-shape. The inner side of the L-shape is the flipping space (16) at the tail end of the lateral support shaft (2), and the outer side is the driving space (17). Within the drive space (17), at the starting point and ending point of the arc-shaped guide cavity (15), at the corners of the two outer ends of the L-shape, and at the edge of the inner corner of the L-shape, a first reversing card (5), a second reversing card (6), a third reversing card (7), a fourth reversing card (8), and a fifth reversing card (9) are respectively provided. At the inner corner of the L-shape, a winding reel (18) controlled by a power source is also provided. One end of the first cable (181) and the second cable (182) are fixed to the winding reel (18) by opposite winding directions. The other ends of the first cable (181) and the second cable (182) are respectively connected to the two clips (21) of the lateral support shaft (2) through the reversing clips on the two right-angle sides of the L-shape.

5. The sedimentation tank sludge thickness detection device capable of stable movement across tanks as described in claim 4, characterized in that: The first reversing card (5) includes two opposing gateposts (51), and the ends of the gateposts (51) are provided with elastic telescopic columns (52). Initially, the telescopic columns of the two gateposts (51) extend and close the area between the two gateposts (51). During the process of the lateral support shaft (2) flipping left and right or forward and backward to the initial position, the locking block (21) at the tail end of the lateral support shaft (2) will squeeze and open the elastic telescopic column (52) when it passes through the first reversing card (5), thereby passing through the first reversing card (5) and the first cable (181) or the second cable (182) connected to the locking block (21) will bypass the first reversing card (5). The remaining reversing cards have a U-shaped structure.

6. The sedimentation tank sludge thickness detection device capable of stable movement across tanks as described in claim 1, characterized in that: The wire feeder (44) includes a reversing seat (441), a force measuring seat (442), and a wire feeder (443). The reversing seat (441) is located at the end of the extension arm (42). The force measuring seat (442) is located between the reversing seat (441) and the wire feeder (443). The wire feeder (443) is equipped with a wire feeder motor (4431). One end of the third cable (45) is fixed to the shaft of the wire feeder motor (4431), and the other end passes through the wire feeder (443), the force measuring seat (442), and the reversing seat (441) in sequence to suspend the weight (43). The reversing seat (441) or the wire feeding seat (443) can detect the wire feeding length, and the force measuring seat (442) can detect the tension of the third cable (45).

7. The sedimentation tank sludge thickness detection device capable of stable movement across tanks as described in claim 6, characterized in that: The force measuring base (442) includes a fixed bracket (4421), a sliding bracket (4422), and a force gauge (4423). The fixed bracket (4421) is fixedly installed on the extended arm (42). The sliding bracket (4422) is slidably installed on the fixed bracket (4421) and the sliding direction is consistent with the normal direction of the third cable (45). The lower end of the sliding bracket (4422) is provided with a guide wheel. The third cable (45) is V-shaped and hung on the wheel surface of the guide wheel. The upper end of the sliding bracket (4422) abuts against the fixed bracket (4421) through the force gauge (4423).

8. The sedimentation tank sludge thickness detection device capable of stable movement across tanks as described in claim 7, characterized in that: The tail end of the hammer (43) is connected to the third cable (45). The hammer (43) is a shell structure, and a propeller is installed inside the hammer (43) for rotation.

9. The sedimentation tank sludge thickness detection device capable of stable movement across tanks as described in claim 8, characterized in that: The head end of the shell of the hammer (43) is open, and the tail end is provided with a filter screen (431).

Images