A drum device for a water floating detection robot

Abstract

The application belongs to the technical field of robot detection equipment, and provides a roller device applicable to a water floating detection robot, which comprises a body, two groups of parallel arranged side plates, a telescopic plate unit fixedly connected between the bottoms of the two side plates, a float assembly arranged at the bottom of the telescopic plate unit, a driving assembly, two groups of driving rollers, the two driving rollers are respectively rotationally connected to the outer sides of the bottoms of the two side plates, the driving rollers are arranged along the length direction of the side plates, two groups of tire clamping units for clamping the wheels of the detection robot are horizontally slidably arranged in the side plates, and a transmission unit for driving the driving rollers to rotate is arranged between the two tire clamping units. The roller device has high adaptability, the wheeled robot is directly fixed in the roller device, and the wheeled robot is driven to move, so that the working capacity of the wheeled detection robot in the limited space high water level pipeline environment is effectively expanded.

Description

Technical Field

[0001] This invention belongs to the field of robot inspection equipment technology, and in particular relates to a roller device that can be used for floating inspection robots on water. Background Technology

[0002] In the routine inspection of underground water conservancy facilities such as drainage pipes and culverts, excessively high water levels inside the pipes are a common operational obstacle. Traditional inspection methods usually require prior dewatering to lower the water level to a height where the robot can walk before a wheeled inspection robot can enter the pipe to inspect for defects (such as cracks, deformation, and siltation). However, dewatering is not only time-consuming and labor-intensive, but it may also affect the normal drainage function of the pipes, increasing inspection costs and construction risks.

[0003] When the water level in the pipeline is high, conventional wheeled robots cannot work normally in the water due to the lack of buoyancy support and underwater propulsion systems, limiting their use in complex water environments. While some existing waterborne or amphibious inspection devices (such as boat robots) can float and move on the water surface, they are mainly suitable for open water areas and are difficult to adapt to the limited space conditions inside pipelines. Summary of the Invention

[0004] The purpose of this invention is to provide a roller device that can be used for floating inspection robots on water to solve the above-mentioned problems and achieve the goal of using wheeled inspection robots directly in high-water-level pipelines for defect detection without the need for dewatering.

[0005] To achieve the above objectives, the present invention provides the following solution: a roller device that can be used in a floating detection robot on water, comprising: The body includes two sets of parallel side plates, the bottom of the two side plates are fixedly connected by a telescopic plate unit, the telescopic plate unit is used to adjust the distance between the two side plates, and the bottom of the telescopic plate unit is provided with a buoyancy component; The drive assembly includes two sets of drive rollers, which are rotatably connected to the bottom outer sides of the two side plates respectively. The drive rollers are arranged along the length direction of the side plates. Two sets of tire clamping units for clamping the wheels of the inspection robot are horizontally slidably arranged inside the side plates. A transmission unit for driving the drive rollers to rotate is arranged between the two tire clamping units.

[0006] Preferably, the two side plates are provided with inward horizontal grooves on their sidewalls that are close to each other, and the two tire clamping units in the side plates are slidably connected in the grooves. The side plates are provided with a first adjustment component for adjusting the distance between the two tire clamping units.

[0007] Preferably, the tire clamping unit includes a slider slidably connected in the groove, a drive shaft rotatably connected in the slider, the drive shaft being perpendicular to the side plate, a clamping member being provided at one end of the drive shaft, and the other end of the drive shaft being connected to the transmission unit.

[0008] Preferably, the clamping member includes a rotating plate, the center of the side wall of the rotating plate is fixedly connected to the drive shaft, two sets of clamping plates for clamping tires are slidably connected on the rotating plate, a first bidirectional lead screw is rotatably connected inside the rotating plate, the two clamping plates are respectively threaded onto the two ends of the first bidirectional lead screw, and the two clamping plates are symmetrically arranged about the axis of the drive shaft, and a nut is provided at one end of the first bidirectional lead screw, the nut being located on the outside of the rotating plate.

[0009] Preferably, the transmission unit includes a drive rod horizontally rotatably connected within the side plate, the drive rod passing through the two sliders, a drive sleeve rotatably connected within the sliders, the drive sleeve being slidably fitted onto the drive rod, the drive sleeve being used to drive the drive rod to rotate along the axis of the drive rod, a first bevel gear being fixedly fitted onto the drive sleeve, a second bevel gear being coaxially fixedly connected to the end of the drive shaft away from the clamping member, the first bevel gear and the second bevel gear meshing with each other, and the drive rod within the same side plate being drively connected to the drive roller.

[0010] Preferably, the bottom of the side plate is fixedly connected to two sets of support legs, the drive roller is rotatably connected between the two support legs, one end of the drive rod is fixedly fitted with a first pulley, and one end of the drive roller is coaxially fixedly connected to a second pulley. The first pulley drives the second pulley to rotate through a transmission belt component.

[0011] Preferably, the telescopic plate unit includes a telescopic sleeve, a groove is provided inward on one side of the telescopic sleeve, a telescopic plate is slidably connected in the groove, the bottoms of the two side plates are respectively fixedly connected to the far ends of the telescopic sleeve and the telescopic plate, and a limit bolt is provided on the side wall of the telescopic sleeve, the threaded end of the limit bolt abuts against the telescopic plate to fix the relative position between the telescopic plate and the telescopic sleeve.

[0012] Preferably, the buoyancy component includes an airbag, the top of which is fixedly connected to a connecting platform. The connecting platform is located at the bottom of the telescopic plate and the telescopic sleeve and is fixedly connected to the telescopic plate and the telescopic sleeve through multiple centering units. The centering units are used to ensure that the airbag is always in the middle position between the two side plates.

[0013] Preferably, the centering unit includes a first rack horizontally fixedly connected to the bottom of the telescopic sleeve and a second rack horizontally fixedly connected to the bottom of the telescopic plate. The first rack and the second rack are arranged in parallel and are slidably connected in the connecting platform. A second gear is horizontally rotatably connected in the connecting platform. The second gear is spaced at the same distance from the two side plates and is located between the first rack and the second rack and meshes with the first rack and the second rack.

[0014] Preferably, the first adjusting component includes a second bidirectional lead screw rotatably connected within the side plate, two sliders respectively threaded onto the second bidirectional lead screw, and the two sliders respectively located at both ends of the second bidirectional lead screw, a first gear fixedly mounted on the second bidirectional lead screw, a motor fixedly connected within the side plate, and the output shaft of the motor being driven by the first gear through the gear.

[0015] Compared with the prior art, the present invention has the following advantages and technical effects: 1. The roller device of the present invention adjusts the distance between the two side plates through the telescopic plate unit, and cooperates with the tire clamping unit that is horizontally slidably arranged in the side plate. It can flexibly adapt to wheeled inspection robots with different wheel gauges and different sizes. There is no need to customize a special roller device for a specific robot. It has good versatility and wide application range, and can quickly realize the movement of wheeled inspection robots in deep water pipes.

[0016] 2. The roller device of the present invention clamps the wheel of the detection robot through a tire clamping unit, and transmits the rotational power of the wheel to the drive roller through a transmission unit, so that the drive roller rotates synchronously with the wheel, thereby propelling the device forward in water. This structure does not require a separate motor or drive system for the roller device, and is simple in structure, low in energy consumption, and easy to maintain.

[0017] 3. The present invention provides floating support for the entire device and the wheeled inspection robot by means of a buoyancy component set at the bottom of the telescopic plate unit, enabling the robot to directly enter the pipeline to work when the water level is high, without the need for pre-drainage, thereby significantly reducing inspection preparation time and construction costs, and avoiding affecting the normal drainage function of the pipeline. Attached Figure Description

[0018] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0019] Figure 1 This is a schematic diagram of the roller device of the present invention; Figure 2 This is a cross-sectional schematic diagram of the side plate of the present invention; Figure 3 This is a cross-sectional schematic diagram of the clamping component of the present invention; Figure 4 This is a top sectional view of the slider of the present invention; Figure 5 This is a cross-sectional schematic diagram of the support leg of the present invention; Figure 6 This is a front view of the buoyancy component of the present invention; Figure 7 This is a top sectional view of the connecting platform of the present invention; The components are as follows: 1. Side plate; 2. Telescopic plate; 3. Telescopic sleeve; 4. Limiting bolt; 5. Buoyancy assembly; 6. Drive roller; 7. Support leg; 8. Rotating plate; 9. Clamping plate; 10. Slider; 11. Slide groove; 12. First double-acting lead screw; 13. Nut; 14. Drive rod; 15. Second double-acting lead screw; 16. First gear; 17. Motor; 18. Drive shaft; 19. First pulley; 20. Pulley assembly; 21. Second pulley; 22. Drive sleeve; 23. First bevel gear; 24. Second bevel gear; 25. Connecting platform; 26. Air pump; 27. Airbag; 28. First rack; 29. ​​Second gear; 30. Second rack. Detailed Implementation

[0020] The technical solutions of 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] To make the above-mentioned objects, features and advantages of the present invention more apparent and understandable, the present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments.

[0022] Reference Figures 1-7 The present invention provides a roller device that can be used in a floating detection robot on water, comprising: The body includes two sets of parallel side plates 1. The bottom of the two side plates 1 are fixedly connected by a telescopic plate unit. The telescopic plate unit is used to adjust the distance between the two side plates 1. A buoyancy component 5 is provided at the bottom of the telescopic plate unit. The drive assembly includes two sets of drive rollers 6, which are rotatably connected to the bottom outer side of the two side plates 1. The drive rollers 6 are arranged along the length of the side plates 1. Two sets of tire clamping units for clamping the wheels of the inspection robot are horizontally slidably arranged inside the side plates 1. A transmission unit for driving the drive rollers 6 to rotate is arranged between the two tire clamping units.

[0023] The main function of side plate 1 is to serve as a supporting frame for the device, providing a mounting base for the tire clamping unit, drive roller, and transmission unit, and maintaining the parallelism and stability of the two side structures. The main function of telescopic plate unit is to connect the bottom of the two side plates and adjust the distance between the two side plates by telescopic adjustment, so that the device can adapt to inspection robots with different wheelbases. The main function of buoyancy component 5 is to provide floating support for the entire device and the wheeled inspection robot on board, so that the device can work in the high water level environment of the pipeline without water dewatering. The main function of drive roller 6 is to generate power to propel the entire device in the water by stirring the water surface when drive roller 6 rotates around its axis by setting a propeller on its surface. The main function of tire clamping unit is to clamp and fix the wheels of the wheeled inspection robot, ensuring a reliable connection between the robot wheels and the device, and to transmit the rotational power of the wheels to the transmission unit. The main function of transmission unit is to transmit the rotational power obtained from the robot wheels to drive roller 6, thereby driving drive roller 6 to rotate and realizing the direct drive of the robot wheels to the device. Overall, the roller device of the present invention has a compact structure and strong adaptability. By directly fixing the wheeled robot inside the roller device and using the power of the wheeled robot to move, it effectively expands the working capability of the wheeled inspection robot in a confined space high water level pipeline environment.

[0024] In a further optimized design, grooves 11 are horizontally opened inward on the sidewalls of the two side plates 1 that are close to each other. The two tire clamping units in the side plate 1 are slidably connected in the grooves 11. A first adjustment component for adjusting the distance between the two tire clamping units is provided in the side plate 1.

[0025] like Figure 1 As shown, the two sets of tire clamping units can move towards or away from each other along the slide groove 11 under the drive of the first adjustment component, thereby changing the distance between them and realizing adaptive clamping for robots detecting different wheel axle distances. The tire clamping unit further optimizes the design by including a slider 10 that is slidably connected in a groove 11, a drive shaft 18 that is rotatably connected in the slider 10, the drive shaft 18 being perpendicular to the side plate 1, a clamping component being provided at one end of the drive shaft 18, and the other end of the drive shaft 18 being connected to the transmission unit.

[0026] In this embodiment, the slider 10 serves as a movable base and can slide smoothly within the groove 11; the drive shaft 18 passes through the slider 10, with one end receiving the wheel rotation power from the clamping member and the other end outputting the power to the transmission unit to realize the steering and transmission of power.

[0027] The scheme is further optimized. The clamping component includes a rotating plate 8. The center of the side wall of the rotating plate 8 is fixedly connected to the drive shaft 18. Two sets of clamping plates 9 for clamping tires are slidably connected on the rotating plate 8. A first bidirectional lead screw 12 is rotatably connected inside the rotating plate 8. The two clamping plates 9 are respectively threaded onto the two ends of the first bidirectional lead screw 12, and the two clamping plates 9 are symmetrically arranged about the axis of the drive shaft 18. A nut 13 is provided at one end of the first bidirectional lead screw 12, and the nut 13 is located on the outside of the rotating plate 8.

[0028] like Figure 1 and Figure 3 As shown, in this embodiment, the nut 13 can be an internal hexagonal type. The operator rotates the nut 13 using a tool, causing the first bidirectional lead screw 12 to rotate. Since the threads at both ends of the first bidirectional lead screw 12 are in opposite directions, the two clamping plates 9 will move synchronously towards or away from each other, thereby clamping or releasing the wheel. The two clamping plates 9 are symmetrically arranged about the axis of the drive shaft 18, ensuring that the wheel's rotation center coincides with the axis of the drive shaft 18 after it is clamped, avoiding eccentric swaying. When the wheel rotates, the clamping plates 9 drive the rotating plate 8 and the drive shaft 18 to rotate synchronously, completing the power input.

[0029] In a further optimized design, the transmission unit includes a drive rod 14 horizontally rotatably connected within the side plate 1. The drive rod 14 passes through two sliders 10, and a drive sleeve 22 is rotatably connected within each slider 10. The drive sleeve 22 is slidably fitted onto the drive rod 14 and is used to drive the drive rod 14 to rotate along its axis. A first bevel gear 23 is fixedly fitted onto the drive sleeve 22. A second bevel gear 24 is coaxially fixedly connected to the end of the drive shaft 18 away from the clamping member. The first bevel gear 23 and the second bevel gear 24 mesh with each other. The drive rod 14 within the same side plate 1 is connected to the drive roller 6 via a transmission connection.

[0030] like Figure 2 and Figure 4 As shown, in this embodiment, torque transmission can be achieved between the drive sleeve 22 and the drive rod 14 via a spline connection or by setting the cross-section of the drive rod 14 to a rectangle. When the slider 10 slides, the drive sleeve 22 slides axially on the drive rod 14 accordingly. Since the drive sleeve 22 and the drive rod 14 are always circumferentially locked, the drive sleeve 22 can both move with the slider 10 and transmit rotational power to the drive rod 14. The first bevel gear 23 and the second bevel gear 24 form a right-angle transmission pair, converting the horizontal axial rotation of the drive shaft 18 into the axial rotation of the drive rod 14, thereby changing the direction of power.

[0031] In a further optimized design, two sets of support legs 7 are fixedly connected to the bottom of the side plate 1, and the drive roller 6 is rotatably connected between the two support legs 7. One end of the drive rod 14 is fixedly fitted with a first pulley 19, and one end of the drive roller 6 is coaxially fixedly connected with a second pulley 21. The first pulley 19 drives the second pulley 21 to rotate through the transmission belt component.

[0032] Further optimize the plan, such as Figure 2 and Figure 5 As shown in this embodiment, since the support leg 7 is inclined relative to the side plate 1, the belt component includes a pulley assembly 20 rotatably connected in the side plate 1. The pulley assembly 20 is formed by two pulleys coaxially fixedly connected. The first pulley 19 drives the pulley assembly 20 to rotate through the belt, and the pulley assembly 20 drives the second pulley 21 to rotate through the belt, thereby realizing the rotation of the robot tire to drive the rotation of the drive roller 6.

[0033] Further optimization of the scheme: the telescopic plate unit includes a telescopic sleeve 3. A groove is provided inward on one side of the telescopic sleeve 3. A telescopic plate 2 is slidably connected in the groove. The bottoms of the two side plates 1 are fixedly connected to the far ends of the telescopic sleeve 3 and the telescopic plate 2, respectively. A limit bolt 4 is provided on the side wall of the telescopic sleeve 3. The threaded end of the limit bolt 4 abuts against the telescopic plate 2 to fix the relative position between the telescopic plate 2 and the telescopic sleeve 3.

[0034] like Figure 1 As described above, when it is necessary to adjust the distance between the two side plates 1, loosen the limiting bolt 4, pull the telescopic plate 2 out of the groove of the telescopic sleeve 3 or push it in to the required width, and then tighten the limiting bolt 4 so that its end abuts against the surface of the telescopic plate 2 to lock the distance. This structure is simple and reliable, and is easy to adjust quickly on site to adapt to robots of different widths.

[0035] Further optimization of the scheme: the buoyancy component 5 includes an airbag 27. The top of the airbag 27 is fixedly connected to a connecting platform 25. The connecting platform 25 is located at the bottom of the telescopic plate 2 and the telescopic sleeve 3 and is fixedly connected to the telescopic plate 2 and the telescopic sleeve 3 through multiple centering units. The centering units are used to ensure that the airbag 27 is always in the middle position of the two side plates 1.

[0036] like Figure 6 As shown, the airbag 27, once inflated, provides uniform buoyancy, allowing the roller device to float on the water surface. The connecting platform 25 serves as an intermediate connector, flexibly or rigidly connecting the airbag 27 to the telescopic plate unit. Simultaneously, the centering unit ensures that the airbag 27 remains centered in the width direction, preventing the device from tilting due to buoyancy eccentricity.

[0037] The solution is further optimized by installing a battery and control unit in the connecting platform 25, which is electrically connected to the motor 17 to control the rotation of the motor 17, thereby realizing the automated and precise adjustment of the slider 10 and ensuring that the drive shaft 18 is concentric with the axle of the inspection robot.

[0038] To further optimize the design, an air pump 26 is installed in the connecting platform 25 to inflate and deflate the airbag 27, so that the airbag 27 generates different buoyancy. When carrying inspection robots of different sizes, this ensures that the drive roller 6 is submerged in water at the appropriate depth.

[0039] The scheme is further optimized. The centering unit includes a first rack 28 horizontally fixedly connected to the bottom of the telescopic sleeve 3 and a second rack 30 horizontally fixedly connected to the bottom of the telescopic plate 2. The first rack 28 and the second rack 30 are arranged in parallel. The first rack 28 and the second rack 30 are slidably connected in the connecting platform 25. A second gear 29 is horizontally rotatably connected in the connecting platform 25. The second gear 29 is equidistant from the two side plates 1. The second gear 29 is located between the first rack 28 and the second rack 30 and meshes with the first rack 28 and the second rack 30.

[0040] like Figure 7 As shown, when the distance between the two side plates 1 is adjusted by the telescopic plate unit, the telescopic sleeve 3 moves relative to the telescopic plate 2, causing the first rack 28 and the second rack 30 to slide within the connecting platform 25. Since both are engaged with the second gear 29, and the position of the second gear 29 is fixed at the center of the connecting platform 25, the first rack 28 and the second rack 30 will move synchronously in opposite directions, thereby ensuring that the connecting platform 25 and the airbag 27 are always located in the exact center of the two side plates 1, achieving automatic centering.

[0041] In a further optimized scheme, the first adjustment component includes a second bidirectional lead screw 15 rotatably connected inside the side plate 1, two sliders 10 respectively threaded onto the second bidirectional lead screw 15, and the two sliders 10 are respectively located at the two ends of the second bidirectional lead screw 15. A first gear 16 is fixedly sleeved on the second bidirectional lead screw 15, and a motor 17 is fixedly connected inside the side plate 1. The output shaft of the motor 17 is connected to the first gear 16 through the gear.

[0042] The solution is further optimized by installing a battery and control unit in the connecting platform 25, which is electrically connected to the motor 17 to control the rotation of the motor 17, thereby realizing the automated and precise adjustment of the slider 10 and ensuring that the drive shaft 18 is concentric with the axle of the inspection robot.

[0043] After the motor 17 starts, it drives the first gear 16 and the second bidirectional lead screw 15 to rotate through gear meshing. Since the threads at both ends of the second bidirectional lead screw 15 are in opposite directions, the two sliders 10 will move synchronously towards or away from each other under the action of the lead screw, thereby precisely adjusting the distance between the two tire clamping units. Compared with manual adjustment, the electric adjustment method is more precise and labor-saving, and can be fine-tuned after the robot is in place.

[0044] In the description of this invention, it should be understood that the terms "longitudinal", "lateral", "up", "down", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, and are only for the convenience of describing this invention, and are not intended to indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this invention.

[0045] The embodiments described above are merely preferred embodiments of the present invention and are not intended to limit the scope of the present invention. Various modifications and improvements made by those skilled in the art to the technical solutions of the present invention without departing from the spirit of the present invention should fall within the protection scope defined by the claims of the present invention.

Claims

1. A roller device that can be used in a floating inspection robot on water, characterized in that, include: The body includes two sets of parallel side plates (1), and the bottom of the two side plates (1) are fixedly connected by a telescopic plate unit. The telescopic plate unit is used to adjust the distance between the two side plates (1), and a buoyancy component (5) is provided at the bottom of the telescopic plate unit. The drive assembly includes two sets of drive rollers (6), which are rotatably connected to the bottom outer side of the two side plates (1). The drive rollers (6) are arranged along the length direction of the side plates (1). Two sets of tire clamping units for clamping the wheels of the detection robot are horizontally slidably arranged in the side plates (1). A transmission unit for driving the drive rollers (6) to rotate is arranged between the two tire clamping units.

2. The roller device for use in a floating detection robot on water according to claim 1, characterized in that: The two side plates (1) are respectively provided with inward horizontal grooves (11) on the side walls that are close to each other. The two tire clamping units in the side plate (1) are respectively slidably connected in the grooves (11). The side plate (1) is provided with a first adjustment component for adjusting the distance between the two tire clamping units.

3. A roller device for use in a floating detection robot on water according to claim 2, characterized in that: The tire clamping unit includes a slider (10) slidably connected in the groove (11), and a drive shaft (18) is rotatably connected in the slider (10). The drive shaft (18) is perpendicular to the side plate (1). One end of the drive shaft (18) is provided with a clamping member, and the other end of the drive shaft (18) is connected to the transmission unit.

4. A roller device for use in a floating detection robot on water according to claim 3, characterized in that: The clamping component includes a rotating plate (8), the center of the side wall of the rotating plate (8) is fixedly connected to the drive shaft (18), two sets of clamping plates (9) for clamping tires are slidably connected on the rotating plate (8), a first bidirectional lead screw (12) is rotatably connected inside the rotating plate (8), the two clamping plates (9) are respectively threaded on both ends of the first bidirectional lead screw (12), and the two clamping plates (9) are symmetrically arranged about the axis of the drive shaft (18). A nut (13) is provided at one end of the first bidirectional lead screw (12), and the nut (13) is located on the outside of the rotating plate (8).

5. A roller device for use in a floating detection robot on water according to claim 3, characterized in that: The transmission unit includes a drive rod (14) that is horizontally rotatably connected in the side plate (1). The drive rod (14) passes through the two sliders (10). A drive sleeve (22) is rotatably connected in the slider (10). The drive sleeve (22) is slidably sleeved on the drive rod (14). The drive sleeve (22) is used to drive the drive rod (14) to rotate along the axis of the drive rod (14). A first bevel gear (23) is fixedly sleeved on the drive sleeve (22). A second bevel gear (24) is fixedly connected coaxially to one end of the drive shaft (18) away from the clamping member. The first bevel gear (23) and the second bevel gear (24) mesh with each other. The drive rod (14) in the same side plate (1) is connected to the drive roller (6) in a transmission connection.

6. A roller device for use in a floating detection robot on water according to claim 5, characterized in that: Two sets of support legs (7) are fixedly connected to the bottom of the side plate (1). The drive roller (6) is rotatably connected between the two support legs (7). One end of the drive rod (14) is fixedly fitted with a first pulley (19). One end of the drive roller (6) is coaxially fixedly connected with a second pulley (21). The first pulley (19) drives the second pulley (21) to rotate through the transmission belt.

7. A roller device for use in a floating detection robot on water according to claim 1, characterized in that: The telescopic plate unit includes a telescopic sleeve (3), and a groove is provided on one side of the telescopic sleeve (3). A telescopic plate (2) is slidably connected in the groove. The bottoms of the two side plates (1) are fixedly connected to the far ends of the telescopic sleeve (3) and the telescopic plate (2), respectively. A limit bolt (4) is provided on the side wall of the telescopic sleeve (3). The threaded end of the limit bolt (4) abuts against the telescopic plate (2) to fix the relative position between the telescopic plate (2) and the telescopic sleeve (3).

8. A roller device for use in a floating detection robot on water according to claim 7, characterized in that: The buoyancy component (5) includes an airbag (27), and a connecting platform (25) is fixedly connected to the top of the airbag (27). The connecting platform (25) is located at the bottom of the telescopic plate (2) and the telescopic sleeve (3) and is fixedly connected to the telescopic plate (2) and the telescopic sleeve (3) through multiple centering units. The centering units are used to ensure that the airbag (27) is always in the middle position between the two side plates (1).

9. A roller device for use in a floating detection robot on water according to claim 8, characterized in that: The centering unit includes a first rack (28) horizontally fixedly connected to the bottom of the telescopic sleeve (3) and a second rack (30) horizontally fixedly connected to the bottom of the telescopic plate (2). The first rack (28) and the second rack (30) are arranged in parallel. The first rack (28) and the second rack (30) are slidably connected in the connecting platform (25). A second gear (29) is horizontally rotatably connected in the connecting platform (25). The second gear (29) is spaced at the same distance from the two side plates (1). The second gear (29) is located between the first rack (28) and the second rack (30) and meshes with the first rack (28) and the second rack (30).

10. A roller device for use in a floating detection robot on water according to claim 3, characterized in that: The first adjustment assembly includes a second bidirectional lead screw (15) rotatably connected in the side plate (1), two sliders (10) are respectively threaded on the second bidirectional lead screw (15), and the two sliders (10) are respectively located at both ends of the second bidirectional lead screw (15). A first gear (16) is fixedly sleeved on the second bidirectional lead screw (15). A motor (17) is fixedly connected in the side plate (1), and the output shaft of the motor (17) is connected to the first gear (16) through the gear.

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