Multifunctional wading infrastructure intelligent inspection robot

Abstract

The utility model discloses a multifunctional wading infrastructure intelligent inspection robot, which relates to the technical field of inspection robots and comprises a moving component, a supporting component mounted on the moving component, a garbage cleaning component and a sampling component mounted on the supporting component, and a power box fixedly mounted in the middle of the supporting component. A third supporting seat is rotationally installed above the power box, a first detection assembly is obliquely and fixedly installed on the third supporting seat, a third detection assembly is installed at the end, close to the sampling assembly, of the supporting assembly, and a second detection assembly is installed at the end, away from the sampling assembly, of the supporting assembly; the sample storage unit is fixedly mounted at one end of the supporting assembly, and the water pumping units are fixedly mounted on the two sides of the sample storage unit; according to the utility model, wading facilities in a polling water area can be detected, water quality in different areas can be sampled, and garbage in the polling area can be cleaned.

Description

Technical Field

[0001] The utility model relates to the technical field of inspection robots, in particular to a multifunctional intelligent inspection robot for water-related infrastructure. Background Art

[0002] In the inspection of water-related infrastructure such as water conservancy projects, the traditional manual inspection method requires a lot of manpower investment and has low inspection efficiency, which is difficult to meet the regular inspection needs of large-scale facilities. In addition, when using manual inspection of water conservancy projects, multiple monitoring points need to be set up, which consumes a lot of time and energy.

[0003] There are also some automatic inspection devices in the prior art, but these devices can only perform inspections and cannot sample the water in the inspection water area or clean up the garbage in the inspection water area. Their functions are relatively simple. Utility Model Content

[0004] In response to the above technical problems, the utility model discloses a multifunctional intelligent inspection robot for water-related infrastructure, comprising a moving component, a support component installed on the moving component, a garbage cleaning component and a sampling component installed on the support component, a power box fixedly installed in the middle of the support component, a support seat three rotatably installed above the power box, a first detection component fixedly installed at an angle on the support seat three, a third detection component installed at one end of the support component close to the sampling component, a second detection component installed at one end of the support component away from the sampling component, the height of the second detection component is higher than the height of the third detection component, the sampling component comprises a sample storage unit, the sample storage unit is fixedly installed at one end of the support component, pumping units are fixedly installed on both sides of the sample storage unit, and the pumping units are fixedly installed on the support component.

[0005] Furthermore, the support assembly includes a support platform, which is fixedly installed on the moving assembly. Support seats are fixedly installed on both sides of the support platform at intervals in the front and back. A track frame is fixedly provided at one end of the support platform away from the sampling assembly. A drain plate and a discharge port are provided in the track frame, and the drain plate is provided at the end away from the sampling assembly.

[0006] Furthermore, the sample storage unit includes a sampling box, a compartment cover, a support box, a motor 1, a support plate 1, a rotating shaft 1, a pulley 1, a belt 1 and a pulley 2, the support box is fixedly mounted on the end of the support platform, the motor 1 is fixedly mounted on one end of the support box, the sampling box is fixedly mounted on the other end of the support box, the compartment cover is detachably mounted on the sampling box, the rotating shaft is coaxially rotatably mounted in the sampling box, the support plate is coaxially fixed on the rotating shaft 1, and the support plate 1 is arranged in the sampling box, two of the support plates 1 are spaced apart on the rotating shaft 1, and a plurality of sampling cylinders are detachably mounted on the support plate 1 in a circular shape, the sampling box and the support plate 1 are both funnel-shaped, one end of the support box is rotatably mounted with pulley 1, and the other end of the support box is rotatably mounted with pulley 2, the pulley 2 is coaxially fixedly connected to the output shaft of the motor 1, the pulley 1 is coaxially fixedly connected to the rotating shaft, the rotating shaft 1 is rotatably connected to the support box, and the pulley 1 and the pulley 2 are connected by a belt 1.

[0007] Furthermore, the pumping unit includes a water pipe 1, a water pump, a water pipe 2 and a support frame 1. The support frame 1 is fixedly mounted on the support platform and is arranged on the side of the support box. The water pump is fixedly mounted on the support frame 1. The water pump is provided with a flow meter. The water inlet end of the water pump is detachably connected to the water pipe 2, and the water outlet end of the water pump is detachably connected to the water pipe 1. The water pipe 1 is detachably connected to the sampling box and extends into the interior of the sampling box. The water pipe 1 is arranged above the sampling cylinder.

[0008] Furthermore, the garbage cleaning component includes a garbage collection unit and a garbage storage unit. The garbage collection unit is arranged at one end of the support platform away from the sampling box, and the garbage storage unit is installed on the support platform. The garbage storage unit is used to store the garbage collected by the garbage collection unit.

[0009] Furthermore, the garbage collection unit includes a conveyor belt, a guide frame, a second motor, a second support frame, a third support frame, a second hydraulic cylinder and a material discharging mechanism, the second support frame and the third support frame are fixedly installed at intervals at one end of the support platform away from the sampling box, the guide frame is hinged on the second support frame, the guide frame and the third support frame are connected by a second hydraulic cylinder, the second hydraulic cylinder is hinged on the third support frame, the piston rod of the second hydraulic cylinder is hinged to the guide frame, and two support frames are each provided with a second hydraulic cylinder, and are distributed on both sides of the guide frame, and conveying rollers are rotatably installed at both ends of the guide frame, and the two conveying rollers are connected by a conveyor belt, and multiple conveying plates are evenly spaced and installed on both sides of the conveyor belt, and multiple water outlet holes are provided on the drain plate and the conveying plate, the motor is fixedly installed on one end of the guide frame close to the second support frame, the motor is coaxially fixedly connected to the output roller close to the second support frame, the material discharging mechanism is provided at one end of the guide frame away from the second support frame, and the material discharging mechanism is connected to the moving component.

[0010] Furthermore, the material-discharging mechanism includes a support plate 2, a rotating shaft 2, a pulley 3, a belt 2 and a pulley 4, the support plate 2 is fixedly installed on the moving assembly, and the support plate 2 is provided with two and distributed on both sides of the moving assembly, and a rotating shaft 2 is rotatably installed between the two support plates 2, and a plurality of material-discharging rods are evenly spaced and fixedly installed on the rotating shaft 2, and the material-discharging rods are made of soft material and have an arc shape, and pulleys 3 are fixedly installed at both ends of the rotating shaft 2, each of the pulleys 3 is rotatably connected to the corresponding support plate 2, and pulleys 4 are rotatably installed on the end of each support plate 2 away from the pulley 3, and the pulley 3 on the same support plate 2 is connected to the pulley 4 through belt 2, and a motor 3 for driving the pulley 4 to rotate is installed in the moving assembly, and the pulley 4 is coaxially and fixedly connected to the output shaft of the motor 3.

[0011] Furthermore, the garbage storage unit includes a storage rack, a first hydraulic cylinder, and a second support seat. The storage rack is slidably installed in the track frame. Connecting seats are fixedly installed at both ends of the storage rack. Each of the connecting seats is fixedly connected to the piston rod of the first hydraulic cylinder. Each of the first hydraulic cylinders is fixedly installed on the support platform through multiple support seats. A topless and bottomless through-channel is provided in the storage rack.

[0012] Furthermore, the moving component includes a hull, a first propeller and a second propeller, the support platform is fixedly installed on the two hulls, the support platform is used to connect the two hulls, a first propeller is installed at the end of each hull, the first propeller is used to drive the hull to move horizontally, two second propellers are installed on the side of each hull, the second propeller is used to drive the hull to turn, the motor three is fixedly installed in the hull, the support plate two is fixedly installed on the side of the hull, a first power module, a first control module and a hydraulic pump assembly are installed in the hull, and a plurality of hydraulic pump assemblies are provided, which are respectively used to control the movement of the first hydraulic cylinder and the second hydraulic cylinder.

[0013] Furthermore, the first detection component includes a first detection column, which is fixedly mounted on the support seat three at an angle, and a motor three, a second power supply module and a second control module are installed in the power box. The output shaft of the motor three is fixedly connected to the support seat three. There are two second detection components and two third detection components, which are distributed on both sides of the support platform. The second detection component includes a third detection column, which is fixedly mounted on the support seat one close to the conveyor belt. The third detection component includes a second detection column, which is fixedly mounted on the support seat one close to the sampling box. The height of the third detection column is higher than that of the second detection column. Searchlights for lighting and cameras for detection are installed on both sides of the first, second and third detection columns of the second detection column. The first power supply module and the first control module are respectively used to provide power and motion control to the first propeller, the second propeller and the motor three. The second power supply module and the second control module are respectively used to provide power and motion control to the motor one, the water pump, the motor two, the motor three, the first detection component, the second detection component and the third detection component.

[0014] Compared with the prior art, the present invention has the following advantages: (1) the present invention can sample water quality in different areas through the sampling component, thereby facilitating comprehensive and accurate detection of the water quality of the inspection water area; (2) the present invention can conduct comprehensive detection of water-related facilities and water areas through the first detection component, the second detection component and the third detection component, thereby providing comprehensiveness and accuracy of detection; (3) the present invention can clean up garbage in the inspection water area through the garbage cleaning component, and at the same time facilitate the discharge of the cleaned and collected garbage after landing, thereby reducing the workload of carrying garbage. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 This is a schematic diagram of the overall structure of the utility model Figure 1 .

[0016] Figure 2 This is a schematic diagram of the overall structure of the utility model Figure 2 .

[0017] Figure 3 This is a schematic diagram of the overall structure of the utility model Figure 3 .

[0018] Figure 4 This is a schematic diagram of the overall structure of the utility model Figure 4 .

[0019] Figure 5 This is a schematic diagram of the structure of the mobile component and the supporting component of the utility model.

[0020] Figure 6 This is a schematic diagram of the structure of the sampling component of the utility model.

[0021] Figure 7 This is a schematic diagram of the local structure of the sampling component of the utility model

[0022] Figure 8 For this utility model Figure 7 Cross-sectional view along the AA direction.

[0023] Figure 9 This is a schematic diagram of the local structure of the utility model Figure 1 .

[0024] Figure 10 This is a schematic diagram of the local structure of the utility model Figure 2 .

[0025] Figure numbers: 101-hull; 102-first propeller; 103-second propeller; 201-support platform; 202-support base 1; 203-track frame; 204-drain plate; 205-discharge port; 301-sampling box; 302-bin cover; 303-support box; 304-motor 1; 305-water pipe 1; 306-water pump; 307-water pipe 2; 308-support frame 1; 309-support plate 1; 310-sampling cylinder; 311-rotating shaft 1; 312-pulley 1; 313-belt 1; 314-pulley 2; 401-conveyor belt ;402-guide frame;403-conveyor plate;404-motor 2;405-storage rack;406-connecting seat;407-first hydraulic cylinder;408-support seat 2;409-support frame 2;410-support frame 3;411-second hydraulic cylinder;412-support plate 2;413-rotating shaft 2;414-pulley 3;415-belt 2;416-pulley 4;501-power box;502-support seat 3;601-first detection column;701-second detection column;801-third detection column;901-searchlight;902-camera. DETAILED DESCRIPTION

[0026] The present invention will be further described below in conjunction with specific embodiments. The illustrative embodiments and descriptions of the present invention are used to explain the present invention, but are not intended to limit the present invention.

[0027] Example: Figures 1-10 A multifunctional intelligent inspection robot for water-related infrastructure shown in FIG2 includes a moving component, a supporting component is installed on the moving component, a garbage cleaning component and a sampling component are installed on the supporting component, a power box 501 is fixedly installed in the middle of the supporting component, a support seat three 502 is rotatably installed above the power box 501, a first detection component is fixedly installed on the support seat three 502 at an angle, a third detection component is installed on one end of the supporting component close to the sampling component, a second detection component is installed on the end of the supporting component away from the sampling component, the height of the second detection component is higher than the height of the third detection component, the sampling component includes a sample storage unit, the sample storage unit is fixedly installed at one end of the supporting component, pumping units are fixedly installed on both sides of the sample storage unit, and the pumping units are fixedly installed on the supporting component.

[0028] The support assembly includes a support platform 201, which is fixedly installed on the mobile assembly. Support seats 202 are fixedly installed on both sides of the support platform 201 at front and rear intervals. A track frame 203 is fixedly provided at the end of the support platform 201 away from the sampling assembly. A drain plate 204 and a discharge port 205 are provided in the track frame 203. The drain plate 204 is provided at the end away from the sampling assembly.

[0029] The sample storage unit includes a sampling box 301, a compartment cover 302, a support box 303, a motor 304, a support plate 309, a rotating shaft 311, a pulley 312, a belt 313 and a pulley 2 314. The support box 303 is fixedly mounted on the end of the support platform 201, the motor 304 is fixedly mounted on one end of the support box 303, the sampling box 301 is fixedly mounted on the other end of the support box 303, the compartment cover 302 is detachably mounted on the sampling box 301, the rotating shaft 311 is coaxially rotatably mounted in the sampling box 301, the support plate 309 is coaxially fixed on the rotating shaft 311, and the support plate 309 is arranged in the sampling box 301. Two support plates 309 are arranged at intervals on the rotating shaft 311, and multiple sampling tubes 310 are detachably installed on the support plate 309 in a circular shape. The sampling box 301 and the support plate 309 are both funnel-shaped. Pulley 1 312 is rotatably installed at one end of the inside of the support box 303, and pulley 2 314 is rotatably installed at the other end of the inside of the support box 303. Pulley 2 314 is coaxially fixedly connected to the output shaft of motor 1 304, pulley 1 312 is coaxially fixedly connected to the rotating shaft 1 311, the rotating shaft 1 311 is rotatably connected to the support box 303, and pulley 1 312 and pulley 2 314 are connected by belt 1 313.

[0030] The pumping unit includes water pipe 1 305, water pump 306, water pipe 2 307 and support frame 1 308. Support frame 1 308 is fixedly installed on the support platform 201, and support frame 1 308 is arranged on the side of the support box 303. Water pump 306 is fixedly installed on support frame 1 308. A flow meter is provided on water pump 306. The water inlet end of water pump 306 is detachably connected to water pipe 2 307, and the water outlet end of water pump 306 is detachably connected to water pipe 1 305. Water pipe 1 305 is detachably connected to the sampling box 301, and water pipe 1 305 extends into the interior of the sampling box 301. Water pipe 1 305 is arranged above the sampling tube 310.

[0031] The garbage cleaning component includes a garbage collection unit and a garbage storage unit. The garbage collection unit is arranged at one end of the support platform 201 away from the sampling box 301. The garbage storage unit is installed on the support platform 201 and is used to store the garbage collected by the garbage collection unit.

[0032] The garbage collection unit includes a conveyor belt 401, a guide frame 402, a motor 2 404, a support frame 2 409, a support frame 3 410, a second hydraulic cylinder 411 and a material dispensing mechanism. The support frame 2 409 and the support frame 3 410 are fixedly installed at an end of the support platform 201 away from the sampling box 301. The guide frame 402 is hinged on the support frame 2 409. The guide frame 402 and the support frame 3 410 are connected through the second hydraulic cylinder 411. The second hydraulic cylinder 411 is hinged on the support frame 3 410. The piston rod of the second hydraulic cylinder 411 is hinged to the guide frame 402. The support frame 2 409, the support frame 3 410, the second hydraulic cylinder There are two 411s, which are distributed on both sides of the guide frame 402. Conveyor rollers are rotatably installed at both ends of the guide frame 402. The two conveyor rollers are connected by a conveyor belt 401. Multiple conveyor plates 403 are evenly spaced and installed on both sides of the conveyor belt 401. Multiple water outlet holes are provided on the drain plate 204 and the conveyor plate 403. Motor 2 404 is fixedly installed on one end of the guide frame 402 close to the support frame 2 409. Motor 2 404 is coaxially fixedly connected to the output roller close to the support frame 2 409. The material dispensing mechanism is arranged at the end of the guide frame 402 away from the support frame 2 409, and the material dispensing mechanism is connected to the moving component.

[0033] The material discharging mechanism includes a support plate 2 412, a rotating shaft 2 413, a pulley 3 414, a belt 2 415 and a pulley 416. The support plate 2 412 is fixedly installed on the moving assembly. There are two support plates 2 412, and they are distributed on both sides of the moving assembly. A rotating shaft 2 413 is rotatably installed between the two support plates 2 412. A plurality of material discharging rods are evenly spaced and fixedly installed on the rotating shaft 2 413. The material discharging rods are made of soft material and have an arc shape. Pulley 3 414 is fixedly installed at both ends of the rotating shaft 2 413. Each pulley 3 414 is rotatably connected to the corresponding support plate 2 412. Pulley 4 416 is rotatably installed on the end of each support plate 2 412 away from pulley 3 414. The pulley 3 414 on the same support plate 2 412 is connected to pulley 4 416 through belt 2 415. A motor 3 for driving pulley 4 416 to rotate is installed in the moving assembly, and pulley 4 416 is coaxially fixedly connected to the output shaft of motor 3.

[0034] The garbage storage unit includes a storage rack 405, a first hydraulic cylinder 407, and a second support seat 408. The storage rack 405 is slidably installed in the track frame 203. Connecting seats 406 are fixedly installed at both ends of the storage rack 405. Each connecting seat 406 is fixedly connected to the piston rod of the first hydraulic cylinder 407. Each first hydraulic cylinder 407 is fixedly installed on the support platform 201 through multiple second support seats 408. A through passage with no top and no bottom is provided in the storage rack 405.

[0035] The moving component includes a hull 101, a first propeller 102 and a second propeller 103. The support platform 201 is fixedly installed on the two hulls 101. The support platform 201 is used to connect the two hulls 101. A first propeller 102 is installed at the end of each hull 101. The first propeller 102 is used to drive the hull 101 to move horizontally. Two second propellers 103 are installed on the side of each hull 101. The second propeller 103 is used to drive the hull 101 to turn. Motor three is fixedly installed in the hull 101, and support plate two 412 is fixedly installed on the side of the hull 101. A first power module, a first control module and a hydraulic pump assembly are installed in the hull 101. There are multiple hydraulic pump assemblies, which are used to control the movement of the first hydraulic cylinder 407 and the second hydraulic cylinder 411 respectively.

[0036] The first detection component includes a first detection column 601, which is fixedly installed on the support seat 3 502 at an angle. The power box 501 is equipped with a motor 3, a second power supply module and a second control module. The output shaft of the motor 3 is fixedly connected to the support seat 3 502. The second detection component and the third detection component are both provided with two, and are distributed on both sides of the support platform 201. The second detection component includes a third detection column 801, which is fixedly installed on the support seat 1 202 near the conveyor belt 401. The third detection component includes a second detection column 701, which is fixedly installed on the support seat 1 202 near the sampling box 301. On the upper part, the height of the third detection column 801 is higher than that of the second detection column 701, and searchlights 901 for lighting and cameras 902 for detection are installed on both sides of the second detection column 701, the first detection column 601, the second detection column 701 and the third detection column 801. The first power supply module and the first control module are respectively used to provide power and motion control to the first propeller 102, the second propeller 103 and the motor three, and the second power supply module and the second control module are respectively used to provide power and motion control to the motor 1 304, the water pump 306, the motor 2 404, the motor 3, the first detection component, the second detection component and the third detection component.

[0037] The working principle of this utility model is:

[0038] When the moving assembly is working: the first propeller 102 is used to drive the hull 101 to move horizontally, thereby driving the entire body to move on the water surface, and the second propeller 103 is used to drive the hull 101 to turn, thereby driving the entire body to adjust the moving direction.

[0039] When the first detection component, the second detection component and the third detection component are working: the searchlights 901 on the first detection column 601, the second detection column 701 and the third detection column 801 are used for lighting, and the water-related facilities and the water surface are detected by the camera 902. At the same time, the detection results are fed back to the computer on the ground through the control box in the power box 501. During detection, the motor four drives the power box 501 to rotate, and the power box 501 drives the first detection column 601 to rotate, so that the camera 902 on the first detection column 601 can realize the detection of multiple areas. In addition, since the height of the third detection column 801 is higher than the second detection column 701, the cameras 902 on the second detection column 701 and the third detection column 801 can detect water-related facilities at different heights.

[0040] When the sampling assembly is working: the water pump 306 draws water into the sampling cylinder 310 in the sampling box 301 through the water pipe 2 307 and the water volume is measured by the flow meter in the water pump 306 during water pumping, and sampling is stopped when the set water volume (set in advance) is reached; the output shaft of the motor 1 304 drives the pulley 2 314 to rotate, the pulley 2 314 drives the pulley 1 312 to rotate through the belt 1 313, the pulley 1 312 drives the support plate 1 309 to rotate through the rotating shaft 1 311, and the support plate 1 309 drives the sampling cylinder 310 to rotate, thereby adjusting the position of the sampling cylinder 310, so that the support plate 1 309 containing the water sample is away from the water pipe 1 305, and the support plate 1 309 not containing the water sample is moved to the bottom of the water pipe 1 305, so as to facilitate sampling of water quality in different areas.

[0041] When the garbage cleaning component is working: when it is necessary to clean the garbage on the water surface, the motor three drives the pulley four 416 to rotate, the pulley four 416 drives the pulley three 414 to rotate through the belt two 415, the pulley three 414 drives the rotating shaft two 413 to rotate, when the rotating shaft two 413 rotates, the garbage on the water surface is moved to the position of the guide frame 402 through the lever, the output shaft of the motor two 404 drives the connected conveyor roller to rotate, and then drives another conveyor roller to rotate through the conveyor belt 401, and at the same time the conveyor belt 401 drives multiple conveyor plates 403 to move, and the garbage is transported to the storage rack 4 through the conveyor plates 403. 05, and the drain plate 204 below the through channel supports the garbage, and the water is discharged back into the water through the water outlet holes on the drain plate 204 and the conveying plate 403; when there is no need to clean up the garbage and only inspection is required, the piston rod of the second hydraulic cylinder 411 drives the guide frame 402 to rotate on the support frame 2 409, thereby changing the position of the guide frame 402, which can make the guide frame 402 away from the water surface, thereby reducing the water resistance during inspection, and at the same time, by changing the angle of the guide frame 402, the angle of entry into the water can be adjusted, and underwater garbage at different depths can be cleaned.

[0042] After the inspection is completed and the robot goes ashore, the container for collecting garbage is placed under the discharge port 205. The piston rod of the first hydraulic cylinder 407 drives the storage rack 405 to move in the track frame 203 through the connecting seat 406, thereby driving the garbage in the storage rack 405 to move to the discharge port 205. The garbage is discharged from the through channel through the discharge port 205 into the container for collecting garbage, thereby reducing the workload when carrying the garbage off the robot.

[0043] It should be noted that all the power parts in the present invention adopt a waterproof structure.

Claims

1. A multifunctional intelligent inspection robot for water infrastructure, comprising a mobile component, on which a support component is mounted, characterized in that: A garbage cleaning component and a sampling component are installed on the support component, a power box (501) is fixedly installed in the middle of the support component, a support seat three (502) is rotatably installed above the power box (501), a first detection component is fixedly installed on the support seat three (502) in an inclined manner, a third detection component is installed on the end of the support component close to the sampling component, a second detection component is installed on the end of the support component away from the sampling component, the height of the second detection component is higher than the height of the third detection component, the sampling component includes a sample storage unit, the sample storage unit is fixedly installed at one end of the support component, and pumping units are fixedly installed on both sides of the sample storage unit, and the pumping units are fixedly installed on the support component.

2. A multifunctional intelligent inspection robot for water infrastructure according to claim 1, characterized in that: The support assembly includes a support platform (201), the support platform (201) is fixedly installed on the moving assembly, and support seats (202) are fixedly installed on both sides of the support platform (201) at a front-back interval. A track frame (203) is fixedly provided at one end of the support platform (201) away from the sampling assembly, and a drain plate (204) and a discharge port (205) are provided in the track frame (203), and the drain plate (204) is provided at the end away from the sampling assembly.

3. A multifunctional intelligent inspection robot for water infrastructure according to claim 2, characterized in that: The sample storage unit comprises a sampling box (301), a compartment cover (302), a support box (303), a motor (304), a support plate (309), a rotating shaft (311), a pulley (312), a belt (313) and a pulley (314), wherein the support box (303) is fixedly mounted on the end of the support platform (201), the motor (304) is fixedly mounted on one end of the support box (303), the sampling box (301) is fixedly mounted on the other end of the support box (303), the compartment cover (302) is detachably mounted on the sampling box (301), the rotating shaft (311) is coaxially rotatably mounted in the sampling box (301), the support plate (309) is coaxially fixed on the rotating shaft (311), and the support plate (309) is arranged on the sampling box (301). ), two support plates (309) are arranged at intervals on the rotating shaft (311), and a plurality of sampling tubes (310) are evenly and detachably mounted on the support plate (309) in a circular shape. The sampling box (301) and the support plate (309) are both funnel-shaped. A pulley (312) is rotatably mounted on one end of the support box (303), and a pulley (314) is rotatably mounted on the other end of the support box (303). The pulley (314) is coaxially fixedly connected to the output shaft of the motor (304), the pulley (312) is coaxially fixedly connected to the rotating shaft (311), the rotating shaft (311) is rotatably connected to the support box (303), and the pulley (312) and the pulley (314) are connected via a belt (313).

4. A multifunctional intelligent inspection robot for water infrastructure according to claim 3, characterized in that: The pumping unit includes a water pipe 1 (305), a water pump (306), a water pipe 2 (307) and a support frame 1 (308). The support frame 1 (308) is fixedly mounted on the support platform (201), and the support frame 1 (308) is arranged on the side of the support box (303). The water pump (306) is fixedly mounted on the support frame 1 (308). A flow meter is arranged on the water pump (306). The water inlet end of the water pump (306) is detachably connected to the water pipe 2 (307). The water outlet end of the water pump (306) is detachably connected to the water pipe 1 (305). The water pipe 1 (305) is detachably connected to the sampling box (301), and the water pipe 1 (305) extends into the interior of the sampling box (301). The water pipe 1 (305) is arranged above the sampling cylinder (310).

5. The multifunctional intelligent inspection robot for water infrastructure according to claim 4, characterized in that: The garbage cleaning assembly comprises a garbage collection unit and a garbage storage unit. The garbage collection unit is arranged at one end of the support platform (201) away from the sampling box (301). The garbage storage unit is installed on the support platform (201). The garbage storage unit is used to store garbage collected by the garbage collection unit.

6. The multifunctional intelligent inspection robot for water infrastructure according to claim 5, characterized in that: The garbage collection unit includes a conveyor belt (401), a guide frame (402), a motor (404), a support frame (409), a support frame (410), a second hydraulic cylinder (411) and a material-dispensing mechanism. The support frame (409) and the support frame (410) are fixedly installed at intervals on one end of the support platform (201) away from the sampling box (301). The guide frame (402) is hinged on the support frame (409). The guide frame (402) and the support frame (410) are connected through the second hydraulic cylinder (411). The second hydraulic cylinder (411) is hinged on the support frame (410). The piston rod of the second hydraulic cylinder (411) is hinged to the guide frame (402). The support frame (409) and the support frame (410) are fixedly installed at intervals on the end of the support platform (201) away from the sampling box (301). , two second hydraulic cylinders (411) are provided and are distributed on both sides of the guide frame (402), and conveying rollers are rotatably installed at both ends of the guide frame (402), and the two conveying rollers are connected by a conveyor belt (401), and multiple conveying plates (403) are evenly spaced and installed on both sides of the conveyor belt (401), and multiple water outlet holes are provided on the drain plate (204) and the conveying plate (403), and the motor 2 (404) is fixedly installed at one end of the guide frame (402) close to the support frame 2 (409), and the motor 2 (404) is coaxially fixedly connected to the output roller close to the support frame 2 (409), and the material diverting mechanism is provided at one end of the guide frame (402) away from the support frame 2 (409), and the material diverting mechanism is connected to the moving component.

7. The multifunctional intelligent inspection robot for water infrastructure according to claim 6, characterized in that: The material shifting mechanism includes a second support plate (412), a second rotating shaft (413), a third pulley (414), a second belt (415) and a fourth pulley (416). The second support plate (412) is fixedly mounted on the moving assembly. There are two second support plates (412) and they are distributed on both sides of the moving assembly. A second rotating shaft (413) is rotatably mounted between the two second support plates (412). A plurality of material shifting rods are evenly spaced and fixedly mounted on the second rotating shaft (413). The material shifting rods are made of soft material and are arc-shaped. The two rotating shafts (413) are fixedly mounted on the two support plates (412). A pulley three (414) is fixedly installed at each end, each pulley three (414) is rotatably connected to the corresponding support plate two (412), and a pulley four (416) is rotatably installed on the end of each support plate two (412) away from the pulley three (414), and the pulley three (414) and the pulley four (416) on the same support plate two (412) are connected to each other through a belt two (415), and a motor three for driving the pulley four (416) to rotate is installed in the moving component, and the pulley four (416) is coaxially and fixedly connected to the output shaft of the motor three.

8. The multifunctional intelligent inspection robot for water infrastructure according to claim 7, characterized in that: The garbage storage unit comprises a storage rack (405), a first hydraulic cylinder (407), and a second support seat (408). The storage rack (405) is slidably mounted in a track frame (203). Connecting seats (406) are fixedly mounted at both ends of the storage rack (405). Each connecting seat (406) is fixedly connected to a piston rod of the first hydraulic cylinder (407). Each first hydraulic cylinder (407) is fixedly mounted on a support platform (201) via a plurality of second support seats (408). A through passage with no top and no bottom is provided in the storage rack (405).

9. The multifunctional intelligent inspection robot for water infrastructure according to claim 8, characterized in that: The moving assembly includes a hull (101), a first propeller (102) and a second propeller (103); the support platform (201) is fixedly mounted on the two hulls (101); the support platform (201) is used to connect the two hulls (101); a first propeller (102) is mounted on the end of each hull (101); the first propeller (102) is used to drive the hull (101) to move horizontally; two second propellers (103) are mounted on the side of each hull (101); the second propeller (103) is used to drive the hull (101) to turn; the motor three is fixedly mounted in the hull (101); the support plate two (412) is fixedly mounted on the side of the hull (101); a first power module, a first control module and a hydraulic pump assembly are mounted in the hull (101); a plurality of hydraulic pump assemblies are provided, each of which is used to control the movement of the first hydraulic cylinder (407) and the second hydraulic cylinder (411).

10. The multifunctional intelligent inspection robot for water infrastructure according to claim 9, characterized in that: The first detection component includes a first detection column (601), the first detection column (601) is fixedly installed on the support seat three (502) at an angle, the power box (501) is installed with a motor three, a second power supply module and a second control module, the output shaft of the motor three is fixedly connected to the support seat three (502), the second detection component and the third detection component are both provided with two, and are distributed on both sides of the support platform (201), the second detection component includes a third detection column (801), the third detection column (801) is fixedly installed on the support seat one (202) near the conveyor belt (401), the third detection component includes a second detection column (701), the second detection column (701) is fixedly installed on the support seat one near the sampling box (301), (202), the height of the third detection column (801) is higher than the height of the second detection column (701), and searchlights (901) for lighting and cameras (902) for detection are installed on both sides of the second detection column (701), the first detection column (601), the second detection column (701) and the third detection column (801). The first power module and the first control module are respectively used to provide power and motion control to the first propeller (102), the second propeller (103) and the motor three, and the second power module and the second control module are respectively used to provide power and motion control to the motor one (304), the water pump (306), the motor two (404), the motor three, the first detection component, the second detection component and the third detection component.

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