CN112161144A

CN112161144A - Pipeline robot auxiliary device capable of detecting water level and water flow direction

Info

Publication number: CN112161144A
Application number: CN202011061390.5A
Authority: CN
Inventors: 崔普泽
Original assignee: Ningbo Lashou Intelligent Technology Co ltd
Current assignee: Ningbo Lashou Intelligent Technology Co ltd
Priority date: 2020-09-30
Filing date: 2020-09-30
Publication date: 2021-01-01

Abstract

The invention relates to the field of robots, and discloses a pipeline robot auxiliary device capable of detecting water level and water flow direction, which comprises a main box body, wherein a screw rod bevel gear cavity is arranged in the main box body, a telescopic rod cavity is arranged on the upper side of the screw rod bevel gear cavity, an operation block cavity with an upward opening is communicated with the upper side of the telescopic rod cavity, a telescopic rod abutting cavity is communicated with the right side of the operation block cavity, a telescopic rod cavity is communicated with the left side of the operation block cavity, and a belt cavity is arranged on the left side of the telescopic rod cavity. The pipeline robot can return to the original path after closing the equipment.

Description

Pipeline robot auxiliary device capable of detecting water level and water flow direction

Technical Field

The invention relates to the field of robots, in particular to a pipeline robot auxiliary device capable of detecting water level and water flow direction.

Background

Pipeline robot can follow the inside or outside automatic walking of tiny pipeline, carry one or more sensor and operating machine, under the staff operation, carry out a series of pipe-line work, need artificially detect rivers direction before work in the pipeline robot pipeline again now, pipeline robot puts down along rivers direction again, so not only artificially judge loaded down with trivial details, still can have the risk of falling into in the pipeline in the testing process again, on the other hand, when pipeline robot acts on again, if water level is too high in the pipeline, can damage the operation equipment.

Disclosure of Invention

The invention aims to provide a pipeline robot auxiliary device capable of detecting the water level and the water flow direction, which can overcome the defects in the prior art and improve the practicability of equipment.

The technical scheme adopted by the invention for solving the technical problems is as follows: the invention relates to a pipeline robot auxiliary device capable of detecting water level and water flow direction, which comprises a main box body, wherein a screw rod bevel gear cavity is arranged in the main box body, an extension rod cavity is arranged at the upper side of the screw rod bevel gear cavity, an operation block cavity with an upward opening is communicated with the upper side of the extension rod cavity, a telescopic rod abutting cavity is communicated with the right side of the operation block cavity, an extension rod cavity is communicated with the left side of the operation block cavity, a belt cavity is arranged at the left side of the extension rod cavity, a transposition cavity positioned at the lower side of the extension rod cavity is arranged at the right side of the belt cavity, a right transposition magnet cavity is communicated with the right side of the transposition cavity, a right transposition shaft cavity positioned at the lower side of the belt cavity is communicated with the left side of the right transposition cavity, a motor gear cavity is communicated with the left transposition shaft cavity, a left transposition magnet cavity is communicated with the left side of, the left side of the motor gear cavity is communicated with a left reversing plate cavity, the right side of the motor gear cavity is communicated with a reversing shaft cavity, the right side of the reversing shaft cavity is communicated with a reversing cavity, the right side of the reversing cavity is communicated with a right reversing plate cavity, the rear side of the reversing cavity is provided with a wheel belt cavity, the right side of the right reversing plate cavity is provided with a resistance plate magnet cavity, the lower side of the resistance plate magnet cavity is communicated with a resistance plate cavity with a downward opening, resistance plate magnets are arranged in the resistance plate magnet cavity in a sliding fit manner, a resistance plate which extends downwards and penetrates through the resistance plate cavity to the outside is fixedly connected to the resistance plate magnet cavity, resistance magnet springs are fixedly connected between the end surfaces of the left side and the right side of the resistance plate magnet cavity, and the upper side of the resistance plate magnet cavity is communicated with magnetic block cavities which are symmetrically arranged around the resistance plate, the utility model discloses a belt conveyor belt, including belt chamber, magnetism piece intracavity sliding fit connection, belt chamber left side is equipped with the opening floater chamber left, floater intracavity sliding fit connection is equipped with the floater, floater up end with fixed connection is equipped with the floater stay cord between the floater chamber upper end wall, fixed connection is equipped with floater trigger block in the floater chamber right side end wall.

On the basis of the technical scheme, a reversing shaft which extends through the motor gear cavity to the left reversing plate cavity leftwards and extends through the reversing cavity to the right reversing plate cavity rightwards is arranged in the reversing shaft cavity in a sliding fit connection mode, a left reversing plate which is connected with the left reversing plate cavity in a sliding fit connection mode is arranged at the tail end of the left side of the reversing shaft in a rotating fit connection mode, a magnetic block left pull rope is fixedly connected between the left reversing plate and the magnetic block on the left side, a reversing driven gear which is positioned in the motor gear cavity is arranged on the reversing shaft in a spline fit connection mode, a reversing bevel gear which is positioned in the reversing cavity is fixedly connected on the reversing shaft, a bevel gear which is positioned on the right side of the reversing bevel gear is fixedly connected on the reversing shaft, and a right reversing plate which is connected with the right reversing plate cavity in a sliding fit connection mode is arranged at the, the right reversing plate and the right side are fixedly connected with each other through a magnetic block right pull rope, a transmission bevel gear shaft which extends forwards into the reversing cavity and extends backwards into the wheel belt cavity is connected with the rear end wall of the reversing cavity in a rotating fit mode, a transmission bevel gear wheel which can be meshed with the reversing bevel gear wheel and the reversing bevel gear wheel is fixedly connected with the tail end of the front side of the transmission bevel gear shaft, and a wheel transmission belt wheel is fixedly connected with the tail end of the upper side of the transmission bevel gear shaft.

On the basis of the technical scheme, a wheel shaft which extends backwards to penetrate through the wheel belt cavity to the outside and extends forwards to the outside is connected and arranged in a rotationally matched manner on the front end wall of the wheel belt cavity, a wheel shaft belt wheel positioned in the wheel belt cavity is fixedly connected on the wheel shaft, a wheel belt is connected and arranged between the wheel shaft belt wheel and the wheel transmission belt wheel in a power matched manner, a motor which is fixedly connected with the main box body and positioned on the lower side of the left transposition magnet cavity is arranged on the left side of the motor gear cavity, a motor shaft which extends rightwards to the inside of the motor gear cavity is fixedly connected on the right end face of the motor, a motor gear which is meshed with the reversing driven gear is fixedly connected on the motor shaft, and a transmission spur gear shaft which extends leftwards to the inside of the transposition cavity and rightwards to the inside of the lead screw bevel gear cavity is arranged on the, the tail end of the left side of the transmission spur gear shaft is fixedly connected with a transmission spur gear, and the tail end of the right side of the transmission spur gear shaft is fixedly connected with a lead screw bevel gear.

On the basis of the technical scheme, a telescopic rod is arranged in a telescopic rod cavity in a sliding fit connection manner, a screw rod cavity is arranged in the telescopic rod, an operation block connected with the operation block cavity in a sliding fit manner is fixedly connected to the upper end face of the telescopic rod, a screw rod main contact block is arranged in the telescopic rod cavity in a threaded fit connection manner, a screw rod extending downwards into the screw rod bevel gear cavity is arranged in the screw rod cavity in a threaded fit connection manner, a screw rod bevel gear meshed with the screw rod bevel gear is fixedly connected to the lower end of the lower side of the screw rod, a screw rod auxiliary contact block capable of contacting with the screw rod main contact block is fixedly connected in the left end wall of the telescopic rod cavity, a telescopic rod capable of penetrating through the operation block cavity to the telescopic rod abutting cavity is arranged in the telescopic rod cavity in a sliding fit connection manner, a screw rod cavity is arranged in the telescopic rod, screw cavity screw-thread fit connection be equipped with extend to left the lead screw of belt intracavity, the terminal fixed connection in lead screw left side is equipped with lead screw driven pulleys, the telescopic link chamber lower extreme end wall internal fixation connection be equipped with can with the lead screw is the vice trigger block of triggering of lead screw main trigger block contact, belt chamber right side end wall internal rotation fit connection is equipped with extend to left the belt intracavity and extend to right the transmission pulley axle of transposition intracavity, the terminal fixed connection in transmission pulley axle right side is equipped with the transmission straight-teeth gear, the terminal fixed connection in transmission pulley axle left side is equipped with drive pulley, drive pulley with power fit connects between the lead screw driven pulleys and is equipped with the belt.

On the basis of the technical scheme, the right transposition shaft cavity is internally provided with an inner sliding fit connection which extends rightwards to penetrate through the transposition cavity to the right transposition magnet cavity and extends leftwards to penetrate through the transposition shaft in the left transposition magnet cavity, the end of the left side of the transposition shaft is fixedly connected with a left transposition magnet connected with the left transposition magnet cavity in a sliding fit manner, the left end of the left transposition magnet cavity is internally provided with a left transposition electromagnet in a fixed connection manner, the transposition shaft is internally provided with a transposition driven gear which is positioned in the motor gear cavity and engaged with the motor gear in a spline fit manner, the transposition shaft is fixedly connected with a transposition transmission gear which is positioned in the transposition cavity and engaged with the transmission spur gear, the end of the right side of the transposition shaft is automatically connected with a right transposition magnet connected with the right transposition magnet in a sliding fit manner, and a right transposition electromagnet is fixedly connected in the right end wall of the right transposition magnet cavity, and a transposition magnet spring is fixedly connected between the right end face of the right transposition magnet and the left end face of the right transposition electromagnet.

The invention has the beneficial effects that: this device reaches to seal the processing to operation equipment when the water level is too high through the cooperation of telescopic link and stretch-drop pole, avoid operation equipment to damage because of intaking, on the other hand, through the resistance size between resistance board and the rivers, judge the direction of rivers, thereby make pipeline robot can advance to the rivers direction automatically, need not artificial judgement, staff's work load has been reduced, when the water level risees suddenly simultaneously, can make pipeline robot seal the equipment back original way and return.

Drawings

In order to more clearly illustrate the embodiments of the invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the invention, and it is obvious for those skilled in the art that other drawings can be obtained based on these drawings without creative efforts.

The invention is further illustrated with reference to the following figures and examples.

FIG. 1 is a schematic view of the overall structure of a pipeline robot auxiliary device capable of detecting water level and water flow direction according to the present invention;

FIG. 2 is an enlarged schematic view of the structure at A in FIG. 1;

FIG. 3 is an enlarged schematic view of the structure at B in FIG. 1;

FIG. 4 is an enlarged schematic view of the structure at C in FIG. 1;

fig. 5 is a schematic sectional view of the structure of fig. 1 taken along the direction D-D.

Detailed Description

The invention will now be described in detail with reference to fig. 1-5, wherein for ease of description the orientations described hereinafter are now defined as follows: the up, down, left, right, and front-back directions described below correspond to the up, down, left, right, and front-back directions in the projection relationship of fig. 1 itself.

With reference to the accompanying drawings 1-5, the pipeline robot auxiliary device capable of detecting water level and water flow direction comprises a main box body 10, a lead screw bevel gear cavity 18 is arranged in the main box body 10, an extension rod cavity 22 is arranged on the upper side of the lead screw bevel gear cavity 18, an operation block cavity 25 with an upward opening is communicated with the upper side of the extension rod cavity 22, an expansion rod butt cavity 26 is communicated with the right side of the operation block cavity 25, an expansion rod cavity 34 is communicated with the left side of the operation block cavity 25, a belt cavity 47 is arranged on the left side of the expansion rod cavity 34, a transposition cavity 60 positioned on the lower side of the expansion rod cavity 34 is arranged on the right side of the belt cavity 47, a right transposition magnet cavity 62 is communicated with the right side of the transposition cavity 60, a right transposition shaft cavity 49 positioned on the lower side of the belt cavity 47 is communicated with the left side of the transposition cavity 60, a motor gear cavity 55 is, motor gear chamber 55 left side intercommunication is equipped with left transposition axle chamber 52, left side transposition axle chamber 52 left side intercommunication is equipped with left transposition magnet chamber 14, motor gear chamber 55 left side intercommunication is equipped with left switching-over board chamber 68, motor gear chamber 55 right side intercommunication is equipped with switching-over axle chamber 66, switching-over axle chamber 66 right side intercommunication is equipped with switching-over chamber 76, switching-over chamber 76 right side intercommunication is equipped with right switching-over board chamber 78, switching-over chamber 76 rear side is equipped with wheel belt chamber 73, right switching-over board chamber 78 right side is equipped with drag board magnet chamber 41, drag board magnet chamber 41 downside intercommunication is equipped with opening decurrent drag board chamber 43, drag board magnet chamber 41 sliding fit connects and is equipped with drag board magnet 42, fixed connection is equipped with down to extend and runs through on drag board magnet chamber 41 drag board chamber 43 to external drag board 44, drag board magnet 42 left and right sides terminal surface with fixed connection is equipped with drag magnet between the drag board magnet chamber 41 left and right sides

end wall Spring

45, 41 upside intercommunication in resistance board magnet chamber is equipped with resistance board 44 is the magnetism piece chamber 39 that central bilateral symmetry set up, sliding fit connects in magnetism piece chamber 39 and is equipped with magnetism piece 40, belt chamber 47 left side is equipped with opening floater chamber 11 to the left, sliding fit connects in floater chamber 11 and is equipped with floater 13, floater 13 up end with fixed connection is equipped with floater stay cord 12 between the floater chamber 11 upper end wall, fixed connection is equipped with floater trigger block 33 in the floater chamber 11 right side end wall.

In addition, in one embodiment, the reversing shaft cavity 66 is provided with a reversing shaft 82 which extends through the motor gear cavity 55 to the left reversing plate cavity 68 leftwards and extends through the reversing cavity 76 to the right reversing plate cavity 78 rightwards in a sliding fit connection manner, the left end of the left side of the reversing shaft 82 is provided with a left reversing plate 67 which is connected with the left reversing plate cavity 68 in a sliding fit manner in a rotating fit connection manner, a magnetic block left pull rope 83 is fixedly connected between the left reversing plate 67 and the left magnetic block 40, a reversing driven gear 69 which is positioned in the motor gear cavity 55 is arranged on the reversing shaft 82 in a spline fit connection manner, a reversing bevel gear 81 which is positioned in the reversing cavity 76 is fixedly connected on the reversing shaft 82, a reversing bevel gear 79 which is positioned on the right side of the reversing bevel gear 81 is fixedly connected on the reversing shaft 82, and a right reversing plate 77 which is connected with the right reversing plate cavity 78 in a sliding fit connection manner is arranged on the right end of the reversing shaft 82 in The right reversing plate 77 and the right side are fixedly connected with each other through a magnetic block right pull rope 46, a transmission bevel gear shaft 75 which extends forwards into the reversing cavity 76 and backwards into the wheel belt cavity 73 is arranged on the rear end wall of the reversing cavity 76 in a rotating fit manner, a transmission bevel gear 80 which can be meshed with the reversing bevel gear 81 and the reversing bevel gear 79 is fixedly connected with the tail end of the front side of the transmission bevel gear shaft 75, and a wheel transmission belt wheel 74 is fixedly connected with the tail end of the upper side of the transmission bevel gear shaft 75.

In addition, in an embodiment, a wheel shaft 71 extending rearward through the wheel belt chamber 73 to the outside and extending forward to the outside is rotatably connected to a front end wall of the wheel belt chamber 73, a wheel shaft pulley 70 located in the wheel belt chamber 73 is fixedly connected to the wheel shaft 71, a wheel belt 72 is connected between the wheel shaft pulley 70 and the wheel transmission pulley 74 in a power fit manner, a motor 17 fixedly connected to the main case 10 and located on a lower side of the left shift magnet chamber 14 is arranged on a left side of the motor gear chamber 55, a motor shaft 54 extending rightward into the motor gear chamber 55 is fixedly connected to a right end face of the motor 17, a motor gear 53 engaged with the reversing driven gear 69 is fixedly connected to the motor shaft 54, a transmission gear extending leftward into the shift chamber 60 and rightward into the lead screw bevel gear chamber 18 is rotatably connected to a right end wall of the shift chamber 60 in a rotation fit manner The tail end of the left side of the transmission spur gear shaft 65 is fixedly connected with a transmission spur gear 64, and the tail end of the right side of the transmission spur gear shaft 65 is fixedly connected with a lead screw bevel gear 19.

In addition, in one embodiment, the telescopic rod 28 is disposed in the telescopic rod cavity 22 in a sliding fit connection, a screw rod cavity 23 is disposed in the telescopic rod 28, the upper end face of the telescopic rod 28 is fixedly connected with an operation block 27 in a sliding fit connection with the operation block cavity 25, the telescopic rod 28 is internally fixedly connected with a screw rod main contact block 24, the screw rod 21 extending downwards into the screw rod bevel gear cavity 18 is disposed in the screw rod cavity 23 in a threaded fit connection, the lower end of the screw rod 21 is fixedly connected with a screw rod bevel gear 20 engaged with the screw rod bevel gear 19, the left end wall of the telescopic rod cavity 22 is internally fixedly connected with a screw rod auxiliary contact block 29 capable of contacting with the screw rod main contact block 24, the telescopic rod cavity 34 is internally provided with a telescopic rod 38 in a sliding fit connection capable of penetrating through the operation block cavity 25 to the telescopic rod cavity 26, and the telescopic rod cavity 37 is disposed in the telescopic rod 38, fixed connection is equipped with lead screw owner and triggers piece 36 in the telescopic link 38, lead screw cavity 37 female fit connection be equipped with extend to left lead screw 35 in the belt chamber 47, the terminal fixed connection in lead screw 35 left side is equipped with lead screw driven pulley 32, fixed connection is equipped with can with the vice trigger block 30 of lead screw that lead screw owner triggered piece 36 contact, belt chamber 47 right-hand member wall internal rotation fit connection is equipped with and extends to left in the belt chamber 47 and extend to right transmission pulley shaft 57 in the transposition chamber 60, the terminal fixed connection in transmission pulley shaft 57 right side is equipped with transmission straight-toothed gear 58, the terminal fixed connection in transmission pulley shaft 57 left side is equipped with drive pulley 48, drive pulley 48 with power fit connects between the lead screw driven pulley 32 and is equipped with belt 56.

In addition, in an embodiment, sliding fit connection is equipped with in right transposition shaft cavity 49 and extends to run through right in transposition chamber 60 extremely right transposition magnet chamber 62 and extend through left in transposition shaft cavity 52 extremely transposition shaft 51 in left transposition magnet chamber 14, transposition shaft 51 left side end fixed connection be equipped with left transposition magnet 16 that left transposition magnet chamber 14 sliding fit is connected, fixed connection is equipped with left transposition electro-magnet 15 in the left side end wall of left transposition magnet chamber 14, spline fit connection is equipped with on transposition shaft 51 be located in motor gear cavity 55 and with motor gear 53 meshed transposition driven gear 50, fixed connection is equipped with on transposition shaft 51 be located in transposition chamber 60 and can with transmission spur gear 58 with transmission spur gear 64 meshed transposition drive gear 59, transposition shaft 51 right side end automatic fit connection be equipped with right transposition magnet chamber 62 sliding fit connection's right transposition driven gear 50 A right transposition electromagnet 63 is fixedly connected in the right end wall of the right transposition magnet cavity 62 of the magnet 61, and a transposition magnet spring 31 is fixedly connected between the right end face of the right transposition magnet 61 and the left end face of the right transposition electromagnet 63.

The fixing and connecting method in this embodiment includes, but is not limited to, bolting, welding, and the like.

As shown in fig. 1-5, when the apparatus of the present invention is in the initial state, the indexing transmission gear 59 is not engaged with the transmission spur gear 58 and the transmission spur gear 64, the working block 27 is in the working block cavity 25, the telescopic rod 38 is in the telescopic rod abutting cavity 26, the transmission bevel gear 80 is engaged with the reversing bevel gear 79 and is not engaged with the reversing bevel gear 81; sequence of mechanical actions of the whole device: when the pipeline robot starts to work, the pipeline robot is placed in a pipeline, when the water level in the pipeline enables the floating block 13 to float and contact with the floating block trigger block 33, the motor 17 cannot be started, when the water level in the pipeline is normal, the motor 17 is started to rotate forwards, and simultaneously the left transposition electromagnet 15 is started to electrically adsorb the left transposition magnet 16, so that the transposition transmission gear 59 is driven to be meshed with the transmission straight gear 58 through the transposition shaft 51 by overcoming the pulling force of the right transposition magnet cavity 62; when the water flow direction in the pipeline and the trolley traveling direction are simultaneously towards the left, the resistance of the resistance plate 44 cannot overcome the elastic force of the resistance magnet spring 45 to drive the resistance plate magnet 42 to correspond to the magnetic block cavity 39, the motor 17 rotates to drive the motor gear 53 to rotate through the motor shaft 54, the motor gear 53 rotates to drive the reversing shaft 82 to rotate through the reversing driven gear 69, the reversing shaft 82 rotates to drive the transmission helical gear 80 to rotate through the reversing helical gear 79, the transmission helical gear 80 rotates to drive the wheel transmission belt pulley 74 to rotate through the transmission helical gear shaft 75, the wheel transmission belt pulley 74 rotates to drive the wheel shaft belt pulley 70 to rotate through the wheel belt 72, and therefore the trolley is driven to travel through the wheel shaft 71; when the water flow direction in the pipeline is opposite to the trolley running direction, the resistance of the resistance plate 44 drives the resistance plate magnet 42 to overcome the elasticity of the resistance magnet spring 45 and correspond to the right magnetic block cavity 39, the resistance plate magnet 42 adsorbs the right magnetic block 40, the right reversing plate 77 is pulled through the magnetic block right pull rope 46, the reversing bevel gear 81 is driven through the reversing shaft 82 to be meshed with the transmission bevel gear 80, and the reversing bevel gear 79 is disengaged from the transmission bevel gear 80, so that the trolley runs in the same direction as the water flow direction; the motor gear 53 rotates and simultaneously drives the transposition shaft 51 to rotate through the transposition driven gear 50, the transposition shaft 51 rotates and drives the transmission straight gear 58 to rotate through the transposition transmission gear 59, the transmission straight gear 58 rotates and drives the transmission belt pulley 48 to rotate through the transmission belt pulley shaft 57, the transmission belt pulley 48 rotates and drives the lead screw driven belt pulley 32 to rotate through the belt 56, the lead screw driven belt pulley 32 rotates and drives the telescopic rod 38 to move leftwards through the lead screw 35 until the lead screw main trigger block 36 is contacted with the lead screw pair trigger block 30, the left transposition electromagnet 15 is de-energized, the right transposition electromagnet 63 is electrically attracted to the right transposition magnet 61, the right transposition magnet overcomes the thrust of the transposition magnet spring 31, the transposition transmission gear 59 is engaged with the transmission spur gear 64 through the transposition shaft 51 and is disengaged with the transmission straight gear 58, and at the moment, the transposition transmission gear 59 rotates and drives the, the transmission spur gear shaft 65 rotates to drive the screw rod bevel gear 20 to rotate through the screw rod bevel gear 19, the screw rod bevel gear 20 rotates to drive the extension and lowering rod 28 to move upwards through the screw rod 21, so that the operation block 27 moves upwards, when the operation block 27 moves to an operable position, the right transposition electromagnet 63 is de-energized, and the transposition transmission gear 59 is reset; when the water level in the trolley or the pipeline needs to be recovered suddenly rises, the floating block 13 floats and contacts with the floating block triggering block 33, the motor 17 starts to rotate reversely, meanwhile, the right transposition electromagnet 63 is electrified, the transposition transmission gear 59 is meshed with the transmission spur gear 64, so that the operation block 27 retracts into the operation block cavity 25, when the lead screw main contact block 24 contacts with the lead screw auxiliary contact block 29, the right transposition electromagnet 63 is electrified, the left transposition electromagnet 15 is electrified, the transposition transmission gear 59 is meshed with the transmission spur gear 58, the telescopic rod 38 moves into the telescopic rod abutting cavity 26, the operation block cavity 25 is completely sealed, at the moment, the left transposition electromagnet 15 is electrified, the transposition transmission gear 59 resets, the trolley returns according to the original circuit, and the motor 17 stops rotating after the trolley is discharged out of the pipeline.

The above embodiments are merely illustrative of the technical ideas and features of the present invention, and the purpose thereof is to enable those skilled in the art to understand the contents of the present invention and implement the present invention, and not to limit the protection scope of the present invention. All equivalent changes and modifications made according to the spirit of the present invention should be covered within the protection scope of the present invention.

Claims

1. The utility model provides a pipeline robot auxiliary device of detectable water level and rivers direction, includes the main tank body, its characterized in that: a screw rod bevel gear cavity is arranged in the main box body, an extension rod cavity is arranged on the upper side of the screw rod bevel gear cavity, the upper side of the extension rod cavity is communicated with an operation block cavity with an upward opening, the right side of the operation block cavity is communicated with a telescopic rod abutting cavity, the left side of the operation block cavity is communicated with a telescopic rod cavity, the left side of the telescopic rod cavity is provided with a belt cavity, the right side of the belt cavity is provided with a transposition cavity positioned on the lower side of the telescopic rod cavity, the right side of the transposition cavity is communicated with a right transposition magnet cavity, the left side of the transposition cavity is communicated with a right transposition shaft cavity positioned on the lower side of the belt cavity, the left side of the right transposition shaft cavity is communicated with a motor gear cavity, the left side of the motor gear cavity is communicated with a left transposition shaft cavity, the left side of the left transposition shaft cavity is communicated with a left transposition magnet cavity, the left side, the right side of the reversing shaft cavity is communicated with a reversing cavity, the right side of the reversing cavity is communicated with a right reversing plate cavity, the rear side of the reversing cavity is provided with a wheel belt cavity, the right side of the right reversing plate cavity is provided with a resistance plate magnet cavity, the lower side of the resistance plate magnet cavity is communicated with a resistance plate cavity with a downward opening, resistance plate magnets are arranged in the resistance plate magnet cavity in a sliding fit connection manner, resistance plates which extend downwards and penetrate through the resistance plate cavity to the outside are fixedly connected to the resistance plate magnet cavity, resistance magnet springs are fixedly connected between the end surfaces of the left side and the right side of the resistance plate magnet cavity and the end walls of the left side and the right side of the resistance plate magnet cavity, the upper side of the resistance plate magnet cavity is communicated with magnetic block cavities which are arranged in a bilateral symmetry manner by taking the resistance plates as centers, magnetic blocks are arranged in the magnetic block cavities in a sliding fit, the floating block cavity is internally provided with a floating block in a sliding fit connection mode, the upper end face of the floating block is fixedly connected with the upper end wall of the floating block cavity and provided with a floating block pull rope, and the right end wall of the floating block cavity is internally provided with a floating block trigger block in a fixed connection mode.

2. The robotic assistance device of a pipeline capable of detecting water level and water flow direction as claimed in claim 1, wherein: the reversing shaft is internally provided with a reversing shaft which extends through the motor gear cavity to the left reversing plate cavity leftwards and extends through the reversing cavity to the right reversing plate cavity rightwards in a sliding fit manner, the tail end of the left side of the reversing shaft is connected with a left reversing plate in a rotating fit manner and is connected with the left reversing plate in a sliding fit manner, a magnetic block left pull rope is fixedly connected between the left reversing plate and the magnetic block on the left side, the reversing shaft is provided with a reversing driven gear in the motor gear cavity in a spline fit manner, the reversing shaft is fixedly connected with a reversing bevel gear in the reversing cavity, the reversing bevel gear on the right side of the reversing bevel gear is fixedly connected with the reversing shaft, the tail end of the right side of the reversing shaft is connected with a right reversing plate in a rotating fit manner and is connected with the right reversing plate cavity in a sliding fit manner, and a magnetic block right pull rope is fixedly connected between the right reversing plate and the magnetic, the reversing cavity is characterized in that a transmission bevel gear shaft which extends forwards into the reversing cavity and extends backwards into the wheel belt cavity is arranged on the rear end wall of the reversing cavity in a rotating fit mode, a transmission bevel gear which can be meshed with the reversing bevel gear and the reversing bevel gear is fixedly connected to the tail end of the front side of the transmission bevel gear shaft, and a wheel transmission belt wheel is fixedly connected to the tail end of the upper side of the transmission bevel gear shaft.

3. The robotic assistance device of a pipeline capable of detecting water level and water flow direction as claimed in claim 1, wherein: a wheel shaft which extends backwards to penetrate through the wheel belt cavity to the outside and extends forwards to the outside is connected and arranged on the front end wall of the wheel belt cavity in a rotating fit manner, a wheel shaft belt wheel positioned in the wheel belt cavity is fixedly connected on the wheel shaft, a wheel belt is connected and arranged between the wheel shaft belt wheel and the wheel transmission belt wheel in a power fit manner, a motor which is fixedly connected with the main box body and positioned on the lower side of the left transposition magnet cavity is arranged on the left side of the motor gear cavity, a motor shaft which extends rightwards to the inside of the motor gear cavity is fixedly connected on the right end surface of the motor, a motor gear which is meshed with the reversing driven gear is fixedly connected on the motor shaft, and a transmission spur gear shaft which extends leftwards to the inside of the transposition cavity and extends rightwards to the inside of the lead screw bevel gear cavity is arranged on the, the tail end of the left side of the transmission spur gear shaft is fixedly connected with a transmission spur gear, and the tail end of the right side of the transmission spur gear shaft is fixedly connected with a lead screw bevel gear.

4. The robotic assistance device of a pipeline capable of detecting water level and water flow direction as claimed in claim 1, wherein: the telescopic rod is characterized in that a telescopic rod is arranged in the telescopic rod cavity in a sliding fit connection manner, a screw rod cavity is arranged in the telescopic rod, the upper end face of the telescopic rod is fixedly connected with an operation block in a sliding fit connection manner with the operation block cavity, the inner side of the telescopic rod is fixedly connected with a screw rod main contact block, a screw rod extending downwards into the screw rod bevel gear cavity is arranged in the screw rod cavity in a thread fit connection manner, the lower end of the lower side of the screw rod is fixedly connected with a screw rod bevel gear meshed with the screw rod bevel gear, the inner side wall of the left end of the telescopic rod cavity is fixedly connected with a screw rod auxiliary contact block capable of contacting with the screw rod main contact block, a telescopic rod capable of penetrating through the operation block cavity to the telescopic rod abutting cavity is arranged in the telescopic rod cavity in a sliding fit connection manner, a screw rod cavity is arranged in the telescopic rod, a screw rod main trigger block is arranged in the telescopic rod, the terminal fixed connection in lead screw left side is equipped with lead screw driven pulleys, telescopic link chamber lower extreme inner wall fixed connection be equipped with can with the lead screw of lead screw owner trigger block contact triggers the piece, belt chamber right side end wall internal rotation cooperation is connected be equipped with extend to left the belt intracavity and extend to right the transmission pulley axle of transposition intracavity, the terminal fixed connection in transmission pulley axle right side is equipped with the transmission straight-teeth gear, the terminal fixed connection in transmission pulley axle left side is equipped with drive pulley, drive pulley with power fit connects between the lead screw driven pulleys and is equipped with the belt.

5. The robotic assistance device of a pipeline capable of detecting water level and water flow direction as claimed in claim 1, wherein: the right transposition shaft cavity is internally provided with an inner sliding fit connection which extends rightwards to penetrate through the transposition cavity to the right transposition magnet cavity and extends leftwards to penetrate through the left transposition shaft in the left transposition magnet cavity, the transposition shaft left end is fixedly connected with a left transposition magnet connected with the left transposition magnet cavity in a sliding fit manner, the inner fixing connection of the left transposition magnet cavity left end wall is provided with a left transposition electromagnet, the transposition shaft is internally provided with a transposition driven gear which is positioned in the motor gear cavity and engaged with the motor gear, the transposition shaft is fixedly connected with a transposition transmission gear which is positioned in the transposition cavity and engaged with the transmission spur gear, the transposition shaft right end is automatically connected with a right transposition magnet connected with the right transposition magnet cavity in a sliding fit manner, and a right transposition electromagnet is fixedly connected in the right end wall of the right transposition magnet cavity, and a transposition magnet spring is fixedly connected between the right end face of the right transposition magnet and the left end face of the right transposition electromagnet.