A crawler robot for pipeline inspection

Abstract

The present invention provides a crawler robot for pipeline detection, comprising a detection device, a main beam, a first wheel group, a first crawler and a first driving device, wherein the first inner tensioning mechanism comprises a first inner tensioning rod, a first inner limiter and a first inner limit stop; the first inner limiter comprises a first inner tensioning rod hole adapted to the first inner tensioning rod, so that the first inner tensioning rod can move therein, and the first inner limiter is fixedly connected to the first inner fixed wheel side plate; the first inner limiter abuts against the first inner limiter, and the first inner limiter slides relative to the first inner tensioning rod to control the first inner distance of the first inner tensioning rod moving in the first inner tensioning rod hole toward the tensioning shaft direction, so as to drive the first tensioning wheel to be in close contact with the first crawler through the tensioning shaft. The use of a tensioning wheel and a tensioning structure connected thereto has the beneficial effects of ensuring close contact between the wheel group and the crawler, ensuring sufficient power of the crawler, and extending the service life of the crawler.

Description

Technical Field

[0001] The present invention relates to a crawler robot for in-pipe inspection of the total broadband, and particularly to a robot for inspecting pipelines that can ensure the close contact between the wheel set and the crawler and extend the service life of the rubber crawler. Background Art

[0002] In major livelihood fields such as tap water supply, gas supply, and oil supply, pipelines are the most widely used transmission form. During pipeline use, pipeline blockages and damages are caused by various reasons, which are likely to cause water supply pollution, gas and oil leakage, and pose risks. How to effectively detect these pipeline blockages and damages and prevent secondary disasters is an important issue facing management personnel.

[0003] In existing water supply and gas pipelines, generally, the main pipeline goes all the way to the household pipeline, with its size decreasing from large to small. Among them, the laying range of the pipeline from the entrance of the community to the household pipeline is clear, the pipeline route is short, the impact caused by blockages and damages is small, and the excavation and repair are simple. Generally, the daily maintenance is carried out by each regional management company.

[0004] However, for the main pipelines led from the general factories of water supply, gas supply, and oil supply companies to the medium-sized pipelines in each region, the laying range is large, the buildings on the pipelines are complex, and generally deep burial is required. It is necessary to accurately determine the positions of blockages and damages to avoid meaningless excavation without a target, which may cause major livelihood losses. Moreover, each city's municipal government also requires preventive monitoring of these main pipelines and medium-sized pipelines during daily maintenance to monitor the situation inside the pipelines in real time.

[0005] In the prior art, there are already various robots for in-pipe inspection of these main pipelines and medium-sized pipelines, including wheeled robots and crawler robots.

[0006] Among them, due to the gap between the front and rear wheels, wheeled robots are easily stuck by obstacles in the pipeline, and their climbing ability during travel is limited.

[0007] Among them, robots with metal crawlers are likely to cause damage to the existing main pipelines and medium-sized pipelines, especially steel pipes and cast iron pipes that have been used for many years. After being buried in moist soil for a long time, the steel pipes and cast iron pipes are already severely rusted in many places and are extremely likely to crack under the impact of the metal crawler, resulting in detection damage or even piercing the pipeline.

[0008] Among them, for robots with rubber crawlers, due to the long-term operation of the robot in fluid pipelines and the friction between the driving wheel and the rubber, the rubber crawler becomes loose. As the use time of the robot increases, it is likely to cause insufficient crawler power or even directly cause the crawler to disengage. Summary of the Invention

[0009] The present invention provides a crawler robot for in-pipe inspection, which adopts a tensioning wheel and a tensioning structure connected thereto to ensure close contact between the wheel set and the crawler, ensure sufficient power of the crawler, and extend the service life of the crawler.

[0010] The present invention provides a crawler robot for in-pipe inspection, including a detection device, a main beam, a first wheel set, a first crawler and a first driving device. The detection device is used for detecting the condition of the pipeline. The first driving device drives the first wheel set to drive the first crawler. The first wheel set is connected to the main beam through a first inner fixed wheel side plate. It is characterized in that:

[0011] The first inner fixed wheel side plate includes a first inner tensioning chute;

[0012] The first wheel set includes a first driving wheel, a first supporting wheel and a first tensioning wheel. The first driving device drives the first driving wheel to drive the first crawler. The first driving wheel and the first supporting wheel are fixedly connected to the first inner fixed wheel side plate. The first tensioning wheel is slidably connected to the first inner fixed wheel side plate through a first inner tensioning mechanism, so that the first wheel set is in close contact with the first crawler;

[0013] The first tensioning wheel takes the tensioning shaft as the center axis, and the tensioning shaft is located in the first inner tensioning chute;

[0014] The first inner tensioning mechanism includes a first inner tensioning rod, a first inner limiting member and a first inner limiting stop member. The first inner tensioning rod is fixedly connected to the tensioning shaft at a first inner angle, and the first inner angle is 70-110 degrees. The first inner limiting stop member includes a first inner tensioning rod hole adapted to the first inner tensioning rod for the first inner tensioning rod to move therein. The first inner limiting stop member is fixedly connected to the first inner fixed wheel side plate. The first inner limiting member abuts against the first inner limiting stop member, and the first inner limiting member slides relative to the first inner tensioning rod to control a first inner distance for the first inner tensioning rod to move towards the tensioning shaft direction in the first inner tensioning rod hole, so as to drive the first tensioning wheel to be in close contact with the first crawler through the tensioning shaft.

[0015] Preferably, it further includes a first outer fixed wheel side plate,

[0016] The first wheel set is connected to the main beam through the first outer fixed wheel side plate;

[0017] The first outer fixed wheel side plate includes a first outer tensioning chute;

[0018] The first driving wheel and the first supporting wheel are fixedly connected to the first outer fixed wheel side plate. The first tensioning wheel is slidably connected to the first outer fixed wheel side plate through a first outer tensioning mechanism, so that the first wheel set is in close contact with the first crawler;

[0019] The tensioning shaft is located in the first outer tensioning chute;

[0020] The first outer tensioning mechanism includes a first outer tensioning rod, a first outer limiting member, and a first outer limiting stop member; the first outer tensioning rod is fixedly connected to the tensioning shaft at a second outer angle, and the second outer angle is 70 to 110 degrees; the first outer limiting stop member includes a first outer tensioning rod hole adapted to the first outer tensioning rod for the first outer tensioning rod to move therein, and the first outer limiting stop member is fixedly connected to the first outer fixed wheel side plate; the first outer limiting member abuts against the first outer limiting stop member, and the first outer limiting member slides relative to the first outer tensioning rod to control a first outer distance for the first outer tensioning rod to move in the first outer tensioning rod hole towards the tensioning shaft direction, so as to drive the first tensioning wheel to be in close contact with the first crawler belt through the tensioning shaft;

[0021] The first inner distance is equal to the first outer distance.

[0022] Preferably, the first inner tensioning rod is a screw rod, and the first inner limiting member is a nut.

[0023] Preferably, the first inner limiting member is a first inner spring member in a compressed state, and both ends are fixedly connected to the first inner limiting stop member and the tensioning shaft respectively.

[0024] Preferably, the first driving wheel is located above the side of the first tensioning wheel, and the angle formed by the axis of the first driving wheel and the connection line of the two ends of the first inner tensioning chute is less than 30 degrees.

[0025] Preferably, the first driving wheel is located above the side of the first tensioning wheel, and the diameter of the first driving wheel is larger than the diameter of the first tensioning wheel.

[0026] Preferably, the first supporting wheel is located above the side of the first tensioning wheel;

[0027] The first wheel set further includes a first counterweight wheel, and the diameter of the first counterweight wheel is smaller than the diameter of the first tensioning wheel;

[0028] The diameter of the first counterweight wheel is not less than the diameter of the first supporting wheel, the first counterweight wheel is located on one side of the first tensioning wheel, and the number of the first counterweight wheels is larger than the number of the first supporting wheels.

[0029] Preferably, the number of the first supporting wheels is 1,

[0030] The number of the first counterweight wheels is 3.

[0031] Preferably, the inner side of the first crawler belt includes inner protrusions, and the first driving wheel, the first supporting wheel, the first tensioning wheel, and the first counterweight wheel all include inner grooves adapted to the inner protrusions to increase the friction between the first crawler belt and the first wheel set.

[0032] Preferably, the detection device includes a sonar imaging device.

[0033] There is also provided a crawler robot for in-pipe detection, including a detection device, a main beam, a first wheel set, a second wheel set, a first crawler belt, a second crawler belt, a first driving device, and a second driving device. The detection device is used to detect the situation of the pipeline; the first wheel set drives the first crawler belt, and the first wheel set is connected to the main beam through a first inner fixed wheel side plate and a first inner frame, and the first inner fixed wheel side plate is fixedly connected to the first inner frame; the second wheel set drives the second crawler belt, and the second wheel set is connected to the main beam through a second inner fixed wheel side plate and a second inner frame, and the second inner fixed wheel side plate is fixedly connected to the second inner frame; it is characterized in that:

[0034] The first wheel set includes a first driving wheel, a first supporting wheel, and a first tensioning wheel, and the first driving wheel and the first supporting wheel are fixedly connected to the first inner fixed wheel side plate;

[0035] The second wheel set includes a second driving wheel, a second supporting wheel, and a second tensioning wheel, and the second driving wheel and the second supporting wheel are fixedly connected to the second inner fixed wheel side plate;

[0036] The main beam includes a beam lower plate located on its bottom surface and extending downward;

[0037] The beam lower plate is respectively connected to the first inner frame and the second inner frame through a first fixed shaft and a second fixed shaft. The first inner frame can drive the first crawler belt to rotate outward around the first fixed shaft; the second inner frame can drive the second crawler belt to rotate outward around the second fixed shaft;

[0038] It also includes a crawler outer rotation mechanism to control the first angle and the second angle of the outward rotation of the first crawler belt and the second crawler belt;

[0039] Both the first angle and the second angle are less than 90 degrees.

[0040] Preferably, the crawler outer rotation mechanism includes an outer rotation spring member.

[0041] Preferably, the first inner frame has a first protrusion connecting one end of the outer rotation spring member, and the second inner frame has a second protrusion connecting the other end of the outer rotation spring member.

[0042] Preferably, the lower beam plate is provided with a first sliding groove and a second sliding groove, and the first protrusion slides in the first sliding groove; the second protrusion slides in the second sliding groove.

[0043] Preferably, the outer rotating spring member includes a first outer rotating spring member and a second outer rotating spring member;

[0044] The first inner frame has a first protrusion connecting one end of the first outer rotating spring member, and the other end of the first outer rotating spring member is fixedly connected to the lower beam plate; the second inner frame has a second protrusion connecting one end of the second outer rotating spring member, and the other end of the second outer rotating spring member is fixedly connected to the lower beam plate.

[0045] Preferably, the lower beam plate is provided with a first sliding groove and a second sliding groove, and the first protrusion slides in the first sliding groove; the second protrusion slides in the second sliding groove.

[0046] Preferably, the crawler outer rotation mechanism includes a first crawler outer rotation mechanism and a second crawler outer rotation mechanism;

[0047] The first crawler outer rotation mechanism includes: a first crawler limiting hole located on the lower beam plate, a first crawler limiting pair hole corresponding to the first crawler limiting hole on the first inner frame, and at least two of the first crawler limiting holes; a first pin for inserting into the first crawler limiting hole and the first crawler limiting pair hole to fix the first angle;

[0048] The second crawler outer rotation mechanism includes: a second crawler limiting hole located on the lower beam plate, a second crawler limiting pair hole corresponding to the second crawler limiting hole on the second inner frame, and at least two of the second crawler limiting holes; a second pin for inserting into the second crawler limiting hole and the second crawler limiting pair hole to fix the second angle.

[0049] Preferably, both the first angle and the second angle are 20 degrees.

[0050] Preferably, the first angle and the second angle together cause the vertical height of the robot to decrease by 20 - 35 cm.

[0051] Preferably, the first angle and the second angle together cause the vertical height of the robot to decrease by 25 cm.

[0052] The present invention provides a crawler robot for in - pipeline inspection, which adopts a tensioning wheel and a tensioning structure connected thereto to ensure close contact between the wheel set and the crawler, ensure sufficient crawler power, and extend the service life of the crawler. Description of the Drawings

[0053] Att Figure 1Schematic diagram of the inner side of the crawler of the crawler robot for in-pipe inspection of the present invention;

[0054] Appendix Figure 2 is Figure 1 The enlarged schematic diagram of area A in

[0055] Appendix Figure 3 is Figure 2 The top view sectional view of the tensioning wheel and its tensioning structure in

[0056] Appendix Figure 4 Schematic diagram of the inner side of the crawler of the crawler robot for in-pipe inspection of the present invention;

[0057] Appendix Figure 5 is Figure 4 The enlarged schematic diagram of area A' in

[0058] Appendix Figure 6 is Figure 5 The top view sectional view of the tensioning wheel and its tensioning structure in

[0059] Appendix Figure 7 Schematic diagram of the positional relationship between the drive wheel and the tensioning wheel of the crawler robot for in-pipe inspection of the present invention;

[0060] Appendix Figure 8 Front view of the crawler robot for in-pipe inspection of the present invention in the normal walking state;

[0061] Appendix Figure 9 Front view of the crawler robot for in-pipe inspection of the present invention in the walking state when the fluid velocity is too high or the pipe diameter is too small;

[0062] Appendix Figure 10 is Figure 9 The first enlarged schematic diagram of area B in

[0063] Appendix Figure 11 is Figure 9 The second enlarged schematic diagram of area B in

[0064] Appendix Figure 12 is Figure 9 The third enlarged schematic diagram of area B in

[0065] Appendix Figure 13 is Figure 1 Physical diagram of the double crawler robot;

[0066] Appendix Figure 14 is Figure 10 Physical diagram of the double crawler robot. Detailed implementation manners

[0067] The following will make a detailed description of the detailed implementation manners of the crawler robot for in-pipe inspection provided by the present invention with reference to the accompanying drawings.

[0068] In the accompanying drawings, for the sake of description convenience, the dimensional ratios of layers and regions are not actual ratios. When a layer (or film) is referred to as being "on" another layer or substrate, it can be directly on the other layer or substrate, or there can also be an intermediate layer. In addition, when a layer is referred to as being "under" another layer, it can be directly underneath, and there can also be one or more intermediate layers. Additionally, when a layer is referred to as being "between" two layers, it can be the only layer between the two layers, or there can also be one or more intermediate layers. The same reference numerals always denote the same elements. Further, when two components are referred to as being "connected", it includes physical connection, unless the specification clearly defines otherwise, and such physical connection includes but is not limited to electrical connection, contact connection, and wireless signal connection

[0069] To solve the problems in the prior art that the rubber tracks of tracked robots are prone to loosening and have a short service life after long-term use, and the robot cannot reduce its height according to the pipe diameter and buffer the impact force caused by the too fast fluid velocity in the pipe:

[0070] The applicant provides a tracked robot for in-pipe inspection, as Figures 1 to 12 shown, which includes a detection device 72, a main beam 5, a first wheel set (not shown), a first track 3, and a first driving device 4. The detection device 72 is used to detect the pipe condition. The first driving device 4 drives the first wheel set to drive the first track 3. The first wheel set is connected to the main beam 5 through a first inner fixed wheel side plate 1. It is characterized in that:

[0071] The first inner fixed wheel side plate 1 includes a first inner tensioning chute 11;

[0072] The first wheel set includes a first driving wheel 21, a first supporting wheel 24, and a first tensioning wheel 22. The first driving device 4 drives the first driving wheel 21 to drive the first track 3. The first driving wheel 21 and the first supporting wheel 24 are fixedly connected to the first inner fixed wheel side plate 1. The first tensioning wheel 22 is slidably connected to the first inner fixed wheel side plate 1 through a first inner tensioning mechanism (not shown) so that the first wheel set is in close contact with the first track 3;

[0073] The first tensioning wheel 22 takes the tensioning shaft 221 as the center axis, and the tensioning shaft 221 is located in the first inner tensioning chute 11;

[0074] The first inner tensioning mechanism includes a first inner tensioning rod 222, a first inner limiting member 223, and a first inner limiting stop member 224; the first inner tensioning rod 222 is fixedly connected to the tensioning shaft 221 at a first inner angle, and the first inner angle is 70 to 110 degrees; the first inner limiting stop member 224 includes a first inner tensioning rod hole (not shown) adapted to the first inner tensioning rod 222 for the first inner tensioning rod 222 to move therein, and the first inner limiting stop member 224 is fixedly connected to the first inner fixed wheel side plate 1; the first inner limiting member 223 abuts against the first inner limiting stop member 224, and the first inner limiting member 223 slides relative to the first inner tensioning rod 222 to control a first inner distance that the first inner tensioning rod 222 moves in the first inner tensioning rod hole toward the tensioning shaft 221 direction (as Figure 1 shown, that is, to the right), so as to drive the first tensioning wheel 22 to be in close contact with the first crawler belt 3 through the tensioning shaft 221.

[0075] In this embodiment, the first inner angle is 90 degrees.

[0076] In this embodiment, it further includes a first outer fixed wheel side plate 1'; the first wheel set (not shown) is connected to the main beam 5 through the first outer fixed wheel side plate 1'; the first outer fixed wheel side plate 1' includes a first outer tensioning chute (not shown); the first driving wheel 21 and the first supporting wheel 24 are fixedly connected to the first outer fixed wheel side plate 1'; the first tensioning wheel 22 is slidably connected to the first outer fixed wheel side plate 1' through a first outer tensioning mechanism (not shown) so that the first wheel set is in close contact with the first crawler belt 3; the tensioning shaft 221 is located in the first outer tensioning chute; the first outer tensioning mechanism includes a first outer tensioning rod (not shown), a first outer limiting member (not shown), and a first outer limiting stop member (not shown); the first outer tensioning rod is fixedly connected to the tensioning shaft 221 at a second outer angle, and the second outer angle is 70 to 110 degrees; the first outer limiting stop member includes a first outer tensioning rod hole adapted to the first outer tensioning rod for the first outer tensioning rod to move therein, and the first outer limiting stop member is fixedly connected to the first outer fixed wheel side plate 1'; the first outer limiting member abuts against the first outer limiting stop member, and the first outer limiting member slides relative to the first outer tensioning rod to control a first outer distance that the first outer tensioning rod moves in the first outer tensioning rod hole toward the tensioning shaft 221 direction, so as to drive the first tensioning wheel 22 to be in close contact with the first crawler belt 3 through the tensioning shaft 221; the first inner distance is equal to the first outer distance, so that the first crawler belt 3 maintains stable force.

[0077] In this embodiment, the first outer angle is 90 degrees.

[0078] It should be noted that in this embodiment, the functional components connected to the first inner fixed wheel side plate 1 and the first outer fixed wheel side plate 1' are symmetric with the long axis of the first crawler belt 3 as the midline, that is, the first inner tensioning chute 11 and the first outer tensioning chute, the first inner tensioning mechanism and the first outer tensioning mechanism, the first inner tensioning rod 222 and the first outer tensioning rod (not shown), the first outer limiting member 223 and the first outer limiting member (not shown), the first inner limiting stop member 224 and the first outer limiting stop member, and the second inner angle and the second outer angle are all symmetric with the long axis of the first crawler belt 3 as the midline.

[0079] At the same time, it should be noted that in this embodiment, the shapes of the first inner fixed wheel side plate 1 and the first outer fixed wheel side plate 1' are exactly the same, which is convenient for industrial mass production and is beneficial to keeping the weights on both sides of the first crawler belt 3 stable. However, in other embodiments, when the weights of the first inner fixed wheel side plate 1 and the first outer fixed wheel side plate 1' are the same, they can be designed into different shapes.

[0080] In this embodiment, as Figure 3 shown, the first inner tensioning rod 222 is a screw rod, and the first inner limiting member 223 is a nut. Or, as Figure 6 shown, the first inner limiting member 222 is a first inner spring member in a compressed state, and both ends are fixedly connected to the first inner limiting stop member 222 and the tensioning shaft 221 respectively.

[0081] In other embodiments, the first outer tensioning rod (not shown) is a screw rod, and the first outer limiting member (not shown) is a nut. Or, the first outer limiting member (not shown) is a first outer spring member in a compressed state, and both ends are fixedly connected to the first outer limiting stop member (not shown) and the tensioning shaft 221 respectively.

[0082] In this embodiment, the first driving wheel 21 is located above the side of the first tensioning wheel 22 and at opposite poles of the crawler belt, and they cooperate with each other to maximize the function of the first tensioning wheel 22. As Figure 7 shown, the angle 2120 formed by the connection line between the central axis of the first driving wheel 21 and both ends of the first inner tensioning chute 11 and the horizontal is less than 30 degrees to maximize the function of the first tensioning wheel 22 and keep the first crawler belt 3 tensioned. Similarly, the angle (not shown) formed by the connection line between the central axis of the first driving wheel 21 and both ends of the first outer tensioning chute (not shown) and the horizontal is less than 30 degrees and is equal to the angle 2120 to maximize the function of the first tensioning wheel 22 and keep the first crawler belt 3 tensioned.

[0083] Preferably, in this embodiment, the range of the angle 2120 is below 11°30′ and above 10°. In this embodiment, the first driving wheel 21 is located above and to the side of the first tensioning wheel 22, and the diameter of the first driving wheel 21 is greater than the diameter of the first tensioning wheel 22, ensuring the contact area between the first driving wheel 21 and the first crawler 3 and enhancing the power of the first crawler 3.

[0084] In this embodiment, the first supporting wheel 24 is located above and to the side of the first tensioning wheel 22; the first wheel set further includes first counterweight wheels 25, 26, 27, the diameters of the first counterweight wheels 25, 26, 27 are smaller than the diameter of the first tensioning wheel 22, and the first counterweight wheels 25, 26, 27 are located on one side of the first tensioning wheel 22 to lower the center of gravity of the first crawler 3, thereby ensuring the stability of the crawler robot.

[0085] Further, to fully ensure the stability of the crawler robot, the diameter x1 and the number y1 of the first driving wheel 21, the diameter x2 and the number y2 of the first tensioning wheel 22, the diameter x3 and the number y3 of the first counterweight wheel, and the diameter x4 and the number y4 of the first supporting wheel 24 satisfy the relationship (1):

[0086] k(y2*x2 2 + y3*x3 2 )≥y1*x1 2 + y4*x4 2 (1)

[0087] Where k is the counterweight coefficient, and the range of k is 0.6 to 0.8.

[0088] The diameter ratio x1:x2:x3 of the first driving wheel 21, the first tensioning wheel 22, and the first counterweight wheels 25, 26, 27 is 1:0.9 - 0.8:0.7 - 0.6. Preferably, in this embodiment, the diameter ratio x1:x2:x3 of the first driving wheel 21, the first tensioning wheel 22, and the first counterweight wheels 25, 26, 27 is 1:0.88:0.65 to lower the center of gravity of the first crawler 3, thereby ensuring the stability of the crawler robot.

[0089] The diameters of the first counterweight wheels 25, 26, 27 are not less than the diameter of the first supporting wheel 24. The first counterweight wheels 25, 26, 27 are located on one side of the first tensioning wheel 22, and the number of the first counterweight wheels 25, 26, 27 is greater than the number of the first supporting wheel 23 to lower the center of gravity of the first crawler 3, thereby ensuring the stability of the crawler robot.

[0090] In this embodiment, the number of the first support wheels 24 is 1, and the number of the first counterweight wheels is 3, so as to fully reduce the center of gravity of the first crawler belt 3, thereby ensuring the stability of the crawler robot.

[0091] In this embodiment, as Figure 3 shown, the inner side of the first crawler belt 3 includes inner protrusions 31, and the first driving wheel 21, the first support wheel 24, the first tensioning wheel 22, and the first counterweight wheels 25, 26, and 27 all include inner grooves (not shown) adapted to the inner protrusions 31, so as to increase the friction between the first crawler belt 3 and the first wheel set.

[0092] In this embodiment, the detection device 72 is one of a camera, an infrared camera, a ultraviolet camera, or a sonar imaging device. The detection device further includes an auxiliary device 71, and the auxiliary device 71 is a device that emits light. When the detection device 72 is a camera, an infrared camera, a ultraviolet camera, or a sonar imaging device, the auxiliary device 71 is a fluorescent lamp, an infrared lamp, a ultraviolet lamp, etc.

[0093] It should be noted that the above describes one crawler belt of the single-crawler robot, that is, the first crawler belt 3. The above invention also includes a double-crawler robot with two first crawler belts 3. The technical content of the second first crawler belt 3 (i.e., the second crawler belt in the next subject invention) has been fully described above, and the inventor will not repeat it here. The double-crawler robot with two first crawler belts 3 has a more stable center of gravity than the single-crawler robot.

[0094] The following introduces another double-crawler robot of the present invention, where the second first crawler belt 3 is the "second crawler belt" described below. Without clear indication of the difference, all the technical features with the word "first" in the above text will be directly cited as the technical features included in the "second crawler belt" after replacing the word "first" with "second".

[0095] There is also provided a crawler robot for in-pipe detection, as Figures 1 to 12 shown, including a detection device 72, a main beam 5, a first wheel set (not shown), a second wheel set (not shown), a first crawler belt 3, a second crawler belt (not shown), a first driving device 4, and a second driving device (not shown). The detection device 72 is used to detect the situation of the pipeline; the first wheel set drives the first crawler belt 3, and the first wheel set is connected to the main beam 5 through a first inner fixed wheel side plate 1 and a first inner frame 61, and the first inner fixed wheel side plate 1 is fixedly connected to the first inner frame 61; the second wheel set drives the second crawler belt, and the second wheel set is connected to the main beam 5 through a second inner fixed wheel side plate (not shown) and a second inner frame 62, and the second inner fixed wheel side plate is fixedly connected to the second inner frame 62; and it is characterized in that:

[0096] The first wheel set includes a first driving wheel 21, a first supporting wheel 24 and a first tensioning wheel 22. The first driving wheel 21 and the first supporting wheel 24 are fixedly connected to the first inner fixed wheel side plate 1;

[0097] The second wheel set includes a second driving wheel (not shown), a second supporting wheel (not shown) and a second tensioning wheel (not shown). The second driving wheel and the second supporting wheel are fixedly connected to the second inner fixed wheel side plate;

[0098] The main beam 5 includes a beam lower plate 51 located on its bottom surface and extending downward;

[0099] The beam lower plate 51 is respectively connected to the first inner frame 61 and the second inner frame 62 through a first fixed shaft 610 and a second fixed shaft 620. The first inner frame 61 can drive the first crawler 3 to rotate outward around the first fixed shaft 610; the second inner frame 62 can drive the second crawler to rotate outward around the second fixed shaft 620;

[0100] It further includes a crawler outer rotation mechanism (not shown) to control the first angle Ɵ and the second angle Ɵ' of the outward rotation of the first crawler 3 and the second crawler;

[0101] Both the first angle Ɵ and the second angle Ɵ' are less than 90 degrees.

[0102] In this embodiment, as Figures 11 to 12 shown, the crawler outer rotation mechanism includes an outer rotation spring member.

[0103] In this embodiment, as Figure 12 shown, a first protrusion 5612 connecting one end of the outer rotation spring 560 member is fixedly connected to the first inner frame 61, and a second protrusion 5622 connecting the other end of the outer rotation spring member 560 is fixedly connected to the second inner frame 62. In this embodiment, the first inner frame 61 and the second inner frame 62 and the first protrusion 5612 and the second protrusion 5622 included therein are all located on one side of the beam lower body 51. When the robot encounters a fluid impact force, the first crawler 3 and the second crawler respectively stretch the outer rotation spring member 560 through the first inner frame 61 and the second inner frame 62 to increase buffering and avoid the robot from spinning, tipping over or even capsizing.

[0104] In other embodiments, as Figure 12As shown, the lower beam plate 51 includes a first sliding groove 5115 and a second sliding groove 5225. The first protrusion 5612 slides within the first sliding groove 5115, and the second protrusion 5622 slides within the second sliding groove 5225. The first crawler belt 3 and the second crawler belt respectively stretch the outer rotation spring member 560 through the first inner frame 61 and the second inner frame 62 to increase buffering and prevent the robot from spinning, tipping over, or even capsizing. To ensure reducing the impact of fluid impact force on the first fixed shaft 610 and the second fixed shaft 620, preferably, in this embodiment, the cross-sections of the upper parts of the first inner frame 61 and the second inner frame 62 are both double-fork structures, that is, the upper parts of the first inner frame 61 and the second inner frame 62 form a double-layer sandwich surface, and the double-layer sandwich surface sandwiches the lower beam body 51. The first protrusion 5612 and the second protrusion 5622 are both connected to the two sides of the double-layer sandwich surface of the first inner frame 61 and the second inner frame 62 and penetrate through the two sides. In this case, preferably, on the other side of the lower beam body 51, an identical opposite-side outer rotation spring member (not shown) is arranged, and the two ends of the opposite-side outer rotation spring member are respectively fixedly connected to the first protrusion 5612 and the second protrusion 5622.

[0105] In this embodiment, as Figure 11 shown, the outer rotation spring member includes a first outer rotation spring member 5611 and a second outer rotation spring member; the first inner frame 61 has a first protrusion 5612 connecting one end of the first outer rotation spring member 5611, and the other end of the first outer rotation spring member 5611 is fixedly connected to the lower beam plate 51, that is, fixedly connected to the structure 510 fixedly connected to the lower beam body 51; the second inner frame 62 has a second protrusion 5622 connecting one end of the second outer rotation spring member 5621, and the other end of the second outer rotation spring member 5621 is fixedly connected to the lower beam plate 51, that is, fixedly connected to the structure 520 fixedly connected to the lower beam body 51; when the robot encounters fluid impact force, the first crawler belt 3 and the second crawler belt respectively stretch the first outer rotation spring member 5611 and the second outer rotation spring member 5621 through the first inner frame 61 and the second inner frame 62 to increase buffering and prevent the robot from spinning, tipping over, or even capsizing.

[0106] In this embodiment, the lower beam plate 51 includes a first chute 5115 and a second chute 5225. The first protrusion 5612 slides within the first chute 5115, and the second protrusion 5622 slides within the second chute 5225. The first crawler 3 and the second crawler respectively stretch the first outer rotation spring member 5611 and the second outer rotation spring member 5621 through the first inner frame 61 and the second inner frame 62 to increase buffering and prevent the robot from spinning, tipping over, or even capsizing. To ensure reducing the impact of fluid impact force on the first fixed shaft 610 and the second fixed shaft 620, preferably, in this embodiment, the upper cross-sections of the first inner frame 61 and the second inner frame 62 are both double-fork structures, that is, the upper parts of the first inner frame 61 and the second inner frame 62 form a double-layer sandwich surface that sandwiches the lower beam body 51. The first protrusion 5612 and the second protrusion 5622 are both connected to and penetrate through both sides of the double-layer sandwich surface of the first inner frame 61 and the second inner frame 62. In this case, preferably, on the other side of the lower beam body 51, two identical opposite-side first outer rotation spring members (not shown) and opposite-side second outer rotation spring members (not shown) are arranged. One ends of the opposite-side first outer rotation spring members (not shown) and the opposite-side second outer rotation spring members (not shown) are respectively fixedly connected to the first protrusion 5612 and the second protrusion 5622, and the other ends of the opposite-side first outer rotation spring members (not shown) and the opposite-side second outer rotation spring members (not shown) are respectively fixedly connected to the structure 510 and the structure 520.

[0107] It should be noted that Figure 11 When the structure 510 and the structure 520 are respectively fixedly connected to one ends of the first outer rotation spring member 5611 and the second outer rotation spring member 5621, the opposite-side first outer rotation spring member and the opposite-side second outer rotation spring member on both sides of the lower beam body, and the first protrusion 5612 and the second protrusion 5622 are respectively fixedly connected to one ends of the first outer rotation spring member 5611 and the second outer rotation spring member 5621, the opposite-side first outer rotation spring member and the opposite-side second outer rotation spring member on both sides of the lower beam body at the other ends, it should be ensured that the first outer rotation spring member 5611 and the second outer rotation spring 5621, the opposite-side first outer rotation spring member and the opposite-side second outer rotation spring member do not touch both sides of the double-layer sandwich surface of the upper parts of the first inner frame 61 and the second inner frame 62; that is: the connection nodes of the structure 510 and the structure 520 with the first outer rotation spring member 5611 and the second outer rotation spring member 5621, the opposite-side first outer rotation spring member and the opposite-side second outer rotation spring member should overlap or at least exceed the connection nodes of the first protrusion 5612 and the second protrusion 5622 with the other ends of the first outer rotation spring member 5611 and the second outer rotation spring member 5621, the opposite-side first outer rotation spring member and the opposite-side second outer rotation spring member in the vertical direction.

[0108] In other embodiments, such as Figure 10As shown, the crawler outer rotation mechanism (not shown) includes a first crawler outer rotation mechanism (not shown) and a second crawler outer rotation mechanism (not shown); the first crawler outer rotation mechanism includes: first crawler limit holes 5111, 5112, 5113, 5114 located on the lower beam plate 51, first crawler limit pair holes 561 on the first inner frame 61 corresponding to the first crawler limit holes 5111, 5112, 5113, 5114, with at least two of the first crawler limit holes 5111, 5112, 5113, 5114; a first pin (not shown) for inserting into the first crawler limit hole (not shown) and the first crawler limit pair hole 561 to fix the first angle Ɵ;

[0109] The second crawler outer rotation mechanism includes: second crawler limit holes (not shown) located on the lower beam plate, second crawler limit pair holes (not shown) on the second inner frame 62 corresponding to the second crawler limit holes, with at least two of the second crawler limit holes; a second pin (not shown) for inserting into the second crawler limit hole and the second crawler limit pair hole to fix the second angle Ɵ’.

[0110] In other embodiments, the shear resistance f of the above first pin satisfies the relationship (2):

[0111] f≥k*m*g*h*sinƟ / (12*cosƟ) (2)

[0112] Wherein, k is the anti-impact safety factor, with a value of 5 to 8, m is the sum of the mass of the entire robot vehicle itself, the mass of different detection devices carried, and the mass of the crawlers, g is the acceleration due to gravity, h is the height of the crawler part of the crawler vehicle, and the height selected for this vehicle is 24 cm.

[0113] Similarly, the shear resistance f’ of the second pin and its second angle Ɵ’ also satisfy the relationship (2).

[0114] In all embodiments, the shear resistance F of the tensioning shaft and the central shaft of the counterweight wheel satisfies the relationship (3):

[0115] F≥k*m1*g / n+k*2*m2*g / 3n+10 (3)

[0116] Wherein, k is the anti-impact safety factor, with a value of 5 to 8, m1 is the mass of the entire robot vehicle itself plus the mass of different detection devices carried, m2 is the mass of the crawlers, g is the acceleration due to gravity, and n is the sum of the number of counterweight wheels and tensioning wheels.

[0117] In this embodiment, both the first angle Ɵ and the second angle Ɵ’ are 20 degrees.

[0118] Preferably, in actual use by the applicant, the first angle Ɵ and the second angle Ɵ' together cause the vertical height of the robot to decrease by 20 to 35 cm.

[0119] Preferably, in actual use by the applicant, the first angle Ɵ and the second angle Ɵ' together cause the vertical height of the robot to decrease by 25 cm.

[0120] The present invention provides a crawler robot for in-pipe inspection, which adopts a tensioning wheel and a tensioning structure connected thereto to ensure close contact between the wheel set and the crawler, ensure sufficient crawler power, and extend the service life of the crawler; and has the beneficial effect that the height and width can be adjusted according to the fluid conditions in the pipe and the pipe size.

[0121] The above are only the preferred embodiments of the present invention. It should be noted that for those of ordinary skill in the art in this technical field, without departing from the principle of the present invention, several improvements and refinements can still be made, and these improvements and refinements should also be regarded as the protection scope of the present invention.

Claims

1. A crawler robot for pipeline inspection, comprising a detection device, a main beam, a first wheel group, a first crawler and a first driving device, wherein the detection device is used to detect pipeline conditions, the first driving device drives the first wheel group to drive the first crawler, and the first wheel group is connected to the main beam through a first inner fixed wheel side plate; characterized in that: The first inner fixed wheel side plate comprises a first inner tensioning slide groove; The first wheel set includes a first driving wheel, a first supporting wheel and a first tensioning wheel. The first driving device drives the first driving wheel to drive the first crawler. The first driving wheel and the first supporting wheel are fixedly connected to the first inner fixed wheel side plate. The first tensioning wheel is slidably connected to the first inner fixed wheel side plate through a first inner tensioning mechanism, so that the first wheel set is in close contact with the first crawler. The first tensioning wheel takes the tensioning shaft as the central axis, and the tensioning shaft is located in the first inner tensioning slot; The first inner tensioning mechanism comprises a first inner tensioning rod, a first inner limiting member and a first inner limiting stop; the first inner tensioning rod is fixedly connected to the tensioning shaft at a first angle, the first angle being 70 to 110 degrees; the first inner limiting stop comprises a first inner tensioning rod hole adapted to the first inner tensioning rod for the first inner tensioning rod to move therein, and the first inner limiting stop is fixedly connected to the first inner fixed wheel side plate; the first inner limiting member abuts against the first inner limiting stop, and the first inner limiting member slides relative to the first inner tensioning rod to control the first inner distance of the first inner tensioning rod moving in the first inner tensioning rod hole toward the tensioning shaft direction, so as to drive the first tensioning wheel to be in close contact with the first crawler through the tensioning shaft; The first wheel group is connected to the main beam through a first inner wheel fixing side plate and a first inner frame, and the first inner wheel fixing side plate is fixedly connected to the first inner frame; The main beam includes a beam lower plate located on the bottom surface thereof and extending downward, the beam lower plate is connected to the first inner frame via a first fixed shaft, and the first inner frame can drive the first crawler to rotate outward around the first fixed shaft; It also includes a track outward rotation mechanism to control the first track to rotate outward to a first angle, and the track outward rotation mechanism includes an outward rotation spring member; The first angle is less than 90 degrees; The cross section of the upper portion of the first inner frame is a double-fork structure; The first driving wheel is located above the first tensioning wheel, and the angle formed by the middle axis of the first driving wheel and the connecting line of the two ends of the first inner tensioning groove is less than 30 degrees; The first wheel set further includes a first counterweight wheel, the diameter of the first counterweight wheel is smaller than the diameter of the first tension wheel, the diameter of the first counterweight wheel is not smaller than the diameter of the first support wheel, the first counterweight wheel is located on one side of the first tension wheel, and the number of the first counterweight wheels is greater than the number of the first support wheels; The diameter x1 and the number y1 of the first driving wheel, the diameter x2 and the number y2 of the first tensioning wheel, the diameter x3 and the number y3 of the first counterweight wheel, and the diameter x4 and the number y4 of the first supporting wheel satisfy the relationship: k(y2*x2 2 + y3*x3 2 )≥y1*x1 2 + y4*x4 2 Where k is the weight coefficient, and the range of k is 0.6~0.

8.

2. The crawler robot according to claim 1, characterized in that: Also includes a first outer fixed wheel side plate, The first wheel set is connected to the main beam via a first outer fixed wheel side plate; The first outer fixed wheel side plate comprises a first outer tensioning slide groove; The first driving wheel and the first supporting wheel are fixedly connected to the first outer fixed wheel side plate; the first tensioning wheel is slidably connected to the first outer fixed wheel side plate through a first outer tensioning mechanism, so that the first wheel set is in close contact with the first crawler; The tensioning shaft is located in the first outer tensioning slot; The first outer tensioning mechanism comprises a first outer tensioning rod, a first outer limiting member and a first outer limiting stop; the first outer tensioning rod is fixedly connected to the tensioning shaft at a second angle, and the second angle is 70-110 degrees; the first outer limiting stop comprises a first outer tensioning rod hole adapted to the first outer tensioning rod, so that the first outer tensioning rod can move therein, and the first outer limiting stop is fixedly connected to the first outer fixed wheel side plate; the first outer limiting member abuts against the first outer limiting stop to control the first outer distance of the first outer tensioning rod moving in the first outer tensioning rod hole toward the tensioning shaft, so as to drive the first tensioning wheel to be in close contact with the first crawler through the tensioning shaft; The first inner distance is equal to the first outer distance.

3. The crawler robot according to claim 1, characterized in that: The first inner tensioning rod is a screw rod, and the first inner limiting member is a nut.

4. The crawler robot according to claim 1, characterized in that; The first inner limit member is a first inner spring member in a compressed state, and two ends thereof are fixedly connected to the first inner limit stop member and the tensioning shaft respectively.

5. The crawler robot according to claim 1, characterized in that: The first driving wheel is located above and to the side of the first tensioning wheel, and the diameter of the first driving wheel is greater than the diameter of the first tensioning wheel.

6. The crawler robot according to claim 1, characterized in that: The number of the first supporting wheels is one, and the number of the first counterweight wheels is three.

7. The crawler robot according to claim 1, characterized in that: The inner side of the first crawler track includes an inner protrusion, and the first driving wheel, the first supporting wheel, the first tensioning wheel and the first counterweight wheel all include inner grooves adapted to the inner protrusion to increase the friction between the first crawler track and the first wheel set.

8. The crawler robot according to claim 1, characterized in that: The detection device includes a sonar imaging device.

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