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 second wheel group, a first crawler, a second crawler, a first driving device and a second driving device, wherein the main beam comprises a lower beam plate located on its bottom surface and extending downward; the lower beam 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 to rotate outward around the first fixed shaft; the second inner frame can drive the second crawler to rotate outward around the second fixed shaft; and further comprises a crawler outer rotation mechanism to control the first and second angles of the first crawler and the second crawler to rotate outward; the first angle and the second angle are both less than 90 degrees. The robot has the beneficial effect that the height and width can be adjusted according to the fluid conditions in the pipeline and the size of the pipeline.

Description

Technical Field

[0001] The invention relates to a crawler robot for detecting in pipelines, and in particular to a crawler robot for detecting in pipelines, the height and width of which can be adjusted according to the fluid conditions in the pipeline and the size of the pipeline. Background Art

[0002] In major areas of people's livelihood, such as tap water, gas supply, and oil supply, pipelines are the most widely used form of transmission. During use, pipelines may become clogged or damaged due to various reasons, which can easily cause water supply pollution and gas and oil supply leakage, causing dangers. How to effectively detect these pipeline blockages and damages to prevent secondary disasters is an important issue facing managers.

[0003] Among the existing water supply and gas supply pipelines, generally the main pipe is used to reach the household pipe, and its size ranges from large to small. Among them, the pipelines entering the community and reaching the household have a clear laying range, short pipeline lines, less impact caused by blockage and damage, simple excavation and maintenance, and are generally carried out by regional management companies for daily maintenance.

[0004] However, the main pipes from the headquarters of water, gas and oil supply companies to the medium-sized pipelines in various regions have a large laying area and complex buildings on the pipelines. They are generally required to be buried deep, and the location of blockage and damage must be accurately determined to avoid aimless and unnecessary excavation that causes significant losses to people's livelihood. In addition, municipal governments of various cities also require preventive monitoring of these main pipes and medium-sized pipelines during daily maintenance to monitor the situation inside the pipelines in real time.

[0005] There is still a slight difference in the diameter of the main pipe and the medium-sized pipe. Ideally, the detection equipment on the robot should always be located in the center of the pipe to obtain the best field of view and thus achieve the most complete detection structure.

[0006] In addition, the fluid conditions in the pipeline will affect the stability of the robot in real time. In the prior art, the dual-track robot has no buffer structure because the relative distance between the two tracks and the height of the robot's center of gravity cannot be changed at any time with the fluid speed. This can easily cause the robot to tip over, flip over, and spin, causing the robot to become entangled with the cables, making it impossible to continue testing and having to terminate the test. Summary of the invention

[0007] The present invention provides a crawler robot for detecting in a pipeline, which has the beneficial effect that the height and width can be adjusted according to the fluid conditions in the pipeline and the size of the pipeline.

[0008] 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 detection device is used to detect the pipeline condition, 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; the characteristics are:

[0009] The first inner fixed wheel side plate comprises a first inner tensioning slide groove;

[0010] 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.

[0011] The first tensioning wheel takes the tensioning shaft as the central axis, and the tensioning shaft is located in the first inner tensioning slot;

[0012] The first inner tensioning mechanism includes a first inner tensioning rod, a first inner limit member and a first inner limit stop; the first inner tensioning rod is fixedly connected to the tensioning shaft at a first inner angle, and the first inner angle is 70 to 110 degrees; the first inner limit stop includes 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 limit stop is fixedly connected to the first inner fixed wheel side plate; the first inner limit member abuts against the first inner limit stop, and the first inner limit 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, so as to drive the first tensioning wheel to be in close contact with the first crawler through the tensioning shaft.

[0013] Preferably, it also includes a first outer fixed wheel side plate,

[0014] The first wheel set is connected to the main beam via a first outer fixed wheel side plate;

[0015] The first outer fixed wheel side plate comprises a first outer tensioning slide groove;

[0016] 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;

[0017] The tensioning shaft is located in the first outer tensioning slot;

[0018] 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 outer angle, the second outer angle being 70 to 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, and the first outer limiting member slides relative to the first outer tensioning rod to control the first outer distance of the first outer tensioning rod moving in the first outer 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;

[0019] The first inner distance is equal to the first outer distance.

[0020] Preferably, the first inner tensioning rod is a screw rod, and the first inner limiting member is a nut.

[0021] Preferably, 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.

[0022] Preferably, the first driving wheel is located above and to the side of the first tensioning wheel, and an angle formed by a central axis of the first driving wheel and a line connecting two ends of the first inner tensioning groove is less than 30 degrees.

[0023] Preferably, 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 larger than the diameter of the first tensioning wheel.

[0024] Preferably, the first supporting wheel is located above the first tensioning wheel;

[0025] The first wheel assembly further includes a weight wheel, the diameter of the weight wheel being smaller than the diameter of the first tension wheel;

[0026] The diameter of the counterweight wheel is not less than the diameter of the first support wheel. The counterweight wheel is located on one side of the first tensioner wheel. The number of the counterweight wheels is greater than the number of the first support wheels.

[0027] Preferably, the number of the first supporting wheel is 1.

[0028] The number of the counterweight wheels is 3.

[0029] Preferably, 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 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.

[0030] Preferably, the detection device comprises a sonar imaging device.

[0031] A crawler robot for pipeline detection is also provided, comprising a detection device, a main beam, a first wheel group, a second wheel group, a first crawler, a second crawler, a first driving device and a second driving device, wherein the detection device is used to detect pipeline conditions; the first wheel group drives the first crawler, the first wheel group 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 group drives the second crawler, the second wheel group 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; characterized in that:

[0032] The first wheel assembly 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;

[0033] 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;

[0034] The main beam includes a beam lower plate located on the bottom surface thereof and extending downward;

[0035] The beam lower plate is connected to the first inner frame and the second inner frame respectively through a first fixed shaft and a second fixed shaft, the first inner frame can drive the first crawler to rotate outward around the first fixed shaft; the second inner frame can drive the second crawler to rotate outward around the second fixed shaft;

[0036] Also included is a track outward rotation mechanism to control the first track and the second track to rotate outward to a first angle and a second angle;

[0037] The first angle and the second angle are both smaller than 90 degrees.

[0038] Preferably, the track outward rotation mechanism comprises an outward rotation spring member.

[0039] Preferably, the first inner frame has a first protrusion connected to one end of the outward-rotating spring member, and the second inner frame has a second protrusion connected to the other end of the outward-rotating spring member.

[0040] Preferably, the beam lower plate comprises a first slide groove and a second slide groove, the first protrusion slides in the first slide groove; the second protrusion slides in the second slide groove.

[0041] Preferably, the outward-turning spring member comprises a first outward-turning spring member and a second outward-turning spring member;

[0042] The first inner frame has a first protrusion connected to one end of the first outward-turning spring component, and the other end of the first outward-turning spring component is fixedly connected to the lower plate of the beam; the second inner frame has a second protrusion connected to one end of the second outward-turning spring component, and the other end of the second outward-turning spring component is fixedly connected to the lower plate of the beam.

[0043] Preferably, the beam lower plate comprises a first slide groove and a second slide groove, the first protrusion slides in the first slide groove; the second protrusion slides in the second slide groove.

[0044] Preferably, the track external rotation mechanism comprises a first track external rotation mechanism and a second track external rotation mechanism;

[0045] The first crawler outer rotation mechanism comprises: a first crawler limit hole located on the lower plate of the beam, a first crawler limit counter hole on the first inner frame corresponding to the first crawler limit hole, and at least two first crawler limit holes; a first latch pin used to be inserted into the first crawler limit hole and the first crawler limit counter hole to fix the first angle;

[0046] The second track outer rotation mechanism includes: a second track limiting hole located on the lower plate of the beam, a second track limiting pair hole on the second inner frame corresponding to the second track limiting hole, and at least two second track limiting holes; a second latch pin used to be inserted into the second track limiting hole and the second track limiting pair hole to fix the second angle.

[0047] Preferably, the first angle and the second angle are both 20 degrees.

[0048] Preferably, the first angle and the second angle together reduce the vertical height of the robot by 20 to 35 cm.

[0049] Preferably, the first angle and the second angle together reduce the vertical height of the robot by 25 cm.

[0050] The present invention provides a crawler robot for detecting in a pipeline, which has the beneficial effect that the height and width can be adjusted according to the fluid conditions in the pipeline and the size of the pipeline. BRIEF DESCRIPTION OF THE DRAWINGS

[0051] Attached Figure 1 It is a schematic diagram of the inner side of the crawler track of the crawler robot used for in-pipeline inspection of the present invention;

[0052] Attached Figure 2 yes Figure 1 Enlarged schematic diagram of area A in the middle;

[0053] Attached Figure 3 yes Figure 2 A top view of the middle tensioner and its tensioning structure;

[0054] Attached Figure 4 It is a schematic diagram of the inner side of the crawler track of the crawler robot used for in-pipeline inspection of the present invention;

[0055] Attached Figure 5 yes Figure 4 A' region enlarged schematic diagram;

[0056] Attached Figure 6 yes Figure 5 A top view of the middle tensioner and its tensioning structure;

[0057] Attached Figure 7 It is a schematic diagram of the position relationship between the driving wheel and the tensioning wheel of the crawler robot used for in-pipeline inspection of the present invention;

[0058] Attached Figure 8 This is a front view of the crawler robot used for in-pipeline inspection in a normal walking state of the present invention;

[0059] Attached Fig. 9 It is a front view of the crawler robot used for in-pipeline inspection of the present invention in a walking state when the fluid velocity is too high or the pipe diameter is small;

[0060] Attached Fig.10 yes Fig. 9 The first enlarged schematic diagram of the middle B area;

[0061] Attached Fig.11 yes Fig. 9 The second enlarged schematic diagram of the middle B area;

[0062] Attached Fig.12 yes Fig. 9 The third enlarged schematic diagram of the middle B area;

[0063] Attached Fig.13 yes Figure 1 Physical picture of the dual-track robot;

[0064] Attached Fig.14 yes Fig.10 Physical picture of the dual-track robot. DETAILED DESCRIPTION

[0065] The specific implementation of the crawler robot for in-pipeline inspection provided by the present invention is described in detail below with reference to the accompanying drawings.

[0066] In the accompanying drawings, for the convenience of description, the size 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 another 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 below, and there can also be one or more intermediate layers. In addition, 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 represent the same elements. In addition, when two components are referred to as being "connected", a physical connection is included, unless the specification clearly defines it, and such physical connection includes but is not limited to electrical connection, contact connection, and wireless signal connection.

[0067] To solve the problems in the prior art that the rubber crawler tracks of crawler robots tend to loosen after long-term use and have a short service life, the robot height cannot be reduced according to the pipe diameter, and the impact force caused by the excessive speed of the fluid in the buffer pipe:

[0068] The applicant provides a crawler robot for pipeline inspection, such as Figures 1 to 12 As shown, it includes a detection device 72, a main beam 5, a first wheel group (not shown), a first crawler 3 and a first driving device 4, wherein the detection device 72 is used to detect the pipeline condition, the first driving device 4 drives the first wheel group to drive the first crawler 3, and the first wheel group is connected to the main beam 5 through the first inner fixed wheel side plate 1; it is characterized in that:

[0069] The first inner fixed wheel side plate 1 comprises a first inner tensioning slide groove 11;

[0070] 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 crawler 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 crawler 3.

[0071] The first tensioning wheel 22 has a tensioning shaft 221 as a central axis, and the tensioning shaft 221 is located in the first inner tensioning slot 11;

[0072] The first inner tensioning mechanism includes a first inner tensioning rod 222, a first inner limiting member 223 and a first inner limiting stop 224; the first inner tensioning rod 222 is fixedly connected to the tensioning shaft 223 at a first inner angle, and the first inner angle is 70 to 110 degrees; the first inner limiting stop 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 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 224, and the first inner limiting member 223 slides relative to the first inner tensioning rod 222 to control the first inner tensioning rod 222 to move in the first inner tensioning rod hole toward the tensioning shaft 221 (such as Figure 1 The first tensioning wheel 22 is moved to the right (as shown) by a first inner distance to drive the first tensioning wheel 22 to be in close contact with the first crawler track 3 through the tensioning shaft 221.

[0073] In this embodiment, the first inner angle is 90 degrees.

[0074] In this embodiment, it also includes a first outer fixed wheel side plate 1', and the first wheel group (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 groove (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) to make the first wheel group and the first crawler 3 in close contact; the tensioning shaft 221 is located in the first outer tensioning groove; 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 and the tensioning mechanism are connected to each other. The tightening shaft 221 is fixedly connected at a second outer angle, and the second outer angle is 70 to 110 degrees; the first outer limit stop 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 limit stop is fixedly connected to the first outer fixed wheel side plate 1'; the first outer limit stop abuts against the first outer limit stop, and the first outer limit stop slides relative to the first outer tensioning rod to control the first outer distance of the first outer tensioning rod moving in the first outer tensioning rod hole toward the tensioning shaft 221, so as to drive the first tensioning wheel 22 to be in close contact with the first crawler 3 through the tensioning shaft 221; the first inner distance is equal to the first outer distance, so that the first crawler 3 maintains a stable force.

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

[0076] It should be noted that, in the present embodiment, the functional components connected to the first inner fixed wheel side plate 1 and the first outer fixed wheel side plate 1' are symmetrical with the long axis of the first crawler 3 as the center line, that is, the first inner tensioning groove 11 and the first outer tensioning groove, 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 limit member 223 and the first outer limit member (not shown), the first inner limit stop 224 and the first outer limit stop, the second inner angle and the second outer angle are all symmetrical with the long axis of the first crawler 3 as the center line.

[0077] It should also be noted that, in this embodiment, the first inner fixed wheel side plate 1 and the first outer fixed wheel side plate 1' are exactly the same in shape, so as to facilitate industrial mass production and help maintain the weight stability of both sides of the first crawler 3. However, in other embodiments, the first inner fixed wheel side plate 1 and the first outer fixed wheel side plate 1' can be designed to have different shapes while keeping the weight the same.

[0078] In this embodiment, if Figure 3 As shown, the first inner tension rod 222 is a screw rod, and the first inner stopper 223 is a nut. Figure 6 As shown, the first inner limit member 222 is a first inner spring member in a compressed state, and two ends thereof are fixedly connected to the first inner limit member 222 and the tensioning shaft 221 respectively.

[0079] In other embodiments, the first outer tension rod (not shown) is a screw rod, and the first outer stopper (not shown) is a nut. Alternatively, the first outer stopper (not shown) is a first outer spring member in a compressed state, and its two ends are fixedly connected to the first outer stopper (not shown) and the tension shaft 221, respectively.

[0080] In this embodiment, the first driving wheel 21 is located above and to the side of the first tensioning wheel 22 and at two opposite poles of the track, and cooperates with each other to maximize the effect of the first tensioning wheel 22. Figure 7 As shown, the angle 2120 formed by the line connecting the central axis of the first driving wheel 21 and the two ends of the first inner tensioning chute 11 and the horizontal is less than 30 degrees, so as to maximize the effect of the first tensioning wheel 22 and keep the first crawler 3 tensioned. Similarly, the angle (not shown) formed by the line connecting the central axis of the first driving wheel 21 and the two ends of the first outer tensioning chute (not shown) and the horizontal is less than 30 degrees, which is equal to the angle 2120, so as to maximize the effect of the first tensioning wheel 22 and keep the first crawler 3 tensioned.

[0081] Preferably, in this embodiment, the angle 2120 is within a range of 11°30′ or less and 10° or more. In this embodiment, the first drive wheel 21 is located above the first tension wheel 22, and the diameter of the first drive wheel 21 is greater than the diameter of the first tension wheel 22, thereby ensuring the contact area between the first drive wheel 21 and the first crawler 3 and enhancing the power of the first crawler 3.

[0082] In this embodiment, the first support wheel 24 is located above the first tensioning wheel 22; the first wheel group also includes first counterweight wheels 25, 26, 27, the diameter of the first counterweight wheels 25, 26, 27 is 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.

[0083] Furthermore, in order 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):

[0084] k(y2*x2 2 +y3*x3 2 )≥y1*x1 2 +y4*x4 2 (1);

[0085] Wherein k is the weight coefficient, and the range of k is 0.6 to 0.8.

[0086] 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, so as to reduce the center of gravity of the first crawler 3, thereby ensuring the stability of the crawler robot.

[0087] The diameter of the first counterweight wheels 25, 26, 27 is not less than the diameter of the first support wheel 24. The first counterweight wheels 25, 26, 27 are located on one side of the first tensioning wheel 22. The number of the first counterweight wheels 25, 26, 27 is greater than the number of the first support wheels 23 to lower the center of gravity of the first crawler 3, thereby ensuring the stability of the crawler robot.

[0088] In this embodiment, the number of the first supporting wheel 24 is one, and the number of the first counterweight wheels is three, so as to fully lower the center of gravity of the first crawler track 3, thereby ensuring the stability of the crawler robot.

[0089] In this embodiment, if Figure 3 As shown, the inner side of the first track 3 includes an inner protrusion 31, and the first driving wheel 21, the first supporting wheel 24, the first tensioning wheel 22 and the first counterweight wheels 25, 26, 27 all include inner grooves (not shown) adapted to the inner protrusion 31 to increase the friction between the first track 3 and the first wheel set.

[0090] In this embodiment, the detection device 72 is one of a camera, an infrared camera, an ultraviolet camera or a sonar imaging device. The detection device also includes an auxiliary device 71, which is a device that emits light. When the detection device 72 is a camera, an infrared camera, an ultraviolet camera or a sonar imaging device, the auxiliary device 71 is a fluorescent lamp, an infrared lamp, an ultraviolet lamp, etc.

[0091] It should be noted that the above describes one track of a single-track robot, namely the first track 3. The above invention also includes a dual-track robot with two first tracks 3. The technical content of the second first track 3 (i.e., the second track in the next subject invention) has been fully described in the above text, and the inventor will not repeat it here. The dual-track robot with two first tracks 3 has a more stable center of gravity than the single-track robot.

[0092] Another dual-track robot of the present invention is introduced below, in which the second first track 3 is the "second track" mentioned below. Unless otherwise clearly stated, all technical features containing the word "first" in the above text will be replaced with "second" and directly quoted as the technical features included in the "second track".

[0093] A crawler robot for pipeline inspection is also provided. Figures 1 to 12 As shown, it includes a detection device 72, a main beam 5, a first wheel group (not shown), a second wheel group (not shown), a first crawler 3, a second crawler (not shown), a first driving device 4 and a second driving device (not shown), wherein the detection device 72 is used to detect the pipeline condition; the first wheel group drives the first crawler 3, the first wheel group is connected to the main beam 5 through the first inner fixed wheel side plate 1 and the 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 group drives the second crawler, the second wheel group is connected to the main beam 5 through the second inner fixed wheel side plate (not shown) and the second inner frame 62, and the second inner fixed wheel side plate is fixedly connected to the second inner frame 62; it is characterized in that:

[0094] The first wheel assembly includes a first driving wheel 21, a first supporting wheel 24 and a first tensioning wheel 22, and the first driving wheel 21 and the first supporting wheel 24 are fixedly connected to the first inner fixed wheel side plate 1;

[0095] The second wheel set includes a second driving wheel (not shown), a second supporting wheel (not shown) and a second tensioning wheel (not shown), and the second driving wheel and the second supporting wheel are fixedly connected to the second inner fixed wheel side plate;

[0096] The main beam 5 includes a beam lower plate 51 located on its bottom surface and extending downward;

[0097] The beam lower plate 51 is connected to the first inner frame 61 and the second inner frame 62 respectively through the first fixed shaft 610 and the 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 3 to rotate outward around the second fixed shaft 620.

[0098] It also includes a crawler track outward rotation mechanism (not shown) to control the first crawler track 3 and the second crawler track to rotate outward at a first angle θ and a second angle θ';

[0099] The first angle θ and the second angle θ′ are both smaller than 90 degrees.

[0100] In this embodiment, if Figures 11-12 As shown, the track outward rotation mechanism includes an outward rotation spring member.

[0101] In this embodiment, if Fig.12 As shown, a first protrusion 5612 connected to one end of the outward-rotating spring 560 is fixedly connected to the first inner frame 61, and a second protrusion 5622 connected to the other end of the outward-rotating spring 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 fluid impact force, the first track 3 and the second track respectively stretch the outward-rotating spring 560 through the first inner frame 61 and the second inner frame 62 to increase the buffer and prevent the robot from spinning, tipping over or even overturning.

[0102] In other embodiments, Fig.12As shown, the beam lower plate 51 includes a first slide groove 5115 and a second slide groove 5225, the first protrusion 5612 slides in the first slide groove 5115, the second protrusion 5622 slides in the second slide groove 5225, and the first track 3 and the second track respectively stretch the outer rotation spring member 560 through the first inner frame 61 and the second inner frame 62 to increase the buffer and prevent the robot from spinning, rolling over or even turning over. In order to ensure that the impact of the fluid impact force on the first fixed axis 610 and the second fixed axis 620 is reduced, preferably, in this embodiment, the cross-section of the upper part of the first inner frame 61 and the second inner frame 62 is a double-fork structure, that is, the upper part of the first inner frame 61 and the second inner frame 62 forms a double-layer sandwich surface, and the double-layer sandwich surface wraps the beam lower body 51, and the first protrusion 5612 and the second protrusion 5622 are 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 the two sides. In this case, preferably, an identical opposite-side outward-rotating spring member (not shown) is arranged on the other side of the beam lower body 51, and two ends of the opposite-side outward-rotating spring member are respectively fixedly connected to the first protrusion 5612 and the second protrusion 5622.

[0103] In this embodiment, if Fig.11 As shown, the outward-turning spring member includes a first outward-turning spring member 5611 and a second outward-turning spring member; the first inner frame 61 is provided with a first protrusion 5612 connected to one end of the first outward-turning spring member 5611, and the other end of the first outward-turning spring member 5611 is fixedly connected to the lower plate 51 of the beam, that is, fixedly connected to the structure 510 fixedly connected to the lower body 51 of the beam; the second inner frame 62 is provided with a second protrusion 5622 connected to one end of the second outward-turning spring member 5621, and the other end of the second outward-turning spring member 5621 is fixedly connected to the lower plate 51 of the beam, that is, fixedly connected to the structure 520 fixedly connected to the lower body 51 of the beam; when the robot encounters fluid impact force, the first track 3 and the second track respectively stretch the first outward-turning spring member 5611 and the second outward-turning 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 overturning.

[0104] In this embodiment, the beam lower plate 51 includes a first slide groove 5115 and a second slide groove 5225, and the first protrusion 5612 slides in the first slide groove 5115; the second protrusion 5622 slides in the second slide groove 5225. The first track 3 and the second track respectively stretch the first outer spring member 5611 and the second outer spring member 5621 through the first inner frame 61 and the second inner frame 62 to increase the buffer and prevent the robot from spinning, rolling over or even turning over. In order to ensure that the impact of the fluid impact force on the first fixed axis 610 and the second fixed axis 620 is reduced, preferably, in this embodiment, the cross-section of the upper part of the first inner frame 61 and the second inner frame 62 is a double-fork structure, that is, the upper part of the first inner frame 61 and the second inner frame 62 forms a double-layer sandwich surface, and the double-layer sandwich surface wraps the beam lower body 51, and the first protrusion 5612 and the second protrusion 5622 are 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 the two sides. In this case, preferably, two identical opposite first outward-rotating spring members (not shown) and opposite second outward-rotating spring members (not shown) are arranged on the other side of the beam lower body 51, one end of the opposite first outward-rotating spring member (not shown) and opposite second outward-rotating spring member (not shown) are respectively fixedly connected to the first protrusion 5612 and the second protrusion 5622, and the other ends of the opposite first outward-rotating spring member (not shown) and opposite second outward-rotating spring member (not shown) are respectively fixedly connected to the structure 510 and the structure 520.

[0105] It should be noted that Fig.11 The structures 510 and 520 are respectively fixedly connected to the first outward-rotating spring member 5611 and the second outward-rotating spring member 5621, and one end of the first outward-rotating spring member on the opposite side and the second outward-rotating spring member on the opposite side on both sides of the beam lower body, and the first protrusion 5612 and the second protrusion 5622 are respectively fixedly connected to the first outward-rotating spring member 5611 and the second outward-rotating spring member 5621, and the other end of one end of the first outward-rotating spring member on the opposite side and the second outward-rotating spring member on the opposite side on both sides of the beam lower body, so that the first outward-rotating spring member 5611 and the second outward-rotating spring member 5621, the first outward-rotating spring member on the opposite side and the second outward-rotating spring member on the opposite side are fixedly connected to the first outward-rotating spring member 5611 and the second outward-rotating spring member 5621, and the first outward-rotating spring member on the opposite side and the second outward-rotating spring member on the opposite side. The second outward-turning spring component does not touch the two sides of the upper double-layer clamping surface of the first inner frame 61 and the second inner frame 62 respectively; that is, the nodes where the structure 510 and the structure 520 are respectively connected to the first outward-turning spring component 5611 and the second outward-turning spring component 5621, and the first outward-turning spring component on the opposite side and the second outward-turning spring component on the opposite side should overlap or at least exceed the nodes where the first protrusion 5612 and the second protrusion 5622 are respectively connected to the first outward-turning spring component 5611 and the second outward-turning spring component 5621, and the other ends of the first outward-turning spring component on the opposite side and the second outward-turning spring component on the opposite side.

[0106] In other embodiments, Fig.10As shown, the crawler track outer rotation mechanism (not shown) includes a first crawler track outer rotation mechanism (not shown) and a second crawler track outer rotation mechanism (not shown); the first crawler track outer rotation mechanism includes: first crawler track limiting holes 5111, 5112, 5113, 5114 located on the beam lower plate 51, first crawler track limiting paired holes 561 on the first inner frame 61 corresponding to the first crawler track limiting holes 5111, 5112, 5113, 5114, and at least two of the first crawler track limiting holes 5111, 5112, 5113, 5114; a first latch (not shown) for inserting into the first crawler track limiting hole (not shown) and the first crawler track limiting paired holes 561 to fix the first angle θ;

[0107] The second track outer rotation mechanism includes: a second track limiting hole (not shown) located on the lower plate of the beam, a second track limiting pair hole (not shown) on the second inner frame 62 corresponding to the second track limiting hole, and at least two second track limiting holes; a second latch (not shown) for inserting into the second track limiting hole and the second track limiting pair hole to fix the second angle θ'.

[0108] In other embodiments, the first latch shear resistance f satisfies the relationship (2):

[0109] f≥k*m*g*h*sinθ / (12*cosθ) (2);

[0110] Among them, k is the impact safety factor, which ranges from 5 to 8, m is the sum of the mass of the robot itself, the mass of different detection devices carried, and the mass of the track, g is the acceleration of gravity, and h is the height of the track part of the tracked vehicle. The height of this vehicle is 24 cm.

[0111] Similarly, the shear resistance f' of the second latch and its second angle θ' also satisfy relation (2).

[0112] In all embodiments, the shear resistance F of the tensioning shaft and the center shaft of the counterweight wheel satisfies the relationship (3):

[0113] F≥k*m1*g / n+k*2*m2*g / 3n+10 (3);

[0114] Among them, k is the impact safety factor, which ranges from 5 to 8, m1 is the mass of the robot vehicle itself plus the mass of different detection devices carried by it, m2 is the mass of the track, g is the acceleration of gravity, and n is the sum of the number of counterweight wheels and tension wheels.

[0115] In this embodiment, the first angle θ and the second angle θ′ are both 20 degrees.

[0116] Preferably, in actual use by the applicant, the first angle θ and the second angle θ' together reduce the vertical height of the robot by 20 to 35 cm.

[0117] Preferably, in actual use, the applicant has found that the first angle θ and the second angle θ' together reduce the vertical height of the robot by 25 cm.

[0118] 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 track, ensure sufficient crawler track power, and extend the service life of the crawler track; and has the beneficial effect that the height and width can be adjusted according to the fluid conditions in the pipeline and the size of the pipeline.

[0119] The above is only a preferred embodiment of the present invention. It should be pointed out that ordinary technicians in this technical field can make several improvements and modifications without departing from the principle of the present invention. These improvements and modifications should also be regarded as the scope of protection of the present invention.

Claims

1. A crawler robot for pipeline detection, comprising a detection device, a main beam, a first wheel group, a second wheel group, a first crawler, a second crawler, a first driving device and a second driving device, wherein the detection device is used to detect pipeline conditions; the first wheel group drives the first crawler, the first wheel group 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 group drives the second crawler, the second wheel group 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; characterized in that: The first wheel assembly 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; 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; 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 and the second inner frame respectively through a first fixed shaft and a second fixed shaft, the first inner frame can drive the first crawler to rotate outward around the first fixed shaft; the second inner frame can drive the second crawler to rotate outward around the second fixed shaft; Also included is a track outward rotation mechanism to control the first track and the second track to rotate outward to a first angle and a second angle; The first angle and the second angle are both less than 90 degrees; The cross-sections of the upper portions of the first inner frame and the second inner frame are both double-fork structures.

2. The crawler robot according to claim 1, characterized in that: The crawler track outward rotation mechanism comprises an outward rotation spring member.

3. The crawler robot according to claim 2, characterized in that: The first inner frame has a first protrusion connected to one end of the outward-rotating spring member, and the second inner frame has a second protrusion connected to the other end of the outward-rotating spring member.

4. The crawler robot according to claim 3, characterized in that: The beam lower plate includes a first slide groove and a second slide groove, the first protrusion slides in the first slide groove; the second protrusion slides in the second slide groove.

5. The crawler robot according to claim 2, characterized in that: The outer-rotation spring member includes a first outer-rotation spring member and a second outer-rotation spring member; The first inner frame has a first protrusion connected to one end of the first outward-turning spring component, and the other end of the first outward-turning spring component is fixedly connected to the lower plate of the beam; the second inner frame has a second protrusion connected to one end of the second outward-turning spring component, and the other end of the second outward-turning spring component is fixedly connected to the lower plate of the beam.

6. The crawler robot according to claim 5, characterized in that: The beam lower plate includes a first slide groove and a second slide groove, the first protrusion slides in the first slide groove; the second protrusion slides in the second slide groove.

7. The crawler robot according to claim 1, characterized in that: The crawler track external rotation mechanism includes a first crawler track external rotation mechanism and a second crawler track external rotation mechanism; The first crawler outer rotation mechanism comprises: a first crawler limit hole located on the lower plate of the beam, a first crawler limit counter hole on the first inner frame corresponding to the first crawler limit hole, and at least two first crawler limit holes; a first latch pin used to be inserted into the first crawler limit hole and the first crawler limit counter hole to fix the first angle; The second track outer rotation mechanism includes: a second track limiting hole located on the lower plate of the beam, a second track limiting pair hole on the second inner frame corresponding to the second track limiting hole, and at least two second track limiting holes; a second latch pin used to be inserted into the second track limiting hole and the second track limiting pair hole to fix the second angle.

8. The crawler robot according to claim 1, characterized in that: The first angle and the second angle are both 20 degrees.

9. The crawler robot according to claim 1, characterized in that: The first angle and the second angle together reduce the vertical height of the robot by 20-35 cm.

10. The crawler robot according to claim 9, characterized in that: The first angle and the second angle together reduce the vertical height of the robot by 25 cm.

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