Crawler-type microminiature maintenance robot with synergic self-adaption of wheelbase and wheel diameter

Abstract

The invention belongs to the technical field of pipeline exploration, and particularly relates to a wheelbase and wheel diameter cooperative self-adaptive crawler-type micro-miniature maintenance robot which comprises a vehicle body shell. The vehicle body moving assemblies are arranged on the two sides of the vehicle body shell and used for driving the vehicle body shell to move; the vehicle body moving assembly comprises a variable-diameter wheel rotationally arranged at the front end of the vehicle body shell in the advancing direction and a fixed-diameter driving wheel arranged at the rear end of the vehicle body shell in the advancing direction. The diameter-fixed driving wheel is in transmission connection with a driving part, the diameter-variable wheel is in transmission connection with a sliding part, the sliding part is used for driving the diameter-variable wheel to move so as to change the wheel base, the diameter-fixed driving wheel is sleeved with one end of a flexible track, and the other end of the flexible track is sleeved on the diameter-variable wheel. According to the device, the front end of the vehicle body shell can be lifted by changing the wheel diameter, obstacles can be conveniently crossed, the wheel base between the variable-diameter wheel and the fixed-diameter driving wheel is changed in cooperation with the sliding part, the adjusting range of the device is larger, and the adaptability to complex road conditions is improved.

Description

Technical Field

[0001] The invention belongs to the technical field of pipeline exploration, and in particular relates to a crawler-type micro-sized maintenance robot with coordinated self-adaptation of wheelbase and wheel diameter. Background Art

[0002] Most industrial pipelines are often damaged by high temperature, high pressure and corrosion during use. However, it is very inconvenient for pipeline exploration equipment to move in the pipeline. Under the current technical background, pipeline exploration vehicles have poor passability. Pipelines are generally narrow and have many slopes or vertical steps. Ordinary vehicles often face the problem of not being able to climb the steps or the protrusions in the pipe getting stuck in the middle of the tire, making it difficult for the vehicle to move.

[0003] Therefore, it is necessary to design a tracked micro-maintenance robot with coordinated adaptive wheelbase and wheel diameter, which can change its own center of mass position to assist the driving wheels to have a new type of vehicle chassis with better grip. Summary of the invention

[0004] The purpose of the present invention is to provide a crawler-type micro-sized maintenance robot with cooperatively adaptive wheelbase and wheel diameter, so as to solve the above-mentioned problems.

[0005] To achieve the above object, the present invention provides the following solutions:

[0006] A crawler-type micro-sized maintenance robot with coordinated self-adaptation of wheelbase and wheel diameter, comprising:

[0007] body shell;

[0008] A vehicle body moving assembly, arranged on both sides of the vehicle body shell, and used for driving the vehicle body shell to move;

[0009] The vehicle body moving assembly includes a variable diameter wheel rotatably arranged at the front end of the vehicle body shell in the direction of travel and a fixed diameter driving wheel arranged at the rear end of the vehicle body shell in the direction of travel;

[0010] The fixed diameter driving wheel is transmission-connected with a driving part, and the variable diameter wheel is transmission-connected with a sliding part, and the sliding part is used to drive the variable diameter wheel to move to change the wheelbase, and the fixed diameter driving wheel is sleeved with one end of a flexible track, and the other end of the flexible track is sleeved on the variable diameter wheel.

[0011] According to the above-mentioned crawler-type micro-sized maintenance robot with coordinated self-adaptation of wheelbase and wheel diameter, the variable diameter wheel comprises a first bearing, the fixed end of the first bearing is slidably connected to the vehicle body shell through a movable groove, and the movable groove is provided on the side wall of the vehicle body shell;

[0012] The rotating end of the first bearing is fixedly connected with the fixed ends of a plurality of telescopic columns at equal intervals in the circumferential direction, the movable end of the telescopic column is fixedly connected with the middle part of the inner wall of the arc block, and the arc blocks are surrounded to form a circular ring structure, one end of the flexible crawler is sleeved on the outer side of the arc blocks, and the fixed end of the first bearing is drivingly connected with the sliding part;

[0013] The movable end of the telescopic column drives the arc block to move away from the center of the circle to increase the diameter of the variable diameter wheel.

[0014] According to the above-mentioned crawler-type micro-sized maintenance robot with coordinated self-adaptation of wheelbase and wheel diameter, the sliding part comprises a threaded shaft rotatably arranged in the body shell, a slider is threadedly connected to the threaded shaft, a side wall of the slider is fixedly connected to the fixed end of the first bearing, and the bottom of the slider is slidably connected to the body shell through a slide groove;

[0015] The fixed end of the second bearing arranged at one end of the threaded shaft is embedded in the middle part of the vehicle body shell through a semicircular groove, and the end of the threaded shaft close to the second bearing is transmission-connected with a rotation driving part.

[0016] According to the above-mentioned tracked micro maintenance robot with coordinated self-adaptation of wheelbase and wheel diameter, the rotation drive unit includes a first drive motor, the fixed end of the first drive motor is fixedly connected to the vehicle body shell, and the rotating end of the first drive motor is connected to the threaded shaft through gear meshing transmission.

[0017] According to the above-mentioned crawler-type micro maintenance robot with coordinated adaptive wheelbase and wheel diameter, the sliding part is connected to the variable diameter wheel in a transmission manner, and the sliding part increases the diameter of the variable diameter wheel when shortening the wheelbase of the variable diameter wheel and the fixed diameter driving wheel.

[0018] According to the above-mentioned crawler-type micro-sized maintenance robot with coordinated self-adaptation of wheelbase and wheel diameter, an oil feeder is fixedly connected to the middle part of the inner side of the body shell, one end of a piston rod is slidably connected in the oil feeder, and the other end of the piston rod is fixed between the two sliders by bolts;

[0019] The oil chamber of the oil supply device is connected to two oil separators, and the oil separators are fixed on the corresponding sliding blocks;

[0020] The oil distributor is fixedly connected to one end of the oil supply half bridge, the other end of the oil supply half bridge is fixedly connected to the fixed end of the first bearing, the first bearing is a sealed bearing, and the telescopic column is a hydraulic elastic rod;

[0021] An oil supply half-bridge oil passage is provided in the oil supply half-bridge, and the oil distributor and the telescopic column are connected to the first bearing through the oil supply half-bridge oil passage;

[0022] When the piston rod contracts into the oil supply device, it drives the piston to squeeze the hydraulic oil inside the oil supply device, and the hydraulic oil passes through the oil distributor, the oil supply half-bridge oil circuit and the first bearing in sequence into the telescopic column, pushing out the movable end of the telescopic column, so that the arc block moves away from the center of the circle.

[0023] According to the above-mentioned tracked micro-maintenance robot with coordinated self-adaptation of wheelbase and wheel diameter, an oil supply groove is provided on the oil supply housing, and the oil supply groove is used to fix one end of a hose, and the hose is connected to the oil chamber of the oil supply, and the other end of the hose is fixed to the oil separator housing through the oil separator groove, and the other end of the hose is connected to the oil chamber of the oil separator.

[0024] According to the above-mentioned tracked micro maintenance robot with coordinated self-adaptation of wheelbase and wheel diameter, the driving unit includes a second driving motor, the fixed end of the second driving motor is fixedly connected in the vehicle body shell, and the movable end of the second driving motor is transmission-connected to the fixed-diameter driving wheel through gear meshing.

[0025] Compared with the prior art, the present invention has the following advantages and technical effects:

[0026] When in use, the driving unit drives the fixed-diameter driving wheel to rotate, and the flexible track drives the variable-diameter wheel to rotate. The inner wall of the flexible track frictionally cooperates with the variable-diameter wheel and the fixed-diameter driving wheel. When the trolley is unable to climb up a step or the protrusion in the tube is stuck in the middle of the tire, making it difficult to move, the variable-diameter wheel can be used to change the wheel diameter to lift the front end of the vehicle body shell, making it convenient to cross the obstacle. At this time, the flexible track is stretched out, and the rotation of the fixed-diameter driving wheel can still drive the rotation of the variable-diameter wheel after the diameter is changed, so that the vehicle body shell moves. At the same time, the sliding unit cooperates to change the wheelbase between the variable-diameter wheel and the fixed-diameter driving wheel, so that the vehicle body has a larger adjustment range, thereby improving the adaptability to complex road conditions. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments are briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those of ordinary skill in the art, other drawings can be obtained based on these drawings without creative labor:

[0028] Figure 1 It is a schematic diagram of the structure of the present invention;

[0029] Figure 2 It is a schematic diagram of the internal structure of the present invention;

[0030] Figure 3It is a top view of the internal structure of the present invention;

[0031] Figure 4 It is a schematic diagram of the structure of the sliding part of the present invention;

[0032] Figure 5 This is a schematic diagram of the structure of the present invention from a first angle;

[0033] Figure 6 It is a schematic diagram of the structure of the present invention from a second angle;

[0034] Figure 7 This is a cross-sectional view of the oil supply half bridge of the present invention;

[0035] Among them, 1. body shell; 101. slide groove; 2. oil distributor; 201. oil distributor groove; 3. threaded shaft; 4. slider; 5. telescopic column; 6. variable diameter wheel; 601. first bearing; 7. fixed diameter drive wheel; 8. oil supplier; 801. oil supplier groove; 10. flexible crawler; 12. second bearing; 13. oil supply half bridge; 1301. oil supply half bridge oil circuit; 14. bolt; 15. piston rod; 16. semicircular groove; 17. first drive motor; 18. second drive motor. DETAILED DESCRIPTION

[0036] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0037] In order to make the above-mentioned objects, features and advantages of the present invention more obvious and easy to understand, the present invention is further described in detail below with reference to the accompanying drawings and specific embodiments.

[0038] Reference Figures 1 to 7 The present invention discloses a crawler-type micro-sized maintenance robot with coordinated self-adaptation of wheelbase and wheel diameter, comprising:

[0039] Body shell 1;

[0040] The vehicle body moving assembly is arranged on both sides of the vehicle body shell 1 and is used to drive the vehicle body shell 1 to move;

[0041] The vehicle body moving assembly includes a variable diameter wheel 6 rotatably arranged at the front end of the vehicle body shell 1 in the direction of travel and a fixed diameter driving wheel 7 arranged at the rear end of the vehicle body shell 1 in the direction of travel;

[0042] The fixed diameter driving wheel 7 is transmission-connected with a driving part, and the variable diameter wheel 6 is transmission-connected with a sliding part, which is used to drive the variable diameter wheel 6 to move to change the wheelbase. The fixed diameter driving wheel 7 is sleeved with one end of a flexible track 10, and the other end of the flexible track 10 is sleeved on the variable diameter wheel 6.

[0043] When in use, the fixed diameter driving wheel 7 is driven by the driving unit to rotate, and the variable diameter wheel 6 is driven to rotate through the flexible track 10. The inner wall of the flexible track 10 frictionally cooperates with the variable diameter wheel 6 and the fixed diameter driving wheel 7. When the trolley is unable to climb up a step or the protrusion in the tube is stuck in the middle of the tire, making it difficult to move, the variable diameter wheel 6 can be used to change the wheel diameter to lift the front end of the vehicle body 1, so as to facilitate crossing the obstacle. At this time, the flexible track 10 is stretched open, and the fixed diameter driving wheel 7 can still drive the variable diameter wheel 6 after the diameter change to rotate, so as to move the vehicle body 1. At the same time, the sliding unit is cooperated to change the wheelbase between the variable diameter wheel 6 and the fixed diameter driving wheel 7, so that the vehicle body has a larger adjustment range, thereby improving the adaptability to complex road conditions.

[0044] As an optional embodiment, the variable diameter wheel 6 includes a first bearing 601, a fixed end of the first bearing 601 is slidably connected to the vehicle body shell 1 through a movable groove, and the movable groove is opened on the side wall of the vehicle body shell 1;

[0045] The rotating end of the first bearing 601 is fixedly connected to the fixed ends of several telescopic columns 5 at equal intervals in the circumferential direction, and the movable end of the telescopic column 5 is fixedly connected to the middle part of the inner wall of the arc block. The arc blocks are surrounded to form a circular ring structure. One end of the flexible crawler 10 is sleeved on the outer side of the arc blocks. The fixed end of the first bearing 601 is transmission-connected to the sliding part.

[0046] The movable end of the telescopic column 5 drives the arc block to move away from the center of the circle to increase the diameter of the variable diameter wheel 6.

[0047] The spokes of the variable diameter wheel 6 are sleeved on the outer side of the rotating end of the first bearing 601 , and the fixed end of the telescopic column 5 is fixedly connected to the spokes of the variable diameter wheel 6 .

[0048] The telescopic column 5 can be optionally an electric telescopic rod. By adjusting the lengths of each electric telescopic rod at the same time, the arc blocks of the variable diameter wheel 6 are moved away from the center of the circle to increase the diameter of the variable diameter wheel 6. After the telescopic column 5 is contracted, the arc blocks are surrounded to form a circular ring structure.

[0049] The flexible crawler track 10 is elastic and can change with the diameter change of the variable diameter wheel 6 , while being able to ensure the friction between the variable diameter wheel 6 and the fixed diameter driving wheel 7 .

[0050] As an optional embodiment, the sliding part includes a threaded shaft 3 rotatably arranged in the body shell 1, a slider 4 is threadedly connected to the threaded shaft 3, a side wall of the slider 4 is fixedly connected to the fixed end of the first bearing 601, and the bottom of the slider 4 is slidably connected to the body shell 1 through a slide groove 101;

[0051] The fixed end of the second bearing 12 disposed at one end of the threaded shaft 3 is embedded in the middle of the vehicle body shell 1 through a semicircular groove 16 , and one end of the threaded shaft 3 close to the second bearing 12 is transmission-connected to a rotation driving unit.

[0052] One end of the threaded shaft 3 is matched with the shaft hole on the body shell 1, and the other end is matched with the semicircular groove 16 through the second bearing 12 and installed on the body shell 1, and both ends of the threaded shaft 3 are designed with shaft shoulders, and the cast gear at the end of the threaded shaft 3 is matched with the first drive motor 17, and the threaded shaft 3 is driven by the first drive motor 17 to rotate, and the middle part of the threaded shaft 3 is designed with a thread to match the slider 4. The slider 4 is driven by the threaded shaft 3 through the slide groove 101 set inside the body shell 1 to achieve longitudinal movement, thereby driving the longitudinal movement of the variable diameter wheel 6.

[0053] As an optional embodiment, the rotation driving unit includes a first driving motor 17, a fixed end of the first driving motor 17 is fixedly connected to the vehicle body shell 1, and a rotating end of the first driving motor 17 is transmission-connected to the threaded shaft 3 through gear meshing.

[0054] The first drive motor 17 drives the threaded shaft 3 to rotate through gear cooperation, and then drives the slider 4 to move to change the wheelbase between the variable diameter wheel 6 and the fixed diameter drive wheel 7. The first drive motor 17 can realize forward and reverse rotation, and then the slider 4 can be adjusted by the forward and reverse rotation of the threaded shaft 3.

[0055] By virtue of the different wheelbases on both sides of the body shell 1 and the different wheel diameters of the variable-diameter wheels 6 on both sides of the body shell 1 , the body shell 1 can be turned, thereby improving the flexibility of movement of the body shell 1 .

[0056] As an optional embodiment, the sliding part is in driving connection with the variable diameter wheel 6, and when the sliding part shortens the wheelbase between the variable diameter wheel 6 and the fixed diameter driving wheel 7, the diameter of the variable diameter wheel 6 is increased.

[0057] As an optional embodiment, an oil feeder 8 is fixedly connected to the middle of the inner side of the vehicle body shell 1, one end of a piston rod 15 is slidably connected in the oil feeder 8, and the other end of the piston rod 15 is fixed between the two sliders 4 by a bolt 14;

[0058] The oil chamber of the oil supply device 8 is connected to two oil distributors 2, and the oil distributors 2 are fixed on the corresponding slide blocks 4;

[0059] The oil distributor 2 is fixedly connected to one end of the oil supply half bridge 13, and the other end of the oil supply half bridge 13 is fixedly connected to the fixed end of the first bearing 601. The first bearing 601 is a sealed bearing, and the telescopic column 5 is a hydraulic elastic rod.

[0060] An oil supply half-bridge oil passage 1301 is provided in the oil supply half-bridge 13, and the oil distributor 2 and the telescopic column 5 are connected with the first bearing 601 through the oil supply half-bridge oil passage 1301;

[0061] When the piston rod 15 contracts into the oil supply device 8, it drives the piston to squeeze the hydraulic oil inside the oil supply device 8 and enters the telescopic column 5 through the oil distributor 2, the oil supply half-bridge oil circuit 1301 and the first bearing 601 in turn, pushing out the movable end of the telescopic column 5 and moving the arc block away from the center of the circle.

[0062] As an optional embodiment, an oil supply groove 801 is opened on the outer shell of the oil supply 8, and the oil supply groove 801 is used to fix one end of the hose. The hose is connected to the oil chamber of the oil supply 8, and the other end of the hose is fixed to the outer shell of the oil separator 2 through the oil separator groove 201, and the other end of the hose is connected to the oil chamber of the oil separator 2.

[0063] This solution also provides a design concept based on a simple mechanical structure, in which the first bearing 601 is selected as a sealed bearing, the telescopic column 5 is a hydraulic elastic rod, the telescopic column 5 is connected to the sealed bearing through a pipeline arranged in the spoke, and the sealed bearing is connected to the oil supply half-bridge oil circuit 1301.

[0064] One end of the oil distributor 2 is interference fit with the oil supply half bridge 13, and the other end is connected to the flexible tube through the designed groove 201 and the clamp, and the other end of the flexible tube is connected to the oil supply 8 through the groove 801 above the oil supply 8 and the clamp. The bottom surface of the oil distributor 2 is connected to the slider 4 by gluing.

[0065] One end of the piston rod 15 is sealed and connected to the oil supply device 8, and the other end is provided with a threaded hole and is fixedly connected to the protruding part between the two sliders 4 through a block with the same threaded hole and a bolt 14. As the slider 4 moves, the hydraulic oil inside the cavity of the oil supply device 8 can be compressed or pulled, thereby realizing the extension and retraction of the telescopic column 5 inside the variable diameter wheel 6 and finally realizing the change of the variable diameter wheel 6.

[0066] As an optional embodiment, the driving unit includes a second driving motor 18, a fixed end of the second driving motor 18 is fixedly connected in the vehicle body shell 1, and a movable end of the second driving motor 18 is transmission-connected to the diameter-fixed driving wheel 7 through gear meshing.

[0067] The characteristic structures such as the slide groove 101 and the semicircular groove 16 inside the body shell 1 are all formed by integrated casting, and the second drive motor 18 is connected to the body shell 1 by gluing.

[0068] Compared with the traditional technology, the present invention has the following technical effects:

[0069] 1. The present invention proposes a design concept for a crawler-type micro-sized maintenance robot with coordinated adaptive wheelbase and wheel diameter, thereby simplifying the chassis structure and reducing costs.

[0070] 2. The crawler-type micro-sized maintenance robot designed by the present invention has a wheelbase and wheel diameter that are adaptively coordinated. The wheel diameter of the robot can be changed through a hydraulic structure, which is different from the disadvantage of fixed wheels of traditional trolleys and has higher vehicle trafficability.

[0071] 3. The crawler-type micro maintenance robot designed by the present invention has a wheelbase and wheel diameter that are adaptively coordinated. It has built-in slide grooves and sliders to realize the longitudinal movement of the wheels. This is different from the traditional car that is lifted up when encountering bumps on the path due to the long distance between the wheels. This improves the car's ability to adapt to complex road conditions.

[0072] 4. The crawler-type micro-sized maintenance robot designed by the present invention has a wheelbase and a wheel diameter that are cooperatively adaptive. The design of the threaded shaft and the slider can achieve self-locking of the two, and the working performance is more reliable.

[0073] 5. The crawler-type micro-maintenance robot designed by the present invention has a wheelbase and wheel diameter that are adaptively coordinated. The wheel diameter and wheelbase of the robot are changed by mechanical-hydraulic combined control, which can achieve coordinated changes under different wheelbases. Compared with the traditional mechanical-electrical combined control structure, it is simpler, low-cost and reliable.

[0074] 6. The component structure designed by the present invention is simple and is basically a pure mechanical structure, which is conducive to industrialized production and has a good market prospect.

[0075] In the description of the present invention, it should be understood that the terms "longitudinal", "lateral", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside" and "outside" etc., indicating orientations or positional relationships, are based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the present invention.

[0076] The embodiments described above are only descriptions of the preferred modes of the present invention, and are not intended to limit the scope of the present invention. Without departing from the design spirit of the present invention, various modifications and improvements made to the technical solutions of the present invention by ordinary technicians in this field should all fall within the protection scope determined by the claims of the present invention.

Claims

1. A crawler-type micro-sized maintenance robot with adaptive wheelbase and wheel diameter, characterized in that: include: Vehicle body shell (1); A vehicle body moving assembly, arranged on both sides of the vehicle body shell (1) and used for driving the vehicle body shell (1) to move; The vehicle body moving assembly comprises a variable diameter wheel (6) rotatably arranged at the front end of the vehicle body shell (1) in the direction of travel, and a fixed diameter driving wheel (7) arranged at the rear end of the vehicle body shell (1) in the direction of travel; The fixed-diameter driving wheel (7) is transmission-connected with a driving part, and the variable-diameter wheel (6) is transmission-connected with a sliding part, the sliding part is used to drive the variable-diameter wheel (6) to move so as to change the wheelbase, and the fixed-diameter driving wheel (7) is sleeved with one end of a flexible crawler (10), and the other end of the flexible crawler (10) is sleeved on the variable-diameter wheel (6).

2. The crawler-type micro-sized maintenance robot with coordinated adaptive wheelbase and wheel diameter according to claim 1, characterized in that: The variable diameter wheel (6) comprises a first bearing (601), the fixed end of the first bearing (601) being slidably connected to the vehicle body shell (1) via a movable groove, and the movable groove is provided on the side wall of the vehicle body shell (1); The rotating end of the first bearing (601) is fixedly connected to the fixed ends of a plurality of telescopic columns (5) at equal intervals in the circumferential direction, the movable end of the telescopic column (5) is fixedly connected to the middle part of the inner wall of the arc block, and the plurality of arc blocks are surrounded to form a circular ring structure, one end of the flexible crawler (10) is sleeved on the outer sides of the plurality of arc blocks, and the fixed end of the first bearing (601) is drivingly connected to the sliding part; The movable end of the telescopic column (5) drives the arc block to move in a direction away from the center of the circle, thereby increasing the diameter of the variable-diameter wheel (6).

3. The crawler-type micro-sized maintenance robot with coordinated adaptive wheelbase and wheel diameter according to claim 2, characterized in that: The sliding portion comprises a threaded shaft (3) rotatably arranged in the vehicle body shell (1), a slider (4) being threadedly connected to the threaded shaft (3), a side wall of the slider (4) being fixedly connected to the fixed end of the first bearing (601), and a bottom of the slider (4) being slidably connected to the vehicle body shell (1) via a slide groove (101); The fixed end of the second bearing (12) arranged at one end of the threaded shaft (3) is embedded in the middle of the vehicle body shell (1) through a semicircular groove (16), and one end of the threaded shaft (3) close to the second bearing (12) is transmission-connected to a rotation drive unit.

4. The crawler-type micro-sized maintenance robot with coordinated adaptive wheelbase and wheel diameter according to claim 3, characterized in that: The rotation driving unit comprises a first driving motor (17), the fixed end of the first driving motor (17) is fixedly connected to the vehicle body shell (1), and the rotating end of the first driving motor (17) is transmission-connected to the threaded shaft (3) through gear meshing cooperation.

5. The crawler-type micro-sized maintenance robot with coordinated adaptive wheelbase and wheel diameter according to claim 3, characterized in that: The sliding part is in transmission connection with the variable diameter wheel (6), and when the sliding part shortens the wheelbase between the variable diameter wheel (6) and the fixed diameter driving wheel (7), the wheel diameter of the variable diameter wheel (6) is increased.

6. The crawler-type micro-sized maintenance robot with coordinated adaptive wheelbase and wheel diameter according to claim 5, characterized in that: An oil feeder (8) is fixedly connected to the middle of the inner side of the vehicle body shell (1), one end of a piston rod (15) is slidably connected inside the oil feeder (8), and the other end of the piston rod (15) is fixed between the two sliders (4) by a bolt (14); The oil chamber of the oil supply device (8) is connected to two oil separators (2), and the oil separators (2) are fixed on the corresponding sliders (4); The oil distributor (2) is fixedly connected to one end of an oil supply half bridge (13), the other end of the oil supply half bridge (13) is fixedly connected to a fixed end of the first bearing (601), the first bearing (601) is a sealed bearing, and the telescopic column (5) is a hydraulic elastic rod; An oil supply half-bridge oil passage (1301) is provided in the oil supply half-bridge (13); the oil distributor (2) and the telescopic column (5) are connected to the first bearing (601) through the oil supply half-bridge oil passage (1301); When the piston rod (15) contracts into the oil supply device (8), it drives the piston to squeeze the hydraulic oil inside the oil supply device (8) and enter the telescopic column (5) through the oil distributor (2), the oil supply half-bridge oil circuit (1301) and the first bearing (601) in sequence, thereby pushing out the movable end of the telescopic column (5) and causing the arc block to move away from the center of the circle.

7. The crawler-type micro-sized maintenance robot with coordinated adaptive wheelbase and wheel diameter according to claim 6, characterized in that: The oil supply (8) housing is provided with an oil supply groove (801), the oil supply groove (801) is used to fix one end of a hose, the hose is connected to the oil chamber of the oil supply (8), and the other end of the hose is fixed to the housing of the oil separator (2) through the oil separator groove (201), the other end of the hose is connected to the oil chamber of the oil separator (2).

8. The crawler-type micro-sized maintenance robot with coordinated adaptive wheelbase and wheel diameter according to claim 1, characterized in that: The driving unit comprises a second driving motor (18), the fixed end of the second driving motor (18) is fixedly connected in the vehicle body shell (1), and the movable end of the second driving motor (18) is transmission-connected to the fixed-diameter driving wheel (7) through gear meshing.

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