Crawling vehicle for detection in pipeline

Abstract

The invention relates to the technical field of pipeline detection vehicles, in particular to a creeper-traveler for pipeline interior detection, which comprises a driving device, a lifting component is slidably mounted at the top end of the driving device, and a camera is fixedly mounted at the rear end of the top of the driving device. The driving device comprises a supporting base, first gears, connecting plates, guiding clamping keys, connecting wing plates, first springs and wheels, the wheels are symmetrically arranged on the two sides of the supporting base, the first gears are fixedly installed at the side ends, close to the supporting base, of the wheels, and the guiding clamping keys are symmetrically and fixedly installed at the front end of the top of the supporting base; the connecting wing plates are fixedly installed on the two sides of the inner wall of the supporting base, the first springs are fixedly installed in the centers of the front ends of the connecting wing plates, the connecting plates are fixedly installed at the front ends of the first springs, and the lifting component comprises a power device, a supporting device and a synchronizing device. Through the arrangement of the driving device and the lifting part, the purposes of guiding lifting and extending displacement are achieved when the creeper-traveler for pipeline interior detection is used.

Description

Technical Field

[0001] The invention relates to the technical field of pipeline inspection vehicles, in particular to a crawling vehicle for pipeline inspection. Background Art

[0002] The working principle of a pipeline inspection vehicle is to place a detector inside the pipeline and use the pipeline medium or its own power to drive the detector inside the pipeline. During operation, the sensors and cameras on the detector collect real-time images and data from the pipeline interior and transmit this information to the ground control station. The ground control station processes and analyzes the received information to determine the damage status and location of the pipeline.

[0003] By having the in-pipeline inspection vehicle travel inside the pipeline, it is possible to conduct inspections and explorations inside the pipeline without the need for manual entry, thereby avoiding poisoning of personnel inside the pipeline and improving the convenience of pipeline inspections.

[0004] For example, a crawling vehicle for pipeline inspection with Chinese patent publication number CN215568939U relates to the field of pipeline inspection equipment. It includes a vehicle body and a camera. The camera is arranged on the vehicle body. A water tank is arranged on the vehicle body. A water pump is arranged on the water tank. A water inlet is opened on the water tank. The inside of the water tank is connected to the water inlet of the water pump. The water outlet of the water pump is connected to a hose. The end of the hose away from the water pump is connected to a water outlet pipe. The end of the water outlet pipe away from the hose is toward and close to the direction of the wheels of the vehicle body.

[0005] For example, a crawler vehicle for pipeline inspection with Chinese patent publication number CN217081880U relates to the field of pipeline inspection equipment. The crawler vehicle includes a main body, on which at least two lighting components are provided. The lighting components are respectively arranged on both sides of the front end surface of the main body. The lighting components include lighting lamps, which are arranged in the direction of movement of the main body.

[0006] At present, the pipeline inspection crawler vehicles on the market can only move in flat areas when in use because they use driving wheels to move. In addition, the conditions inside the pipeline are complicated. When the crawler encounters a high and long area, it will be unable to continue driving. As a result, the existing pipeline inspection crawler vehicles cannot perform the guided lifting and extended displacement functions when in use. Therefore, a device is needed to improve the above problem. Summary of the Invention

[0007] In view of the problems in the prior art, the present invention provides a crawler vehicle for in-pipeline inspection.

[0008] The technical solution adopted by the present invention to solve its technical problems is: a crawler vehicle for pipeline inspection, including a driving device, a lifting component is slidably installed on the top of the driving device, and a camera is fixedly installed on the top rear end of the driving device. The driving device includes a support base, a first gear, a connecting plate, a guide card key, a connecting wing plate, a first spring and wheels, and the wheels are symmetrically arranged on both sides of the support base, the first gear is fixedly installed on the side end of the wheel close to the support base, the guide card key is symmetrically fixedly installed on the top front end of the support base, the connecting wing plate is fixedly installed on both sides of the inner wall of the support base, the first spring is fixedly installed on the front end center of the connecting wing plate, and the connecting plate is fixedly installed on the front end of the first spring. The lifting component includes a power device, a support device and a synchronization device, the synchronization device is fixedly installed at both ends of the power device, and the support device is slidably inserted into the inner front end of the synchronization device.

[0009] Specifically, the power device includes a synchronous cross plate, a hydraulic cylinder, a support base plate, a first rack, an extension vertical frame and a second gear. The hydraulic cylinder is fixedly installed at the center of the support base plate, the synchronous cross plate is fixedly installed at the top of the hydraulic cylinder, the first rack is symmetrically fixed at the front end of the synchronous cross plate, the extension vertical frame is symmetrically fixed at the front end of the support base plate, and the second gear is rotatably installed on the top of the extension vertical frame.

[0010] Specifically, the supporting device includes a first alignment frame, a synchronization rod, a second rack, a pad and a gasket. The pad is fixedly installed at both ends of the synchronization rod, the gasket is fixedly installed at the bottom end of the pad, the first alignment frame is fixedly installed between the two pads, and the first alignment frame is located above the synchronization rod, and the second rack is fixedly installed at the top of the pad.

[0011] Specifically, the synchronization device includes a second alignment frame, a support side plate, a third rack, a second spring, a support top frame, a movable insertion rod, a guide slot and a guide block. The guide block is fixedly mounted on the inner side of the support side plate, the support top frame is fixedly mounted on the outer top end of the support side plate, the movable insertion rod is symmetrically slidably inserted into the top end of the support top frame, the second alignment frame is fixedly mounted on the top end of the movable insertion rod, the third rack is fixedly mounted on the bottom end of the movable insertion rod, the second spring is equidistantly fixed between the support top frame and the third rack, and the guide slot is opened at the bottom end of the support side plate.

[0012] Specifically, the camera is fixedly installed at the top rear end of the support base, the guide card key is slidably inserted into the inside of the guide card slot, and the top of the connecting plate is connected to the bottom front end of the support side plate, the support base plate is fixedly installed between the two support side plates, the pad foot is slidably inserted into the inside of the guide block and the support side plate, the second rack is engaged with the end of the second gear away from the first rack, and the second gear is engaged with the first rack.

[0013] Specifically, the shaft in the wheel is connected to the first gear, the piston rod in the hydraulic cylinder is connected to the synchronous cross plate, the first alignment frame is vertically aligned with the second alignment frame, and the inner front ends of the guide block and the support side plate are both provided with hexagonal grooves.

[0014] Specifically, the third rack is vertically aligned with the first gear, the distance between the wheel and the support base is greater than the thickness of the first gear, and circular holes adapted to the movable insertion rods are symmetrically provided inside the support top frame.

[0015] Specifically, the side ends of the connecting wing plate and the connecting plate facing away from the wheel are 2 cm apart from the synchronization rod, the pads are arranged in a hexagonal shape, and the bottom end of the hydraulic cylinder is flush with the bottom end of the support base.

[0016] Specifically, a driving motor is installed inside the support base, and the driving motor is connected to the shaft inside the wheel, and the top end of the support base is in contact with the bottom end of the support side plate.

[0017] Specifically, the supporting side plates further include a protective cover plate and a counterweight block, wherein the counterweight block is fixedly installed in the front between the two supporting side plates, and the protective cover plate is fixedly installed at the bottom center of the counterweight block.

[0018] Beneficial effects of the present invention:

[0019] First, when the hydraulic cylinder is activated, the present invention can drive the pad foot to move downward, so that the pad foot can drive the gasket to contact the bottom end of the pipe, thereby lifting the supporting side plate and the supporting base as a whole. At the same time, four pad feet are provided, so that the supporting side plate and the supporting base can be stably lifted to a specified height. Moreover, the self-locking property between the first rack and the second gear can prevent the second rack from loosening, thereby completing the work of guiding and lifting the entire device.

[0020] Secondly, when the foot moves downward, the present invention can drive the first alignment frame to squeeze the second alignment frame to move downward, so that the movable insertion rod can squeeze the third rack to engage with the first gear. At the same time, when the support base is started, it can drive the first gear to move along the third rack, so that the support base as a whole can be displaced, which is convenient for the support base to move above the obstacle. Moreover, through the setting of the first spring, after the synchronous horizontal plate is reset, the support side plate can be driven to reset as a whole, thereby completing the work of extending and displacing the support base as a whole. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] The present invention will be further described below with reference to the accompanying drawings and examples.

[0022] Figure 1 This is a schematic diagram of the three-dimensional structure of the main body of the present invention from the front perspective;

[0023] Figure 2 This is a schematic diagram of the three-dimensional structure of the driving device of the present invention from a front perspective;

[0024] Figure 3 This is a schematic diagram of the three-dimensional structure of the lifting component of the present invention from a front perspective;

[0025] Figure 4 This is a schematic diagram of the three-dimensional structure of the power device of the present invention from a front perspective;

[0026] Figure 5 This is a schematic diagram of the three-dimensional structure of the support device of the present invention from a front perspective;

[0027] Figure 6 This is a schematic diagram of the three-dimensional structure of the synchronization device of the present invention from a front perspective;

[0028] Figure 7 This is a schematic diagram of the bottom-side perspective of the synchronizing device of the present invention;

[0029] Figure 8 This is a schematic diagram of the three-dimensional structure of the second embodiment of the supporting side panel of the present invention from a front perspective.

[0030] In the figure: 1-driving device, 2-lifting component, 3-camera, 4-support base, 5-first gear, 6-connecting plate, 7-guide card key, 8-connecting wing plate, 9-first spring, 10-wheel, 11-power device, 12-support device, 13-synchronizing device, 14-synchronizing cross plate, 15-hydraulic cylinder, 16-support bottom plate, 17-first rack, 18-extending vertical frame, 19-second gear, 20-first alignment frame, 21-synchronizing rod, 22-second rack, 23-pad, 24-gasket, 25-second alignment frame, 26-support side plate, 27-third rack, 28-second spring, 29-support top frame, 30-movable plug rod, 31-guide slot, 32-guide block, 33-protective sleeve plate, 34-counterweight block. DETAILED DESCRIPTION

[0031] In order to enable those skilled in the art to better understand the present invention, the following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the drawings 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 in the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts should fall within the scope of protection of this application.

[0032] The present invention will be further described below with reference to the accompanying drawings.

[0033] Example 1

[0034] like Figure 1 、 Figure 2 and Figure 3 As shown, a crawler for pipeline inspection of the present invention includes a driving device 1, a lifting component 2 is slidably installed on the top of the driving device 1, and a camera 3 is fixedly installed on the top rear end of the driving device 1. The driving device 1 includes a support base 4, a first gear 5, a connecting plate 6, a guide card key 7, a connecting wing plate 8, a first spring 9 and a wheel 10. The wheels 10 are symmetrically arranged on both sides of the supporting base 4. The first gear 5 is fixedly installed on the side end of the wheel 10 close to the supporting base 4. The guide card key 7 is symmetrically fixedly installed on the top front end of the supporting base 4. The connecting wing plate 8 is fixedly installed on both sides of the inner wall of the supporting base 4. The first spring 9 is fixedly installed at the front end center of the connecting wing plate 8. The connecting plate 6 is fixedly installed at the front end of the first spring 9. The lifting component 2 includes a power device 11, a support device 12 and a synchronization device 13. The synchronization device 13 is fixedly installed at both ends of the power device 11, and the support device 12 is slidably inserted into the inner front end of the synchronization device 13.

[0035] like Figure 4 The power unit 11 includes a synchronous cross plate 14, a hydraulic cylinder 15, a support base plate 16, a first rack 17, an extension vertical frame 18 and a second gear 19. The hydraulic cylinder 15 is fixedly mounted at the center of the support base plate 16, the synchronous cross plate 14 is fixedly mounted on the top of the hydraulic cylinder 15, the first rack 17 is symmetrically fixedly mounted on the front end of the synchronous cross plate 14, the extension vertical frame 18 is symmetrically fixedly mounted on the front end of the support base plate 16, and the second gear 19 is rotatably mounted on the top of the extension vertical frame 18. When the first rack 17 moves downward, it can drive the second gear 19 to rotate, so that the second gear 19 can drive the second rack 22 to move upward.

[0036] like Figure 5The supporting device 12 includes a first alignment frame 20, a synchronization rod 21, a second rack 22, a pad 23 and a gasket 24. The pad 23 is fixedly mounted at both ends of the synchronization rod 21, and the gasket 24 is fixedly mounted at the bottom end of the pad 23. The first alignment frame 20 is fixedly mounted between the two pads 23, and the first alignment frame 20 is located above the synchronization rod 21. The second rack 22 is fixedly mounted on the top of the pad 23. Through the setting of the synchronization rod 21, when one pad 23 is displaced, it drives the other pad 23 to move at the same time.

[0037] like Figure 6 and Figure 7 The synchronizing device 13 includes a second alignment frame 25, a supporting side plate 26, a third rack 27, a second spring 28, a supporting top frame 29, a movable insert rod 30, a guide slot 31 and a guide block 32. The guide block 32 is fixedly mounted on the inner side of the supporting side plate 26, and the supporting top frame 29 is fixedly mounted on the outer top end of the supporting side plate 26. The movable insert rod 30 is symmetrically slidably inserted into the top inner portion of the supporting top frame 29. The second alignment frame 25 is fixedly mounted on the top end of the movable insert rod 30, and the third rack 27 is fixedly mounted on the bottom end of the movable insert rod 30. The second spring 28 is equidistantly fixedly mounted between the supporting top frame 29 and the third rack 27. The guide slot 31 is opened at the bottom end of the supporting side plate 26. Through the setting of the second spring 28, when the second alignment frame 25 loses the extrusion force, the third rack 27 is driven to reset upward, and the movable insert rod 30 slides inside the supporting top frame 29, so that the third rack 27 can be ensured to move up and down along a straight line.

[0038] The camera 3 is fixedly mounted on the top rear end of the support base 4, the guide card key 7 is slidably inserted into the inside of the guide card slot 31, and the top of the connecting plate 6 is connected to the bottom front end of the support side plate 26, the support base plate 16 is fixedly mounted between the two support side plates 26, the pad 23 is slidably inserted into the inside of the guide block 32 and the support side plate 26, the second rack 22 is engaged with the end of the second gear 19 away from the first rack 17, the second gear 19 is engaged with the first rack 17, the shaft in the wheel 10 is connected to the first gear 5, the piston rod in the hydraulic cylinder 15 is connected to the synchronous cross plate 14, the first alignment frame 20 is vertically aligned with the second alignment frame 25, the inner front end of the guide block 32 and the support side plate 26 are provided with a hexagonal groove, and the third gear is engaged with the first gear 5. The bar 27 is vertically aligned with the first gear 5. The distance between the wheel 10 and the support base 4 is greater than the thickness of the first gear 5. The interior of the support top frame 29 is symmetrically provided with circular holes that are compatible with the movable plug rod 30. The side ends of the connecting wing plates 8 and the connecting plates 6 facing away from the wheel 10 are 2 cm apart from the synchronization rod 21. The pads 23 are arranged in a hexagonal shape. The bottom end of the hydraulic cylinder 15 is flush with the bottom end of the support base 4. A drive motor is installed inside the support base 4, and the drive motor is connected to the shaft inside the wheel 10. The top end of the support base 4 is fitted with the bottom end of the support side plate 26. The length of the guide slot 31 is limited and does not exceed the support side plate 26, thereby preventing the support base 4 from moving out and falling off from the bottom end of the support side plate 26.

[0039] The working principle of Example 1 is as follows: when in use, first connect the external connecting wire to the camera 3, then hoist the entire device into the sewer until the wheel 10 contacts the ground of the sewer, and then start the drive motor inside the support base 4 so that the drive motor can drive the wheel 10 to rotate, so that the wheel 10 can drive the support base 4 as a whole to enter the interior of the pipe. Through the setting of the camera 3, the interior of the pipe can be inspected and explored to facilitate finding hidden dangers inside the pipe. Subsequently, when the device moves to a position where impurities accumulate more in the pipe, the hydraulic cylinder 15 can be turned on to drive the synchronous cross plate 14 to move upward. When the synchronous cross plate 14 moves upward, it can drive the first rack 17 to pass through the second gear 19, thereby driving the second gear 19 to rotate, and The end of the second gear 19 away from the first rack 17 is meshed with the second rack 22, so that when the first rack 17 moves upward, the second gear 19 can drive the second rack 22 to move downward, so that the second rack 22 can drive the pad 23 to move downward until the gasket 24 contacts the inner bottom end of the pipe, and the supporting side plate 26 and the supporting base 4 can be lifted as a whole, so that the wheel 10 can move to an area above the accumulation of impurities. At the same time, when the pad 23 moves downward, it can also drive the first alignment frame 20 to move downward at the same time, so that the first alignment frame 20 can squeeze the second alignment frame 25 and the movable insertion rod 30 to move downward at the same time, so that the third rack 27 can move downward. When the third rack 27 moves downward, it can mesh with the first gear 5. At this time, the support The driving motor inside the support base 4 is started, driving the first gear 5 to rotate, so that the first gear 5 can move along the teeth of the third rack 27, so that the support base 4 can be driven to move above the area where impurities are accumulated. At the same time, the guide card key 7 slides inside the guide card slot 31, so that the support base 4 can be ensured to move in a straight line, so that the support base 4 can move above the impurity accumulation area, and the support base 4 can stretch the length of the first spring 9 when displacing. Subsequently, when the wheel 10 is above the impurity accumulation area, the hydraulic cylinder 15 can be started again to drive the synchronous cross plate 14 to move downward and reset. At this time, the first rack 17 will move downward, so that the second gear 19 can rotate in the opposite direction, causing the second rack 22 to move upward, so that The gasket 24 can be disengaged from the original ground. When the pad foot 23 moves upward and resets, the first alignment frame 20 can be driven to disengage from the second alignment frame 25, so that the second alignment frame 25 will lose the extrusion force. At this time, the elasticity of the second spring 28 will drive the third rack 27 to move upward and reset, so that the third rack 27 can be disengaged from the first gear 5. The elasticity of the first spring 9 will drive the supporting side plate 26 to reset as a whole, so that the supporting side plate 26 can move to the top of the supporting base 4 again, completing the reset of the supporting side plate 26. When the device is in use, the hydraulic cylinder 15 is turned on to drive the first rack 17 to move upward, so that the second gear 19 can drive the second rack 22 and the pad foot 23 to move downward until the gasket 24 contacts the ground.The supporting side plate 26 can be squeezed and lifted as a whole to facilitate the movement of the wheel 10 to be above the obstacle, and when the foot 23 moves downward, the first alignment frame 20 can be driven to squeeze the second alignment frame 25 to move downward, so that the movable insertion rod 30 can push the third rack 27 to move downward until it is engaged with the first gear 5. Subsequently, when the wheel 10 rotates again, it can move along the first gear 5 and along the bottom end of the third rack 27, and the guide card key 7 is slidably inserted into the guide card slot 31, so that the support base 4 can be supported to move. When the support base 4 moves to the top of the obstacle, the hydraulic cylinder 15 is turned on to drive the synchronous cross plate 14 to reset, which can drive the first rack 17 downward, so that the second gear 19 can drive the second rack 22 to reset upward. Then, when the second rack 22 is reset, the second alignment frame 25 will lose its squeezing force, so that the first gear 5 can be separated from the third rack 27. The elasticity of the first spring 9 will pull the support side plate 26 to slowly reset, so that the support base 4 and the support side plate 26 can be aligned again, completing the work.

[0040] Example 2

[0041] On the basis of Example 1, Figure 8 As shown, the supporting side plate 26 further includes a protective cover plate 33 and a counterweight block 34 . The counterweight block 34 is fixedly installed in the front between the two supporting side plates 26 , and the protective cover plate 33 is fixedly installed at the bottom center of the counterweight block 34 .

[0042] When implementing this embodiment, the hydraulic cylinder 15 can be protected by the provision of the protective sleeve 33 to avoid friction at the bottom end of the hydraulic cylinder 15. At the same time, the counterweight block 34 is provided at the end away from the camera 3, so that the center of gravity of the device can be prevented from being unstable when the support base 4 is displaced toward the end away from the counterweight block 34, thereby improving the smoothness of movement of the support base 4.

[0043] While embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions, and variations may be made to these embodiments without departing from the principles and spirit of the invention, and that the scope of the invention is defined by the appended claims and their equivalents.

Claims

1. A crawler vehicle for pipeline inspection, comprising a driving device (1), a lifting component (2) being slidably mounted on the top of the driving device (1), and a camera (3) being fixedly mounted on the top rear end of the driving device (1), characterized in that: The driving device (1) comprises a supporting base (4), a first gear (5), a connecting plate (6), a guide key (7), a connecting wing plate (8), a first spring (9) and a wheel (10); the wheel (10) is symmetrically arranged and mounted on both sides of the supporting base (4); the first gear (5) is fixedly mounted on the side end of the wheel (10) close to the supporting base (4); the guide key (7) is symmetrically fixedly mounted on the top front end of the supporting base (4); the connecting wing plate (8) is fixedly mounted on both sides of the inner wall of the supporting base (4); the first spring (9) is fixedly mounted at the front end center of the connecting wing plate (8); the connecting plate (6) is fixedly mounted at the front end of the first spring (9); the lifting component (2) comprises a power device (11), a supporting device (12) and a synchronizing device (13); the synchronizing device (13) is fixedly mounted at both ends of the power device (11); and the supporting device (12) is slidably plugged into the inner front end of the synchronizing device (13).

2. A crawler vehicle for pipeline inspection according to claim 1, characterized in that: The power device (11) comprises a synchronous cross plate (14), a hydraulic cylinder (15), a supporting base plate (16), a first rack (17), an extension vertical frame (18) and a second gear (19), wherein the hydraulic cylinder (15) is fixedly mounted at the center of the supporting base plate (16), the synchronous cross plate (14) is fixedly mounted at the top end of the hydraulic cylinder (15), the first rack (17) is symmetrically fixedly mounted at the front end of the synchronous cross plate (14), the extension vertical frame (18) is symmetrically fixedly mounted at the front end of the supporting base plate (16), and the second gear (19) is rotatably mounted on the top end of the extension vertical frame (18).

3. A crawler vehicle for pipeline inspection according to claim 2, characterized in that: The supporting device (12) comprises a first alignment frame (20), a synchronization rod (21), a second rack (22), a pad (23) and a gasket (24); the pad (23) is fixedly mounted on both ends of the synchronization rod (21); the gasket (24) is fixedly mounted on the bottom end of the pad (23); the first alignment frame (20) is fixedly mounted between the two pads (23); the first alignment frame (20) is located above the synchronization rod (21); and the second rack (22) is fixedly mounted on the top end of the pad (23).

4. The crawler vehicle for pipeline inspection according to claim 3, characterized in that: The synchronization device (13) comprises a second alignment frame (25), a supporting side plate (26), a third rack (27), a second spring (28), a supporting top frame (29), a movable insertion rod (30), a guide slot (31) and a guide block (32), wherein the guide block (32) is fixedly mounted on the inner side of the supporting side plate (26), the supporting top frame (29) is fixedly mounted on the outer top end of the supporting side plate (26), the movable insertion rod (30) is symmetrically slidably inserted into the top end of the supporting top frame (29), the second alignment frame (25) is fixedly mounted on the top end of the movable insertion rod (30), the third rack (27) is fixedly mounted on the bottom end of the movable insertion rod (30), the second spring (28) is fixedly mounted equidistantly between the supporting top frame (29) and the third rack (27), and the guide slot (31) is provided at the bottom end of the supporting side plate (26).

5. The crawler vehicle for pipeline inspection according to claim 4, characterized in that: The camera (3) is fixedly mounted on the top rear end of the support base (4), the guide key (7) is slidably inserted into the guide slot (31), and the top end of the connecting plate (6) is connected to the bottom front end of the support side plate (26), the support base plate (16) is fixedly mounted between the two support side plates (26), the pad (23) is slidably inserted into the guide block (32) and the support side plate (26), the second rack (22) is meshed with an end of the second gear (19) away from the first rack (17), and the second gear (19) is meshed with the first rack (17).

6. The crawler vehicle for pipeline inspection according to claim 5, characterized in that: The shaft in the wheel (10) is connected to the first gear (5), the piston rod in the hydraulic cylinder (15) is connected to the synchronous cross plate (14), the first alignment frame (20) is vertically aligned with the second alignment frame (25), and the inner front ends of the guide block (32) and the supporting side plate (26) are both provided with hexagonal grooves.

7. The crawler vehicle for pipeline inspection according to claim 6, characterized in that: The third rack (27) is vertically aligned with the first gear (5), the distance between the wheel (10) and the support base (4) is greater than the thickness of the first gear (5), and circular holes that are compatible with the movable insertion rod (30) are symmetrically opened inside the support top frame (29).

8. The crawler vehicle for pipeline inspection according to claim 7, characterized in that: The side ends of the connecting wing plate (8) and the connecting plate (6) facing away from the wheel (10) are spaced 2 cm from the synchronization rod (21), the pad foot (23) is arranged in a hexagonal shape, and the bottom end of the hydraulic cylinder (15) is flush with the bottom end of the supporting base (4).

9. The crawler vehicle for pipeline inspection according to claim 8, characterized in that: A driving motor is installed inside the support base (4), and the driving motor is connected to the shaft inside the wheel (10). The top end of the support base (4) is in contact with the bottom end of the supporting side plate (26).

10. The crawler vehicle for pipeline inspection according to claim 9, characterized in that: The supporting side plate (26) further comprises a protective sleeve plate (33) and a counterweight block (34), wherein the counterweight block (34) is fixedly mounted in front between the two supporting side plates (26), and the protective sleeve plate (33) is fixedly mounted at the bottom center of the counterweight block (34).

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