Extensible large-thrust crawler-type pipeline inner crawler

Abstract

The invention relates to the technical field of pipeline inner crawl devices, in particular to an extensible high-thrust crawler-type pipeline inner crawl device which comprises a crawl device vehicle body, and the crawl device vehicle body comprises two vehicle body side plates which are arranged in a left-right parallel mode. A pair of vehicle body cross beams which are arranged in parallel up and down is fixedly supported between the front portions of the two vehicle body side plates, a pair of vehicle body cross beams which are arranged in parallel up and down is fixedly supported between the rear portions of the two vehicle body side plates, an external supporting mechanism is installed on the two vehicle body side plates jointly, and the external supporting mechanism comprises two guide rails which are arranged in parallel left and right, four sliding hinged supports and four fixed hinged supports. An electric driving mechanism and a crawler crawling mechanism are installed between the two vehicle body side plates, the output end of the electric driving mechanism is meshed with the input end of the crawler crawling mechanism, and the problems that an existing crawler in a pipeline is small in thrust, low in crawling speed and poor in crawling stability and moving precision are solved; the pipeline is suitable for industrial pipelines, fire-fighting pipelines, cable pipelines and the like.

Description

Technical Field

[0001] The invention relates to the technical field of in-pipeline crawlers, in particular to an expandable high-thrust crawler-type in-pipeline crawler. Background Art

[0002] A pipeline crawler is a robot device that can crawl inside a pipeline and is widely used in industrial pipelines, fire protection pipelines, cable pipelines, etc. However, under existing technical conditions, due to its own structural limitations, it is difficult for the pipeline crawler to achieve close contact with the inner wall of the pipeline during the crawling process, which makes it easy to slip during the crawling process, resulting in low thrust, slow crawling speed, poor crawling stability and poor movement accuracy. Based on this, it is necessary to invent an expandable high-thrust crawler-type pipeline crawler to solve the problems of low thrust, slow crawling speed, poor crawling stability and poor movement accuracy of existing pipeline crawlers. Summary of the invention

[0003] In order to solve the problems of small thrust, slow crawling speed, poor crawling stability and movement accuracy of existing pipeline crawlers, the present invention provides an expandable large-thrust crawler-type pipeline crawler.

[0004] The present invention is achieved by adopting the following technical solutions: An expandable high-thrust crawler in-pipe crawler comprises a crawler body; the crawler body comprises two body side panels arranged in parallel to the left and right; a pair of body cross beams arranged in parallel to the right and left are fixedly supported between the front parts of the two body side panels and between the rear parts of the two body side panels; a towing hook is fixedly fixed to the front ends of the two body side panels and the rear ends of the two body side panels; An external support mechanism is commonly installed on the two vehicle body side panels; the external support mechanism comprises two guide rails arranged in parallel left and right, four sliding hinge seats, and four fixed hinge seats; the two guide rails are respectively fixed to the middle parts of the upper end surfaces of the two vehicle body side panels; the four sliding hinge seats are slidably assembled on the front and rear parts of the two guide rails in a one-to-one correspondence; the four fixed hinge seats are fixed on the upper end front part and the rear part of the upper end surface of the two vehicle body side panels in a one-to-one correspondence; eight swing arms are correspondingly hinged on the four sliding hinge seats and the four fixed hinge seats; the tail ends of the four swing arms at the front and the tail ends of the four swing arms at the rear are commonly hinged to a wheel frame; three supporting wheel axles arranged in parallel from front to rear are fixedly supported on each wheel frame; a supporting roller is rotatably assembled on each supporting wheel axle; a return spring is respectively arranged between the two sliding hinge seats at the left and between the two sliding hinge seats at the right; An electric drive mechanism and a crawler crawling mechanism are respectively installed between the two vehicle body side plates; the output end of the electric drive mechanism is meshed with the input end of the crawler crawling mechanism.

[0005] Furthermore, the front portion of the inner side surface of the right-hand vehicle body side panel is provided with three gear accommodating grooves arranged in sequence from front to rear, and two adjacent gear accommodating grooves are connected to each other; the notch of the gear accommodating groove in the middle and the notch of the gear accommodating groove at the rear are each fixedly connected with a flange.

[0006] Furthermore, the electric drive mechanism includes a motor reducer assembly; the motor reducer assembly is fixedly docked on a flange at the rear, and the output shaft of the motor reducer assembly faces right; a driving gear is fixedly mounted on the output shaft of the motor reducer assembly, and the driving gear is rotatably embedded in a gear accommodating groove at the rear; an intermediate gear is rotatably embedded in the gear accommodating groove at the center; the intermediate gear is a shaft gear, and the two ends of the wheel axle of the intermediate gear are rotatably supported on the bottom of the gear accommodating groove at the center and the flange at the front respectively; the intermediate gear is meshed with the driving gear, and the intermediate gear serves as the output end of the electric drive mechanism.

[0007] Furthermore, the crawler crawling mechanism includes two connecting rods that are symmetrically arranged front and back; the rear end of the connecting rod at the front and the front end of the connecting rod at the rear are each rotatably penetrated by a walking wheel axle; the two ends of each walking wheel axle are respectively rotatably supported on the two vehicle side panels; each walking wheel axle is fixedly equipped with a pair of walking belt wheels that are symmetrically arranged left and right; the right part of the walking belt axle at the front is fixedly equipped with a driven gear, and the driven gear is rotatably embedded in the gear accommodating groove at the front; the driven gear serves as the input end of the crawler crawling mechanism; the front end of the connecting rod at the front and the rear end of the connecting rod are each rotatably penetrated by a guide wheel axle; each guide wheel axle is fixedly equipped with a pair of guide belt wheels that are symmetrically arranged left and right; the two pairs of walking belt wheels and the two pairs of guide belt wheels are jointly equipped with crawlers.

[0008] Furthermore, an internal tensioning mechanism is installed between the two vehicle body side panels; the internal tensioning mechanism includes two U-shaped brackets arranged symmetrically on the left and right; the outer sides of the two U-shaped brackets are respectively fixed to the two vehicle body side panels, and the openings of the two U-shaped brackets are both facing rearward and downward; a cross bar is fixed between the ends of the inner sides of the two U-shaped brackets; a tilting rod is fixed to the middle of the cross bar, and the tail end of the tilting rod faces rearward and downward; two axle seats arranged symmetrically on the left and right are fixed to the tail end of the tilting rod; a pivot is fixed and penetrated in the two axle seats; a rotating arm is rotatably mounted in the middle of the pivot; A U-shaped bracket is fixed at the tail end of the arm; a tensioning wheel shaft is fixedly passed through the three ends of the U-shaped bracket; two tensioning pulleys symmetrically arranged are rotatably mounted on the tensioning wheel shaft, and both tensioning pulleys cooperate with the track; four limiting columns are fixed one by one on the inner side surfaces of the outer sides of the two U-shaped brackets and the outer side surfaces of the two side edges of the U-shaped bracket; two torsion springs symmetrically arranged are sleeved on the pivot; the two ends of the torsion spring on the left are respectively clamped on the two limiting columns on the left; the two ends of the torsion spring on the right are respectively clamped on the two limiting columns on the right.

[0009] Furthermore, a wire-passing groove is provided on the outer side surface of the left side panel of the vehicle body; and a cover plate is fixedly connected to the notch of the wire-passing groove.

[0010] Furthermore, a blind screw hole is respectively provided on the front side surfaces of the two sliding hinge seats at the rear; a blind light hole is respectively provided on the rear side surfaces of the two sliding hinge seats at the front; a guide rod is respectively passed through the two reset springs; the rear ends of the two guide rods are respectively provided with external threads, and the rear ends of the two guide rods are respectively screwed into the two blind screw holes; the front ends of the two guide rods are respectively slidably inserted into the two blind light holes; a grooved sheath is respectively extended on the two guide rails; and the two grooved sheaths are respectively covered on the two reset springs.

[0011] Furthermore, the outer teeth of the crawler track are of a three-section structure, including a left tooth segment inclined in an arc shape, a right tooth segment inclined in an arc shape, and a middle tooth segment arranged transversely, and the middle tooth segment is higher than the left tooth segment and the right tooth segment.

[0012] Furthermore, the inner teeth of the crawler track are of a three-section structure, including a laterally arranged left tooth segment, a laterally arranged right tooth segment, and a laterally arranged middle tooth segment, and the middle tooth segment is higher than the left tooth segment and the right tooth segment; the two walking pulleys on the left are both matched with the left tooth segment of the inner teeth; the two walking pulleys on the right are both matched with the right tooth segment of the inner teeth; and the two pairs of guide pulleys are both matched with the middle tooth segment of the inner teeth.

[0013] Compared with the existing pipeline crawlers, the expandable high-thrust crawler type pipeline crawler described in the present invention achieves close contact between itself and the inner wall of the pipeline during the crawling process by setting up an external support mechanism, a crawler crawling structure, and an internal tensioning mechanism, thereby effectively avoiding slipping during the crawling process, thereby significantly increasing the thrust, significantly accelerating the crawling speed, and significantly improving the crawling stability and movement accuracy.

[0014] The present invention effectively solves the problems of small thrust, slow crawling speed, poor crawling stability and movement accuracy of existing crawlers in pipelines, and is suitable for industrial pipelines, fire protection pipelines, cable pipelines, etc. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 It is a structural schematic diagram of the present invention.

[0016] Figure 2 It is a structural schematic diagram of the crawler body in the present invention.

[0017] Figure 3 yes Figure 2 Partial structure diagram Figure 1 .

[0018] Figure 4 yes Figure 2 Partial structure diagram Figure 2 .

[0019] Figure 5 yes Figure 4 Schematic diagram of part of the structure.

[0020] Figure 6 yes Figure 5 Schematic diagram of part of the structure.

[0021] Figure 7 It is a structural schematic diagram of the external support mechanism in the present invention.

[0022] Figure 8 yes Figure 7 Partial structure diagram Figure 1 .

[0023] Fig. 9 yes Figure 7 Partial structure diagram Figure 2 .

[0024] Fig.10 yes Fig. 9 Schematic diagram of part of the structure.

[0025] Fig.11 yes Fig.10 Schematic diagram of part of the structure.

[0026] Fig.12 yes Fig.11 Schematic diagram of part of the structure.

[0027] Fig.13 It is a structural schematic diagram of the electric drive mechanism in the present invention.

[0028] Fig.14 yes Fig.13 Schematic diagram of part of the structure.

[0029] Fig.15 It is a structural schematic diagram of the crawler crawling mechanism in the present invention.

[0030] Fig.16 yes Fig.15 Partial structure diagram Figure 1 .

[0031] Fig.17 yes Fig.16 Schematic diagram of part of the structure.

[0032] Fig.18 yes Fig.17 Schematic diagram of part of the structure.

[0033] Fig.19 yes Fig.15 Partial structure diagram Figure 2 .

[0034] Fig. 20 yes Fig.19 Schematic diagram of part of the structure.

[0035] Fig.21 yes Fig. 20 Schematic diagram of part of the structure.

[0036] Fig. 22 It is a structural schematic diagram of the internal tensioning mechanism in the present invention.

[0037] Fig.23 yes Fig. 22 Partial structure diagram Figure 1 .

[0038] Fig.24 yes Fig. 22 Partial structure diagram Figure 2 .

[0039] Fig.25 yes Fig.24 Schematic diagram of part of the structure.

[0040] Fig.26 yes Fig.25 Schematic diagram of part of the structure.

[0041] Fig. 27 yes Figure 1 Another angle diagram of the structure.

[0042] Fig.28 yes Fig. 27 Schematic diagram of part of the structure.

[0043] Fig.29 yes Fig.28 Schematic diagram of part of the structure.

[0044] Fig.30 It is a working state reference diagram of the present invention.

[0045] In the figure: 101-body side plate, 101a-gear receiving groove, 101b-wire groove, 102-body cross beam, 103-tow hook, 104-flange, 105-cover plate, 201-guide rail, 202-sliding hinge seat, 203-fixed hinge seat, 204-swing arm, 205-wheel frame, 206-supporting wheel shaft, 207-supporting roller, 208-reset spring, 209-guide rod, 210-groove sleeve, 301-motor reducer assembly, 302-driving gear Wheel, 303-intermediate gear, 401-connecting rod, 402-travel wheel shaft, 403-travel pulley, 404-driven gear, 405-guide wheel shaft, 406-guide pulley, 407-track, 501-U-shaped bracket, 502-cross bar, 503-tilt rod, 504-axle seat, 505-pivot, 506-rotating arm, 507-mountain-shaped bracket, 508-tensioning wheel shaft, 509-tensioning pulley, 510-limiting column, 511-torsion spring, 6-pipeline. DETAILED DESCRIPTION

[0046] An expandable high-thrust crawler in-pipe crawler includes a crawler body; the crawler body includes two body side panels 101 arranged in parallel to the left and right; a pair of body cross beams 102 arranged in parallel to the upper and lower sides are fixedly supported between the front parts of the two body side panels 101 and between the rear parts of the two body side panels 101; a towing hook 103 is fixedly fixed to the front ends of the two body side panels 101 and the rear ends of the two body side panels 101; The two vehicle body side panels 101 are jointly equipped with an external support mechanism; the external support mechanism includes two guide rails 201 arranged in parallel to the left and right, four sliding hinge seats 202, and four fixed hinge seats 203; the two guide rails 201 are respectively fixed to the middle of the upper end surfaces of the two vehicle body side panels 101; the four sliding hinge seats 202 are slidably assembled on the front and rear of the two guide rails 201 in a one-to-one correspondence; the four fixed hinge seats 203 are fixed to the front and rear of the upper end surfaces of the two vehicle body side panels 101 in a one-to-one correspondence; the four sliding hinge seats 20 2 and four fixed hinge seats 203 are hinged with eight swing arms 204 correspondingly; the tail ends of the four swing arms 204 at the front and the tail ends of the four swing arms 204 at the rear are hinged with a wheel frame 205; each wheel frame 205 is fixedly supported with three supporting wheel shafts 206 arranged in parallel from front to rear; each supporting wheel shaft 206 is rotatably equipped with a supporting roller 207; a return spring 208 is respectively arranged between the two sliding hinge seats 202 at the left and the two sliding hinge seats 202 at the right; An electric drive mechanism and a crawler crawling mechanism are installed between the two vehicle body side plates 101 respectively; the output end of the electric drive mechanism is meshed with the input end of the crawler crawling mechanism. When working, both towing hooks 103 carry functional devices, and the electric drive mechanism is connected to an external power source through a cable. The specific working process is as follows: First, press down the two wheel frames 205. On the one hand, the two wheel frames 205 drive the six support rollers 207 to move downward, and on the other hand, four swing arms 204 are used to push the four sliding hinges 202 to move toward each other. The four sliding hinges 202 squeeze the two reset springs 208 and cause them to be compressed and deformed. Then, push the present invention into the pipe 6 and release the two wheel frames 205. At this time, the two reset springs 208 push the four sliding hinges 202 to move away from each other, and the four sliding hinges 202 push the two wheel frames 205 to move upward through four swing arms 204. The two wheel frames 205 drive the six support rollers 207 to move upward and close to the inner wall of the pipe 6, thereby installing the present invention in place. Then, the external power supply supplies power to the electric drive mechanism through the cable, and the electric drive mechanism drives the crawler crawling mechanism to crawl along the inner wall of the pipe 6. During the crawling process, the six support rollers 207 are always close to the inner wall of the pipe 6, thereby achieving close contact between the present invention and the inner wall of the pipe 6.

[0047] The front part of the inner side surface of the right side panel 101 is provided with three gear receiving grooves 101a arranged in sequence from front to back, and two adjacent gear receiving grooves 101a are connected to each other; the notch of the gear receiving groove 101a in the middle and the notch of the gear receiving groove 101a at the rear are each fixedly connected with a flange 104.

[0048] The electric drive mechanism includes a motor reducer assembly 301; the motor reducer assembly 301 is fixedly docked on the flange 104 at the rear position, and the output shaft of the motor reducer assembly 301 faces right; a driving gear 302 is fixedly mounted on the output shaft of the motor reducer assembly 301, and the driving gear 302 is rotatably embedded in the gear receiving groove 101a at the rear position; an intermediate gear 303 is rotatably embedded in the gear receiving groove 101a at the center position; the intermediate gear 303 is a shaft gear, and the two ends of the wheel axle of the intermediate gear 303 are rotatably supported on the bottom of the gear receiving groove 101a at the center position and the flange 104 at the front position respectively; the intermediate gear 303 is meshed with the driving gear 302, and the intermediate gear 303 serves as the output end of the electric drive mechanism. During operation, an external power source supplies power to the motor reducer assembly 301 through a cable, the motor reducer assembly 301 drives the driving gear 302 to rotate, the driving gear 302 drives the intermediate gear 303 to rotate, and the intermediate gear 303 drives the crawler crawling mechanism to crawl along the inner wall of the pipe 6.

[0049] The crawler crawling mechanism includes two connecting rods 401 that are symmetrically arranged front and back; a walking wheel shaft 402 is rotatably passed through the rear end of the connecting rod 401 at the front position and the front end of the connecting rod 401 at the rear position; both ends of each walking wheel shaft 402 are rotatably supported on the two vehicle body side plates 101; each walking wheel shaft 402 is fixedly equipped with a pair of walking belt wheels 403 that are symmetrically arranged left and right; a driven gear 404 is fixedly equipped on the right part of the walking wheel shaft 402 at the front position, and the driven gear 404 is rotatably embedded in the gear accommodating groove 101a at the front position; the driven gear 404 serves as the input end of the crawler crawling mechanism; a guide wheel shaft 405 is rotatably passed through the front end of the connecting rod 401 at the front position and the rear end of the connecting rod 401 at the rear position; each guide wheel shaft 405 is fixedly equipped with a pair of guide belt wheels 406 that are symmetrically arranged left and right; the two pairs of walking belt wheels 403 and the two pairs of guide belt wheels 406 are jointly equipped with crawlers 407. During operation, the intermediate gear 303 drives the driven gear 404 to rotate, and the driven gear 404 drives the front pair of walking pulleys 403 to rotate through the front walking wheel shaft 402, and the front pair of walking pulleys 403 drives the rear pair of walking pulleys 403 and two pairs of guide pulleys 406 to rotate through the crawler tracks 407, and the rear pair of walking pulleys 403 drives the rear walking wheel shaft 402 to rotate, and the two pairs of guide pulleys 406 drive the two guide wheel shafts 405 to rotate, thereby achieving crawling along the inner wall of the pipeline 6.

[0050] An internal tensioning mechanism is also installed between the two vehicle body side panels 101; the internal tensioning mechanism includes two U-shaped brackets 501 that are symmetrically arranged on the left and right; the outer sides of the two U-shaped brackets 501 are respectively fixed to the two vehicle body side panels 101, and the openings of the two U-shaped brackets 501 are both facing rearward and downward; a cross bar 502 is fixed between the inner side ends of the two U-shaped brackets 501; a tilting rod 503 is fixed to the middle of the cross bar 502, and the tail end of the tilting rod 503 faces rearward and downward; two shaft seats 504 that are symmetrically arranged on the left and right are fixed to the tail end of the tilting rod 503; a pivot 505 is fixed and penetrated in the two shaft seats 504; a rotating arm 506 is rotatably mounted in the middle of the pivot 505; the rotating arm 506 A mountain-shaped bracket 507 is fixed to the tail end; a tensioning wheel shaft 508 is fixed to the three ends of the mountain-shaped bracket 507 and passes through it; two tensioning pulleys 509 are rotatably mounted on the tensioning wheel shaft 508 and are symmetrically arranged, and the two tensioning pulleys 509 are both matched with the track 407; four limiting columns 510 are fixed to the inner side surfaces of the outer sides of the two U-shaped brackets 501 and the outer side surfaces of the two side edges of the mountain-shaped bracket 507 in a one-to-one correspondence; two torsion springs 511 are sleeved on the pivot 505 and are symmetrically arranged; the two ends of the torsion spring 511 on the left are respectively clamped on the two limiting columns 510 on the left; the two ends of the torsion spring 511 on the right are respectively clamped on the two limiting columns 510 on the right. During operation, the tension of the two torsion springs 511 acts on the two limit posts 510 on the U-shaped bracket 507, so that the rotating arm 506, the U-shaped bracket 507, the tensioning wheel shaft 508, and the two tensioning belt wheels 509 are twisted together, thereby making the two tensioning belt wheels 509 close to the crawler 407, thereby tensioning the crawler 407. By tensioning the crawler 407, the present invention is further in close contact with the inner wall of the pipe 6.

[0051] The outer side of the left side panel 101 is provided with a wire groove 101b; the notch of the wire groove 101b is fixedly connected with a cover plate 105. When working, the cable passes through the wire groove 101b and is guided to the outside of the pipe 6. The function of the cover plate 105 is to protect the cable.

[0052] A blind screw hole is provided on the front side of the two sliding hinge seats 202 at the rear; a blind light hole is provided on the rear side of the two sliding hinge seats 202 at the front; a guide rod 209 is inserted into each of the two reset springs 208; the rear ends of the two guide rods 209 are provided with external threads, and the rear ends of the two guide rods 209 are respectively screwed into the two blind screw holes; the front ends of the two guide rods 209 are respectively slidably inserted into the two blind light holes; a grooved sheath 210 is extended on each of the two guide rails 201; the two grooved sheaths 210 are respectively covered on the two reset springs 208. When working, the function of the two guide rods 209 is to prevent the two reset springs 208 from falling off. The function of the two grooved sheaths 210 is to protect the two reset springs 208.

[0053] The outer teeth of the crawler 407 are of a three-section structure, including a left tooth section arranged in an arc shape, a right tooth section arranged in an arc shape, and a middle tooth section arranged in a transverse direction, and the middle tooth section is higher than the left tooth section and the right tooth section. When working, this design enables the crawler 407 to be closely attached to the inner wall of the pipe 6, thereby further achieving close contact between the present invention and the inner wall of the pipe 6.

[0054] The inner teeth of the crawler 407 are of three-section structure, including a horizontally arranged left tooth segment, a horizontally arranged right tooth segment, and a horizontally arranged middle tooth segment, and the middle tooth segment is higher than the left tooth segment and the right tooth segment; the two walking belt wheels 403 located on the left are matched with the left tooth segment of the inner teeth; the two walking belt wheels 403 located on the right are matched with the right tooth segment of the inner teeth; the two pairs of guide belt wheels 406 are matched with the middle tooth segment of the inner teeth. When working, the function of this design is to prevent the crawler 407 from moving left and right.

[0055] During specific implementation, the two vehicle body side panels 101, two pairs of vehicle body cross beams 102, two towing hooks 103, two flanges 104, and cover plate 105 are all made of aluminum alloy. The six support rollers 207 are all made of nylon. The motor reducer assembly 301 is a servo motor reducer assembly. The two walking wheel shafts 402 are both spline shafts. The two guide wheel shafts 405 are both locking shafts. The track 407 is a double-pin track. The pivot 505 is a locking shaft. The four limit columns 510 are all bolts. The inner diameter of the gear receiving groove 101a at the front position is larger than the inner diameter of the gear receiving groove 101a at the center position, and the inner diameter of the gear receiving groove 101a at the rear position is larger than the inner diameter of the gear receiving groove 101a at the front position. The outer diameter of the driven gear 404 is larger than the outer diameter of the intermediate gear 303, and the outer diameter of the driving gear 302 is larger than the outer diameter of the driven gear 404.

[0056] Although the specific embodiments of the present invention are described above, it should be understood by those skilled in the art that these are only examples, and the protection scope of the present invention is defined by the appended claims. Those skilled in the art may make various changes or modifications to these embodiments without departing from the principles and essence of the present invention, but these changes and modifications all fall within the protection scope of the present invention.

Claims

1. An expandable high-thrust crawler in-pipeline crawler, characterized by: The crawler body comprises two body side panels (101) arranged in parallel to each other; a pair of body cross beams (102) arranged in parallel to each other are fixedly supported between the front parts of the two body side panels (101) and between the rear parts of the two body side panels (101); a towing hook (103) is fixedly fixedly provided at the front ends of the two body side panels (101) and the rear ends of the two body side panels (101); An external support mechanism is installed on the two vehicle body side panels (101); the external support mechanism comprises two guide rails (201) arranged in parallel on the left and right, four sliding hinge seats (202), and four fixed hinge seats (203); the two guide rails (201) are respectively fixed to the middle of the upper end surfaces of the two vehicle body side panels (101); the four sliding hinge seats (202) are slidably assembled on the front and rear parts of the two guide rails (201) in a one-to-one correspondence; the four fixed hinge seats (203) are fixed on the front and rear parts of the upper end surfaces of the two vehicle body side panels (101) in a one-to-one correspondence; the four sliding hinge seats (202) are respectively fixed to the front and rear parts of the upper end surfaces of the two vehicle body side panels (101); ... Eight swing arms (204) are hingedly connected to the four fixed hinge seats (203) in a one-to-one correspondence; the tail ends of the four swing arms (204) at the front and the tail ends of the four swing arms (204) at the rear are hingedly connected to a wheel frame (205); three supporting wheel shafts (206) arranged in parallel from front to rear are fixedly supported on each wheel frame (205); a supporting roller (207) is rotatably mounted on each supporting wheel shaft (206); a return spring (208) is respectively arranged between the two sliding hinge seats (202) at the left and between the two sliding hinge seats (202) at the right; An electric drive mechanism and a crawler crawling mechanism are respectively installed between the two vehicle body side plates (101); the output end of the electric drive mechanism is meshed with the input end of the crawler crawling mechanism.

2. The expandable high-thrust crawler in-pipe crawler according to claim 1, characterized in that: The front portion of the inner side surface of the right vehicle body side panel (101) is provided with three gear receiving grooves (101a) arranged in sequence from front to back, and two adjacent gear receiving grooves (101a) are connected to each other; the notch of the gear receiving groove (101a) at the center and the notch of the gear receiving groove (101a) at the rear are each fixedly connected to a flange (104).

3. The expandable high-thrust crawler in-pipeline crawler according to claim 2, characterized in that: The electric drive mechanism comprises a motor reducer assembly (301); the motor reducer assembly (301) is fixedly docked on a flange (104) at a rear position, and the output shaft of the motor reducer assembly (301) faces rightward; a driving gear (302) is fixedly mounted on the output shaft of the motor reducer assembly (301), and the driving gear (302) is rotatably embedded in a gear receiving groove (101a) at a rear position; an intermediate gear (303) is rotatably embedded in the gear receiving groove (101a) at a central position; the intermediate gear (303) is a gear with a shaft, and the two ends of the wheel shaft of the intermediate gear (303) are rotatably supported on the bottom of the gear receiving groove (101a) at a central position and the flange (104) at a front position respectively; the intermediate gear (303) is meshed with the driving gear (302), and the intermediate gear (303) serves as the output end of the electric drive mechanism.

4. The expandable high-thrust crawler in-pipeline crawler according to claim 3, characterized in that: The crawler crawling mechanism comprises two connecting rods (401) arranged symmetrically in front and back; a running wheel axle (402) is rotatably penetrated through the rear end of the connecting rod (401) at the front and the front end of the connecting rod (401) at the rear; both ends of each running wheel axle (402) are rotatably supported on two vehicle body side plates (101); each running wheel axle (402) is fixedly equipped with a pair of running belt wheels (403) arranged symmetrically in left and right; the right part of the running wheel axle (402) at the front is fixedly equipped with a driven gear (404) , and the driven gear (404) is rotatably embedded in the gear receiving groove (101a) at the front position; the driven gear (404) serves as the input end of the crawler crawling mechanism; a guide wheel shaft (405) is rotatably penetrated by the front end of the connecting rod (401) at the front position and the rear end of the connecting rod (401) at the rear position; each guide wheel shaft (405) is fixedly mounted with a pair of guide belt wheels (406) arranged symmetrically on the left and right; and crawlers (407) are mounted on the two pairs of walking belt wheels (403) and the two pairs of guide belt wheels (406).

5. The expandable high-thrust crawler in-pipeline crawler according to claim 4, characterized in that: An internal tensioning mechanism is also installed between the two vehicle body side panels (101); the internal tensioning mechanism comprises two U-shaped brackets (501) arranged symmetrically on the left and right; the outer sides of the two U-shaped brackets (501) are respectively fixed to the two vehicle body side panels (101), and the openings of the two U-shaped brackets (501) are both facing rearward and downward; a crossbar (502) is fixed between the ends of the inner sides of the two U-shaped brackets (501); a tilting rod (503) is fixed in the middle of the crossbar (502), and the rear end of the tilting rod (503) faces rearward and downward; two shaft seats (504) arranged symmetrically on the left and right are fixed at the rear end of the tilting rod (503); a pivot (505) is fixed and penetrated in the two shaft seats (504); a rotating arm (506) is rotatably mounted in the middle of the pivot (505); the rotating arm (506) ) is fixed with a U-shaped bracket (507) at the tail end; a tensioning wheel shaft (508) is fixedly passed through the three ends of the U-shaped bracket (507); two tensioning belt wheels (509) are rotatably mounted on the tensioning wheel shaft (508) and are symmetrically arranged on the left and right sides, and the two tensioning belt wheels (509) are matched with the crawler track (407); four limiting columns (510) are fixed one by one on the inner side surfaces of the outer sides of the two U-shaped brackets (501) and the outer side surfaces of the two side sides of the U-shaped bracket (507); two torsion springs (511) are sleeved on the pivot (505) and are symmetrically arranged on the left and right sides; the two ends of the torsion spring (511) located on the left are respectively clamped on the two limiting columns (510) located on the left; and the two ends of the torsion spring (511) located on the right are respectively clamped on the two limiting columns (510) located on the right.

6. The expandable high-thrust crawler in-pipe crawler according to claim 1, characterized in that: A wire passing groove (101b) is provided on the outer side surface of the vehicle body side plate (101) located on the left; a cover plate (105) is fixedly connected to the notch of the wire passing groove (101b).

7. The expandable high-thrust crawler in-pipeline crawler according to claim 1, characterized in that: The two sliding hinge seats (202) at the rear are each provided with a blind screw hole on their front side faces; the two sliding hinge seats (202) at the front are each provided with a blind light hole on their rear side faces; a guide rod (209) is respectively inserted into the two return springs (208); the rear ends of the two guide rods (209) are each provided with an external thread, and the rear ends of the two guide rods (209) are respectively screwed into the two blind screw holes; the front ends of the two guide rods (209) are respectively slidably inserted into the two blind light holes; a grooved sheath (210) is respectively extended from the two guide rails (201); and the two grooved sheaths (210) are respectively covered on the two return springs (208).

8. The expandable high-thrust crawler in-pipeline crawler according to claim 4, characterized in that: The outer teeth of the crawler (407) are of a three-section structure, comprising a left tooth section arranged in an arc shape and tilted, a right tooth section arranged in an arc shape and tilted, and a middle tooth section arranged in a transverse direction, wherein the middle tooth section is higher than the left tooth section and the right tooth section.

9. The expandable high-thrust crawler in-pipeline crawler according to claim 4, characterized in that: The inner teeth of the crawler belt (407) are of a three-section structure, comprising a transversely arranged left tooth segment, a transversely arranged right tooth segment, and a transversely arranged middle tooth segment, wherein the middle tooth segment is higher than the left tooth segment and the right tooth segment; the two walking belt wheels (403) located on the left are both matched with the left tooth segment of the inner teeth; the two walking belt wheels (403) located on the right are both matched with the right tooth segment of the inner teeth; and the two pairs of guide belt wheels (406) are both matched with the middle tooth segment of the inner teeth.

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