An expandable large-thrust crawler for pipeline interior

Abstract

The present invention relates to the technical field of in-pipe crawlers, and specifically to an expandable large-thrust crawler for in-pipe, which comprises a crawler vehicle body. The crawler vehicle body includes two vehicle body side plates arranged parallel to each other left and right. Between the front parts of the two vehicle body side plates and between the rear parts of the two vehicle body side plates, a pair of vehicle body cross beams arranged parallel to each other up and down are fixedly supported respectively. An external support mechanism is commonly installed on the two vehicle body side plates. The external support mechanism includes two guide rails arranged parallel to each other left and right, four sliding hinge seats, and four fixed hinge seats. An electric drive mechanism and a crawler running 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 running mechanism. It solves the problems of small thrust, slow crawling speed, poor crawling stability and moving accuracy of the existing in-pipe crawlers, and is applicable to industrial pipelines, fire pipelines, cable pipelines, etc.

Description

Technical Field

[0001] The present invention relates to the technical field of in-pipe crawlers, and in particular to an expandable large-thrust crawler for in-pipe use. Background Art

[0002] An in-pipe crawler is a robotic device capable of crawling inside a pipeline, and is widely used in industrial pipelines, fire pipelines, cable pipelines, etc. However, under the existing technical conditions, due to its own structural limitations, it is difficult for the in-pipe crawler to achieve close contact with the inner wall of the pipeline during the crawling process. As a result, slipping is likely to occur during the crawling process, leading to a small thrust, a slow crawling speed, poor crawling stability, and poor moving accuracy. Based on this, it is necessary to invent an expandable large-thrust crawler for in-pipe use to solve the problems of small thrust, slow crawling speed, poor crawling stability, and poor moving accuracy of the existing in-pipe crawlers. Summary of the Invention

[0003] In order to solve the problems of small thrust, slow crawling speed, poor crawling stability, and poor moving accuracy of the existing in-pipe crawlers, the present invention provides an expandable large-thrust crawler for in-pipe use.

[0004] The present invention is implemented by adopting the following technical solutions:

[0005] An expandable large-thrust crawler for in-pipe use includes a crawler body; the crawler body includes two vehicle body side plates arranged parallel to each other left and right; between the front parts of the two vehicle body side plates and between the rear parts of the two vehicle body side plates, a pair of vehicle body cross beams arranged parallel to each other up and down are fixedly supported respectively; at the front ends of the two vehicle body side plates and at the rear ends of the two vehicle body side plates, a tow hook is fixedly provided in common respectively;

[0006] An external support mechanism is commonly installed on the two vehicle body side plates; the external support mechanism includes two guide rails arranged parallel to each other 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 faces of the two vehicle body side plates; the four sliding hinge seats are slidably assembled to the front and rear parts of the two guide rails in a one-to-one correspondence; the four fixed hinge seats are respectively fixed to the front parts and the rear parts of the upper end faces of the two vehicle body side plates; eight swing arms are hinged to the four sliding hinge seats and the four fixed hinge seats in a one-to-one correspondence; at the tail ends of the four swing arms in the front position and at the tail ends of the four swing arms in the rear position, a wheel frame is hinged in common respectively; on each wheel frame, three support wheel shafts arranged parallel to each other from front to back are fixedly supported; on each support wheel shaft, a support roller is rotatably assembled; a return spring is arranged between the two sliding hinge seats on the left and between the two sliding hinge seats on the right respectively;

[0007] An electric drive mechanism and a crawler mechanism are respectively installed between two vehicle body side plates; the output end of the electric drive mechanism meshes with the input end of the crawler mechanism.

[0008] Further, three gear receiving grooves arranged in sequence from front to back are respectively formed in the front part of the inner surface of the vehicle body side plate on the right side, and two adjacent gear receiving grooves communicate with each other; a flange is fixedly butted at the notch of the gear receiving groove in the middle position and the notch of the gear receiving groove in the rear position respectively.

[0009] Further, the electric drive mechanism includes a motor reducer assembly; the motor reducer assembly is fixedly butted on the flange in the rear position, and the output shaft of the motor reducer assembly faces right; a driving gear is fixedly assembled on the output shaft of the motor reducer assembly, and the driving gear is rotatably embedded in the gear receiving groove in the rear position; an intermediate gear is rotatably embedded in the gear receiving groove in the middle position; the intermediate gear is a gear with a shaft, and both ends of the shaft of the intermediate gear are respectively rotatably supported on the bottom of the gear receiving groove in the middle position and the flange in the front position; the intermediate gear meshes with the driving gear, and the intermediate gear serves as the output end of the electric drive mechanism.

[0010] Further, the crawler mechanism includes two connecting rods arranged symmetrically in the front and rear; a walking wheel shaft rotatably penetrates through the rear end of the front connecting rod and the front end of the rear connecting rod respectively; both ends of each walking wheel shaft are respectively rotatably supported on two vehicle body side plates; a pair of walking belt pulleys arranged symmetrically in the left and right are fixedly assembled on each walking wheel shaft; a driven gear is fixedly assembled on the right part of the front walking wheel shaft, and the driven gear is rotatably embedded in the gear receiving groove in the front position; the driven gear serves as the input end of the crawler mechanism; a guide wheel shaft rotatably penetrates through the front end of the front connecting rod and the rear end of the rear connecting rod respectively; a pair of guide belt pulleys arranged symmetrically in the left and right are fixedly assembled on each guide wheel shaft; a crawler is assembled on the two pairs of walking belt pulleys and the two pairs of guide belt pulleys together.

[0011] Further, an internal tensioning mechanism is also installed between the two vehicle body side plates; the internal tensioning mechanism includes two U-shaped brackets arranged symmetrically left and right; the outer sides of the two U-shaped brackets are respectively fixed to the two vehicle body side plates, and the openings of the two U-shaped brackets both face the lower rear; a cross bar is fixed between the inner side ends of the two U-shaped brackets; an inclined bar is fixed in the middle of the cross bar, and the tail end of the inclined bar faces the lower rear; two symmetrically arranged shaft seats are fixed at the tail end of the inclined bar; a pivot shaft is fixedly penetrated through the two shaft seats together; a rotating arm is rotationally assembled at the middle of the pivot shaft; a mountain-shaped bracket is fixed at the tail end of the rotating arm; a tensioning wheel shaft is fixedly penetrated through the three ends of the mountain-shaped bracket together; two symmetrically arranged tensioning pulleys are rotationally assembled on the tensioning wheel shaft, and both of the two tensioning pulleys are engaged with the crawler; four limiting columns are respectively fixed on the inner side surfaces of the outer sides of the two U-shaped brackets and the outer side surfaces of the two sides of the mountain-shaped bracket in a one-to-one correspondence; two symmetrically arranged torsion springs are sleeved on the pivot shaft; 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.

[0012] Further, a wire groove is formed on the outer side surface of the vehicle body side plate on the left; a cover plate is fixedly butted at the notch of the wire groove.

[0013] Further, a blind screw hole is formed on the front side surface of each of the two sliding hinge seats at the rear; a blind light hole is formed on the rear side surface of each of the two sliding hinge seats at the front; a guide rod is inserted into each of the two return springs; external threads are provided at the rear ends of the two guide rods, 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 groove-shaped sheath is extended and arranged on each of the two guide rails; the two groove-shaped sheaths respectively cover the two return springs.

[0014] Further, the outer teeth of the crawler are of a three-section structure, which includes a left tooth section arranged in an arc shape and inclined, a right tooth section arranged in an arc shape and inclined, and a middle tooth section arranged horizontally, and the middle tooth section is higher than the left tooth section and the right tooth section.

[0015] Further, the inner teeth of the crawler are of a three-section structure, which includes a left tooth section arranged horizontally, a right tooth section arranged horizontally, and a middle tooth section arranged horizontally, and the middle tooth section is higher than the left tooth section and the right tooth section; the two traveling wheels on the left are both engaged with the left tooth section of the inner teeth; the two traveling wheels on the right are both engaged with the right tooth section of the inner teeth; the two pairs of guide pulleys are both engaged with the middle tooth section of the inner teeth.

[0016] Compared with existing in-pipe crawlers, the expandable large-thrust crawler in-pipe crawler of the present invention achieves close contact with the inner wall of the pipe during the crawling process by setting an external support mechanism, a crawler crawling structure, and an internal tensioning mechanism. As a result, slipping during the crawling process is effectively avoided, thereby significantly increasing the thrust, significantly accelerating the crawling speed, and significantly improving the crawling stability and moving accuracy.

[0017] The present invention effectively solves the problems of small thrust, slow crawling speed, poor crawling stability and moving accuracy of existing in-pipe crawlers, and is applicable to industrial pipes, fire pipes, cable pipes, etc. Brief Description of the Drawings

[0018] Figure 1 is the structural schematic diagram of the present invention.

[0019] Figure 2 is the structural schematic diagram of the crawler body in the present invention.

[0020] Figure 3 is Figure 2 partial structure schematic of Figure 1 .

[0021] Figure 4 is Figure 2 partial structure schematic of Figure 2 .

[0022] Figure 5 is Figure 4 partial structure schematic diagram of.

[0023] Figure 6 is Figure 5 partial structure schematic diagram of.

[0024] Figure 7 is the structural schematic diagram of the external support mechanism in the present invention.

[0025] Figure 8 is Figure 7 partial structure schematic of Figure 1 .

[0026] Figure 9 is Figure 7 partial structure schematic of Figure 2 .

[0027] Figure 10 is Figure 9 partial structure schematic diagram of.

[0028] Figure 11 is Figure 10 partial structure schematic diagram of.

[0029] Figure 12 isFigure 11 Partial structural schematic diagram.

[0030] Figure 13 It is a structural schematic diagram of the electric drive mechanism in the present invention.

[0031] Figure 14 Is Figure 13 Partial structural schematic diagram.

[0032] Figure 15 It is a structural schematic diagram of the crawler mechanism in the present invention.

[0033] Figure 16 Is Figure 15 Partial structural schematic Figure 1 .

[0034] Figure 17 Is Figure 16 Partial structural schematic diagram.

[0035] Figure 18 Is Figure 17 Partial structural schematic diagram.

[0036] Figure 19 Is Figure 15 Partial structural schematic Figure 2 .

[0037] Figure 20 Is Figure 19 Partial structural schematic diagram.

[0038] Figure 21 Is Figure 20 Partial structural schematic diagram.

[0039] Figure 22 It is a structural schematic diagram of the internal tensioning mechanism in the present invention.

[0040] Figure 23 Is Figure 22 Partial structural schematic Figure 1 .

[0041] Figure 24 Is Figure 22 Partial structural schematic Figure 2 .

[0042] Figure 25 Is Figure 24 Partial structural schematic diagram.

[0043] Figure 26 Is Figure 25 Partial structural schematic diagram.

[0044] Figure 27 Is Figure 1 Another angle structural schematic diagram.

[0045] Figure 28 is Figure 27 a partial structural schematic diagram of

[0046] Figure 29 is Figure 28 a partial structural schematic diagram of

[0047] Figure 30 a reference diagram of the working state of the present invention.

[0048] In the figure: 101 - vehicle body side plate, 101a - gear accommodation groove, 101b - wire trough, 102 - vehicle body cross beam, 103 - towing hook, 104 - flange, 105 - cover plate, 201 - guide rail, 202 - sliding hinge seat, 203 - fixed hinge seat, 204 - swing arm, 205 - wheel carrier, 206 - support wheel shaft, 207 - support roller, 208 - return spring, 209 - guide rod, 210 - channel-shaped sheath, 301 - motor reducer assembly, 302 - driving gear, 303 - intermediate gear, 401 - connecting rod, 402 - running wheel shaft, 403 - running belt pulley, 404 - driven gear, 405 - guiding wheel shaft, 406 - guiding belt pulley, 407 - crawler belt, 501 - U-shaped bracket, 502 - cross bar, 503 - inclined bar, 504 - shaft seat, 505 - pivot shaft, 506 - rotating arm, 507 - mountain-shaped bracket, 508 - tensioning wheel shaft, 509 - tensioning belt pulley, 510 - limit post, 511 - torsion spring, 6 - pipeline. Specific embodiments

[0049] An expandable large-thrust crawler for inside a pipeline, comprising a crawler vehicle body; the crawler vehicle body includes two vehicle body side plates 101 arranged parallel to each other left and right; between the front parts of the two vehicle body side plates 101 and between the rear parts of the two vehicle body side plates 101, a pair of vehicle body cross beams 102 arranged parallel to each other up and down are fixedly supported; at the front ends of the two vehicle body side plates 101 and at the rear ends of the two vehicle body side plates 101, a towing hook 103 is fixedly provided in common;

[0050] An external support mechanism is jointly installed on two vehicle body side plates 101; the external support mechanism includes two guide rails 201 arranged parallel to each other 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 parts of the upper end faces of the two vehicle body side plates 101; the four sliding hinge seats 202 are slidably assembled to the front and rear parts of the two guide rails 201 in a one-to-one correspondence; the four fixed hinge seats 203 are respectively fixed to the front parts and the rear parts of the upper end faces of the two vehicle body side plates 101; eight swing arms 204 are hinged to the four sliding hinge seats 202 and the four fixed hinge seats 203 in a one-to-one correspondence; the tails of the four swing arms 204 at the front position and the tails of the four swing arms 204 at the rear position are jointly hinged with a wheel carrier 205 respectively; three support wheel shafts 206 arranged parallel to each other from front to back are fixedly supported on each wheel carrier 205; a support roller 207 is rotatably assembled on each support wheel shaft 206; a return spring 208 is arranged between the two sliding hinge seats 202 on the left side and between the two sliding hinge seats 202 on the right side respectively;

[0051] An electric drive mechanism and a crawler mechanism are respectively installed between the two vehicle body side plates 101; the output end of the electric drive mechanism meshes with the input end of the crawler mechanism. During operation, functional devices are carried on both tow hooks 103, and the electric drive mechanism is connected to an external power supply through a cable. The specific working process is as follows: First, press down on the two wheel carriers 205. On the one hand, the two wheel carriers 205 drive the six support rollers 207 to move downward. On the other hand, four of the swing arms 204 are used to push the four sliding hinge seats 202 to move towards each other, and the four sliding hinge seats 202 compress the two return springs 208 and cause them to deform. Then, push the present invention into the pipeline 6 and release the two wheel carriers 205. At this time, the two return springs 208 push the four sliding hinge seats 202 to move away from each other, the four sliding hinge seats 202 push the two wheel carriers 205 to move upward through four of the swing arms 204, and the two wheel carriers 205 drive the six support rollers 207 to move upward and closely adhere to the inner wall of the pipeline 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 mechanism to crawl along the inner wall of the pipeline 6. During the crawling process, the six support rollers 207 always closely adhere to the inner wall of the pipeline 6, thereby realizing close contact between the present invention and the inner wall of the pipeline 6.

[0052] Three gear receiving grooves 101a arranged in sequence from front to back are respectively opened on the inner front part of the vehicle body side plate 101 on the right side, and two adjacent gear receiving grooves 101a are communicated with each other; a flange 104 is fixedly docked with the notch of the middle gear receiving groove 101a and the notch of the rear gear receiving groove 101a respectively.

[0053] 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 assembled 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 middle position; the intermediate gear 303 is a gear with a shaft, and both ends of the shaft of the intermediate gear 303 are respectively rotatably supported on the bottom of the gear receiving groove 101a at the middle position and the flange 104 at the front position; the intermediate gear 303 meshes 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 supply 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 mechanism to crawl along the inner wall of the pipeline 6.

[0054] The crawler mechanism includes two connecting rods 401 arranged symmetrically front and rear; a walking wheel shaft 402 rotatably penetrates through the rear end of the front connecting rod 401 and the front end of the rear connecting rod 401; both ends of each walking wheel shaft 402 are respectively rotatably supported on two vehicle body side plates 101; a pair of walking belt pulleys 403 arranged symmetrically left and right are fixedly assembled on each walking wheel shaft 402; a driven gear 404 is fixedly assembled on the right part of the front walking wheel shaft 402, 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 mechanism; a guide wheel shaft 405 rotatably penetrates through the front end of the front connecting rod 401 and the rear end of the rear connecting rod 401; a pair of guide belt pulleys 406 arranged symmetrically left and right are fixedly assembled on each guide wheel shaft 405; a crawler 407 is assembled on the two pairs of walking belt pulleys 403 and the two pairs of guide belt pulleys 406. During operation, the intermediate gear 303 drives the driven gear 404 to rotate, the driven gear 404 drives a pair of front walking belt pulleys 403 on the front walking wheel shaft 402 to rotate through the front walking wheel shaft 402, a pair of front walking belt pulleys 403 drive a pair of rear walking belt pulleys 403 and two pairs of guide belt pulleys 406 to rotate through the crawler 407, a pair of rear walking belt pulleys 403 drive the rear walking wheel shaft 402 to rotate, and two pairs of guide belt pulleys 406 drive the two guide wheel shafts 405 to rotate, thereby realizing crawling along the inner wall of the pipeline 6.

[0055] An internal tensioning mechanism is also installed between the two vehicle body side plates 101; the internal tensioning mechanism includes two U-shaped brackets 501 arranged symmetrically left and right; the outer sides of the two U-shaped brackets 501 are respectively fixed to the two vehicle body side plates 101, and the openings of the two U-shaped brackets 501 both face the lower rear; a cross bar 502 is fixed between the inner side ends of the two U-shaped brackets 501; a tilt bar 503 is fixed in the middle of the cross bar 502, and the tail end of the tilt bar 503 faces the lower rear; two shaft seats 504 arranged symmetrically left and right are fixed at the tail end of the tilt bar 503; a pivot shaft 505 is fixedly penetrated through the two shaft seats 504 together; a rotating arm 506 is rotationally assembled in the middle of the pivot shaft 505; a mountain-shaped bracket 507 is fixed at the tail end of the rotating arm 506; a tensioning wheel shaft 508 is fixedly penetrated through the three ends of the mountain-shaped bracket 507 together; two tensioning pulleys 509 arranged symmetrically left and right are rotationally assembled on the tensioning wheel shaft 508, and the two tensioning pulleys 509 are both in cooperation with the crawler belt 407; four limiting columns 510 are respectively 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 arranged symmetrically left and right are sleeved on the pivot shaft 505; 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 limiting columns 510 on the mountain-shaped bracket 507, so that the rotating arm 506, the mountain-shaped bracket 507, the tensioning wheel shaft 508, and the two tensioning pulleys 509 together generate a torsional tendency, thereby making the two tensioning pulleys 509 closely adhere to the crawler belt 407, so as to tension the crawler belt 407. By tensioning the crawler belt 407, it is further ensured that the present invention is in close contact with the inner wall of the pipeline 6.

[0056] A wire groove 101b is formed on the outer side surface of the vehicle body side plate 101 on the left; a cover plate 105 is fixedly butted at the notch of the wire groove 101b. During operation, the cable passes through the wire groove 101b and is led to the outside of the pipeline 6. The function of the cover plate 105 is to protect the cable.

[0057] A blind screw hole is provided on the front side of each of the two sliding hinge seats 202 at the rear position; a blind light hole is provided on the rear side of each of the two sliding hinge seats 202 at the front position; a guide rod 209 is inserted into each of the two return springs 208; external threads are provided at the rear ends of the two guide rods 209, 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 and provided on each of the two guide rails 201; the two grooved sheaths 210 respectively cover the two return springs 208. During operation, the function of the two guide rods 209 is to prevent the two return springs 208 from falling off. The function of the two grooved sheaths 210 is to protect the two return springs 208.

[0058] The outer teeth of the crawler belt 407 are of a three-segment structure, which includes a left tooth segment arranged in an arc and inclined, a right tooth segment arranged in an arc and inclined, and a middle tooth segment arranged horizontally, and the middle tooth segment is higher than the left tooth segment and the right tooth segment. During operation, this design makes the crawler belt 407 closely adhere to the inner wall of the pipeline 6, thereby further realizing close contact between the present invention and the inner wall of the pipeline 6.

[0059] The inner teeth of the crawler belt 407 are of a three-segment structure, which includes a left tooth segment arranged horizontally, a right tooth segment arranged horizontally, and a middle tooth segment arranged horizontally, and the middle tooth segment is higher than the left tooth segment and the right tooth segment; the two traveling pulleys 403 on the left cooperate with the left tooth segment of the inner teeth; the two traveling pulleys 403 on the right cooperate with the right tooth segment of the inner teeth; the two pairs of guiding pulleys 406 cooperate with the middle tooth segment of the inner teeth. During operation, the function of this design is to prevent the crawler belt 407 from moving left and right.

[0060] During specific implementation, the two vehicle body side plates 101, the two pairs of vehicle body cross beams 102, the two tow hooks 103, the two flanges 104, and the 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 traveling wheel shafts 402 are all spline shafts. The two guide wheel shafts 405 are all locking shafts. The crawler belt 407 is a double-pin crawler belt. The pivot shaft 505 is a locking shaft. The four limit posts 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 middle 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.

[0061] Although the specific embodiments of the present invention have been described above, those skilled in the art should understand that these are only examples. The protection scope of the present invention is defined by the appended claims. Without departing from the principle and essence of the present invention, those skilled in the art can make various changes or modifications to these embodiments, but these changes and modifications all fall within the protection scope of the present invention.

Claims

1. An expandable large-thrust crawler inside a pipeline with crawler tracks, characterized in that: It includes a crawler body; the crawler body includes two vehicle body side plates (101) arranged parallel to each other left and right; between the fronts of the two vehicle body side plates (101) and between the rears of the two vehicle body side plates (101), a pair of vehicle body cross beams (102) arranged parallel to each other up and down are fixedly supported respectively; at the front ends of the two vehicle body side plates (101) and at the rear ends of the two vehicle body side plates (101), a tow hook (103) is fixedly provided respectively. An external support mechanism is jointly installed on the two vehicle body side plates (101); the external support mechanism includes two guide rails (201) arranged parallel to each other 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 parts of the upper end faces of the two vehicle body side plates (101); the four sliding hinge seats (202) are slidably assembled to the fronts and rears of the two guide rails (201) in a one-to-one correspondence; the four fixed hinge seats (203) are respectively fixed to the front parts and rear parts of the upper end faces of the two vehicle body side plates (101); eight swing arms (204) are hinged to the four sliding hinge seats (202) and the four fixed hinge seats (203) in a one-to-one correspondence; at the tails of the four swing arms (204) in the front position and at the tails of the four swing arms (204) in the rear position, a wheel frame (205) is jointly hinged respectively; on each wheel frame (205), three support wheel shafts (206) arranged parallel to each other from front to back are fixedly supported; on each support wheel shaft (206), a support roller (207) is rotatably assembled; a return spring (208) is arranged between the two sliding hinge seats (202) on the left side and between the two sliding hinge seats (202) on the right side respectively. An electric drive mechanism and a crawler running mechanism are respectively installed between the two vehicle body side plates (101); the output end of the electric drive mechanism meshes with the input end of the crawler running mechanism.

2. The expandable large-thrust crawler in a pipeline according to claim 1, wherein: On the inner front part of the vehicle body side plate (101) on the right side, three gear receiving grooves (101a) arranged in sequence from front to back are respectively opened, and two adjacent gear receiving grooves (101a) communicate with each other; a flange (104) is fixedly butted to the notch of the middle gear receiving groove (101a) and the notch of the rear gear receiving groove (101a) respectively.

3. The extendable large-thrust crawler in a pipeline according to claim 2, wherein: The electric drive mechanism includes a motor reducer assembly (301); the motor reducer assembly (301) is fixedly butted to the rear flange (104), and the output shaft of the motor reducer assembly (301) faces right; a driving gear (302) is fixedly assembled on the output shaft of the motor reducer assembly (301), and the driving gear (302) is rotatably embedded in the rear gear receiving groove (101a); an intermediate gear (303) is rotatably embedded in the middle gear receiving groove (101a); the intermediate gear (303) is a gear with a shaft, and the two ends of the shaft of the intermediate gear (303) are respectively rotatably supported on the bottom of the middle gear receiving groove (101a) and the front flange (104); the intermediate gear (303) meshes with the driving gear (302), and the intermediate gear (303) serves as the output end of the electric drive mechanism.

4. The extensible large-thrust crawler in the pipeline according to claim 3, characterized in that: The crawler mechanism includes two connecting rods (401) arranged symmetrically front and back; a walking wheel shaft (402) rotatably penetrates through the rear end of the front connecting rod (401) and the front end of the rear connecting rod (401); both ends of each walking wheel shaft (402) are respectively rotatably supported on two vehicle body side plates (101); a pair of walking belt pulleys (403) arranged symmetrically left and right are fixedly assembled on each walking wheel shaft (402); a driven gear (404) is fixedly assembled on the right part of the front walking wheel shaft (402), and the driven gear (404) is rotatably embedded in the front gear receiving groove (101a); the driven gear (404) serves as the input end of the crawler mechanism; a guide wheel shaft (405) rotatably penetrates through the front end of the front connecting rod (401) and the rear end of the rear connecting rod (401); a pair of guide belt pulleys (406) arranged symmetrically left and right are fixedly assembled on each guide wheel shaft (405); a crawler belt (407) is assembled on the two pairs of walking belt pulleys (403) and the two pairs of guide belt pulleys (406).

5. The extensible large-thrust crawler in a pipeline according to claim 4, characterized in that: An internal tensioning mechanism is also installed between the two vehicle body side plates (101); the internal tensioning mechanism includes two U-shaped brackets (501) arranged symmetrically left and right; the outer sides of the two U-shaped brackets (501) are respectively fixed to the two vehicle body side plates (101), and the openings of the two U-shaped brackets (501) face backward and downward; a cross bar (502) is fixed between the inner side ends of the two U-shaped brackets (501); an inclined bar (503) is fixed in the middle of the cross bar (502), and the tail end of the inclined bar (503) faces backward and downward; two symmetrically arranged shaft seats (504) are fixed at the tail end of the inclined bar (503); a pivot shaft (505) is fixedly penetrated through the two shaft seats (504) together; a rotating arm (506) is rotatably assembled in the middle of the pivot shaft (505); a mountain-shaped bracket (507) is fixed at the tail end of the rotating arm (506); a tensioning wheel shaft (508) is fixedly penetrated through the three ends of the mountain-shaped bracket (507) together; two symmetrically arranged tensioning belt pulleys (509) are rotatably assembled on the tensioning wheel shaft (508), and both tensioning belt pulleys (509) cooperate with the crawler belt (407); four limiting columns (510) are fixedly arranged 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 edges of the mountain-shaped bracket (507) in a one-to-one correspondence; two symmetrically arranged torsion springs (511) are sleeved on the pivot shaft (505); the two ends of the left torsion spring (511) are respectively clamped on the two left limiting columns (510); the two ends of the right torsion spring (511) are respectively clamped on the two right limiting columns (510).

6. The extendable large-thrust crawler in a pipeline according to claim 1, wherein: A wire groove (101b) is formed on the outer side surface of the left vehicle body side plate (101); a cover plate (105) is fixedly butted at the groove opening of the wire groove (101b).

7. The expandable large-thrust crawler in a pipeline according to claim 1, characterized in that: Each front side of the two sliding hinge seats (202) at the rear position is provided with a blind screw hole; each rear side of the two sliding hinge seats (202) at the front position is provided with a blind light hole; a guide rod (209) is inserted through each of the two return springs (208); the rear ends of the two guide rods (209) are both 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 groove-shaped sheath (210) is respectively extended and provided on each of the two guide rails (201); the two groove-shaped sheaths (210) are respectively wrapped on the two return springs (208).

8. The expandable large-thrust crawler for pipelines according to claim 4, wherein: The outer teeth of the crawler belt (407) are of a three-segment structure, which includes a left tooth segment arranged in an arc and inclined, a right tooth segment arranged in an arc and inclined, and a middle tooth segment arranged horizontally, and the middle tooth segment is higher than the left tooth segment and the right tooth segment.

9. The expandable large-thrust crawler in a pipeline according to claim 4, characterized in that: The inner teeth of the crawler belt (407) are of a three-segment structure, which includes a left tooth segment arranged horizontally, a right tooth segment arranged horizontally, and a middle tooth segment arranged horizontally, and the middle tooth segment is higher than the left tooth segment and the right tooth segment; the two traveling pulleys (403) on the left cooperate with the left tooth segment of the inner teeth; the two traveling pulleys (403) on the right cooperate with the right tooth segment of the inner teeth; the two pairs of guide pulleys (406) cooperate with the middle tooth segment of the inner teeth.

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