Crawler belt mechanism, crawler belt type detection vehicle and control method thereof

Abstract

The invention discloses a crawler belt mechanism, a crawler belt type detection vehicle and a control method, and relates to the technical field of tunnel detection, the crawler belt mechanism is used for the crawler belt type detection vehicle, the crawler belt mechanism comprises a rack, two crawler belt parts and an angle adjusting part, and the two crawler belt parts are rotationally connected to the two opposite sides of the rack respectively; the angle adjusting part is arranged on the rack and is in driving connection with the two crawler belt parts so as to adjust the included angle between the plane where each crawler belt part is located and the vertical plane. The crawler belt mechanism aims to adjust the included angle between the crawler belt and the vertical plane, so that the crawler belt is in complete contact with the surface of a tunnel, and the failure rate is reduced.

Description

Technical Field

[0001] The present invention relates to the technical field of tunnel detection, and in particular to a crawler mechanism, a crawler type detection vehicle and a control method thereof. Background Art

[0002] Tracked inspection vehicles are usually used to inspect tunnel defects in trackless conditions. Since the cross-section of a tunnel is usually circular, when the track of an existing tracked inspection vehicle travels in a circular tunnel, the lower surface of the track cannot fully contact the tunnel surface, the contact area is small, and the travel is unstable; and due to the incomplete contact between the track and the tunnel surface, the overall force on the track is uneven and it is easy to be damaged. Summary of the invention

[0003] The main purpose of the present invention is to provide a crawler mechanism, a crawler inspection vehicle and a control method thereof, aiming to be able to adjust the angle between the crawler and the vertical plane so that the crawler is in full contact with the tunnel surface and reduce the failure rate.

[0004] To achieve the above-mentioned purpose, the crawler mechanism proposed in the present invention is used for a crawler inspection vehicle, and the crawler mechanism includes a frame, two crawler components and an angle adjustment component, and the two crawler components are rotatably connected to the opposite sides of the frame respectively; the angle adjustment component is arranged on the frame and drives the two crawler components to adjust the angle between the plane where each crawler component is located and the vertical plane.

[0005] In one embodiment, the angle adjustment component includes an active component and two driven components, the active component is movably arranged on the frame, one end of the two driven components is rotatably connected to the opposite sides of the active component, and the other end of one driven component is rotatably connected to the side surface of one track component facing the other track component.

[0006] In one embodiment, the active component includes a driving member and a push rod, the driving member is arranged on the frame, the driving part of the driving member drives and connects to the push rod so that the push rod can move relative to the frame, and one end of the two driven components is respectively rotatably connected to the opposite sides of the push rod.

[0007] In one embodiment, the crawler mechanism further includes a guide rail and a slider, the guide rail is disposed on the frame, the slider is slidably connected to the guide rail, and the surface of the slider facing away from the guide rail is connected to the push rod to drive the push rod to move along the extension direction of the guide rail.

[0008] In one embodiment, a driven assembly includes two connecting rods, one end of each connecting rod is rotatably connected to one side of the push rod, and the other end is rotatably connected to the side surface of one track component facing the other track component, and the two connecting rods are arranged at intervals in the moving direction of the push rod.

[0009] In one embodiment, each connecting rod includes a main body and two universal couplings, one end of the two universal couplings are respectively connected to the two ends of the main body, the other end of one universal coupling is connected to one side of the push rod, and the other end of the other universal coupling is connected to the side surface of one track component facing the other track component.

[0010] In one embodiment, the track component further includes a connecting seat, which is disposed on a side surface of one track component facing the other track component, and the frame is spaced apart from the angle adjustment component and is rotatably connected to the connecting seat.

[0011] In one embodiment, two lugs are spaced apart in the horizontal direction of the connecting seat, each lug is provided with a connecting hole, the frame includes a connecting beam with an axial hole, one end of the connecting beam is arranged between the two lugs, and the rotating shaft passes through one connecting hole, the axial hole and the other connecting hole in sequence to rotatably connect the connecting beam and the connecting seat in the vertical direction.

[0012] The present invention also proposes a tracked inspection vehicle, comprising the track mechanism, inspection mechanism and control mechanism as described above, wherein the inspection mechanism is arranged on the frame; the control mechanism is arranged on the frame, and the control mechanism is electrically or communicatively connected to the track mechanism and the inspection mechanism.

[0013] The present invention further provides a control method, which is applied to the tracked inspection vehicle as described above, and the control method comprises the following steps:

[0014] Obtaining terrain parameters of the tunnel to be inspected;

[0015] According to the terrain parameters, adjusting the angle between the plane where the track components are located and the vertical plane;

[0016] The crawler mechanism is controlled to move, and the detection mechanism is controlled to perform disease detection on the tunnel to be detected.

[0017] The crawler mechanism proposed in the technical solution of the present invention includes a frame, two crawler components rotatably connected to opposite sides of the frame, and an angle adjustment component. The angle adjustment component drives and connects the two crawler components so that the two crawler components can rotate with the connection with the frame as the axis. The angle between the plane where each crawler component is located and the vertical plane can be adjusted according to the actual parameters of the tunnel to be detected. In the tunnels to be detected with different curvatures or different diameters, the crawler components of the crawler mechanism can be fully in contact with the tunnel surface, so that the crawler components are evenly stressed as a whole, reducing the probability of failure. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on the structures shown in these drawings without paying creative work.

[0019] Figure 1 A schematic structural diagram of an embodiment of a crawler-type inspection vehicle provided by the present invention;

[0020] Figure 2 A structural schematic diagram of an embodiment of a crawler mechanism provided by the present invention;

[0021] Figure 3 A structural schematic diagram of another embodiment of the crawler mechanism provided by the present invention;

[0022] Figure 4 A structural schematic diagram of another embodiment of the crawler mechanism provided by the present invention;

[0023] Figure 5 A schematic structural diagram of an embodiment of a connecting rod in a crawler mechanism provided by the present invention;

[0024] Figure 6 A schematic flow chart of an embodiment of a control method provided by the present invention.

[0025] Description of Figure Numbers:

[0026] 100. crawler inspection vehicle; 10. crawler mechanism; 1. frame; 11. connecting beam; 2. crawler component; 3. angle adjustment component; 31. active component; 311. driving member; 312. push rod; 313. guide rail; 314. slider; 32. driven component; 321. connecting rod; 3211. main body; 3212. universal coupling; 4. connecting seat; 41. lug; 20. inspection mechanism; 30. control mechanism.

[0027] The realization of the purpose, functional features and advantages of the present invention will be further explained in conjunction with embodiments and with reference to the accompanying drawings. DETAILED DESCRIPTION

[0028] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0029] It should be noted that if the embodiments of the present invention involve directional indications (such as up, down, left, right, front, back, etc.), the directional indications are only used to explain the relative position relationship, movement status, etc. between the components in a certain specific posture. If the specific posture changes, the directional indication will also change accordingly.

[0030] In addition, if there are descriptions involving "first", "second", etc. in the embodiments of the present invention, the descriptions of "first", "second", etc. are only used for descriptive purposes and cannot be understood as indicating or implying their relative importance or implicitly indicating the number of technical features indicated. Therefore, the features limited to "first" and "second" may explicitly or implicitly include at least one of the features. In addition, if "and / or" or "and / or" appears in the full text, its meaning includes three parallel solutions. Taking "A and / or B" as an example, it includes solution A, solution B, or solutions that satisfy both A and B. In addition, the technical solutions between the various embodiments can be combined with each other, but it must be based on the ability of ordinary technicians in this field to implement. When the combination of technical solutions is contradictory or cannot be implemented, it should be deemed that such combination of technical solutions does not exist and is not within the scope of protection required by the present invention.

[0031] Tracked inspection vehicles are usually used to inspect tunnel defects in trackless conditions. Since the cross-section of a tunnel is usually circular, when the track of an existing tracked inspection vehicle travels in a circular tunnel, the lower surface of the track cannot fully contact the tunnel surface, the contact area is small, and the travel is unstable; and due to the incomplete contact between the track and the tunnel surface, the overall force on the track is uneven and it is easy to be damaged.

[0032] The present invention provides a crawler mechanism, a crawler inspection vehicle and a control method thereof, aiming to adjust the angle between the crawler and the vertical plane so that the crawler is in full contact with the tunnel surface and the failure rate is reduced.

[0033] See also Figures 2 to 5In one embodiment of the present invention, the track mechanism 10 is used for a tracked inspection vehicle 100. The track mechanism 10 includes a frame 1, two track components 2 and an angle adjustment component 3. The two track components 2 are rotatably connected to opposite sides of the frame 1 respectively; the angle adjustment component 3 is arranged on the frame 1 and drives the two track components 2 to adjust the angle between the plane where each track component 2 is located and the vertical plane.

[0034] In this embodiment, the frame 1 serves as the base of the track mechanism 10 and can be used to install other mechanisms, such as the detection mechanism 20 and the control mechanism 30. The frame 1 is made of metal materials, such as stainless steel, galvanized square tubes, etc., which have higher strength and better durability and can carry heavy detection equipment. The track component 2 includes a rubber track, a driving wheel, a supporting roller, a guide wheel, a motor, a reducer, etc. The motor and the reducer drive the driving wheel, the supporting roller and the guide wheel to drive the rubber track to rotate, thereby realizing the movement of the track mechanism 10. The two track components 2 are symmetrically arranged on opposite sides of the frame 1, so that the movement of the track mechanism 10 can be more stable. Each track component 2 is rotatably connected to the frame 1 in the vertical direction. The specific method of the rotational connection can be a rotational connection with a shaft hole fit, or it can be a hinge connection, which is not further limited here. The angle adjustment mechanism is arranged on the frame 1, driving and connecting the two track components 2 to adjust the angle between the plane where the track components 2 are located and the vertical plane, and then adjust the angle between the track surface of the track component 2 and the horizontal plane, so that the track surface of the two track components 2 can better fit the inner wall of the circular tunnel, and the track mechanism 10 can move more smoothly, be evenly stressed, and not easily damaged. The angle adjustment component 3 can be two pneumatic or electric pull rod structures driven and connected to the track components 2, and the two track components 2 are pulled by the pull rod structure to rotate toward each other to adjust the angle between the plane where the track components 2 are located and the vertical plane. The angle adjustment component 3 can also be a torque motor disposed at the connection between the frame 1 and the track component 2. The torque motor drives the connection between the frame 1 and the track component 2 to adjust the relative angle between the track component 2 and the frame 1, and then adjust the angle between the track surface of the track component 2 and the horizontal plane, so that the track surfaces of the two track components 2 can better fit the inner wall of the circular tunnel, and the track mechanism 10 can move more smoothly, with uniform force, and is not easily damaged. The specific implementation of the angle adjustment component 3 is not further limited here, as long as the relative angle between the two track components 2 and the frame 1 can be adjusted.

[0035] The crawler mechanism 10 proposed in the technical solution of the present invention comprises a frame 1, two crawler components 2 rotatably connected to opposite sides of the frame 1, and an angle adjustment component 3. The angle adjustment component 3 drives and connects the two crawler components 2, so that the two crawler components 2 can rotate with the connection with the frame 1 as the axis, and the angle between the plane where each crawler component 2 is located and the vertical plane can be adjusted according to the actual parameters of the tunnel to be detected. In the tunnels to be detected with different curvatures or different diameters, the crawler components 2 of the crawler mechanism 10 can be in full contact with the tunnel surface, so that the crawler components 2 are uniformly stressed as a whole, reducing the probability of failure.

[0036] In an embodiment of the present invention, the angle adjustment component 3 includes an active component 31 and two driven components 32, the active component 31 is movably arranged on the frame 1, one end of the two driven components 32 is rotatably connected to the opposite sides of the active component 31, and the other end of a driven component 32 is rotatably connected to the side surface of one track component 2 facing the other track component 2.

[0037] In this embodiment, the angle adjustment component 3 includes an active component 31 and two driven components 32. The active component 31 is movably arranged on the frame 1. It can be understood that the main body of the active component 31 is connected to the frame 1, and the driving end of the active component 31 can move relative to the frame 1. One end of the driven component 32 is rotationally connected to the driving end of the active component 31, and the other end of the driven component 32 is rotationally connected to the side surface of the track component 2 facing the other track component 2. When the driving end of the active component 31 drives one end of the driven component 32 to move relative to the frame 1, one end of the driven component 32 is misaligned with the other end of the driven component 32 and is not on the same horizontal line. Since the length of the driven component 32 is fixed, in order to compensate for the length of the driven component 32, the other end of the driven component 32 pulls the track component 2 to an inclined angle toward the middle, thereby adjusting the angle between the plane where the track component 2 is located and the vertical plane.

[0038] The longer the moving distance of the driving part of the active component 31, the farther the distance between one end and the other end of the driven component 32, and thus the greater the angle of rotation of the track component 2, even if the angle between the plane where the track component 2 is located and the vertical plane is greater. Using one active component 31 and two driven components 32 to adjust the angle of the track component 2 has the advantage that one active component 31 can drive the angle adjustment of the two track components 2 on both sides, reducing the overall volume of the track mechanism 10 and saving production costs; and by driving two driven components 32 at the same time by one active component 31, as long as the structure is installed symmetrically, the rotation angles of the two track components 2 on both sides can be made the same, without the need for separate control, saving manpower.

[0039] In an embodiment of the present invention, the active component 31 includes a driving member 311 and a push rod 312. The driving member 311 is arranged on the frame 1. The driving part of the driving member 311 drives the push rod 312 so that the push rod 312 can move relative to the frame 1. One ends of the two driven components 32 are respectively rotatably connected to the opposite sides of the push rod 312.

[0040] In this embodiment, the active component 31 includes a driving member 311 and a push rod 312. The driving member 311 is arranged on the frame 1. In a preferred embodiment, a mounting seat for mounting the driving member 311 is arranged on the frame 1 to fix the driving member 311. The driving member 311 can be a linear motor or a linear cylinder, etc., to drive the push rod 312 to reciprocate relative to the frame 1. One end of the two driven components 32 is rotatably connected to the opposite sides of the push rod 312. The push rod 312 moves forward, driving one end of the driven component 32 to move forward, so that one end of the driven component 32 is misaligned with the other end, and then driving the track component 2 to rotate inward to adjust the angle between the plane where the track component 2 is located and the vertical plane. In a preferred embodiment, the driving member 311 and the push rod 312 are arranged at the central axis position of the frame 1, so that the overall symmetry of the track mechanism 10 is achieved, and the overall weight of the track mechanism 10 is more uniform, and the travel is more stable.

[0041] In an embodiment of the present invention, the crawler mechanism 10 also includes a guide rail 313 and a slider 314. The guide rail 313 is arranged on the frame 1, and the slider 314 is slidably connected to the guide rail 313. The surface of the slider 314 facing away from the guide rail 313 is connected to the push rod 312 to drive the push rod 312 to move along the extension direction of the guide rail 313.

[0042] In this embodiment, in order to control the moving direction of the push rod 312 and make the push rod 312 slide more smoothly, the crawler mechanism 10 also includes a guide rail 313 and a slider 314. The guide rail 313 is arranged on the frame 1. Correspondingly, the slider 314 is connected to the push rod 312. The sliding movement between the slider 314 and the guide rail 313 realizes the sliding movement between the push rod 312 and the frame 1, thereby preventing the moving direction of the push rod 312 from being deflected, thereby causing the failure of the angle adjustment function of the crawler mechanism 10. In a preferred embodiment, the number of the guide rail 313 and the slider 314 are both two. The two guide rails 313 are arranged at intervals on the two crossbeams of the frame 1. Correspondingly, the slider 314 is also arranged at intervals on the push rod 312. Each slider 314 slides with each guide rail 313 to make the sliding of the push rod 312 more stable.

[0043] In an embodiment of the present invention, a driven assembly 32 includes two connecting rods 321, one end of each connecting rod 321 is rotatably connected to one side of the push rod 312, and the other end is rotatably connected to the side surface of one track component 2 facing another track component 2, and the two connecting rods 321 are arranged at intervals in the moving direction of the push rod 312.

[0044] In this embodiment, each driven assembly 32 includes two connecting rods 321, one end of the two connecting rods 321 is rotatably connected to one side of the push rod 312, and the other end of the two connecting rods 321 is rotatably connected to the side of the track component 2 facing the other track component 2. The push rod 312 first drives the two connecting rods 321 to tilt, and then drives the plane where the track component 2 is located to form an angle with the vertical plane. The arrangement of the two connecting rods 321 makes the connection between the driven assembly 32 and the track component 2 more stable. The two connecting rods 321 are arranged at intervals in the direction of movement of the push rod 312. The advantage of the interval arrangement is that it can drive the entire track component 2 to tilt, and prevent incomplete tilting in the length direction of the track component 2, which leads to the problem that the bottom surface of the track cannot be fully in contact with the inner wall of the tunnel.

[0045] In an embodiment of the present invention, each connecting rod 321 includes a main body 3211 and two universal couplings 3212, one end of the two universal couplings 3212 are respectively connected to the two ends of the main body 3211, the other end of one universal coupling 3212 is connected to one side of the push rod 312, and the other end of the other universal coupling 3212 is connected to the side surface of one track component 2 facing the other track component 2.

[0046] In this embodiment, the connecting rod 321 includes a main body 3211 and two universal couplings 3212 connected at both ends of the main body 3211. The other ends of the two universal couplings 3212 are respectively connected to the push rod 312 and the side of the track component 2, so that the connecting rod 321 and the push rod 312 can rotate 360 ​​degrees, and the connecting rod 321 and the track component 2 can also rotate 360 ​​degrees. When the track component 2 is tilted, no stress is applied to the connecting rod 321, which prevents the connecting rod 321 from bending or breaking after long-term use, thereby affecting the angle adjustment function of the track mechanism 10. Accordingly, when the connecting rod 321 tilts downward, the connection between the connecting rod 321 and the push rod 312 can rotate downward, and the connecting rod 321 will not apply stress to the connection, which prevents the connection from bending or breaking after long-term use.

[0047] In an embodiment of the present invention, the track component 2 further comprises a connecting seat 4 , which is arranged on a side surface of one track component 2 facing the other track component 2 , and the frame 1 is spaced apart from the angle adjustment component 3 and rotatably connected to the connecting seat 4 .

[0048] In this embodiment, a connecting seat 4 is provided on the side of the track component 2 facing the other track component 2, and the frame 1 and the angle adjustment component 3 are both rotatably connected to the connecting seat 4. The frame 1 can be rotated vertically relative to the connecting seat 4, and the angle adjustment component 3 can be rotated horizontally relative to the connecting seat 4. The frame 1 and the angle adjustment component 3 are uniformly connected through a connecting seat 4, which is convenient for subsequent maintenance operations, and the surface of the track component 2 does not need to be punched. It can be understood that when the driven component 32 includes two connecting rods 321, the connection between the frame 1 and the track component 2 on one side is also two, and the number of the connecting seats 4 is also two. The two connecting seats 4 are arranged at intervals on the side of the track component 2 to improve the connection strength.

[0049] In an embodiment of the present invention, two lugs 41 are spaced apart in the horizontal direction of the connecting seat 4, each lug 41 has a connecting hole, the frame 1 includes a connecting beam 11 with an axial hole, one end of the connecting beam 11 is arranged between the two lugs 41, and the rotating shaft passes through a connecting hole, an axial hole and another connecting hole in sequence to rotatably connect the connecting beam 11 to the connecting seat 4 in the vertical direction.

[0050] In this embodiment, the rotation connection between the frame 1 and the track component 2 is realized by the connection mode of shaft-hole matching, which not only ensures the convenience of installation and disassembly, but also ensures the tight connection between the frame 1 and the track component 2. The specific implementation mode is that a shaft hole is provided on the connecting beam 11 of the frame 1, two lugs 41 are arranged at intervals on the connecting seat 4, each lug 41 is provided with a connecting hole, the connecting beam 11 is inserted between the two lugs 41, and the rotating shaft passes through the connecting hole of one lug 41, the shaft hole and the connecting hole of the other lug 41 in sequence, so as to realize the rotation between the lug 41 and the connecting beam 11, and then realize the rotation between the frame 1 and the track component 2. The two lugs 41 are arranged at intervals in the horizontal direction, so that the connecting beam 11 can rotate in the vertical direction between the two lugs 41, so as to realize the rotation of the track component 2 relative to the frame 1 in the vertical direction to adjust the angle of the track component 2.

[0051] See also Figure 1 The present invention also proposes a tracked inspection vehicle 100, comprising the track mechanism 10, the inspection mechanism 20 and the control mechanism 30 as described above, wherein the inspection mechanism 20 is arranged on the frame 1; the control mechanism 30 is arranged on the frame 1, and the control mechanism 30 is electrically connected or communicatively connected to the track mechanism 10 and the inspection mechanism 20.

[0052] In this embodiment, the crawler inspection vehicle 100 includes a crawler mechanism 10, a detection mechanism 20 and a control mechanism 30. The crawler mechanism 10 is the crawler mechanism 10 described in the above embodiment, which can adjust the angle between the plane where the crawler component 2 is located and the vertical plane. The detection mechanism 20 includes but is not limited to hidden disease detection equipment, apparent disease detection equipment and tunnel deformation detection equipment, etc. The detection mechanism 20 is arranged on the frame 1 of the crawler mechanism 10, and the crawler mechanism 10 drives the detection mechanism 20 as a whole to inspect the tunnel. The control mechanism 30 is also arranged on the frame 1 of the crawler mechanism 10. The control mechanism 30 is electrically connected to the crawler mechanism 10 and the detection mechanism 20. The control component can receive signals and control the angle adjustment component 3 of the crawler mechanism 10 to adjust the angle of the crawler component 2 and the movement of the crawler component 2, etc., and synchronously control the detection mechanism 20 to detect diseases on the inner wall of the tunnel.

[0053] See also Figure 6 The present invention further proposes a control method, which is applied to the tracked inspection vehicle 100 as described above, and the control method comprises the following steps:

[0054] Step S1: obtaining the terrain parameters of the tunnel to be detected;

[0055] Step S2: adjusting the angle between the plane where the crawler component 2 is located and the vertical plane according to the terrain parameters;

[0056] Step S3: Control the crawler mechanism 10 to move, and control the detection mechanism 20 to perform disease detection on the tunnel to be detected.

[0057] In this embodiment, the control method is applied to the crawler inspection vehicle 100 in the above embodiment, and is used to control the movement of the crawler inspection vehicle 100 and perform disease detection on the tunnel. First, the crawler inspection vehicle 100 obtains the terrain parameters of the tunnel to be inspected, and the terrain parameters include the inner diameter of the tunnel, the curvature of the tunnel, etc. The acquisition method can be manual input parameters, or it can be automatic detection by a component for detecting terrain parameters set on the crawler inspection vehicle 100. According to the acquired terrain parameters, the angle at which the two crawler components 2 of the crawler inspection vehicle 100 can fit the inner wall of the tunnel is calculated; then, according to the calculated angle, the angle adjustment component 3 is controlled to adjust the angle of the crawler component 2; finally, the crawler mechanism 10 is controlled to move along the extension direction of the tunnel, and the detection mechanism 20 is controlled to perform disease detection on the inner wall of the tunnel. The tracked inspection vehicle 100 is equipped with equipment for automatically detecting terrain parameters, and can detect the terrain parameters of the tunnel in real time. If the terrain parameters change, such as the inner diameter of the tunnel becomes smaller, the angle between the track component 2 of the track mechanism 10 and the vertical plane is increased, so that the two track components 2 can better fit the inner wall of the tunnel, making the overall movement of the tracked inspection vehicle 10 more stable.

[0058] The above description is only an exemplary embodiment of the present invention, and does not limit the patent scope of the present invention. All equivalent structural changes made by using the contents of the present invention specification and drawings under the technical concept of the present invention, or directly / indirectly applied in other related technical fields are included in the patent protection scope of the present invention.

Claims

1. A crawler mechanism for a crawler inspection vehicle, characterized in that: The crawler mechanism comprises: frame; Two crawler track components, the two crawler track components are rotatably connected to opposite sides of the frame respectively; and An angle adjustment component is arranged on the frame and is drivingly connected to the two track components to adjust the angle between the plane where each track component is located and the vertical plane.

2. The crawler mechanism according to claim 1, characterized in that: The angle adjustment component includes an active component and two driven components. The active component is movably arranged on the frame. One end of the two driven components is rotatably connected to the opposite sides of the active component respectively, and the other end of one driven component is rotatably connected to the side surface of one track component facing the other track component.

3. The crawler mechanism according to claim 2, characterized in that: The active component includes a driving member and a push rod. The driving member is arranged on the frame. The driving part of the driving member drives and connects to the push rod so that the push rod can move relative to the frame. One ends of the two driven components are respectively rotatably connected to the opposite sides of the push rod.

4. The crawler mechanism according to claim 3, characterized in that: The crawler mechanism also includes a guide rail and a slider, the guide rail is arranged on the frame, the slider is slidably connected to the guide rail, and the surface of the slider away from the guide rail is connected to the push rod to drive the push rod to move along the extension direction of the guide rail.

5. The crawler mechanism according to claim 3, characterized in that: A driven assembly includes two connecting rods, one end of each connecting rod is rotatably connected to one side of the push rod, and the other end is rotatably connected to the side surface of one track component facing the other track component, and the two connecting rods are arranged at intervals in the moving direction of the push rod.

6. The crawler mechanism according to claim 5, characterized in that: Each connecting rod includes a main body and two universal couplings, one end of the two universal couplings are respectively connected to the two ends of the main body, the other end of one universal coupling is connected to one side of the push rod, and the other end of the other universal coupling is connected to the side surface of one track component facing the other track component.

7. The crawler mechanism according to any one of claims 1 to 6, characterized in that: The track component further comprises a connecting seat, which is arranged on a side surface of one track component facing the other track component, and the frame is spaced apart from the angle adjustment component and is rotatably connected to the connecting seat.

8. The crawler mechanism according to claim 7, characterized in that: The connecting seat is provided with two lugs at intervals in the horizontal direction, each lug is provided with a connecting hole, the frame includes a connecting beam with an axial hole, one end of the connecting beam is provided between the two lugs, and the rotating shaft passes through one connecting hole, the axial hole and the other connecting hole in sequence to rotatably connect the connecting beam and the connecting seat in the vertical direction.

9. A crawler inspection vehicle, characterized in that: The crawler inspection vehicle comprises: The crawler mechanism according to any one of claims 1 to 8; A detection mechanism, the detection mechanism is arranged on the frame; and A control mechanism is disposed on the frame, and the control mechanism is electrically connected or communicatively connected with the crawler mechanism and the detection mechanism.

10. A control method, applied to the crawler inspection vehicle according to claim 9, characterized in that: The control method comprises the following steps: Obtaining terrain parameters of the tunnel to be inspected; According to the terrain parameters, adjusting the angle between the plane where the track components are located and the vertical plane; The crawler mechanism is controlled to move, and the detection mechanism is controlled to perform disease detection on the tunnel to be detected.

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