Crawler mechanism, crawler detection vehicle and control method thereof

Abstract

The application discloses a caterpillar mechanism, a caterpillar detection vehicle and a control method, and relates to the technical field of tunnel detection, wherein the caterpillar mechanism is used for the caterpillar detection vehicle, the caterpillar mechanism comprises a rack, two caterpillar parts and an angle adjusting part, the two caterpillar parts are respectively rotationally connected to opposite sides of the rack, and the angle adjusting part is arranged on the rack and is drivingly connected to the two caterpillar parts so as to adjust the included angle between the plane where each caterpillar part is located and the vertical plane. The caterpillar mechanism provided by the application aims at being capable of adjusting the included angle between the caterpillar and the vertical plane, making the caterpillar fully contact with the tunnel surface and reducing the failure rate.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of tunnel detection, in particular to a track mechanism, a track detection vehicle and a control method thereof. BACKGROUND

[0002] The track detection vehicle is usually used for detecting diseases of the tunnel in a trackless working condition. Since the cross section of the tunnel is usually circular, when the track of the existing track detection vehicle travels in the circular tunnel, the lower surface of the track cannot be completely in contact with the surface of the tunnel, the contact area is small, and the travel is unstable. In addition, due to the incomplete contact between the track and the surface of the tunnel, the overall stress of the track is uneven, and damage is prone to occur. SUMMARY

[0003] The main purpose of the present application is to provide a track mechanism, a track detection vehicle and a control method thereof, which can adjust the included angle between the track and the vertical plane, so that the track is completely in contact with the surface of the tunnel, and the failure rate is reduced.

[0004] To achieve the above purpose, the track mechanism is used for the track detection vehicle, and the track mechanism comprises a rack, two track components and an angle adjusting component, the two track components are respectively rotationally connected to opposite sides of the rack, and the angle adjusting component is arranged on the rack and drivingly connected to the two track components to adjust the included angle between the plane where each track component is located and the vertical plane.

[0005] In an embodiment, the angle adjusting component comprises a driving assembly and two driven assemblies, the driving assembly is movably arranged on the rack, one end of each driven assembly is rotationally connected to opposite sides of the driving assembly, and the other end of one driven assembly is rotationally connected to the side surface of one track component facing the other track component.

[0006] In an embodiment, the driving assembly comprises a driving member and a push rod, the driving member is arranged on the rack, the driving part of the driving member is drivingly connected to the push rod, the push rod can move relative to the rack, and one end of each driven assembly is rotationally connected to opposite sides of the push rod.

[0007] In an embodiment, the track mechanism further comprises a guide rail and a sliding block, the guide rail is arranged on the rack, the sliding block is slidingly connected to the guide rail, and the surface of the sliding block 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 an embodiment, the driven assembly comprises two connecting rods, one end of each of the connecting rods is rotatably connected to one side of the push rod, 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 in a spaced manner in the moving direction of the push rod.

[0009] In an embodiment, each connecting rod comprises a main body and two universal joints, one end of each of the universal joints is connected to one end of the main body, the other end of one universal joint is connected to one side of the push rod, and the other end of the other universal joint is connected to the side surface of one track component facing the other track component.

[0010] In an embodiment, the track component further comprises a connecting seat, the connecting seat is arranged on the side surface of one track component facing the other track component, and the frame is rotatably connected to the connecting seat in a spaced manner.

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

[0012] The application further provides a track type detection vehicle comprising the track mechanism, the detection mechanism and the control mechanism as described above, the detection mechanism is arranged on the frame, and the control mechanism is arranged on the frame and electrically connected or communicatively connected to the track mechanism and the detection mechanism.

[0013] The application further provides a control method applied to the track type detection vehicle as described above, the control method comprises the following steps:

[0014] Obtaining the topographic parameters of a tunnel to be detected;

[0015] Adjusting the included angle between the plane where the track component is located and the vertical plane according to the topographic parameters;

[0016] Controlling the track mechanism to move and controlling the detection mechanism to detect diseases of the tunnel to be detected.

[0017] The track mechanism provided by the technical scheme of the present application comprises a frame, two track components respectively rotatably connected to opposite sides of the frame, and an angle adjusting component, the angle adjusting component is drivingly connected to the two track components, so that the two track components can rotate about the connection with the frame, and the included angle between the plane where each track component is located and the vertical plane can be adjusted according to the actual parameters of the tunnel to be detected. In the tunnel to be detected with different curvatures or different diameters, the track components of the track mechanism can be in full contact with the tunnel surface, so that the overall force of the track components is uniform, and the probability of failure is reduced. BRIEF DESCRIPTION OF DRAWINGS

[0018] In order to more clearly illustrate the technical scheme in the embodiments of the present application or the prior art, the drawings needed to be used in the embodiments or the prior art description will be briefly introduced below. Obviously, the drawings in the following description are only some embodiments of the present application, and other drawings can also be obtained according to the structures shown in the drawings without creative labor for those skilled in the art.

[0019] Figure 1 Structure schematic view of an embodiment of the track detection vehicle provided by the present application;

[0020] Figure 2 Structure schematic view of an embodiment of the track mechanism provided by the present application;

[0021] Figure 3 Structure schematic view of another embodiment of the track mechanism provided by the present application;

[0022] Figure 4 Structure schematic view of still another embodiment of the track mechanism provided by the present application;

[0023] Figure 5 Structure schematic view of an embodiment of the connecting rod in the track mechanism provided by the present application;

[0024] Figure 6 Flowchart of an embodiment of the control method provided by the present application.

[0025] Explanation of reference numerals:

[0026] 100, track detection vehicle; 10, track mechanism; 1, frame; 11, connecting beam; 2, track component; 3, angle adjusting component; 31, driving assembly; 311, driving piece; 312, push rod; 313, guide rail; 314, sliding block; 32, driven assembly; 321, connecting rod; 3211, main body part; 3212, universal coupling; 4, connecting seat; 41, lug; 20, detection mechanism; 30, control mechanism.

[0027] The implementation, functional features and advantages of the present application will be further described with reference to the embodiments and the accompanying drawings. Detailed Implementation

[0028] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative effort 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 positional relationship and movement of the components in a specific posture. If the specific posture changes, the directional indications will also change accordingly.

[0030] Furthermore, if the embodiments of this invention involve descriptions such as "first" or "second," these descriptions are for descriptive purposes only and should not be construed as indicating or implying their relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined with "first" or "second" may explicitly or implicitly include at least one of those features. Additionally, the use of "and / or" or "and / or" throughout the text includes three parallel solutions. For example, "A and / or B" includes solution A, solution B, or a solution where both A and B are satisfied simultaneously. Furthermore, the technical solutions of the various embodiments can be combined with each other, but this must be based on the ability of those skilled in the art to implement them. When the combination of technical solutions is contradictory or impossible to implement, it should be considered that such a combination of technical solutions does not exist and is not within the scope of protection claimed by this invention.

[0031] Tracked inspection vehicles are typically used for detecting defects in tunnels under trackless conditions. Since tunnels are usually circular in cross-section, the tracks of existing tracked inspection vehicles cannot make complete contact with the tunnel surface when traveling in a circular tunnel. The contact area is small, resulting in unstable travel. Furthermore, due to the incomplete contact between the tracks and the tunnel surface, the overall stress on the tracks is uneven, making them prone to damage.

[0032] This invention proposes a tracked mechanism, a tracked inspection vehicle, and a control method thereof, which aims to adjust the angle between the track and the vertical plane to ensure complete contact between the track and the tunnel surface and reduce the failure rate.

[0033] Please see Figures 2 to 5In an embodiment of the present application, the track mechanism 10 is used in a track detection vehicle 100, the track mechanism 10 comprises a frame 1, two track components 2 and an angle adjusting component 3, the two track components 2 are respectively rotatably connected to opposite sides of the frame 1; the angle adjusting component 3 is arranged on the frame 1 and drivingly connected to the two track components 2 to adjust the included angle between the plane where each track component 2 is located and the vertical plane.

[0034] In the embodiment, the frame 1 serves as the base of the track mechanism 10 and can be used to mount other mechanisms such as the detection mechanism 20 and the control mechanism 30, etc. The frame 1 is made of metal material such as stainless steel, galvanized square tube, etc. with higher strength and better durability, and can bear heavier detection equipment. The track component 2 comprises a rubber track, a driving wheel, a supporting wheel, a guide wheel, a motor, a speed reducer, etc. The rubber track is driven to rotate by the driving wheel, the supporting wheel and the guide wheel driven by the motor and the speed reducer, realizing the advancing of the track mechanism 10. The two track components 2 are symmetrically arranged on opposite sides of the frame 1, making the advancing of the track mechanism 10 more stable. Each track component 2 is rotatably connected to the frame 1 in the vertical direction. The specific way of the rotatable connection can be the rotatable connection of shaft hole matching or through the hinge connection, which is not limited here. The angle adjusting mechanism is arranged on the frame 1 and drivingly connected to the two track components 2 to adjust the included angle between the plane where the track component 2 is located and the vertical plane, and further adjust the included 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, the advancing of the track mechanism 10 is more stable, the stress is uniform, and damage is less likely to occur. The angle adjusting component 3 can be two pneumatic or electric pull rod structures drivingly connected to the track components 2, which pull the two track components 2 to rotate towards each other to adjust the included angle between the plane where the track component 2 is located and the vertical plane. The angle adjusting component 3 can also be a torque motor arranged at the connection between the frame 1 and the track component 2, which 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 further adjust the included 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, the advancing of the track mechanism 10 is more stable, the stress is uniform, and damage is less likely to occur. The specific implementation of the angle adjusting component 3 is not limited here as long as it can adjust the relative angle between the two track components 2 and the frame 1.

[0035] The technical scheme of the present application provides a track mechanism 10, which comprises a rack 1, two track components 2 respectively rotatably connected to opposite sides of the rack 1, and an angle adjusting component 3. The angle adjusting component 3 is drivingly connected to the two track components 2, so that the two track components 2 can rotate about the connection with the rack 1. The included angle between the plane where each track component 2 is located and the vertical plane can be adjusted according to the actual parameters of the tunnel to be detected. In tunnels with different curvatures or different diameters to be detected, the track components 2 of the track mechanism 10 can be in full contact with the tunnel surface, so that the overall force acting on the track components 2 is uniform, and the probability of failure is reduced.

[0036] In the embodiment of the present application, the angle adjusting component 3 comprises a driving assembly 31 and two driven assemblies 32. The driving assembly 31 is movably arranged on the rack 1. One end of each driven assembly 32 is rotatably connected to the opposite sides of the driving assembly 31, and the other end of each driven assembly 32 is rotatably connected to the side surface of one track component 2 facing the other track component 2.

[0037] In the embodiment, the angle adjusting component 3 comprises a driving assembly 31 and two driven assemblies 32. The driving assembly 31 is movably arranged on the rack 1. It can be understood that the main body of the driving assembly 31 is connected to the rack 1, and the driving end of the driving assembly 31 can move relative to the rack 1. One end of each driven assembly 32 is rotatably connected to the driving end of the driving assembly 31, and the other end of each driven assembly 32 is rotatably connected to the side surface of one track component 2 facing the other track component 2. When the driving end of the driving assembly 31 drives one end of each driven assembly 32 to move relative to the rack 1, one end of each driven assembly 32 is out of position from the other end of each driven assembly 32, and is not on the same horizontal line. Since the length of each driven assembly 32 is fixed, in order to compensate for the length of each driven assembly 32, the other end of each driven assembly 32 pulls the track component 2 to an inclined angle towards the middle, thereby adjusting the included 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 driving assembly 31, the farther the distance between one end and the other end of each driven assembly 32, and the larger the angle by which each track component 2 needs to be rotated, i.e. the larger the included angle between the plane where each track component 2 is located and the vertical plane. Using one driving assembly 31 and two driven assemblies 32 to adjust the angle of each track component 2 has the advantages that one driving assembly 31 can drive the angle adjustment of two track components 2 on both sides, reducing the overall size of the track mechanism 10 and saving production costs. By driving two driven assemblies 32 with one driving assembly 31, as long as the structure is symmetrically installed, the rotation angles of the two track components 2 on both sides can be the same, without the need for separate control, saving manpower.

[0039] In the embodiment of the present application, the driving assembly 31 comprises a driving member 311 and a push rod 312, the driving member 311 is arranged on the frame 1, and the driving part of the driving member 311 is drivingly connected to the push rod 312, so that the push rod 312 is movable relative to the frame 1, and one end of each of the two driven assemblies 32 is rotatably connected to the opposite sides of the push rod 312.

[0040] In the embodiment, the driving assembly 31 comprises a driving member 311 and a push rod 312, the driving member 311 is arranged on the frame 1, and 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., which drives the push rod 312 to reciprocate relative to the frame 1. One end of each of the two driven assemblies 32 is rotatably connected to the opposite sides of the push rod 312, the push rod 312 moves forward to drive one end of the driven assembly 32 to move forward, so that the one end of the driven assembly 32 is dislocated from the other end, and further drives the track member 2 to rotate inward to adjust the included angle between the plane where the track member 2 is located and the vertical plane. In a preferred embodiment, the driving member 311 and the push rod 312 are arranged at the position of the central axis of the frame 1, so that the whole track mechanism 10 is symmetrical, and further makes the weight of the whole track mechanism 10 more uniform, and the track mechanism 10 moves more smoothly.

[0041] In the embodiment of the present application, the track mechanism 10 further comprises a guide rail 313 and a sliding block 314, the guide rail 313 is arranged on the frame 1, and the sliding block 314 is slidingly connected to the guide rail 313, and the surface of the sliding block 314 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 the embodiment, in order to control the moving direction of the push rod 312 and make the sliding of the push rod 312 more smooth, the track mechanism 10 further comprises a guide rail 313 and a sliding block 314, the guide rail 313 is arranged on the frame 1, and correspondingly, the sliding block 314 is connected to the push rod 312, the sliding movement between the sliding block 314 and the guide rail 313 realizes the sliding movement between the push rod 312 and the frame 1, which prevents the moving direction of the push rod 312 from being deviated, and causes the failure of the angle adjusting function of the track mechanism 10. In a preferred embodiment, the number of the guide rails 313 and the sliding blocks 314 is two, the two guide rails 313 are arranged on the two cross beams of the frame 1 in a spaced manner, and correspondingly, the two sliding blocks 314 are also arranged on the push rod 312 in a spaced manner, each sliding block 314 is slidingly matched with each guide rail 313, so that the sliding of the push rod 312 is more stable.

[0043] In the embodiment of the present application, the driven assembly 32 comprises 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 member 2 facing the other track member 2, and the two connecting rods 321 are arranged in a spaced manner in the moving direction of the push rod 312.

[0044] In the embodiment, each driven assembly 32 comprises 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 surface of the track component 2 facing the other track component 2. The push rod 312 first drives the two connecting rods 321 to tilt, thereby forming an angle between the plane where the track component 2 is located and 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 in a spaced manner in the direction in which the push rod 312 moves. The advantage of the spaced arrangement is that it can drive the entire track component 2 to tilt, preventing incomplete tilting in the length direction of the track component 2, thereby preventing the problem that the track bottom surface cannot be in complete contact with the inner wall of the tunnel.

[0045] In the embodiment of the present application, each connecting rod 321 comprises a main body 3211 and two universal joints 3212, one end of each universal joint 3212 is connected to one end of the main body 3211, the other end of one universal joint 3212 is connected to one side of the push rod 312, and the other end of the other universal joint 3212 is connected to the side surface of one track component 2 facing the other track component 2.

[0046] In the embodiment, the connecting rod 321 comprises a main body 3211 and two universal joints 3212 connected to both ends of the main body 3211, and the other end of each universal joint 3212 is connected to the push rod 312 and the side surface of the track component 2, respectively. This allows the connecting rod 321 to rotate 360 degrees with the push rod 312 and also rotate 360 degrees with the track component 2. When the track component 2 tilts, no stress is applied to the connecting rod 321, preventing the connecting rod 321 from bending or breaking after long-term use, which affects the angle adjustment function of the track mechanism 10. Correspondingly, 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 does not apply stress to the connection, preventing the connection from bending or breaking after long-term use.

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

[0048] In the embodiment, the track member 2 is provided with a connecting seat 4 on the side thereof facing the other track member 2, the frame 1 and the angle adjusting member 3 are both rotationally connected to the connecting seat 4, the frame 1 can rotate in the vertical direction relative to the connecting seat 4, the angle adjusting member 3 can rotate in the horizontal direction relative to the connecting seat 4, the frame 1 and the angle adjusting member 3 are connected by one connecting seat 4, which facilitates subsequent maintenance operation, and the surface of the track member 2 does not need to be punched or operated. It can be understood that when the driven assembly 32 includes two connecting rods 321, the connection between the frame 1 and the track member 2 on one side is also two, and the number of connecting seats 4 is also two, which are arranged on the side of the track member 2 in a spaced manner, thereby improving the connection strength.

[0049] In the embodiment of the application, two lugs 41 are arranged in the horizontal direction of the connecting seat 4, each lug 41 is provided with a connecting hole, the frame 1 includes a connecting beam 11 provided with a shaft hole, one end of the connecting beam 11 is arranged between the two lugs 41, and a rotating shaft sequentially passes through a connecting hole, a shaft hole and another connecting hole, so as to rotationally connect the connecting beam 11 and the connecting seat 4 in the vertical direction.

[0050] In the embodiment, the shaft hole matching connection mode is adopted to rotationally connect the frame 1 and the track member 2, which not only ensures the convenience of installation and disassembly, but also ensures the close connection between the frame 1 and the track member 2. Specifically, a shaft hole is formed in the connecting beam 11 of the frame 1, two lugs 41 are arranged in a spaced manner 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 a rotating shaft sequentially passes through the connecting hole of one lug 41, a shaft hole and the connecting hole of the other lug 41, so as to rotationally connect the lug 41 and the connecting beam 11, and further rotationally connect the frame 1 and the track member 2. The two lugs 41 are arranged in a spaced manner in the horizontal direction, so that the connecting beam 11 can rotate in the vertical direction between the two lugs 41, and further rotationally connect the track member 2 relative to the frame 1 in the vertical direction, so as to adjust the angle of the track member 2.

[0051] Please refer to Figure 1 The application further provides a track type detection vehicle 100, which includes the track mechanism 10, the detection mechanism 20 and the control mechanism 30 as described above, the detection mechanism 20 is arranged on the frame 1, and the control mechanism 30 is arranged on the frame 1 and is electrically connected or communicatively connected to the track mechanism 10 and the detection mechanism 20.

[0052] In the embodiment, the tracked detection vehicle 100 comprises a tracked mechanism 10, a detection mechanism 20 and a control mechanism 30. The tracked mechanism 10 is the tracked mechanism 10 described in the above embodiment, and can adjust the included angle between the plane where the tracked component 2 is located and the vertical plane. The detection mechanism 20 comprises, but is not limited to, a concealed disease detection device, an apparent disease detection device, a tunnel deformation detection device and the like. The detection mechanism 20 is arranged on the rack 1 of the tracked mechanism 10, and the tracked mechanism 10 drives the detection mechanism 20 as a whole to detect the tunnel. The control mechanism 30 is also arranged on the rack 1 of the tracked mechanism 10, and the control mechanism 30 is electrically connected with the tracked mechanism 10 and the detection mechanism 20. The control component can receive signals, and control the angle adjustment component 3 of the tracked mechanism 10 to adjust the angle of the tracked component 2 and the travel of the tracked component 2, and synchronously control the detection mechanism 20 to detect the diseases of the inner wall of the tunnel.

[0053] Please refer to Figure 6 The application further provides a control method applied to the tracked detection vehicle 100 described above, which comprises the following steps:

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

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

[0056] Step S3: controlling the tracked mechanism 10 to travel, and controlling the detection mechanism 20 to detect the diseases of the tunnel to be detected.

[0057] In the embodiment, the control method is applied to the tracked detection vehicle 100 in the above embodiment, and is used to control the travel of the tracked detection vehicle 100 and detect the diseases of the tunnel. First, the tracked detection vehicle 100 obtains the topographic parameters of the tunnel to be detected, which comprises the inner diameter of the tunnel, the curvature of the tunnel and the like. The obtaining mode can be manual input of parameters, or automatic detection by the components arranged on the tracked detection vehicle 100 to detect the topographic parameters. According to the obtained topographic parameters, the angles at which the two tracked components 2 of the tracked detection vehicle 100 can be attached to the inner wall of the tunnel are calculated. Then, the angle adjustment component 3 is controlled to adjust the angle of the tracked component 2 according to the calculated angles. Finally, the tracked mechanism 10 is controlled to travel along the extension direction of the tunnel, and the detection mechanism 20 is controlled to detect the diseases of the inner wall of the tunnel. The tracked detection vehicle 100 is provided with a device to automatically detect the topographic parameters, which can detect the topographic parameters of the tunnel in real time. If the topographic parameters change, for example, the inner diameter of the tunnel becomes smaller, the included angle between the tracked component 2 of the tracked mechanism 10 and the vertical plane is increased, so that the two tracked components 2 can better attach to the inner wall of the tunnel, and the overall travel of the tracked detection vehicle 100 is more stable.

[0058] The above merely illustrates the embodiments of the present application, and is not intended to limit the patent scope of the present application. Any equivalent structural transformation, direct / indirect application in other related technical fields, or the like, within the technical concept of the present application, and based on the content of the present application and the accompanying drawings, are included in the patent protection scope of the present application.

Claims

1. A track mechanism for a tracked inspection vehicle, characterized by, The track mechanism comprises: a frame; two track components, each of which is rotatably connected to opposite sides of the frame; and an angle adjusting component arranged on the frame and drivingly connected to the two track components to adjust the included angle between the plane where each track component is located and the vertical plane; the angle adjusting component comprises a driving component movably arranged on the frame and two driven components, one end of each of the driven components is rotatably connected to opposite sides of the driving component, and the other end of one of the driven components is rotatably connected to the side surface of one of the track components facing the other track component. The driving component comprises a driving member and a push rod, the driving member is arranged on the frame, the driving part of the driving member is drivingly connected to the push rod, so that the push rod can move relative to the frame, and one end of each of the driven components is rotatably connected to opposite sides of the push rod; when the push rod moves forward, the one end of the driven component moves forward, the one end and the other end of the driven component are misaligned, and the track component is driven to rotate inward to adjust the included angle between the plane where the track component is located and the vertical plane.

2. The track mechanism of claim 1, wherein, The track mechanism further comprises a guide rail arranged on the frame and a sliding block slidingly connected to the guide rail, the surface of the sliding block 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.

3. The track mechanism of claim 1, wherein, One of the driven components comprises two connecting rods, one end of each of the connecting rods is rotatably connected to one side of the push rod, and the other end of each of the connecting rods is rotatably connected to the side surface of one of the track components facing the other track component, and the two connecting rods are arranged in a spaced manner in the moving direction of the push rod.

4. The track mechanism of claim 3, wherein, Each connecting rod comprises a main body and two universal joints, one end of each of the universal joints is connected to one end of the main body, the other end of one of the universal joints is connected to one side of the push rod, and the other end of the other universal joint is connected to the side surface of one of the track components facing the other track component.

5. The track mechanism of any one of claims 1 to 4, wherein, The track component further comprises a connecting seat arranged on the side surface of one of the track components facing the other track component, and the frame and the angle adjusting component are spaced and rotatably connected to the connecting seat.

6. The track mechanism of claim 5, wherein, Two lugs are arranged in a spaced manner in the horizontal direction of the connecting seat, each lug is provided with a connecting hole, the frame comprises a connecting beam provided with a shaft hole, one end of the connecting beam is arranged between the two lugs, and a shaft sequentially penetrates through one of the connecting holes, the shaft hole and the other connecting hole to rotatably connect the connecting beam and the connecting seat in the vertical direction.

7. A tracked inspection vehicle, characterized by, The track detection vehicle comprises: The track mechanism according to any one of claims 1 to 6; a detection mechanism arranged on the frame; and a control mechanism arranged on the frame, the control mechanism is electrically connected or communicatively connected to the track mechanism and the detection mechanism.

8. A control method applied to the tracked inspection vehicle according to claim 7, characterized in that, The control method comprises the following steps: obtaining the topographic parameters of the tunnel to be detected; According to the terrain parameter, an included angle between a plane where the track member is located and a vertical plane is adjusted; The track mechanism is controlled to move, and the detection mechanism is controlled to detect diseases of the tunnel to be detected.

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