Crawler-type pipeline robot

Abstract

The utility model provides a crawler-type pipeline robot, and relates to the technical field of pipeline robots. The crawler-type pipeline robot comprises a chassis, a driving motor, two gear shafts, two sets of crawler adjusting structures and two sets of crawler walking structures, the height of the chassis can be adjusted through the driving motor, and meanwhile the height of the crawler-type pipeline robot can be adjusted; and the distance between the two crawler walking structures can be adjusted through a first electric cylinder, so that the width of the crawler-type pipeline robot is adjusted, the size adjusting efficiency of the crawler-type pipeline robot can be remarkably improved, and the use flexibility of the crawler-type pipeline robot is improved.

Description

Technical Field

[0001] The utility model relates to the technical field of pipeline robots, in particular to a crawler-type pipeline robot. Background Art

[0002] Pipeline robots can work inside pipelines to replace people in performing various tasks such as inspection, dredging, repair, and maintenance. However, the inconsistency of the diameters of various pipelines affects the flexibility of the use of pipeline robots. Utility Model Content

[0003] The problem solved by the utility model is: how to improve the use flexibility of the pipeline robot.

[0004] In order to solve the above problems, the utility model provides a crawler type pipeline robot, including a chassis, a driving motor, two gear shafts, two groups of crawler adjustment structures, and two sets of crawler walking structures. The driving motor is installed on the chassis, and the gears of the two gear shafts are meshed. The two gear shafts extend in the front-rear direction and are rotatably installed on the chassis. The driving motor is drivingly connected to one of the gear shafts. The gear shafts, the crawler adjustment structure and the crawler walking structure are correspondingly arranged. The two sets of crawler walking structures are symmetrically arranged about the chassis. The crawler adjustment structure includes a first electric cylinder, a driving rod and a connecting rod. The driving rod is perpendicular to the corresponding gear shaft and one end of the driving rod is key-connected with the corresponding gear shaft. The first electric cylinder is located above the driving rod, and the fixed end of the first electric cylinder is rotatably connected to one end of the driving rod close to the gear shaft. The driving end of the first electric cylinder is rotatably connected to one end of the connecting rod, and the other end of the connecting rod is connected to the frame of the corresponding crawler walking structure, and the other end of the driving rod is rotatably connected to the middle of the connecting rod.

[0005] Optionally, the track adjustment structure also includes a second electric cylinder and a connecting member, the second electric cylinder is located below the connecting rod, the fixed end of the second electric cylinder is rotatably connected to one end of the connecting member, the other end of the connecting member is fixedly connected to the connecting rod, the driving end of the second electric cylinder is rotatably connected to the frame, and the rotational connection position between the driving end of the second electric cylinder and the frame is located below the rotational connection position between the connecting rod and the frame.

[0006] Optionally, each set of the track adjustment structure includes two second electric cylinders, and the two second electric cylinders are symmetrically arranged on the front and rear sides of the connecting rod.

[0007] Optionally, the two groups of track adjustment structures are alternately distributed along the axial direction of any one of the gear shafts.

[0008] Optionally, both ends of each gear shaft in the axial direction are respectively equipped with bearings, and the bearings are installed on the chassis through bearing seats.

[0009] Optionally, the crawler walking structure also includes a DC motor, a driving wheel, a supporting wheel, a guide wheel and a crawler track. The driving wheel and the guide wheel are both located above the supporting wheel and are rotatably connected to the frame. The DC motor is located on the side of the driving wheel facing the chassis and is drivingly connected to the driving wheel. The crawler track is arranged around the driving wheel, the supporting wheel and the guide wheel and are respectively meshed with the driving wheel, the supporting wheel and the guide wheel.

[0010] Optionally, the frame is configured as a plate structure, and two plate structures are distributed on both sides of the track along the width direction of the track to cover the driving wheel, the supporting wheel and the guide wheel.

[0011] Optionally, the track is configured as a rubber track.

[0012] Optionally, the crawler walking structure also includes a connecting seat, which is located between the frame and the chassis, and one end of the connecting seat is fixed to the frame, and the other end extends toward the chassis and is rotatably connected with the connecting rod toward the corresponding end of the frame.

[0013] Optionally, the gear shaft includes a rotating shaft and a gear sleeved on the rotating shaft, the rotating shaft and the gear are keyed to limit each other in the circumferential direction of the gear, and a limiting member is also provided on the rotating shaft, and the limiting member is used to limit the axial displacement of the gear.

[0014] Compared with the related art, the crawler-type pipeline robot of the utility model is installed on the chassis through the driving motor, the gears of the two gear shafts are meshed, the two gear shafts are rotatably installed on the chassis, and the driving motor is drivingly connected to one of the gear shafts. The driving motor can realize the synchronous rotation of the two gear shafts towards or away from each other, so that the two sets of crawler adjustment structures corresponding to the gear shafts are rotated and the height is increased or decreased, thereby realizing the lifting and lowering of the crawler walking structure, that is, realizing the adjustment of the chassis height, and then by arranging the first electric cylinder above the driving rod, the fixed end of the first electric cylinder is rotatably connected to the driving rod, the driving end of the first electric cylinder is rotatably connected to one end of the connecting rod, and one end of the driving rod is connected to the corresponding gear shaft. The wheel axle is connected, and the other end of the driving rod is rotatably connected to the connecting rod. The extension of the output end of the first electric cylinder can realize the rotation of the connecting rod relative to the rotation connection with the driving rod, so that the two crawler walking structures corresponding to the crawler adjustment structure are closer or farther away from each other, thereby changing the distance between the two crawler walking structures. In this way, not only can the height of the crawler pipeline robot be adjusted by adjusting the chassis height through the driving motor, but the width of the crawler pipeline robot can also be adjusted by adjusting the distance between the two crawler walking structures through the first electric cylinder, thereby significantly improving the size adjustment efficiency of the crawler pipeline robot, so as to improve the use flexibility of the crawler pipeline robot. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 This is a schematic structural diagram of a crawler-type pipeline robot in an embodiment of the utility model;

[0016] Figure 2 This is a front view of the crawler-type pipeline robot in an embodiment of the utility model;

[0017] Figure 3 It is a structural schematic diagram of the crawler walking structure in the embodiment of the utility model;

[0018] Figure 4 It is a top view of the crawler pipeline robot in an embodiment of the utility model.

[0019] Description of reference numerals:

[0020] 1-chassis; 2-driving motor; 3-gear shaft; 4-track adjustment structure; 41-first electric cylinder; 42-driving rod; 43-connecting rod; 44-second electric cylinder; 45-connecting piece; 5-track walking structure; 51-DC motor; 52-driving wheel; 53-support wheel; 54-guide wheel; 55-track; 56-plate structure; 57-connecting seat; 6-bearing seat. DETAILED DESCRIPTION

[0021] In order to make the above-mentioned objects, features and advantages of the present invention more obvious and understandable, the specific embodiments of the present invention are described in detail below with reference to the accompanying drawings.

[0022] In the accompanying drawings, the X-axis represents the horizontal position, and the positive direction of the X-axis (that is, the direction of the arrow of the X-axis) represents the right side, and the negative direction of the X-axis (that is, the direction opposite to the positive direction of the X-axis) represents the left side; the Y-axis represents the vertical position, and the positive direction of the Y-axis (that is, the direction of the arrow of the Y-axis) represents the front side, and the negative direction of the Y-axis (that is, the direction opposite to the positive direction of the Y-axis) represents the rear side; the Z-axis represents the vertical position, and the positive direction of the Z-axis (that is, the direction of the arrow of the Z-axis) represents the upper side, and the negative direction of the Z-axis (that is, the direction opposite to the positive direction of the Z-axis) represents the lower side. It should also be noted that the meanings of the aforementioned X-axis, Y-axis, and Z-axis are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation to the present invention.

[0023] It should be noted that the terms "first", "second", etc. in the specification and claims of the present utility model and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the numbers used in this way can be interchanged where appropriate, so that the embodiments of the utility model described herein can be implemented in an order other than those illustrated or described herein.

[0024] Combination Figure 1 and Figure 2 As shown, the utility model provides a crawler-type pipeline robot, including a chassis 1, a driving motor 2, two gear shafts 3, two sets of crawler adjustment structures 4, and two sets of crawler walking structures 5. The driving motor 2 is installed on the chassis 1, and the gears of the two gear shafts 3 are meshed. The two gear shafts 3 extend in the front-rear direction and are rotatably installed on the chassis 1. The driving motor 2 is connected to one of the gear shafts 3 for driving. The gear shafts 3, the crawler adjustment structure 4 and the crawler walking structure 5 are correspondingly arranged. The two sets of crawler walking structures 5 are symmetrically arranged about the chassis 1. The crawler adjustment structure 4 includes a first An electric cylinder 41, a driving rod 42 and a connecting rod 43, the driving rod 42 is perpendicular to the corresponding gear shaft 3 and one end of the driving rod 42 is key-connected to the corresponding gear shaft 3, the first electric cylinder 41 is located above the driving rod 42, the fixed end of the first electric cylinder 41 is rotatably connected to one end of the driving rod 42 close to the gear shaft 3, the driving end of the first electric cylinder 41 is rotatably connected to one end of the connecting rod 43, the other end of the connecting rod 43 is connected to the frame of the corresponding crawler walking structure 5, and the other end of the driving rod 42 is rotatably connected to the middle part of the connecting rod 43.

[0025] Specifically, each gear shaft 3, a set of crawler adjustment structures 4 and a set of crawler walking structures 5 are correspondingly arranged to realize the driving and adjustment of a set of crawler walking structures 5; the two sets of crawler walking structures 5 are distributed at the left and right ends of the chassis 1 and are symmetrical about the chassis 1. The crawler walking structures 5 are used for the crawler pipeline robot to walk in the pipeline. The two gear shafts 3 are rotatably assembled on the chassis 1. Both of the two gear shafts 3 can rotate around their own axes. One gear shaft 3 is connected to a set of crawler adjustment structures 4. A motor mounting seat is provided on the chassis 1. The drive motor 2 is assembled on the motor mounting seat through threaded fasteners to fix the drive motor 2 on the chassis 1, wherein the output end of the drive motor 2 faces the rear side of the chassis 1. The gear shaft 3 includes a rotating shaft and a gear assembled on the rotating shaft. The gears on the two gear shafts 3 are meshed and transmitted. When one gear shaft 3 rotates clockwise, the other gear shaft 3 rotates counterclockwise. The first electric cylinder 41 (cylinder) is located above the driving rod 42. A protrusion is provided at the fixed end of the driving rod 42 near the first electric cylinder 41. The protrusion extends toward the fixed end of the first electric cylinder 41. The fixed end of the first electric cylinder 41 (the end of the first electric cylinder 41 facing the negative direction of the Z axis) is rotationally connected to the protrusion on the driving rod 42. The driving end of the first electric cylinder 41 (the end of the first electric cylinder 41 facing the positive direction of the Z axis) is rotationally connected to one end of the connecting rod 43. The other end of the connecting rod 43 is connected to the frame of the corresponding crawler walking structure 5. The end of the driving rod 42 near the corresponding gear shaft 3 is key-connected to the corresponding gear shaft 3. The other end of the driving rod 42 is rotationally connected to the middle part of the connecting rod 43 (the middle part of the connecting rod 43 refers to the position between the two ends of the connecting rod 43). The geometric connection lines of the first electric cylinder 41, the driving rod 42 and the connecting rod 43 can be equivalent to a planar multi-link structure. The two gear shafts 3 are arranged at intervals along the X axis and both extend along the Y axis, such as Figure 2As shown, taking the driving connection between the driving motor 2 and one of the two gear shafts 3 located in the negative direction of the X-axis as an example, the crawler-type pipeline robot of this embodiment can at least include the following posture adjustment methods: the output end of the driving motor 2 is key-connected with the gear shaft 3, and the driving motor 2 drives the gear shaft 3 to rotate counterclockwise when it rotates forward. Since the gear shaft 3 is key-connected with the driving rod 42, the driving rod 42 rotates counterclockwise, and the driving rod 42 connected to the other gear shaft 3 rotates clockwise. When the first electric cylinder 41 is not started, the two driving rods 42 respectively drive the corresponding first electric cylinder 41, the connecting rod 43 and the crawler walking structure 5 to deflect upward synchronously as a whole, thereby reducing the height of the chassis 1. To lower the height of the crawler pipeline robot; and when the first electric cylinder 41 is started, the driving end of the first electric cylinder 41 corresponding to the driving rod 42 rotating counterclockwise gradually extends, and the first electric cylinder 41 drives the connecting rod 43 corresponding to the driving rod 42 rotating counterclockwise to rotate clockwise, so that the crawler walking structure 5 corresponding to the driving rod 42 rotating counterclockwise is close to the chassis 1. Similarly, the driving end of the first electric cylinder 41 corresponding to the driving rod 42 rotating clockwise is gradually extended, so that the crawler walking structure 5 corresponding to the driving rod 42 rotating clockwise is close to the chassis 1, and then the two crawler walking structures 5 are close to each other to reduce the width of the crawler pipeline robot.

[0026] Therefore, in this embodiment, the driving motor 2 is installed on the chassis 1, the gears of the two gear shafts 3 are meshed, the two gear shafts 3 are both rotatably installed on the chassis 1, and the driving motor 2 is drivingly connected to one of the gear shafts 3. The driving motor 2 can realize the synchronous rotation of the two gear shafts 3 towards or away from each other, so that the two sets of crawler adjustment structures 4 corresponding to the gear shafts 3 are rotated and the height is increased or decreased, thereby realizing the lifting and lowering of the crawler walking structure 5, that is, realizing the adjustment of the height of the chassis 1, and then by arranging the first electric cylinder 41 above the driving rod 42, the fixed end of the first electric cylinder 41 is rotatably connected to the driving rod 42, the driving end of the first electric cylinder 41 is rotatably connected to one end of the connecting rod 43, and one end of the driving rod 42 is connected to the corresponding gear shaft 3. The other end of the driving rod 42 is rotatably connected to the connecting rod 43. The extension of the output end of the first electric cylinder 41 can realize the rotation of the connecting rod 43 relative to the rotation connection with the driving rod 42, so that the two crawler walking structures 5 corresponding to the crawler adjustment structure 4 are close to or away from each other, thereby changing the distance between the two crawler walking structures 5. In this way, not only can the height of the crawler pipeline robot be adjusted by adjusting the height of the chassis 1 through the driving motor 2, but also the width of the crawler pipeline robot can be adjusted by adjusting the distance between the two crawler walking structures 5 through the first electric cylinder 41, thereby significantly improving the adjustment of the size of the crawler pipeline robot, so as to improve the flexibility of use of the crawler pipeline robot.

[0027] Optionally, combined Figure 1 and Figure 2 As shown, the track adjustment structure 4 also includes a second electric cylinder 44 and a connecting member 45. The second electric cylinder 44 is located below the connecting rod 43. The fixed end of the second electric cylinder 44 is rotatably connected to one end of the connecting member 45. The other end of the connecting member 45 is fixedly connected to the connecting rod 43. The driving end of the second electric cylinder 44 is rotatably connected to the frame. The rotatable connection position between the driving end of the second electric cylinder 44 and the frame is located below the rotatable connection position between the connecting rod 43 and the frame.

[0028] Specifically, the connecting member 45 may be a rod-shaped structure, the upper end of the connecting member 45 is fixedly connected to the connecting rod 43, the lower end of the connecting member 45 is rotationally connected to the fixed end of the second electric cylinder 44, the driving end of the second electric cylinder 44 is rotationally connected to the crawler walking structure 5, and the rotational connection position between the driving end of the second electric cylinder 44 and the frame is located below the rotational connection position between the connecting rod 43 and the frame. When the driving end of the second electric cylinder 44 is extended, the second electric cylinder 44 applies a thrust to the lower end of the crawler walking structure 5, so that the crawler walking structure 5 rotates around the rotational connection with the connecting rod 43, and the crawler walking structure 5 can be tilted to adjust the contact area between the crawler walking structure 5 and the inner wall of the pipeline.

[0029] In this way, the fixed end of the second electric cylinder 44 is rotatably connected to one end of the connecting piece 45, the other end of the connecting piece 45 is fixedly connected to the connecting rod 43, the driving end of the second electric cylinder 44 is rotatably connected to the frame, and the rotational connection position between the driving end of the second electric cylinder 44 and the frame is located below the rotational connection position between the connecting rod 43 and the frame. The second electric cylinder 44 can drive the crawler walking structure 5 to rotate relative to the connecting rod 43, thereby realizing the deflection of the crawler walking structure 5, and then the contact area between the crawler walking structure 5 and the inner wall of the pipeline can be adjusted, thereby improving the flexibility of use of the crawler pipeline robot.

[0030] Optionally, combined Figure 1 , Figure 2 and Figure 4 As shown, each set of crawler track adjustment structures 4 includes two second electric cylinders 44 , and the two second electric cylinders 44 are symmetrically arranged on the front and rear sides of the connecting rod 43 .

[0031] Specifically, the front and rear sides of the connecting rod 43 refer to the two sides of the connecting rod 43 in the Y-axis direction. The two second electric cylinders 44 are both located below the connecting rod 43 , and the two second electric cylinders 44 are symmetrically arranged on the front and rear sides of the connecting rod 43 .

[0032] In this way, by symmetrically arranging two second electric cylinders 44 on the front and rear sides of the connecting rod 43, the number of second electric cylinders 44 is increased to reduce the load of a single second electric cylinder 44 and improve the efficiency of adjusting the contact area between the crawler walking structure 5 and the inner wall of the pipe.

[0033] Optionally, combined Figure 1 and Figure 4 As shown, the two sets of track adjustment structures 4 are alternately distributed along the axial direction of any gear shaft 3 .

[0034] Specifically, the axial direction of the gear shaft 3 is along the Y-axis direction, and the two sets of track adjustment structures 4 are distributed front and back along the Y-axis, wherein the drive rod 42 of the track adjustment structure 4 located in the positive direction of the X-axis is key-connected with the gear shaft 3 located in the negative direction of the X-axis, and the drive rod 42 of the track adjustment structure 4 located in the negative direction of the X-axis is key-connected with the gear shaft 3 located in the positive direction of the X-axis.

[0035] In this way, by alternately distributing the two sets of track adjustment structures 4 along the axial direction of any one of the gear shafts 3, the two sets of track adjustment structures 4 can be staggered in the axial direction of the gear shaft 3, thereby avoiding mutual interference between the two sets of track adjustment structures 4 and reducing the installation space occupied by the two sets of track adjustment structures 4 on the chassis 1, making the tracked pipeline robot more compact.

[0036] Based on the above embodiment, in order to improve the adjustment efficiency of the track adjustment structure 4, the number of groups of the track adjustment structure 4 may be increased.

[0037] Optionally, combined Figure 1 As shown, each gear shaft 3 is equipped with bearings at both ends in the axial direction, and the bearings are installed on the chassis 1 through the bearing seats 6.

[0038] Specifically, taking one of the gear shafts 3 as an example, the two bearing seats 6 are respectively located at the two ends of the gear shaft 3 in the axial direction, and the two bearing seats 6 are respectively equipped with bearings. The bearings are assembled at the two ends of the gear shaft 3 in the axial direction, and the two bearing seats 6 are installed on the chassis 1 by bolts.

[0039] In this way, by assembling bearings at both ends of each gear shaft 3 in the axial direction, and the bearings are installed on the chassis 1 through the bearing seats 6, the rotation efficiency of the gear shaft 3 can be improved to reduce the wear of the gear shaft 3.

[0040] Optionally, combined Figure 1 and Figure 3 As shown, the crawler walking structure 5 also includes a DC motor 51, a driving wheel 52, a supporting wheel 53, a guide wheel 54 and a crawler track 55. The driving wheel 52 and the guide wheel 54 are both located above the supporting wheel 53 and are rotatably connected to the frame. The DC motor 51 is located on the side of the driving wheel 52 facing the chassis 1 and is drivingly connected to the driving wheel 52. The crawler track 55 is arranged around the driving wheel 52, the supporting wheel 53 and the guide wheel 54 and is respectively meshed with the driving wheel 52, the supporting wheel 53 and the guide wheel 54.

[0041] Specifically, a plurality of support wheels 53 are provided, and the plurality of support wheels 53 are arranged in a straight line. The driving wheel 52 and the guide wheel 54 are located above the plurality of support wheels 53. The driving wheel 52, the guide wheel 54 and the plurality of support wheels 53 are all rotatably connected to the frame. The DC motor 51 is located on the side of the driving wheel 52 facing the chassis 1, and is drivingly connected to the driving wheel 52 to realize that the DC motor 51 directly drives the driving wheel 52. The track 55 is arranged around the driving wheel 52, the support wheel 53 and the guide wheel 54 and is respectively meshed with the driving wheel 52, the support wheel 53 and the guide wheel 54.

[0042] In this way, the driving wheel 52 and the guide wheel 54 are both located above the supporting wheel 53 and are rotatably connected to the frame, and the DC motor 51 is located on the side of the driving wheel 52 facing the chassis 1 and is drivingly connected to the driving wheel 52, thereby realizing a direct driving connection between the DC motor 51 and the driving wheel 52, and the crawler track 55 is arranged around the driving wheel 52, the supporting wheel 53 and the guide wheel 54 and respectively meshes with the driving wheel 52, the supporting wheel 53 and the guide wheel 54, thereby realizing a structural simplification of the crawler walking structure 5.

[0043] Optionally, combined Figure 1 and Figure 3 As shown, the frame is configured as a plate structure 56 , and two plate structures 56 are distributed on both sides of the track 55 along the width direction of the track 55 to cover the driving wheel 52 , the supporting wheel 53 and the guide wheel 54 .

[0044] Specifically, the width direction of the crawler 55 is the X-axis direction. The driving wheel 52, the supporting wheel 53 and the guide wheel 54 are located between the two plate structures 56, and the DC motor 51 is mounted on the plate structure 56 facing the side of the chassis 1. In this way, the two plate structures 56 are distributed on both sides of the crawler 55 along the width direction of the crawler 55 to cover the driving wheel 52, the supporting wheel 53 and the guide wheel 54, so that the driving wheel 52, the supporting wheel 53 and the guide wheel 54 can be protected, so as to reduce the influence of debris in the pipeline on the rotation of the driving wheel 52, the supporting wheel 53 and the guide wheel 54.

[0045] Optionally, the crawler track 55 is configured as a rubber crawler track.

[0046] Specifically, the rubber crawler track refers to the crawler track 55 made of rubber as a main material.

[0047] In this way, by configuring the crawler 55 as a rubber crawler, the friction coefficient between the crawler 55 and the inner wall of the pipeline can be increased, thereby improving the anti-skid effect of the crawler 55.

[0048] Optionally, combined Figure 1 As shown, the crawler walking structure 5 also includes a connecting seat 57, which is located between the frame and the chassis 1, and one end of the connecting seat 57 is fixed to the frame, and the other end extends toward the chassis 1 and is rotatably connected with the connecting rod 43 toward the corresponding end of the frame.

[0049] Specifically, the connection seat 57 is located between the plate structure 56 close to the chassis 1 and the chassis 1 , one end of the connection seat 57 is fixed on the plate structure 56 , and the other end extends toward the chassis 1 and is rotatably connected with the connection rod 43 toward the corresponding end of the frame.

[0050] In this way, the connecting seat 57 is located between the frame and the chassis 1, and one end of the connecting seat 57 is fixed on the frame, and the other end extends toward the chassis 1 and is rotatably connected with the connecting rod 43 toward the corresponding end of the frame. The connecting seat 57 realizes the extension of the frame structure and provides a rotational connection position for the connecting rod 43, which can avoid rotational interference between the connecting rod 43 and the frame.

[0051] Optionally, the gear shaft 3 includes a rotating shaft and a gear sleeved on the rotating shaft. The rotating shaft and the gear are key-connected to limit each other in the circumferential direction of the gear. A limit member is also provided on the rotating shaft, and the limit member is used to limit the axial displacement of the gear.

[0052] Specifically, the limiting member includes but is not limited to a sleeve, a gasket, and other structures that limit axial displacement. Taking the gasket as an example, the gear is sleeved on the shaft and connected with the shaft key, and a shaft shoulder is provided on the gear shaft 3, the shaft shoulder is located on one side of the gear shaft, and the gasket is located on the other side of the gear shaft. The gasket and the shaft shoulder are respectively against the two ends of the gear shaft, and the gasket and the shaft shoulder can limit the axial displacement of the gear.

[0053] In this way, the rotating shaft and the gear are connected by a key to limit each other in the circumferential direction of the gear. A limiting member is also provided on the rotating shaft to limit the axial displacement of the gear, thereby improving the stability of the gear on the rotating shaft.

[0054] Although the utility model is disclosed as above, the protection scope of the utility model is not limited thereto. Those skilled in the art may make various changes and modifications without departing from the spirit and scope of the utility model, and these changes and modifications will fall within the protection scope of the utility model.

Claims

1. A crawler pipeline robot, characterized in that: The invention comprises a chassis (1), a driving motor (2), two gear shafts (3), two groups of crawler track adjustment structures (4), and two sets of crawler track walking structures (5), wherein the driving motor (2) is mounted on the chassis (1), the gears of the two gear shafts (3) are meshed, the two gear shafts (3) both extend in the front-rear direction and are rotatably mounted on the chassis (1), the driving motor (2) is drivingly connected to one of the gear shafts (3), the gear shafts (3), the crawler track adjustment structures (4), and the crawler track walking structures (5) are arranged correspondingly, the two sets of crawler track walking structures (5) are arranged symmetrically with respect to the chassis (1), the crawler track adjustment structure (4) comprises a first electric cylinder (41), a driving rod ( The drive rod (42) and the connecting rod (43) are vertical to the corresponding gear shaft (3) and one end of the drive rod (42) is key-connected to the corresponding gear shaft (3); the first electric cylinder (41) is located above the drive rod (42); the fixed end of the first electric cylinder (41) is rotatably connected to one end of the drive rod (42) close to the gear shaft (3); the driving end of the first electric cylinder (41) is rotatably connected to one end of the connecting rod (43); the other end of the connecting rod (43) is connected to the frame of the corresponding crawler walking structure (5); and the other end of the drive rod (42) is rotatably connected to the middle of the connecting rod (43).

2. The crawler-type pipeline robot according to claim 1, characterized in that: The track adjustment structure (4) further comprises a second electric cylinder (44) and a connecting member (45), wherein the second electric cylinder (44) is located below the connecting rod (43), the fixed end of the second electric cylinder (44) is rotatably connected to one end of the connecting member (45), the other end of the connecting member (45) is fixedly connected to the connecting rod (43), the driving end of the second electric cylinder (44) is rotatably connected to the frame, and the rotatably connected position of the driving end of the second electric cylinder (44) and the frame is located below the rotatably connected position of the connecting rod (43) and the frame.

3. The crawler-type pipeline robot according to claim 2, characterized in that: Each set of the crawler track adjustment structure (4) comprises two second electric cylinders (44), and the two second electric cylinders (44) are symmetrically arranged on the front and rear sides of the connecting rod (43).

4. The crawler-type pipeline robot according to claim 1, characterized in that: The two groups of track adjustment structures (4) are alternately distributed along the axial direction of any one of the gear shafts (3).

5. The crawler-type pipeline robot according to claim 1, characterized in that: Each of the gear shafts (3) is provided with bearings at both ends in the axial direction, and the bearings are mounted on the chassis (1) via bearing seats (6).

6. The crawler-type pipeline robot according to claim 1, characterized in that: The crawler walking structure (5) further comprises a DC motor (51), a driving wheel (52), a supporting wheel (53), a guide wheel (54) and a crawler belt (55); the driving wheel (52) and the guide wheel (54) are both located above the supporting wheel (53) and are rotatably connected to the frame; the DC motor (51) is located on a side of the driving wheel (52) facing the chassis (1) and is drivingly connected to the driving wheel (52); the crawler belt (55) is arranged around the driving wheel (52), the supporting wheel (53) and the guide wheel (54) and is respectively meshed with the driving wheel (52), the supporting wheel (53) and the guide wheel (54).

7. The crawler-type pipeline robot according to claim 6, characterized in that: The frame is configured as a plate structure (56), and two plate structures (56) are distributed on both sides of the track (55) along the width direction of the track (55) to cover the driving wheel (52), the supporting wheel (53) and the guide wheel (54).

8. The crawler-type pipeline robot according to claim 7, characterized in that: The crawler track (55) is configured as a rubber crawler track.

9. The crawler-type pipeline robot according to claim 1, characterized in that: The crawler walking structure (5) further comprises a connecting seat (57), wherein the connecting seat (57) is located between the frame and the chassis (1), and one end of the connecting seat (57) is fixed to the frame, and the other end of the connecting seat (57) extends toward the chassis (1) and is rotatably connected with the connecting rod (43) toward the corresponding end of the frame.

10. The crawler-type pipeline robot according to any one of claims 1 to 9, characterized in that: The gear shaft (3) comprises a rotating shaft and a gear sleeved on the rotating shaft, the rotating shaft and the gear are key-connected to limit each other in the circumferential direction of the gear, and a limiting member is also provided on the rotating shaft, the limiting member is used to limit the axial displacement of the gear.

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