CN110877642A

CN110877642A - Crawler robot for detecting inside of pipeline

Info

Publication number: CN110877642A
Application number: CN201911363826.3A
Authority: CN
Inventors: 朱隽; 冯黎; 李钦婳; 李继刚
Original assignee: Wuxi Muddy Water Robot Co Ltd
Current assignee: Wuxi Muddy Water Robot Co Ltd
Priority date: 2019-12-26
Filing date: 2019-12-26
Publication date: 2020-03-13

Abstract

The invention provides a crawler robot for detecting in a pipeline, which comprises a detection device, a main beam, a first wheel set, a first crawler and a first driving device, wherein a first internal tensioning mechanism comprises a first internal tensioning rod, a first internal limiting piece and a first internal limiting stopping piece; the first inner limiting stop piece comprises a first inner tensioning rod hole matched with the first inner tensioning rod so as to enable the first inner tensioning rod to move in the first inner tensioning rod, and the first inner limiting stop piece is fixedly connected with the first inner fixed wheel side plate; the first inner limiting part is abutted to the first inner limiting stop part, and the first inner limiting part and the first inner tensioning rod slide relatively to control a first inner distance of the first inner tensioning rod moving towards the tensioning shaft direction in the first inner tensioning rod hole, so that the tensioning shaft drives the first tensioning wheel to be in close contact with the first crawler belt. Adopt tight pulley and rather than the tight structure that rises of being connected, have beneficial effect: the tight contact between the wheel set and the crawler belt is ensured, the power of the crawler belt is sufficient, and the service life of the crawler belt is prolonged.

Description

Crawler robot for detecting inside of pipeline

Technical Field

The invention relates to a crawler robot for detecting in a pipeline, in particular to a robot for detecting a pipeline, which can ensure that a wheel set is in close contact with a crawler and can prolong the service life of a rubber crawler.

Background

In the important civil field, such as tap water, gas supply, oil supply and the like, pipelines are the most widely used transmission modes, when the pipelines are used, the pipelines are blocked and damaged due to different reasons, water supply pollution is easy to cause, and gas supply and oil supply leakage causes dangers, so that how to effectively detect the blockage and damage of the pipelines and prevent secondary disasters is an important problem before managers.

In the existing water supply and air supply pipelines, a main pipe is generally adopted until a house-entering pipeline, and the size of the main pipe is reduced from large to small; the method has the advantages that the method enters the residential area until the laying range of the house-entering pipelines is clear, the pipelines are short, the influence caused by blockage and damage is small, the excavation and maintenance are simple, and the daily maintenance is generally carried out by each regional management company.

However, the medium-sized pipelines from the main pipe led out by the main plant of the water, gas and oil supply company to each area have large laying range and complex buildings on the pipelines, generally require deep burying, require accurate determination of blocking and damage positions, and avoid the problem of serious civil loss caused by purposeless excavation; and each city municipal administration also requires that the main pipes and the medium-sized pipelines are subjected to preventive monitoring in daily maintenance so as to monitor the conditions in the pipelines in real time.

Various robots for in-pipe inspection of these main and medium-sized pipes are known in the art, including wheeled and tracked.

The wheel robot is easy to be blocked by obstacles in the pipeline due to the gap between the front wheel and the rear wheel, and the climbing capability is limited during traveling.

The robot adopting the metal crawler belt is easy to damage an active main pipe and a medium-sized pipeline, particularly steel pipes and cast iron pipes which are used for many years are buried in humid soil for a long time, a plurality of positions of the steel pipes and the cast iron pipes are seriously rusted, and cracks are easily generated under the knocking of the metal crawler belt to cause detection damage and even puncture the pipelines.

The robot with the rubber track is easy to cause insufficient power of the track and even separate from the direct track along with the increase of the service time of the robot.

Disclosure of Invention

The invention provides a crawler robot for detecting in a pipeline, which adopts a tension wheel and a tension structure connected with the tension wheel to ensure that a wheel set is tightly contacted with a crawler, ensure sufficient power of the crawler and prolong the service life of the crawler.

The invention provides a crawler robot for detecting in a pipeline, which comprises a detection device, a main beam, a first wheel set, a first crawler and a first driving device, wherein the detection device is used for detecting the condition of the pipeline; the method is characterized in that:

the first inner fixed wheel side plate comprises a first inner expansion sliding groove;

the first wheel set comprises a first driving wheel, a first supporting wheel and a first tensioning wheel, and the first driving device drives the first driving wheel to drive the first crawler belt; the first driving wheel and the first supporting wheel are fixedly connected with the first internal fixed wheel side plate; the first tensioning wheel is in sliding connection with the first inner fixed wheel side plate through a first inner tensioning mechanism so as to enable the first wheel set to be in close contact with the first crawler belt;

the first tensioning wheel takes a tensioning shaft as a middle shaft, and the tensioning shaft is positioned in the first inner tensioning chute;

the first internal tensioning mechanism comprises a first internal tensioning rod, a first internal limiting piece and a first internal limiting stopping piece; the first inner tensioning rod is fixedly connected with the tensioning shaft at a first inner angle which is 70-110 degrees; the first inner limiting stop piece comprises a first inner tensioning rod hole matched with the first inner tensioning rod so as to enable the first inner tensioning rod to move in the first inner tensioning rod hole, and the first inner limiting stop piece is fixedly connected with the first inner fixed wheel side plate; the first inner limiting part abuts against the first inner limiting stop part, and the first inner limiting part and the first inner tensioning rod slide relatively to control a first inner distance of the first inner tensioning rod moving towards the tensioning shaft direction in the first inner tensioning rod hole, so that the tensioning shaft drives the first tensioning wheel to be in close contact with the first crawler belt.

Preferably, the outer fixed wheel side plate also comprises a first outer fixed wheel side plate,

the first wheel set is connected with the main beam through a first external fixed wheel side plate;

the first external fixed wheel side plate comprises a first external tensioning chute;

the first driving wheel and the first supporting wheel are fixedly connected with the first external fixed wheel side plate; the first tensioning wheel is in sliding connection with the first external fixed wheel side plate through a first external tensioning mechanism so as to enable the first wheel set to be in close contact with the first crawler belt;

the tensioning shaft is positioned in the first outer tensioning chute;

the first outer tensioning mechanism comprises a first outer tensioning rod, a first outer limiting piece and a first outer limiting stopping piece; the first outer tension rod is fixedly connected with the tension shaft at a second outer angle, and the second outer angle is 70-110 degrees; the first outer limiting stop piece comprises a first outer tensioning rod hole matched with the first outer tensioning rod so as to enable the first outer tensioning rod to move in the first outer tensioning rod hole, and the first outer limiting stop piece is fixedly connected with a first outer fixed wheel side plate; the first outer limiting part abuts against the first outer limiting stop part, and the first outer limiting part and the first outer tension rod slide relatively to control a first outer distance of the first outer tension rod moving towards the direction of the tension shaft in the first outer tension rod hole, so that the tension shaft drives the first tension wheel to be in close contact with the first crawler belt;

the first inner distance is equal to the first outer distance.

Preferably, the first internal tensioning rod is a screw rod, and the first internal limiting member is a nut.

Preferably, the first inner limiting part is a first inner spring part in a compressed state, and two ends of the first inner limiting part are respectively and fixedly connected with the first inner limiting stop part and the tensioning shaft.

Preferably, the first driving wheel is located above the first tensioning wheel, and an angle formed by a connecting line of a middle shaft of the first driving wheel and two ends of the first internal tensioning chute is smaller than 30 degrees.

Preferably, the first driving wheel is located above and on the side of the first tension wheel, and the diameter of the first driving wheel is larger than that of the first tension wheel.

Preferably, the first supporting wheel is positioned above the side of the first tensioning wheel;

the first wheel set further comprises a counterweight wheel, and the diameter of the counterweight wheel is smaller than that of the first tensioning wheel;

the diameter of the counterweight wheel is not less than that of the first supporting wheel, the counterweight wheel is positioned on one side of the first tensioning wheel, and the number of the counterweight wheels is greater than that of the first supporting wheels.

Preferably, the number of the first supporting wheels is 1,

the number of the counterweight wheels is 3.

Preferably, the first track includes an inner protrusion inside, and the first driving wheel, the first supporting wheel, the first tension wheel and the counterweight wheel each include an inner groove adapted to the inner protrusion, so as to increase friction between the first track and the first wheel set.

Preferably, the detection means comprises sonar image equipment.

The crawler robot for detecting in the pipeline comprises a detection device, a main beam, a first wheel set, a second wheel set, a first crawler, a second crawler, a first driving device and a second driving device, wherein the detection device is used for detecting the condition of the pipeline; the first wheel set drives the first crawler belt, the first wheel set is connected with the main beam through a first inner fixed wheel side plate and a first inner frame, and the first inner fixed wheel side plate is fixedly connected with the first inner frame; the second wheel set drives the second crawler belt, the second wheel set is connected with the main beam through a second inner fixed wheel side plate and a second inner frame, and the second inner fixed wheel side plate is fixedly connected with the second inner frame; the method is characterized in that:

the first wheel set comprises a first driving wheel, a first supporting wheel and a first tensioning wheel, and the first driving wheel and the first supporting wheel are fixedly connected with the first internal fixed wheel side plate;

the second wheel set comprises a second driving wheel, a second supporting wheel and a second tensioning wheel, and the second driving wheel and the second supporting wheel are fixedly connected with the second internal fixed wheel side plate;

the main beam comprises a beam lower plate which is positioned on the bottom surface of the main beam and extends downwards;

the beam lower plate is respectively connected with the first inner frame and the second inner frame through a first fixing shaft and a second fixing shaft, and the first inner frame can drive the first crawler belt to rotate outwards around the first fixing shaft; the second inner frame can drive the second crawler belt to rotate outwards around the second fixed shaft;

the crawler belt outward rotating mechanism is used for controlling a first angle and a second angle of outward rotation of the first crawler belt and the second crawler belt;

the first angle and the second angle are both less than 90 degrees.

Preferably, the track outboard rotation mechanism includes an outboard spring member.

Preferably, the first inner frame has a first protrusion connected to one end of the outer turning spring member, and the second inner frame has a second protrusion connected to the other end of the outer turning spring member.

Preferably, the beam lower plate comprises a first sliding groove and a second sliding groove, and the first protrusion slides in the first sliding groove; the second protrusion slides within the second runner.

Preferably, the outer turning spring member includes a first outer turning spring member and a second outer turning spring member;

the first inner frame is provided with a first bulge connected with one end of the first outer rotating spring part, and the other end of the first outer rotating spring part is fixedly connected with the beam lower plate; and a second bulge connected with one end of the second external rotation spring part is arranged on the second inner frame, and the other end of the second external rotation spring part is fixedly connected with the beam lower plate.

Preferably, the track outward-turning mechanism comprises a first track outward-turning mechanism and a second track outward-turning mechanism;

the first track outboard rotation mechanism includes: the first inner frame is provided with a first track limiting hole corresponding to the first track limiting hole, and at least two first track limiting holes are formed in the first inner frame; the first bolt is used for being inserted into the first track limiting hole and the first track limiting hole to fix the first angle;

the second track outward turning mechanism comprises: the second inner frame is provided with a second track limiting hole corresponding to the second track limiting hole, and at least two second track limiting holes are formed in the second inner frame; and the second bolt is used for being inserted into the second track limiting hole and the second track limiting hole to fix the second angle.

Preferably, the first angle and the second angle are both 20 degrees.

Preferably, the first angle and the second angle jointly enable the vertical height of the robot to be reduced by 20-35 cm.

Preferably, the first angle and the second angle together cause the vertical height of the robot to be reduced by 25 cm.

Drawings

FIG. 1 is a schematic inside view of a track robot for in-pipe inspection according to the present invention;

FIG. 2 is an enlarged schematic view of region A of FIG. 1;

fig. 3 is a top sectional view of the tension wheel and the tension structure thereof in fig. 2;

FIG. 4 is a schematic view of the inside of a track robot for in-pipe inspection according to the present invention;

FIG. 5 is an enlarged view of region A' of FIG. 4;

fig. 6 is a top sectional view of the tension wheel and the tension structure thereof in fig. 5;

FIG. 7 is a schematic diagram of the position relationship between the driving wheel and the tension wheel of the crawler robot for in-pipeline detection according to the present invention;

FIG. 8 is a front view of a crawler robot for in-pipe inspection according to the present invention in a normal walking state;

FIG. 9 is a front view of a crawler robot for in-pipe inspection according to the present invention in a walking state when the fluid speed is too high or the pipe diameter is small;

FIG. 10 is a first enlarged view of region B of FIG. 9;

FIG. 11 is a second enlarged view of region B of FIG. 9;

FIG. 12 is a third enlarged view of region B in FIG. 9

FIG. 13 is a pictorial illustration of the dual-track robot of FIG. 1;

fig. 14 is a pictorial view of the dual tracked robot of fig. 10.

Detailed Description

The following describes in detail a specific embodiment of the track robot for in-pipe inspection according to the present invention with reference to the accompanying drawings.

In the drawings, the dimensional ratios of layers and regions are not actual ratios for the convenience of description. When a layer (or film) is referred to as being "on" another layer or substrate, it can be directly on the other layer or substrate, or intervening layers may also be present. In addition, when a layer is referred to as being "under" another layer, it can be directly under, and one or more intervening layers may also be present. In addition, when a layer is referred to as being between two layers, it can be the only layer between the two layers, or one or more intervening layers may also be present. Like reference numerals refer to like elements throughout. In addition, when two components are referred to as being "connected," they include physical connections, including, but not limited to, electrical connections, contact connections, and wireless signal connections, unless the specification expressly dictates otherwise

For solving among the prior art that the rubber track of track robot uses easily not hard up short-lived, can not reduce the impact force that the robot height and the intraductal fluid speed of buffer brought too fast according to pipeline pipe diameter size:

the applicant provides a track robot for in-pipeline detection, as shown in fig. 1 to 12, comprising a detection device 72, a main beam 5, a first wheel set (not shown), a first track 3 and a first driving device 4, wherein the detection device 72 is used for detecting the condition of a pipeline, the first driving device 4 drives the first wheel set to drive the first track 3, and the first wheel set is connected with the main beam 5 through a first internally fixed wheel side plate 1; the method is characterized in that:

the first inner fixed wheel side plate 1 comprises a first inner expansion sliding groove 11;

the first wheel set comprises a first driving wheel 21, a first supporting wheel 24 and a first tensioning wheel 22, and the first driving device 4 drives the first driving wheel 21 to drive the first crawler 3; the first driving wheel 21 and the first supporting wheel 24 are fixedly connected with the first internal fixed wheel side plate 1; the first tensioning wheel 22 is slidably connected with the first inner fixed wheel side plate 1 through a first inner tensioning mechanism (not shown) so as to enable the first wheel set to be in close contact with the first crawler 3;

the first tensioning wheel 22 takes a tensioning shaft 221 as a central axis, and the tensioning shaft 221 is located in the first inner tensioning chute 11;

the first internal tensioning mechanism comprises a first internal tensioning rod 222, a first internal limiting piece 223 and a first internal limiting stop piece 224; the first inner tensioning rod 222 is fixedly connected with the tensioning shaft 223 at a first inner angle, and the first inner angle is 70-110 degrees; the first inner limit stop 224 comprises a first inner tension rod hole (not shown) adapted to the first inner tension rod 222 for the first inner tension rod 222 to move therein, and the first inner limit stop 224 is fixedly connected to the first inner fixed wheel side plate 1; the first inner limiting member 223 abuts against the first inner limiting stop member 224, and the first inner limiting member 223 slides relative to the first inner tightening rod 222 to control a first inner distance that the first inner tightening rod 222 moves in the first inner tightening rod hole toward the tightening shaft 221 (i.e., to the right as shown in fig. 1), so as to drive the first tightening pulley 22 to tightly contact with the first crawler 3 through the tightening shaft 221.

In this embodiment, the first inner angle is 90 degrees.

In this embodiment, the vehicle further includes a first externally fixed wheel side plate 1 ', and the first wheel set (not shown) is connected to the main beam 5 through the first externally fixed wheel side plate 1'; the first external fixed wheel side plate 1' comprises a first external tensioning chute (not shown); the first driving wheel 21 and the first supporting wheel 24 are fixedly connected with the first external fixed wheel side plate 1'; the first tensioning wheel 22 is slidably connected with the first external fixed wheel side plate 1' through a first external tensioning mechanism (not shown) so as to enable the first wheel set to be in close contact with the first crawler 3; the tensioning shaft 221 is located in the first outer tensioning chute; the first external tensioning mechanism comprises a first external tensioning rod (not shown), a first external limiting piece (not shown) and a first external limiting stop piece (not shown); the first outer tension rod is fixedly connected with the tension shaft 221 in a second outer angle which is 70-110 degrees; the first outer limiting stop piece comprises a first outer tensioning rod hole matched with the first outer tensioning rod so as to enable the first outer tensioning rod to move in the first outer tensioning rod hole, and the first outer limiting stop piece is fixedly connected with the first outer fixed wheel side plate 1'; the first outer limiting member abuts against the first outer limiting stop member, and the first outer limiting member and the first outer tension rod slide relatively to control a first outer distance that the first outer tension rod moves in the first outer tension rod hole to the direction of the tension shaft 221, so that the tension shaft 221 drives the first tension wheel 22 to tightly contact with the first crawler 3; the first inner distance is equal to the first outer distance, so that the first crawler 3 is kept stressed stably.

In this embodiment, the first outer angle is 90 degrees.

It should be noted that, in this embodiment, the functional components connected to the first inner fixed wheel side plate 1 and the first outer fixed wheel side plate 1' are all symmetric with the long axis of the first crawler 3 as a central line, that is, the first inner tensioning chute 11 and the first outer tensioning chute, the first inner tensioning mechanism and the first outer tensioning mechanism, the first inner tensioning rod 222 and the first outer tensioning rod (not shown), the first outer limiting member 223 and the first outer limiting member (not shown), the first inner limiting stop 224 and the first outer limiting stop, and the second inner angle and the second outer angle are all symmetric with the long axis of the first crawler 3 as a central line.

Meanwhile, in the embodiment, the first inner fixed wheel side plate 1 and the first outer fixed wheel side plate 1' have the same shape, so that the industrial mass production is facilitated, and the weight stability of both sides of the first crawler 3 is facilitated. However, in other embodiments, the first inner wheel side plate 1 and the first outer wheel side plate 1' may be designed to have different shapes while the weight remains the same.

In this embodiment, as shown in fig. 3, the first internal tightening rod 222 is a screw rod, and the first internal limiting member 223 is a nut. Alternatively, as shown in fig. 6, the first inner limiting member 222 is a first inner spring member in a compressed state, and two ends of the first inner limiting member 222 are respectively and fixedly connected to the first inner limiting stop member 222 and the tensioning shaft 221.

In other embodiments, the first outer tension rod (not shown) is a threaded rod, and the first outer retaining member (not shown) is a nut. Alternatively, the first outer limiting member (not shown) is a first outer spring member in a compressed state, and two ends of the first outer limiting member are respectively and fixedly connected with the first outer limiting stop member (not shown) and the tensioning shaft 221.

In this embodiment, the first driving wheel 21 is located above the first tensioning wheel 22, and located at two opposite poles of the track, and the first driving wheel and the second driving wheel cooperate with each other to exert the function of the first tensioning wheel 22 to the maximum extent, as shown in fig. 7, an angle 2120 formed by a connecting line between a central axis of the first driving wheel 21 and two ends of the first internal tensioning chute 11 and the horizontal plane is smaller than 30 degrees to exert the function of the first tensioning wheel 22 to the maximum extent to keep the first track 3 tensioned. Similarly, an angle (not shown) formed by a connecting line between the central axis of the first driving wheel 21 and the two ends of the first external tension chute (not shown) and the horizontal plane is less than 30 degrees, and is equal to the angle 2120, so that the first tension wheel 22 can play a role to the maximum to keep the first crawler 3 tensioned.

Preferably, in the present embodiment, the range of the angle 2120 is 11 ° 30' or less, 10 ° or more. In this embodiment, the first driving wheel 21 is located above and beside the first tension wheel 22, and the diameter of the first driving wheel 21 is larger than that of the first tension wheel 22, so as to ensure a contact area between the first driving wheel 21 and the first crawler 3 and enhance the power of the first crawler 3.

In this embodiment, the first supporting wheel 24 is located above the first tension wheel 22; the first wheel set further comprises first

balance weight wheels

25, 26 and 27, the diameters of the first

balance weight wheels

25, 26 and 27 are smaller than the diameter of the first tension wheel 22, and the first

balance weight wheels

25, 26 and 27 are located on one side of the first tension wheel 22 to reduce the center of gravity of the first track 3, so as to ensure the stability of the track robot.

Further, to sufficiently ensure the stability of the track robot, the diameter x1 and the number y1 of the first driving wheel 21, the diameter x2 and the number y2 of the first tension wheel 22, the diameter x3 and the number y3 of the first balance weight wheel, and the diameter x4 and the number y4 of the first supporting wheel 24 satisfy the relationship (1):

k(y2*x2²+y3*x3²)≥y1*x1²+y4*x4²(1)

wherein k is a weight coefficient, and the range of k is 0.6-0.8.

The diameter ratio of the first driving wheel 21, the first tension wheel 22 and the first

balance weight wheels

25, 26 and 27 is x1: x2: x3 is 1: 0.9-0.8: 0.7 to 0.6. Preferably, in this embodiment, the diameter ratio x1: x2: x3 of the first driving wheel 21, the first tension wheel 22 and the first

balance weight wheels

25, 26 and 27 is 1: 0.88: 0.65 to lower the center of gravity of the first crawler 3, thereby ensuring the stability of the crawler robot.

The diameter of the first

balance weight wheels

25, 26, 27 is not less than the diameter of the first support wheel 24, the first

balance weight wheels

25, 26, 27 are located at one side of the first tension wheel 22, and the number of the first

balance weight wheels

25, 26, 27 is greater than the number of the first support wheels 23, so as to lower the center of gravity of the first track 3, thereby ensuring the stability of the track robot.

In this embodiment, the number of the first support wheels 24 is 1, and the number of the first balance weight wheels is 3, so as to sufficiently reduce the center of gravity of the first track 3, thereby ensuring the stability of the tracked robot.

In this embodiment, as shown in fig. 3, the inner side of the first track 3 includes an inner protrusion 31, and the first driving wheel 21, the first supporting wheel 24, the first tension wheel 22 and the first

balance weight wheels

25, 26 and 27 each include an inner groove (not shown) corresponding to the inner protrusion 31 to increase the friction between the first track 3 and the first wheel set.

In this embodiment, the detection device 72 is one of a camera, an infrared camera, an ultraviolet camera, or a sonar image device. The detection device further comprises an auxiliary device 71, the auxiliary device 71 is a device for emitting light, and in the case that the detection device 72 is a camera, an infrared camera, an ultraviolet camera, or a sonar image device, the auxiliary device 71 is a fluorescent lamp, an infrared lamp, an ultraviolet lamp, or the like.

It should be noted that, although one track of the single-track robot is described above, i.e. the first track 3, the above invention also includes a dual-track robot adopting two first tracks 3, and the technical content of the second first track 3 (i.e. the second track in the next subject invention) is fully described above, which is not repeated herein by the inventor, and the dual-track robot adopting two first tracks 3 has a more stable center of gravity than the single-track robot.

Another dual-track robot according to the present invention is described below, in which the second first track 3 is a "second track" as described below, and unless otherwise specified, all the above technical features including the word "first" are directly referred to as the technical features included in the "second track" after being replaced with the word "second".

1-12, comprising a detection device 72, a main beam 5, a first wheel set (not shown), a second wheel set (not shown), a first crawler 3, a second crawler (not shown), a first driving device 4 and a second driving device (not shown), wherein the detection device 72 is used for detecting the condition of the pipeline; the first wheel set drives the first crawler 3, the first wheel set is connected with the main beam 5 through a first inner fixed wheel side plate 1 and a first inner frame 61, and the first inner fixed wheel side plate 1 is fixedly connected with the first inner frame 61; the second wheel set drives the second crawler belt, the second wheel set is connected with the main beam 5 through a second inner fixed wheel side plate (not shown) and a second inner frame 62, and the second inner fixed wheel side plate is fixedly connected with the second inner frame 62; the method is characterized in that:

the first wheel set comprises a first driving wheel 21, a first supporting wheel 24 and a first tensioning wheel 22, and the first driving wheel 21 and the first supporting wheel 24 are fixedly connected with the first internal fixed wheel side plate 1;

the second wheel set comprises a second driving wheel (not shown), a second supporting wheel (not shown) and a second tensioning wheel (not shown), and the second driving wheel and the second supporting wheel are fixedly connected with the second internal fixed wheel side plate;

the main beam 5 comprises a beam lower plate 51 which is positioned on the bottom surface and extends downwards;

the beam lower plate 51 is respectively connected with the first inner frame 61 and the second inner frame 62 through a first fixing shaft 610 and a second fixing shaft 620, and the first inner frame 61 can drive the first crawler 3 to rotate outwards around the first fixing shaft 610; the second inner frame 62 may drive the second crawler belt to rotate outwards around the second fixed shaft 620;

further comprising a track outward turning mechanism (not shown) to control a first angle θ and a second angle θ' at which the first track 3 and the second track are turned outward;

the first angle theta and the second angle theta' are both less than 90 degrees.

In this embodiment, as shown in fig. 11 to 12, the caterpillar band outward turning mechanism includes an outward turning spring member.

In this embodiment, as shown in fig. 12, a first protrusion 5612 connected to one end of the outer spring 560 is fixedly connected to the first inner frame 61, and a second protrusion 5622 connected to the other end of the outer spring 560 is fixedly connected to the second inner frame 62, in this embodiment, the first protrusion 5612 and the second protrusion 5622 included in the first inner frame 61 and the second inner frame 62 are both located at one side of the beam lower body 51, when the robot encounters fluid impact force, the first crawler belt 3 and the second crawler belt respectively stretch the outer spring 560 through the first inner frame 61 and the second inner frame 62 to increase the buffering, and prevent the robot from turning, rolling over or even turning up.

In other embodiments, as shown in fig. 12, the lower beam plate 51 includes a first sliding groove 5115 and a second sliding groove 5225, the first protrusion 5612 slides in the first sliding groove 5115, the second protrusion 5622 slides in the second sliding groove 5225, and the first track 3 and the second track stretch the outer rotating spring 560 through the first inner frame 61 and the second inner frame 62, respectively, to increase the damping and prevent the robot from rolling, rolling over, or even turning up. In order to ensure that the influence of the impact of the fluid on the first fixing shaft 610 and the second fixing shaft 620 can be reduced, in this embodiment, the cross section of the upper portions of the first inner frame 61 and the second inner frame 62 is preferably a double-fork structure, that is, the upper portions of the first inner frame 61 and the second inner frame 62 form a double-layer sandwich face, the double-layer sandwich face wraps the beam lower body 51, and the first protrusion 5612 and the second protrusion 5622 are connected to and penetrate through the two faces of the double-layer sandwich face of the first inner frame 61 and the second inner frame 62. In this case, it is preferable that an identical pair of side outer turning spring members (not shown) are disposed at the other side of the beam lower body 51, and both ends of the pair of side outer turning spring members are fixedly coupled to the first and

second projections

5612 and 5622, respectively.

In this embodiment, as shown in fig. 11, the outer turning spring member includes a first outer turning spring member 5611 and a second outer turning spring member; the first inner frame 61 is provided with a first protrusion 5612 connected to one end of the first outer turning spring 5611, and the other end of the first outer turning spring 5611 is fixedly connected to the beam lower plate 51, that is, fixedly connected to the structure 510 fixedly connected to the beam lower body 51; the second inner frame 62 is provided with a second protrusion 5622 connected with one end of the second turning spring 5621, and the other end of the second turning spring 5621 is fixedly connected with the beam lower plate 51, namely fixedly connected with the structure 520 fixedly connected with the beam lower body 51; when the robot encounters fluid impact force, the first crawler belt 3 and the second crawler belt stretch the first outer rotating spring piece 5611 and the second outer rotating spring piece 5621 through the first inner frame 61 and the second inner frame 62 respectively, so that buffering is increased, and the robot is prevented from turning over, turning over or even turning up.

In this embodiment, the beam lower plate 51 includes a first sliding groove 5115 and a second sliding groove 5225, and the first protrusion 5612 slides in the first sliding groove 5115; the second projections 5622 slide within the second chutes 5225. The first crawler belt 3 and the second crawler belt stretch the first outer rotating spring piece 5611 and the second outer rotating spring piece 5621 through the first inner frame 61 and the second inner frame 62 respectively to increase buffering, and prevent the robot from turning, turning on one's side or even turning on the back. In order to ensure that the influence of the impact of the fluid on the first fixing shaft 610 and the second fixing shaft 620 can be reduced, in this embodiment, the cross section of the upper portions of the first inner frame 61 and the second inner frame 62 is preferably a double-fork structure, that is, the upper portions of the first inner frame 61 and the second inner frame 62 form a double-layer sandwich face, the double-layer sandwich face wraps the beam lower body 51, and the first protrusion 5612 and the second protrusion 5622 are connected to and penetrate through the two faces of the double-layer sandwich face of the first inner frame 61 and the second inner frame 62. In this case, it is preferable that two identical opposite-side first and second outer spring members (not shown) are disposed at the other side of the beam lower body 51, one ends of the pair of first and second outer spring members (not shown) being fixedly coupled to the first and

second projections

5612 and 5622, respectively, and the other ends of the pair of first and second outer spring members (not shown). Fixedly attached to the structure 510 and the structure 520, respectively.

It should be noted that, in the structure 510 and the structure 520 of fig. 11, a first outer turning spring member 5611 and a second outer turning spring member 5621 are respectively fixedly connected to two sides of the lower body of the beam, and one end of the first outer turning spring member and one end of the second outer turning spring member are respectively connected to the two sides of the lower body of the beam, and a first protrusion 5612 and a second protrusion 5622 are respectively fixedly connected to the two ends of the first outer turning spring member 5611 and the second outer turning spring member 5621, and the other end of one end of the first outer turning spring member and the other end of one end of the second outer turning spring member are respectively connected to the two sides of the upper double-layered clamping surface of the first inner frame 61 and the second inner frame 62; namely: the nodes of the structures 510 and 520 connected to the first and second outer turn spring members 5611 and 5621, respectively, and the opposite first and second outer turn spring members should be overlapped or at least exceed the nodes of the first and second projections 5612 and 5622 connected to the other ends of the first and second outer turn spring members 5611 and 5621, and the opposite first and second outer turn spring members, respectively, in the vertical direction.

In other embodiments, as shown in fig. 10, the track turning mechanism (not shown) comprises a first track turning mechanism (not shown) and a second track turning mechanism (not shown); the first track outboard rotation mechanism includes: first track limiting holes 5111, 5112, 5113 and 5114 are formed in the beam lower plate 51, first track limiting hole pairs 561, corresponding to the first track limiting holes 5111, 5112, 5113 and 5114, of the first inner frame 61 are provided, and at least two first track limiting holes 5111, 5112, 5113 and 5114 are formed in the first inner frame; a first pin (not shown) for being inserted into the first track restricting hole (not shown) and the first track restricting pair hole 561 to fix the first angle θ;

the second track outward turning mechanism comprises: a second track limiting hole (not shown) formed in the lower beam plate, a second track limiting hole (not shown) corresponding to the second track limiting hole formed in the second inner frame 62, and at least two second track limiting holes; and a second pin (not shown) for being inserted into the second track limiting hole and the second track limiting hole to fix the second angle theta'.

In other embodiments, the shear resistance f of the first pin satisfies the relationship (2):

f≥k*m*g*h*sinθ/(12*cosθ) (2)

and k is an impact resistance safety coefficient, the value is 5-8, m is the sum of the self mass of the whole robot, the mass of different carried detection devices and the mass of the crawler belt, g is the gravity acceleration, h is the height of the crawler belt part of the crawler belt, and the selected height of the vehicle is 24 cm.

Similarly, the shearing resistance f 'of the second pin and the second angle θ' thereof also satisfy the relationship (2).

In all the embodiments, the anti-shearing force F of the tensioning shaft and the center shaft of the counterweight wheel satisfies the relation (3):

F≥k*m1*g/n+k*2*m2*g/3n+10 (3)

the system comprises a robot, a tension wheel, a balance weight wheel, a tension wheel, a motor, a transmission device and a control system, wherein k is.

In the present embodiment, the first angle θ and the second angle θ' are both 20 degrees.

Preferably, in practical use, the first angle theta and the second angle theta' jointly enable the vertical height of the robot to be reduced by 20-35 cm.

Preferably, in practical use, the first angle θ and the second angle θ' together enable the vertical height of the robot to be reduced by 25 cm.

The invention provides a crawler robot for detecting in a pipeline, which adopts a tension wheel and a tension structure connected with the tension wheel to ensure that a wheel set is tightly contacted with a crawler, ensure sufficient power of the crawler and prolong the service life of the crawler; the height and the width of the pipeline can be adjusted according to the fluid condition in the pipeline and the size of the pipeline.

The foregoing is only a preferred embodiment of the present invention, and it should be noted that, for those skilled in the art, various modifications and decorations can be made without departing from the principle of the present invention, and these modifications and decorations should also be regarded as the protection scope of the present invention.

Claims

1. A crawler robot for in-pipeline detection comprises a detection device, a main beam, a first wheel set, a first crawler and a first driving device, wherein the detection device is used for detecting the condition of a pipeline, the first driving device drives the first wheel set to drive the first crawler, and the first wheel set is connected with the main beam through a first inner fixed wheel side plate; the method is characterized in that:

the first internal tensioning mechanism comprises a first internal tensioning rod, a first internal limiting piece and a first internal limiting stopping piece; the first inner tensioning rod is fixedly connected with the tensioning shaft at a first angle of 70-110 degrees; the first inner limiting stop piece comprises a first inner tensioning rod hole matched with the first inner tensioning rod so as to enable the first inner tensioning rod to move in the first inner tensioning rod hole, and the first inner limiting stop piece is fixedly connected with the first inner fixed wheel side plate; the first inner limiting part abuts against the first inner limiting stop part, and the first inner limiting part and the first inner tensioning rod slide relatively to control a first inner distance of the first inner tensioning rod moving towards the tensioning shaft direction in the first inner tensioning rod hole, so that the tensioning shaft drives the first tensioning wheel to be in close contact with the first crawler belt.

2. The track robot of claim 1, further comprising a first outboard wheel side plate,

the tensioning shaft is positioned in the first outer tensioning chute;

the first outer tensioning mechanism comprises a first outer tensioning rod, a first outer limiting piece and a first outer limiting stopping piece; the first outer tension rod is fixedly connected with the tension shaft at a second angle, and the second angle is 70-110 degrees; the first outer limiting stop piece comprises a first outer tensioning rod hole matched with the first outer tensioning rod so as to enable the first outer tensioning rod to move in the first outer tensioning rod hole, and the first outer limiting stop piece is fixedly connected with a first outer fixed wheel side plate; the first outer limiting part abuts against the first outer limiting stop part to control a first outer distance for the first outer tension rod to move towards the tension shaft in the first outer tension rod hole, so that the tension shaft drives the first tension wheel to be in close contact with the first crawler belt;

the first inner distance is equal to the first outer distance.

3. The track robot as claimed in claim 1, wherein the first inner tightening rod is a threaded rod and the first inner limiting member is a nut.

4. The track robot of claim 1, wherein; the first inner limiting part is a first inner spring part in a compression state, and two ends of the first inner limiting part are respectively fixedly connected with the first inner limiting stop part and the tensioning shaft.

5. The track robot as claimed in claim 1, wherein the first driving wheel is located laterally above the first tension wheel, and an angle formed by a central axis of the first driving wheel and a line connecting two ends of the first internal tension chute is less than 30 degrees.

6. The track robot of claim 1, wherein the first drive wheel is laterally above the first tension wheel, the first drive wheel having a diameter greater than a diameter of the first tension wheel.

7. The track robot of claim 1, wherein said first support wheel is located above said first tensioning wheel side;

8. The track robot of claim 7, wherein the first support wheels are 1 in number and the counterweight wheels are 3 in number.

9. The track robot of claim 7, wherein the first track inner side includes an inner protrusion, and the first drive wheel, the first support wheel, the first tension wheel, and the weight wheel each include an inner recess that accommodates the inner protrusion to increase friction between the first track and the first wheel set.

10. The track robot of claim 1, wherein the detection device comprises a sonar image device.