CN210034775U

CN210034775U - Pipeline crawler

Info

Publication number: CN210034775U
Application number: CN201920557110.6U
Authority: CN
Inventors: 刘泓恺; 陈均峰; 黄裕宝; 王美奇; 刘兆
Original assignee: Beijing Institute of Technology Zhuhai
Current assignee: Beijing Institute of Technology Zhuhai
Priority date: 2019-04-19
Filing date: 2019-04-19
Publication date: 2020-02-07
Anticipated expiration: 2029-04-19

Abstract

The utility model discloses a pipeline crawler, including frame, three crawl mechanism, three flexible connecting rod device, cloud platform, defect detecting device, controlling means, the side of frame includes first side, second side, third side, and is three crawl the mechanism and pass through threely respectively flexible connecting rod device installs on the first side, second side, the third side of frame, and with the flexible drive of frame is connected, the cloud platform with the front end swivelling joint of frame, defect detecting device establish on the cloud platform, and controlling means installs in the frame, crawl mechanism, cloud platform, defect detecting device respectively with controlling means electric connection. The pipeline crawler can automatically adapt to the size change of a pipeline, and is good in adhesive force, strong in detection capability and high in detection efficiency.

Description

Pipeline crawler

Technical Field

The utility model relates to a crawler field especially relates to a pipeline crawler.

Background

In daily life, the pipeline has a wide application range: oil transportation, agricultural irrigation, municipal drainage, and the like. Over time, however, pipe blockage, pipe failure and cracking can occur, resulting in the egress of material from the pipe, causing serious damage and waste. Therefore, regular maintenance and overhaul are required, but the pipeline environment is severe, people are not easy to operate, and people are prohibited to enter the pipeline especially for small pipelines and pipelines such as seabed oil, natural gas and the like, so that a pipeline crawler needs to be researched.

Disclosure of Invention

An object of the utility model is to provide a pipeline crawler, this pipeline crawler can adapt to the pipeline size change automatically, and adhesive force is good, detection ability is strong, detection efficiency is high.

The technical scheme is as follows:

pipeline crawler, including frame, three mechanism of crawling, three telescopic link device, cloud platform, defect detecting device, controlling means of crawling, the side of frame includes first side, second side, third side, and is three the mechanism of crawling is respectively through three telescopic link device installs on the first side, second side, the third side of frame, and with the flexible drive of frame is connected, the cloud platform with the front end swivelling joint of frame, defect detecting device establish on the cloud platform, controlling means installs in the frame, the mechanism of crawling, cloud platform, defect detecting device respectively with controlling means electric connection.

The orientations of the first side surface, the second side surface and the third side surface are respectively a first direction, a second direction and a third direction, and an included angle between any two of the first direction, the second direction and the third direction is 120 degrees.

The frame comprises a first motor, three screw rods, a sliding ring and three bearing seats, the first motor is arranged in the frame and is electrically connected with the control device, the side surfaces of the frame further comprise a fourth side surface, a fifth side surface and a sixth side surface, the fourth side surface, the fifth side surface and the sixth side surface are respectively arranged at intervals with the first side surface, the second side surface and the third side surface, the three bearing seats are respectively arranged on the fourth side surface, the fifth side surface and the sixth side surface, the sliding ring is provided with three screw holes, one end of each screw rod is respectively and rotationally connected with each bearing seat, and the other end of each screw rod respectively penetrates through each screw hole to be in driving connection with the first motor; and the three telescopic connecting rod devices are connected with the frame in a telescopic driving manner through the slip ring.

The frame further comprises a telescopic driving gear and three telescopic driven gears, the telescopic driving gear is installed on a rotating shaft of the first motor, and the other end of each screw rod is meshed and connected with the telescopic driving gear through each telescopic driven gear.

The telescopic connecting rod device comprises a parallel four-bar mechanism, a first driving connecting rod and a second driving connecting rod, wherein two ends of the parallel four-bar mechanism are respectively hinged with the side face of the frame and the crawling mechanism, one ends of the first driving connecting rod and the second driving connecting rod are respectively hinged with two sides of the parallel four-bar mechanism, and the other ends of the first driving connecting rod and the second driving connecting rod are hinged with the sliding ring.

The parallel four-bar mechanism comprises a chassis, a guide rail, a first sliding block, a second sliding block, a third sliding block, a fourth sliding block, a first folding connecting rod, a second folding connecting rod, a third folding connecting rod, a fourth folding connecting rod, a first spring and a second spring, wherein the chassis is provided with a sliding groove, the guide rail is installed in the sliding groove, the first sliding block, the second sliding block, the third sliding block and the fourth sliding block are respectively in sliding connection with the guide rail, one end of the first folding connecting rod and the second folding connecting rod is hinged with the crawling mechanism, the other end of the first folding connecting rod and the other end of the second folding connecting rod are respectively hinged with the first sliding block and the second sliding block, one end of the third folding connecting rod and the fourth folding connecting rod is respectively hinged with the middle parts of the first folding connecting rod and the second folding connecting rod, and the other end of the third folding connecting rod and the fourth folding connecting rod is respectively hinged with the third sliding block, The fourth sliding block is hinged, one end of the first spring and one end of the second spring are respectively connected with the first sliding block and the second sliding block, and the other ends of the first spring and the second spring are respectively connected with two opposite groove walls of the sliding groove.

The defect detection device comprises a plurality of infrared sensors and cameras, the infrared sensors are uniformly distributed around the holder, and the cameras are installed at the front end of the holder.

The frame still includes the second motor, the second motor is installed on the side of frame, the cloud platform with the pivot swivelling joint of second motor.

The crawling mechanism comprises a third motor, a first rotating shaft, a second rotating shaft, a first support side plate, a second support side plate, a first walking side plate, a second walking side plate, a third walking side plate, a fourth walking side plate, a first driving gear, a first driving wheel, a second driving gear, a second driving wheel, a first driven gear, a second driven gear, a third driven gear, a fourth driven gear and a conveying belt;

the first driven gear and the second driven gear are rotatably mounted between the first walking side plate and the second walking side plate, the third driven gear and the fourth driven gear are rotatably mounted between the third walking side plate and the fourth walking side plate, the first walking side plate, the second walking side plate, the third walking side plate and the fourth walking side plate are respectively provided with a first rotating hole, a second rotating hole, a third rotating hole and a fourth rotating hole, the first bracket side plate is provided with a fifth rotating hole and a sixth rotating hole, the second bracket side plate is provided with a seventh rotating hole and an eighth rotating hole, and the first driving gear and the second driving gear are respectively provided with a first shaft hole and a second shaft hole;

the third motor is installed on the lateral surface of first support curb plate, the one end of first rotation axis with the pivot of third motor is connected, the other end of first rotation axis passes in proper order fifth commentaries on classics hole, first shaft hole, second commentaries on classics hole, seventh commentaries on classics hole with first action wheel is connected, the second rotation axis passes in proper order sixth commentaries on classics hole, third commentaries on classics hole, second shaft hole, fourth commentaries on classics hole, eighth commentaries on classics hole with the second action wheel is connected, the both ends of conveyer belt twine respectively on first action wheel, the second action wheel.

The crawling mechanism further comprises a transmission crawler, and two ends of the transmission crawler are wound on the first driven gear, the second driven gear, the third driven gear and the fourth driven gear respectively.

It should be noted that:

the foregoing references to "first and second …" do not denote any particular quantity or order, but rather are used to distinguish one name from another.

The advantages or principles of the invention are explained below:

1. the pipeline crawler comprises a frame, three crawling mechanisms, three telescopic connecting rod devices, a cloud deck, a defect detection device and a control device, wherein the three crawling mechanisms are respectively arranged on a first side surface, a second side surface and a third side surface of the frame through the three telescopic connecting rod devices and are connected with the frame in a telescopic driving mode; the defect detection device is arranged on the holder and used for detecting the conditions of pipeline blockage, pipeline failure, cracking and the like; the pipeline crawler can automatically adapt to the size change of a pipeline, and is good in adhesive force, strong in detection capability and high in detection efficiency.

2. The included angle between any two of the first direction, the second direction and the third direction is 120 degrees, so that the three crawling mechanisms are uniformly distributed around the frame in the stretching direction, and the adhesion force between the crawling mechanisms and the pipeline is improved.

3. The three telescopic connecting rod devices are connected with the frame in a telescopic driving mode through the sliding ring, the crawling mechanism is convenient to stretch, and the capacity of adapting to the size change of a pipeline is improved.

4. Each screw rod is meshed and connected with the telescopic driving gear through each telescopic driven gear, and the slip ring slides relative to the frame along the screw rod direction.

5. The telescopic connecting rod device comprises a parallel four-bar mechanism, a first driving connecting rod and a second driving connecting rod, when the telescopic connecting rod device is used, a first motor drives a sliding ring to slide along a lead screw, the sliding ring drives the first driving connecting rod and the second driving connecting rod to enable the parallel four-bar mechanism to stretch and move, and the crawling mechanism stretches relative to a frame.

6. When crawling the mechanism walking and meetting the barrier, parallel four-bar linkage passes through first sliding block, the second sliding block, the third sliding block, the fourth sliding block slides on the guide rail, realize first folding connecting rod, the second folding connecting rod, the third folding connecting rod, the fourth folding connecting rod is folding, first sliding block, the first spring of second sliding block compression, the second spring, thereby make the distance between crawling mechanism and the chassis shorten, when crawling the mechanism and crossing the barrier, because the characteristic of spring, first spring, the second spring rebounds, first spring, the second spring promotes first sliding block, the second sliding block, thereby make the distance extension between crawling mechanism and the chassis, resume original length.

7. The defect detection device comprises a plurality of infrared sensors and cameras, defect information of defect positions is obtained through the cooperation of the infrared sensors and the cameras, the detected defect information is fed back to the control device, and the detection efficiency is improved.

8. The cloud platform drives swivelling joint with the pivot of second motor, realizes cloud platform all-round rotation, makes defect detection device aim at the defect position, improves the degree of accuracy that detects.

9. Through starting that the first rotation axis of third motor drive is rotatory, first rotation axis drives first drive gear, first action wheel rotation respectively, and first action wheel passes through conveyer belt drive second action wheel, the second rotation axis is rotatory, and the second rotation axis drives the rotation of second drive gear, and the rethread first drive gear, the first driven gear of second drive gear drive, second driven gear, third driven gear, fourth driven gear to the realization is crawled the mechanism and is walked.

10. The crawler belt is driven by the first driven gear, the second driven gear, the third driven gear and the fourth driven gear, so that the crawling mechanism can walk more stably, and the walking adhesive force of the crawling mechanism is improved.

Drawings

Fig. 1 is a first perspective view of a pipeline crawler according to an embodiment of the present invention.

Fig. 2 is a schematic perspective view of a pipeline crawler according to an embodiment of the present invention.

Fig. 3 is a side view of the crawling mechanism of the pipeline crawler according to the embodiment of the present invention.

Fig. 4 is an exploded view of the crawling mechanism of the pipeline crawler according to the embodiment of the present invention.

Fig. 5 is a front view of the frame of the pipeline crawler according to the embodiment of the present invention.

Fig. 6 is a cross-sectional view of a frame of a pipeline crawler according to an embodiment of the present invention.

Description of reference numerals:

10. a frame, 11, a first motor, 12, a screw, 13, a slip ring, 14, a bearing seat, 15, a telescopic driving gear, 16, a telescopic driven gear, 17, a second motor, 20, a crawling mechanism, 21, a third motor, 221, a first rotating shaft, 222, a second rotating shaft, 231, a first bracket side plate, 232, a second bracket side plate, 241, a first walking side plate, 242, a second walking side plate, 243, a third walking side plate, 244, a fourth walking side plate, 251, a first driving gear, 252, a second driving gear, 261, a first driving wheel, 262, a second driving wheel, 271, a first driven gear, 272, a second driven gear, 273, a third driven gear, 274, a fourth driven gear, 28, a conveyor belt, 29, a transmission track, 30, a telescopic link device, 31, a parallel mechanism, 311, a chassis, 312, a slide block, 313, a first four-bar, 314. the second sliding block 315, the third sliding block 316, the fourth sliding block 317, the first folding link 318, the second folding link 319, the third folding link 320, the fourth folding link 321, the first spring 322, the second spring 33, the first driving link 34, the second driving link 40, the pan/tilt head 50, the defect detecting device 51, the infrared sensor 52, and the camera.

Detailed Description

The following describes embodiments of the present invention in detail.

As shown in fig. 1 to 6, the pipeline crawler includes a frame 10, three crawling mechanisms 20, three telescopic link devices 30, a cradle head 40, a defect detection device 50, and a control device, where the side of the frame 10 includes a first side, a second side, and a third side, the three crawling mechanisms 20 are respectively installed on the first side, the second side, and the third side of the frame 10 through the three telescopic link devices 30, and are connected with the frame 10 in a telescopic driving manner, the cradle head 40 is rotatably connected with the front end of the frame 10, the defect detection device 50 is installed on the cradle head 40, the control device is installed in the frame 10, and the crawling mechanisms 20, the cradle head 40, and the defect detection device 50 are respectively electrically connected with the control device.

The orientations of the first side surface, the second side surface and the third side surface are respectively a first direction, a second direction and a third direction, and an included angle between any two of the first direction, the second direction and the third direction is 120 degrees;

the frame 10 comprises a first motor 11, three screw rods 12, a slip ring 13, three bearing seats 14, a telescopic driving gear 15, three telescopic driven gears 16 and a second motor 17, wherein the first motor 11 is arranged in the frame 10, the side surfaces of the frame 10 further include a fourth side surface, a fifth side surface and a sixth side surface, the fourth side surface, the fifth side surface and the sixth side surface are respectively arranged at intervals with the first side surface, the second side surface and the third side surface, three bearing seats 14 are respectively arranged on the fourth side surface, the fifth side surface and the sixth side surface, the slip ring 13 is provided with three screw holes, one end of each screw rod 12 is respectively and rotatably connected with each bearing seat 14, the other end of each screw rod 12 respectively penetrates through each screw hole to be connected with each telescopic driven gear 16, the telescopic driving gear 15 is arranged on a rotating shaft of the first motor 11, and each telescopic driven gear 16 is meshed with the telescopic driving gear 15; the three telescopic connecting rod devices 30 are connected with the frame 10 in a telescopic driving way through a sliding ring 13; the second motor 17 is arranged on the side surface of the frame 10, and the cloud deck 40 is rotationally connected with a rotating shaft of the second motor 17;

the telescopic connecting rod device 30 comprises a parallel four-bar mechanism 31, a first driving connecting rod 33 and a second driving connecting rod 34, two ends of the parallel four-bar mechanism 31 are respectively hinged with the side surface of the frame 10 and the crawling mechanism 20, one ends of the first driving connecting rod 33 and the second driving connecting rod 34 are respectively hinged with two sides of the parallel four-bar mechanism, and the other ends of the first driving connecting rod 33 and the second driving connecting rod 34 are hinged with the slip ring 13;

the parallelogram linkage 31 comprises a chassis 311, a guide rail 312, a first sliding block 313, a second sliding block 314, a third sliding block 315, a fourth sliding block 316, a first folding link 317, a second folding link 318, a third folding link 319, a fourth folding link 320, a first spring 321 and a second spring 322, the chassis 311 is provided with a sliding slot, the guide rail 312 is arranged in the sliding slot, the first sliding block 313, the second sliding block 314, the third sliding block 315 and the fourth sliding block 316 are respectively connected with the guide rail 312 in a sliding way, one end of the first folding link 317 and one end of the second folding link 318 are hinged with the crawling mechanism 20, the other end of the first folding link 317 and the other end of the second folding link 318 are respectively hinged with the first sliding block 313 and the second sliding block 314, one end of the third folding link 319 and one end of the fourth folding link 320 are respectively hinged with the middle parts of the first folding link 317 and the second folding link 318, the third folding link 319, the third folding link, The other end of the fourth folding link 320 is hinged to the third sliding block 315 and the fourth sliding block 316, one end of the first spring 321 and one end of the second spring 322 are connected to the first sliding block 313 and the second sliding block 314, and the other end of the first spring 321 and the other end of the second spring 322 are connected to two opposite groove walls of the sliding groove.

The defect detection device 50 comprises a plurality of infrared sensors 51 and a camera 52, wherein the infrared sensors 51 are uniformly distributed around the holder 40, and the camera 52 is arranged at the front end of the holder 40;

the crawler mechanism 20 includes a third motor 21, a first rotating shaft 221, a second rotating shaft 222, a first rack side plate 231, a second rack side plate 232, a first traveling side plate 241, a second traveling side plate 242, a third traveling side plate 243, a fourth traveling side plate 244, a first driving gear 251, a first driving wheel 261, a second driving gear 252, a second driving wheel 262, a first driven gear 271, a second driven gear 272, a third driven gear 273, a fourth driven gear 274, a conveyor belt 28, and a crawler belt 29, wherein the first driven gear 271, the second driven gear 272 are rotatably installed between the first traveling side plate 241 and the second traveling side plate 242, the third driven gear 273, the fourth driven gear 274 are rotatably installed between the third traveling side plate 243 and the fourth traveling side plate 244, and the first traveling side plate 241, the second traveling side plate 242, the third traveling side plate 243, and the fourth traveling side plate 244 respectively have a first rotating hole, a second rotating hole, a third rotating hole, a, A second rotating hole, a third rotating hole and a fourth rotating hole, wherein the first bracket side plate 231 is provided with a fifth rotating hole and a sixth rotating hole, the second bracket side plate 232 is provided with a seventh rotating hole and an eighth rotating hole, and the first driving gear 251 and the second driving gear 252 are respectively provided with a first shaft hole and a second shaft hole; the third motor 21 is installed on the outer side surface of the first bracket side plate 231, one end of the first rotating shaft 221 is connected with a rotating shaft of the third motor 21, the other end of the first rotating shaft 221 sequentially passes through the fifth rotating hole, the first shaft hole, the second rotating hole and the seventh rotating hole to be connected with the first driving wheel 261, the second rotating shaft 222 sequentially passes through the sixth rotating hole, the third rotating hole, the second shaft hole, the fourth rotating hole and the eighth rotating hole to be connected with the second driving wheel 262, and two ends of the conveyor belt 28 are respectively wound on the first driving wheel 261 and the second driving wheel 262;

both ends of the driving crawler 29 are wound around the first driven gear 271, the second driven gear 272, the third driven gear 273, and the fourth driven gear 274, respectively.

The embodiment has the following advantages:

1. the pipeline crawler comprises a frame 10, three crawling mechanisms 20, three telescopic connecting rod devices 30, a cloud deck 40, a defect detection device 50 and a control device, wherein the three crawling mechanisms 20 are respectively installed on a first side surface, a second side surface and a third side surface of the frame 10 through the three telescopic connecting rod devices 30 and are connected with the frame 10 in a telescopic driving mode, and the crawling mechanisms 20 and the frame 10 are driven in a telescopic driving mode and are used for adapting to pipelines with different diameters; the defect detection device 50 is arranged on the holder 40, and the defect detection device 50 is used for detecting the conditions of pipeline blockage, pipeline failure, cracking and the like; the pipeline crawler can automatically adapt to the size change of a pipeline, and is good in adhesive force, strong in detection capability and high in detection efficiency.

2. The included angle between any two of the first direction, the second direction and the third direction is 120 degrees, so that the three crawling mechanisms 20 are uniformly distributed around the frame 10 in the stretching direction, and the adhesive force between the crawling mechanisms 20 and the pipeline is improved.

3. The three telescopic connecting rod devices 30 are connected with the frame 10 in a telescopic driving mode through the sliding rings 13, so that the crawling mechanism 20 can conveniently stretch, and the capacity of adapting to the size change of a pipeline is improved.

4. Each screw rod 12 is meshed with a telescopic driving gear 15 through a telescopic driven gear 16, so that the slip ring 13 slides relative to the frame 10 along the direction of the screw rod 12.

5. The telescopic link device 30 comprises a parallel four-bar mechanism 31, a first driving link 33 and a second driving link 34, when the telescopic link device is used, the first motor 11 drives the slip ring 13 to slide along the screw rod 12, and the slip ring 13 drives the first driving link 33 and the second driving link 34 to enable the parallel four-bar mechanism 31 to stretch and retract, so that the crawling mechanism 20 stretches and retracts relative to the frame 10.

6. When the crawling mechanism 20 runs and meets an obstacle, the parallelogram linkage 31 slides on the guide rail 312 through the first sliding block 313, the second sliding block 314, the third sliding block 315 and the fourth sliding block 316 to realize folding of the first folding link 317, the second folding link 318, the third folding link 319 and the fourth folding link 320, the first sliding block 313 and the second sliding block 314 compress the first spring 321 and the second spring 322, so that the distance between the crawling mechanism 20 and the chassis 311 is shortened, when the crawling mechanism 20 passes through the obstacle, the first spring 321 and the second spring 322 rebound due to the characteristics of the springs, and the first spring 321 and the second sliding block 322 push the first sliding block 313 and the second sliding block 314, so that the distance between the crawling mechanism 20 and the chassis 311 is extended and the original length is recovered.

7. The defect detection device 50 comprises a plurality of infrared sensors 51 and cameras 52, acquires defect information of defect positions through cooperation of the infrared sensors 51 and the cameras 52, and feeds the detected defect information back to the control device, so that the detection efficiency is improved.

8. The rotational shaft of cloud platform 40 and second motor 17 drives swivelling joint, realizes cloud platform 40 all-round rotation, makes defect detection device 50 aim at the defect position, improves the degree of accuracy that detects.

9. The first rotating shaft 221 is driven to rotate by starting the third motor 21, the first rotating shaft 221 drives the first driving gear 251 and the first driving gear 261 to rotate respectively, the first driving gear 261 drives the second driving gear 262 and the second rotating shaft 222 to rotate through the conveyor belt 28, the second rotating shaft 222 drives the second driving gear 252 to rotate, and the first driving gear 251 and the second driving gear 252 drive the first driven gear 271, the second driven gear 272, the third driven gear 273 and the fourth driven gear 274, so that the crawling mechanism 20 walks.

10. The crawler belt is driven by the first driven gear 271, the second driven gear 272, the third driven gear 273 and the fourth driven gear 274, so that the crawling mechanism 20 can walk more stably, and the walking adhesive force of the crawling mechanism 20 is improved.

The above are only specific embodiments of the present invention, and the protection scope of the present invention is not limited thereby; any replacement and improvement made on the basis of not violating the conception of the utility model belong to the protection scope of the utility model.

Claims

1. Pipeline crawler, its characterized in that includes frame, three mechanism of crawling, three telescopic link device, cloud platform, defect detecting device, controlling means, the side of frame includes first side, second side, third side, and is three the mechanism of crawling is installed through three telescopic link device respectively on the first side, second side, the third side of frame, and with the flexible drive of frame is connected, the cloud platform with the front end swivelling joint of frame, defect detecting device establish on the cloud platform, and controlling means installs in the frame, the mechanism of crawling, cloud platform, defect detecting device respectively with controlling means electric connection.

2. The pipe crawler of claim 1, wherein the first, second, and third sides are oriented in a first direction, a second direction, and a third direction, respectively, and wherein an angle between any of the first, second, and third directions is 120 degrees.

3. The pipeline crawler according to claim 1, wherein the frame comprises a first motor, three lead screws, a slip ring, and three bearing seats, the first motor is installed in the frame and electrically connected to the control device, the side surfaces of the frame further comprise a fourth side surface, a fifth side surface, and a sixth side surface, the fourth side surface, the fifth side surface, and the sixth side surface are respectively spaced from the first side surface, the second side surface, and the third side surface, the three bearing seats are respectively installed on the fourth side surface, the fifth side surface, and the sixth side surface, the slip ring has three screw holes, one end of each lead screw is respectively rotatably connected to each bearing seat, and the other end of each lead screw is respectively connected to the first motor through each screw hole; and the three telescopic connecting rod devices are connected with the frame in a telescopic driving manner through the slip ring.

4. The pipeline crawler according to claim 3, wherein the frame further comprises a telescopic driving gear and three telescopic driven gears, the telescopic driving gear is mounted on a rotating shaft of the first motor, and the other end of each lead screw is meshed with the telescopic driving gear through each telescopic driven gear.

5. The pipe crawler according to claim 3, wherein the pantograph linkage comprises a parallelogram linkage, a first driving link and a second driving link, both ends of the parallelogram linkage are respectively hinged with the side of the frame and the crawling mechanism, one ends of the first driving link and the second driving link are respectively hinged with both sides of the parallelogram linkage, and the other ends of the first driving link and the second driving link are hinged with the slip ring.

6. The pipe crawler of claim 5, wherein the parallelogram linkage comprises a chassis, a guide rail, a first sliding block, a second sliding block, a third sliding block, a fourth sliding block, a first folding link, a second folding link, a third folding link, a fourth folding link, a first spring, and a second spring, the chassis has a sliding slot, the guide rail is installed in the sliding slot, the first sliding block, the second sliding block, the third sliding block, and the fourth sliding block are slidably connected with the guide rail, respectively, one end of the first folding link and one end of the second folding link are hinged with the crawler mechanism, the other end of the sliding block of the first folding link and the other end of the second folding link are hinged with the first sliding block and the second sliding block, respectively, one end of the third folding link and one end of the fourth folding link are hinged with the middle parts of the first folding link and the second folding link, respectively, the other ends of the third folding connecting rod and the fourth folding connecting rod are respectively hinged with the third sliding block and the fourth sliding block, one ends of the first spring and the second spring are respectively connected with the first sliding block and the second sliding block, and the other ends of the first spring and the second spring are respectively connected with two opposite groove walls of the sliding groove.

7. The pipe crawler according to any one of claims 1 to 6, wherein said defect detection means comprises a plurality of infrared sensors and a camera, said plurality of infrared sensors being uniformly distributed around said pan/tilt head, said camera being mounted at a front end of said pan/tilt head.

8. The pipe crawler of claim 7, wherein said frame further comprises a second motor mounted on a side of said frame, said pan head being rotatably connected to a shaft of said second motor.

9. The pipe crawler according to any one of claims 1 to 6, wherein the crawler mechanism comprises a third motor, a first rotation shaft, a second rotation shaft, a first bracket side plate, a second bracket side plate, a first walking side plate, a second walking side plate, a third walking side plate, a fourth walking side plate, a first driving gear, a first driving wheel, a second driving gear, a second driving wheel, a first driven gear, a second driven gear, a third driven gear, a fourth driven gear, a conveyor belt;

10. The pipeline crawler of claim 9, wherein the crawler mechanism further comprises a drive track having ends wound around the first, second, third, and fourth driven gears, respectively.