Automatic crawling polishing robot for pipe body surface

Abstract

The invention discloses an automatic crawling polishing robot for the surface of a pipe body, which comprises a main shaft with a first end and a second end; the crawling mechanism comprises a bracket mounted on the main shaft and a crawler belt part mounted on the bracket and used for walking; the grinding mechanism is mounted at the first end of the main shaft; the driving part is mounted on the main shaft; and a positioning mechanism. When entering the inner side of the pipe body, the device can move in the pipe body, when the device reaches the position needing to be ground, the device moves towards the first end through the moving part, when the unfolding part reaches the unfolding state, the adsorption part can make contact with the pipe wall of the rotating side, and therefore the stability of the device during grinding is improved, and when the unfolding part reaches the folded state, the adsorption part can make contact with the pipe wall of the rotating side. And the adsorption piece can be separated from the rotating side pipe wall, so that the whole device moves more smoothly.

Description

Technical Field

[0001] The invention relates to the technical field of pipe surface grinding robots, and in particular to an automatic crawling grinding robot for the surface of a pipe body. Background Art

[0002] The pipe internal surface polishing robot is an automated equipment specially used for cleaning and polishing the inner wall of the pipe. Compared with manual polishing, the polishing robot can reach the inside of a narrower pipe for polishing, and avoids the problem of polishing inside the pipe, because the high dust content caused by poor air circulation on the inner wall of the pipe is harmful to health.

[0003] In the prior art, when grinding the rotating side surface of a tube body inside the tube body, because the cross-section of the entire tube body is generally circular, it is easy for the grinding robot to shake too much inside the tube body during the grinding process, resulting in poor grinding effect. Therefore, the present invention proposes an automatic crawling grinding robot for the surface of the tube body. Summary of the invention

[0004] In view of the problem of poor grinding stability in the above-mentioned prior art, the present invention is proposed.

[0005] Therefore, the object of the present invention is to provide an automatic crawling polishing robot for the surface of a pipe body.

[0006] To solve the above technical problems, the present invention provides the following technical solutions: an automatic crawling and polishing robot for the surface of a tube, comprising a main shaft having a first end and a second end; a crawling mechanism, comprising a bracket installed on the main shaft, and a crawler part installed on the bracket for walking; a polishing mechanism, which is installed on the first end of the main shaft; a driving member, which is installed on the main shaft; and a positioning mechanism, comprising a moving member that can be driven by the driving member, an unfolding member installed on the moving member, and an adsorption member installed on the unfolding member; when the moving member moves in different directions, it can drive the unfolding member to switch between unfolded and folded states.

[0007] As a preferred solution of the automatic crawling polishing robot for the surface of the tube body described in the present invention, the polishing mechanism includes a turntable rotatably installed on the first end of the main shaft, an extension arm installed on the turntable, and a friction body installed on the extension arm. The automatic crawling polishing robot for the surface of the tube body also includes a power part, which is used to drive the polishing mechanism.

[0008] As a preferred solution of the automatic crawling polishing robot for the surface of the tube body described in the present invention, wherein: the driving member includes a sliding rod capable of sliding on the main shaft; the movable member is connected to the sliding rod; the unfolding member includes a connecting pin and a rocker rod; the adsorption member is installed at the end of the rocker rod; one end of the connecting pin is rotatably connected to the sliding rod, the other end of the connecting pin is rotatably connected to the rocker rod, one end of the rocker rod is rotatably installed on the second end of the main shaft, and the adsorption member is installed at the end of the rocker rod away from the main shaft.

[0009] As a preferred solution of the automatic crawling polishing robot for the surface of the tube body described in the present invention, the adsorption component includes a universal ball installed on the rocker arm, a convex part installed on the universal ball, and a magnetic body installed on the convex part.

[0010] As a preferred solution of the automatic crawling polishing robot for the surface of the tube body described in the present invention, the first end of the main shaft is equipped with a placement cover, a bearing body is installed inside the placement cover, and a corotating shaft is installed on the inner ring of the bearing body; the turntable is fixedly installed on the corotating shaft.

[0011] As a preferred solution of the automatic crawling polishing robot for the surface of the tube body described in the present invention, the power part includes a motor installed on the main shaft, a transmission shaft that can be driven by the motor, and an inner disk connected to the transmission shaft; when the inner disk rotates, it can drive the same rotating shaft to rotate synchronously.

[0012] As a preferred solution of the automatic crawling polishing robot for the surface of the tube body described in the present invention, wherein: the end of the sliding rod away from the moving part extends to the first end of the main shaft and is connected to the transmission shaft; a pushing pin is also arranged between the inner disk and the extension arm, a sliding groove is opened on the turntable, and the extension arm is slidably installed on the inner side of the sliding groove.

[0013] As a preferred solution of the automatic crawling polishing robot for the surface of the tube body described in the present invention, a through groove is provided on the radial outer wall of the corotating shaft, and the pushing pin passes through the through groove.

[0014] As a preferred solution of the automatic crawling polishing robot for the surface of the tube body described in the present invention, the motor and the transmission shaft are connected through a driven gear disc and a driving gear disc; the driving gear disc is installed on the output shaft of the motor; a slot is provided on the transmission shaft, and a card block is provided on the driven gear disc, and the card block can be slidably extended to the inner side of the slot.

[0015] As a preferred solution of the automatic crawling polishing robot for the surface of the tube body described in the present invention, the two axial side walls of the driven gear disc are both provided with side plates, and the active gear disc extends between the two side plates.

[0016] The beneficial effects of the present invention are as follows: when the device enters the inner side of the tube body, it can move inside the tube body. When it reaches the position requiring grinding, it moves toward the first end through the moving part. When the unfolding part reaches the unfolded state, the adsorption part can contact the rotating side tube wall, thereby improving the stability of the device during grinding. When the unfolding part reaches the folded state, the adsorption part can be separated from the rotating side tube wall, thereby allowing the entire device to move more smoothly. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the following briefly introduces the drawings required for describing the embodiments. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work. Among them:

[0018] Figure 1 It is a schematic diagram of the overall structure of the automatic crawling polishing robot for the surface of a pipe body of the present invention.

[0019] Figure 2 It is a schematic diagram of the positioning mechanism structure described in the present invention.

[0020] Figure 3 It is a schematic diagram of the working state of the automatic crawling polishing robot for the surface of a pipe body of the present invention.

[0021] Figure 4 It is a schematic diagram of the internal structure of the automatic crawling polishing robot for the surface of a pipe body of the present invention.

[0022] Figure 5 It is a schematic diagram of the structure of the grinding mechanism described in the present invention.

[0023] Figure 6 It is a schematic diagram of the structure of the grinding mechanism and power parts described in the present invention.

[0024] Figure 7 It is a schematic diagram of the structure of the power component described in the present invention. DETAILED DESCRIPTION

[0025] In order to make the above-mentioned objects, features and advantages of the present invention more obvious and easy to understand, the specific implementation methods of the present invention are described in detail below in conjunction with the accompanying drawings.

[0026] In the following description, many specific details are set forth to facilitate a full understanding of the present invention, but the present invention may also be implemented in other ways different from those described herein, and those skilled in the art may make similar generalizations without violating the connotation of the present invention. Therefore, the present invention is not limited to the specific embodiments disclosed below.

[0027] Secondly, the term "one embodiment" or "embodiment" as used herein refers to a specific feature, structure, or characteristic that may be included in at least one implementation of the present invention. The term "in one embodiment" that appears in different places in this specification does not necessarily refer to the same embodiment, nor is it a separate or selective embodiment that is mutually exclusive with other embodiments.

[0028] Secondly, the present invention is described in detail with reference to the schematic diagram. When describing the embodiments of the present invention in detail, for the sake of convenience, the cross-sectional diagrams showing the device structure will not be partially enlarged according to the general scale, and the schematic diagrams are only examples, which should not limit the scope of protection of the present invention. In addition, in actual production, the three-dimensional dimensions of length, width and depth should be included.

[0029] Example 1, reference Figure 1 , provides an automatic crawling polishing robot for a pipe surface, including a main shaft 100 having a first end 101 and a second end 102; the main shaft 100 is the main body of the entire device, and in this embodiment, the main body is a long tubular structure.

[0030] The automatic crawling polishing robot for the surface of a pipe body includes a crawling mechanism 200, including a bracket 201 installed on a main shaft 100, and a track portion 202 installed on the bracket 201 for walking; in this embodiment, the number of brackets 201 is 3 groups, and the angle between each group of brackets 201 is 120 degrees. The track portion 202 is installed on the main shaft 100 through the bracket 201, and the track portion 202 can drive the entire device to move inside the pipe body. Furthermore, an adsorption magnet can be arranged on the track portion 202 to enhance the adsorption force between the track portion 202 and the pipe body, so that the device can move stably inside the pipe body.

[0031] The automatic crawling grinding robot for the pipe surface comprises a grinding mechanism 300 mounted on the first end 101 of the spindle 100; when the entire device moves inside the pipe, the grinding mechanism 300 can grind the rotating inner surface of the pipe.

[0032] The automatic crawling polishing robot for the pipe surface comprises a driving member 400 which is mounted on the main shaft 100 ; the driving member 400 can drive the moving member 501 to move.

[0033] The automatic crawling polishing robot for the surface of the tube body also includes a positioning mechanism 500, including a moving part 501 that can be driven by a driving part 400, an unfolding part 502 installed on the moving part 501, and an adsorption part 503 installed on the unfolding part 502; when the moving part 501 moves in different directions, it can drive the unfolding part 502 to switch between the unfolded and folded states.

[0034] The driving member 400 can adjust the position of the moving member 501 and drive the moving member 501 to move. In this embodiment, when the moving member 501 moves toward the first end 101, the unfolding member 502 can reach an unfolded state, so that the adsorption member 503 can adsorb the inner wall of the tube body. When the moving member 501 moves toward the second end 102, the unfolding member 502 can reach a folded state, so that the adsorption member 503 can be separated from the side wall of the tube body.

[0035] like Figure 3 , in which a simulated tube 900 and a rotating side tube wall 800 of the simulated tube 900 are shown. When the device enters the inner side of the simulated tube 900, it can move inside the simulated tube 900. When it reaches the position requiring grinding, it moves toward the first end 101 through the moving part 501. When the unfolding part 502 reaches the unfolded state, the adsorption part 503 can contact the rotating side tube wall 800, thereby improving the stability of the device during grinding. When the unfolding part 502 reaches the folded state, the adsorption part 503 can be separated from the rotating side tube wall 800, thereby allowing the entire device to move more smoothly.

[0036] like Figure 2 Specifically, the driving member 400 includes a slide bar 401 that can slide on the main shaft 100; the moving member 501 is connected to the slide bar 401; the unfolding member 502 includes a connecting pin 502a and a rocker bar 502b; the adsorption member 503 is installed at the end of the rocker bar 502b; one end of the connecting pin 502a is rotatably connected to the slide bar 401, and the other end of the connecting pin 502a is rotatably connected to the rocker bar 502b, one end of the rocker bar 502b is rotatably installed on the second end 102 of the main shaft 100, and the adsorption member 503 is installed at the end of the rocker bar 502b away from the main shaft 100.

[0037] The automatic crawling grinding robot for the pipe surface further comprises a power component 600 , and the power component 600 is used to drive the grinding mechanism 300 .

[0038] The slide bar 401 needs to be able to move along the axial direction of the main shaft 100, and there are multiple options for its driving method. For example, a driving motor is set inside the main shaft 100 to drive the slide bar 401 to move linearly through a rack and gear. An electric push rod can also be set inside the main shaft 100 to drive the slide bar 401 to move linearly. The moving member 501 is fixedly connected to the slide bar 401. The number of the moving members 501 is four, and the number of the connecting pins 502a is four. Figure 2One end of the connecting pin 502a is rotatably installed on the moving member 501 by means of an axial connection. The four connecting pins 502a are all connected to the moving member 501. The ends of the four connecting pins 502a away from the moving member 501 are respectively connected to the four swing rods 502b one by one by means of an axial connection. One end of the four swing rods 502b is rotatably installed on the second end 102 of the main shaft 100 by means of an axial connection. When the moving member 501 moves toward the first end 101, the angle between the connecting pin 502a and the swing rod 502b changes, prompting the ends of the four swing rods 502b equipped with the adsorption members 503 to swing in a direction away from the moving member 501, that is, to move toward the inner wall of the tube body, so that the entire unfolding member 502 reaches the unfolded state. When the moving member 501 moves toward the second end 102, the four ends of the white rice equipped with the adsorption members 503 are prompted to swing in a direction close to the moving member 501, so that the entire unfolding member 502 reaches the folded state.

[0039] When unfolded, it can drive the adsorption component 503 close to the inner wall of the tube body. When the adsorption component 503 is adsorbed on the inner wall of the tube body, it can stabilize the entire device. When folded, it can drive the adsorption component 503 to move away from the inner wall of the tube body. When the adsorption component 503 is away from the inner wall of the tube body, it can avoid the problem that the unfolding component 502 may cause obstruction when the entire device crawls on the inner wall of the tube body.

[0040] Furthermore, the adsorption member 503 includes a universal ball 503a installed on the swing rod 502b, a protrusion 503b installed on the universal ball 503a, and a magnetic body 503c installed on the protrusion 503b.

[0041] The reason for using the universal ball 503a is that when the magnetic body 503c is close to the tube body, the direction of the magnetic body 503c can be adjusted by suction, so that the magnetic body 503c can be stably adsorbed on the tube body.

[0042] Example 2, reference Figure 1 This embodiment is different from the first embodiment in that the grinding mechanism 300 includes a turntable 301 rotatably mounted on the first end 101 of the main shaft 100 , an extension arm 302 mounted on the turntable 301 , and a friction body 303 mounted on the extension arm 302 .

[0043] When the entire device is located inside the tube, the rotation of the turntable 301 can drive the extension arm 302 to rotate, and the rotation of the extension arm 302 can drive the friction body 303 and the inner wall of the rotating side of the tube to rub against each other, thereby achieving the effect of polishing the surface of the tube.

[0044] like Figure 4 and Figure 5Specifically, a first end 101 of the main shaft 100 is installed with a placement cover 103, a bearing body 104 is installed inside the placement cover 103, and a co-rotating shaft 105 is installed on the inner ring of the bearing body 104; the turntable 301 is fixedly installed on the co-rotating shaft 105.

[0045] A bearing groove is provided inside the housing cover 103 , an outer ring of the bearing body 104 is fixed inside the bearing groove, and the rotating shaft 105 is installed on the inner ring of the bearing body 104 . Therefore, when the rotating shaft 105 rotates, it can drive the turntable 301 to rotate.

[0046] Furthermore, the power component 600 includes a motor 601 installed on the main shaft 100, a transmission shaft 602 that can be driven by the motor 601, and an inner disk 603 connected to the transmission shaft 602; when the inner disk 603 rotates, it can drive the rotating shaft 105 to rotate synchronously.

[0047] The motor 601 can drive the transmission shaft 602 to rotate, the transmission shaft 602 drives the inner disk 603 to rotate, the inner disk 603 drives the rotating shaft 105 to rotate, and the rotating shaft 105 drives the rotating disk 301 to rotate, thereby driving the entire grinding mechanism 300 to work and grind the inner wall of the tube body.

[0048] The rest of the structure is the same as that of Example 1.

[0049] Example 3, reference Figure 6 This embodiment is different from the above embodiments in that: one end of the slide rod 401 away from the moving member 501 extends to the first end 101 of the main shaft 100 and is connected to the transmission shaft 602; a push pin 700 is also provided between the inner disk 603 and the extension arm 302, a slide groove 301a is provided on the turntable 301, and the extension arm 302 is slidably installed on the inner side of the slide groove 301a.

[0050] Among them, the extension arm 302 has two ends, one end is rotatably connected to the inner disk 603 by an axis connection, and the other end is rotatably connected to the extension arm 302 by an axis connection. Six sliding grooves 301a are opened on the turntable 301. In this embodiment, the number of extension arms 302 is also six, and the six extension arms 302 are respectively slidably installed in the inside of the six sliding grooves 301a. The number of push pins 700 is also six, and the six push pins 700 are all connected to the inner disk 603. The ends of the six push pins 700 away from the inner disk 603 are respectively connected to the six extension arms 302.

[0051] When the slide bar 401 moves toward the first end 101, it can push the inner disk 603 close to the turntable 301. During this process, the pushing pin 700 can push the extension arm 302 to move, so that the extension arm 302 moves in the direction away from the center of the turntable 301, thereby driving the friction body 303 close to the inner wall of the tube body. When the slide bar 401 moves toward the second end 102, it can pull the inner disk 603 away from the turntable 301. During this process, the pushing pin 700 can pull the extension arm 302 to move, so that the extension arm 302 moves in the direction close to the center of the turntable 301, thereby driving the friction body 303 away from the inner wall of the tube body.

[0052] Therefore, the device can move inside the tube body. During the movement, there is a gap between the friction body 303 and the inner wall of the tube body, and there is a gap between the adsorption body and the tube body, so that the entire device can move smoothly. When the device moves to the position inside the tube body that needs to be polished, the slide bar 401 moves toward the first end 101. At this time, the unfolding member 502 reaches the unfolded state, so that the adsorption body can adsorb the inner wall of the tube body, making the entire device more stable. At the same time, the pushing pin 700 can push the extension arm 302 to move, so that the extension arm 302 moves in the direction away from the center of the turntable 301, thereby driving the friction body 303 to approach the inner wall of the tube body, and the motor 601 can drive the transmission shaft 602 to rotate, the transmission shaft 602 drives the inner disk 603 to rotate, the inner disk 603 drives the same rotating shaft 105 to rotate, and the same rotating shaft 105 drives the turntable 301 to rotate, thereby driving the entire polishing mechanism 300 to work and polish the inner wall of the tube body.

[0053] After the grinding is completed, the slide rod 401 moves in the second direction, which can drive the unfolding part 502 to reach the folded state. At the same time, the inner disk 603 can be pulled away from the turntable 301. During this process, the push pin 700 can pull the extension arm 302 to move, so that the extension arm 302 moves toward the center of the turntable 301, thereby driving the friction body 303 away from the inner wall of the tube body, and a gap is generated between the friction body 303 and the inner wall of the tube body, and a gap is generated between the adsorption body and the tube body, so that the entire device can move smoothly.

[0054] Specifically, a through slot 105 a is formed on the radial outer wall of the rotating shaft 105 , and the push pin 700 passes through the through slot 105 a .

[0055] The pushing pin 700 can be connected to the extension arm 302 by passing through the through slot 105a. At the same time, because the pushing pin 700 passes through the through slot 105a, during the rotation of the inner disk 603, the pushing pin 700 can push the rotating shaft 105 to rotate synchronously.

[0056] like Figure 7Furthermore, the motor 601 and the transmission shaft 602 are connected through the driven gear plate 604 and the driving gear plate 605; the driving gear plate 605 is installed on the output shaft of the motor 601; a slot 602a is provided on the transmission shaft 602, and a block 604a is provided on the driven gear plate 604, and the block 604a can be slidably extended to the inner side of the slot 602a.

[0057] Among them, the extension direction of the slot 602a is parallel to the central axis of the transmission shaft 602 and also parallel to the moving direction of the transmission shaft 602. Therefore, when the slide rod 401 drives the transmission shaft 602 to move, the block 604a moves inside the slot 602a, so that the driven gear plate 604 and the transmission shaft 602 can maintain a connected state. When the driven gear plate 604 rotates, it can drive the transmission shaft 602 to rotate synchronously.

[0058] like Figure 7 Furthermore, both axial side walls of the driven gear disc 604 are provided with side plates 604b, and the driving gear disc 605 extends between the two side plates 604b. The purpose of setting the side plates 604b is to allow the driving gear disc 605 to limit the driven gear disc 604, so that when the transmission shaft 602 moves, it will not drive the driven gear disc 604 to move, thereby ensuring that the driven gear disc 604 and the driving gear disc 605 maintain a stable connection state.

[0059] The rest of the structure is the same as that of Example 2.

[0060] Importantly, it should be noted that the construction and arrangement of the present application shown in a plurality of different exemplary embodiments are only exemplary. Although only a few embodiments are described in detail in this disclosure, it should be readily understood by those who refer to this disclosure that many modifications are possible (e.g., the size, scale, structure, shape and proportion of various elements, and parameter values ​​such as temperature, pressure, etc., installation arrangements, use of materials, color, directional changes, etc.) without substantially departing from the novel teachings and advantages of the subject matter described in the application. For example, the element shown as integrally formed can be composed of multiple parts or elements, the position of the element can be inverted or otherwise changed, and the nature or number or position of the discrete element can be changed or changed. Therefore, all such modifications are intended to be included in the scope of the present invention. The order or sequence of any process or method steps can be changed or reordered according to alternative embodiments. In the claims, any "device plus function" clause is intended to cover the structure of performing the function described herein, and is not only structurally equivalent but also equivalent structure. Without departing from the scope of the present invention, other replacements, modifications, changes and omissions can be made in the design, operating conditions and arrangement of the exemplary embodiments. Therefore, the invention is not limited to a specific embodiment, but extends to several modifications still falling within the scope of the appended claims.

[0061] Additionally, in order to provide a concise description of exemplary embodiments, all features of an actual embodiment may not be described (ie, those features that are not relevant to the best mode presently contemplated for carrying out the invention or those that are not relevant to implementing the invention).

[0062] It should be understood that in the development of any actual implementation, as in any engineering or design project, numerous implementation-specific decisions may be made. Such a development effort may be complex and time-consuming, but for those of ordinary skill having the benefit of this disclosure, without undue experimentation, the development effort will be a routine task of design, fabrication, and production.

[0063] It should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention rather than to limit it. Although the present invention has been described in detail with reference to the preferred embodiments, those skilled in the art should understand that the technical solutions of the present invention may be modified or replaced by equivalents without departing from the spirit and scope of the technical solutions of the present invention, which should all be included in the scope of the claims of the present invention.

Claims

1. An automatic crawling polishing robot for a pipe surface, characterized in that: include, A main shaft (100) having a first end (101) and a second end (102); A crawling mechanism (200) comprises a bracket (201) mounted on the main shaft (100), and a crawler part (202) mounted on the bracket (201) for walking; A grinding mechanism (300) mounted on the first end (101) of the main shaft (100); A driving member (400) mounted on the main shaft (100); as well as, A positioning mechanism (500) comprises a moving member (501) that can be driven by a driving member (400), an unfolding member (502) mounted on the moving member (501), and an adsorption member (503) mounted on the unfolding member (502); When the moving member (501) moves in different directions, it can drive the unfolding member (502) to switch between unfolded and folded states.

2. The automatic crawling polishing robot for the pipe surface as claimed in claim 1, characterized in that: The grinding mechanism (300) comprises a rotating disk (301) mounted on the first end (101) of the main shaft (100) and capable of rotating, an extension arm (302) mounted on the rotating disk (301), and a friction body (303) mounted on the extension arm (302); The automatic crawling polishing robot for the surface of a pipe body further comprises a power component (600), wherein the power component (600) is used to drive the polishing mechanism (300).

3. The automatic crawling polishing robot for the pipe surface as claimed in claim 2, characterized in that: The driving member (400) comprises a sliding rod (401) capable of sliding on the main shaft (100); The moving member (501) is connected to the sliding rod (401); The unfolding member (502) comprises a connecting pin (502a) and a swing rod (502b); The adsorption member (503) is installed at the end of the swing rod (502b); One end of the connecting pin (502a) is rotatably connected to the sliding rod (401), and the other end of the connecting pin (502a) is rotatably connected to the rocker arm (502b). One end of the rocker arm (502b) is rotatably mounted on the second end (102) of the main shaft (100), and the adsorption member (503) is mounted on the end of the rocker arm (502b) away from the main shaft (100).

4. The automatic crawling polishing robot for the pipe surface as claimed in claim 3, characterized in that: The adsorption member (503) comprises a universal ball (503a) mounted on the swing rod (502b), a convex portion (503b) mounted on the universal ball (503a), and a magnetic body (503c) mounted on the convex portion (503b).

5. The automatic crawling polishing robot for the pipe surface as claimed in claim 3 or 4, characterized in that: A first end (101) of the main shaft (100) is provided with a placement cover (103), a bearing body (104) is provided inside the placement cover (103), and a corotating shaft (105) is provided on the inner ring of the bearing body (104); The rotating disk (301) is fixedly mounted on the same rotating shaft (105).

6. The automatic crawling polishing robot for the pipe surface as claimed in claim 5, characterized in that: The power member (600) comprises a motor (601) mounted on the main shaft (100), a transmission shaft (602) that can be driven by the motor (601), and an inner disk (603) connected to the transmission shaft (602); When the inner disk (603) rotates, it can drive the rotating shaft (105) to rotate synchronously.

7. The automatic crawling polishing robot for the pipe surface as claimed in claim 6, characterized in that: One end of the sliding rod (401) away from the moving member (501) extends to the first end (101) of the main shaft (100) and is connected to the transmission shaft (602); A pushing pin (700) is also provided between the inner disk (603) and the extension arm (302); a slide groove (301a) is provided on the rotating disk (301); and the extension arm (302) is slidably mounted on the inner side of the slide groove (301a).

8. The automatic crawling polishing robot for the pipe surface as claimed in claim 7, characterized in that: A through slot (105a) is formed on the radial outer wall of the corotating shaft (105), and the pushing pin (700) passes through the through slot (105a).

9. The automatic crawling polishing robot for the pipe surface as claimed in claim 7 or 8, characterized in that: The motor (601) and the transmission shaft (602) are connected in transmission via a driven gear disc (604) and a driving gear disc (605); The active gear disc (605) is mounted on the output shaft of the motor (601); The transmission shaft (602) is provided with a slot (602a), and the driven gear plate (604) is provided with a block (604a), and the block (604a) can be slidably extended to the inner side of the slot (602a).

10. The automatic crawling polishing robot for the pipe surface as claimed in claim 9, characterized in that: The two axial side walls of the driven gear disc (604) are both provided with side plates (604b), and the driving gear disc (605) extends between the two side plates (604b).

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