An automatic crawling polishing robot for pipe surface

Abstract

The application discloses a kind of automatic crawling polishing robot of pipe surface, including, main shaft, with first end and second end;Crawling mechanism, including mounting on the support of main shaft, and the track part for walking mounted on support;Polishing mechanism, it is installed on the first end of main shaft;Driving member, it is installed on the main shaft;And positioning mechanism.Device enters the inside of pipe, can move inside pipe, when reaching the position that needs to be polished, by moving piece to the first end direction movement, when unfolding piece reaches unfolding state, suction accessory can contact rotating side pipe wall, so as to improve the stability of device when polishing, when unfolding piece reaches the state of folding, suction accessory can be separated from rotating side pipe wall, so that the whole device moves more smoothly.

Description

Technical Field

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

[0002] The pipe internal surface polishing robot is an automated device 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 body 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.

[0006] In order 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 pipe body, 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 installed on the first end of the main shaft; a driving member installed on the main shaft; and a positioning mechanism comprising a moving member that can be driven by the driving member, an expanding member installed on the moving member, and an adsorption member installed on the expanding member; when the moving member moves in different directions, it can drive the expanding member to switch between expanded and folded states.

[0007] As a preferred solution of the automatic crawling and 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 and 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 part includes a sliding rod that can slide on the main shaft; the movable part is connected to the sliding rod; the unfolding part includes a connecting pin and a rocker rod; the adsorption part 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 part 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 portion installed on the universal ball, and a magnetic body installed on the convex portion.

[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, the interior of the placement cover is equipped with a bearing body, the inner ring of the bearing body is equipped with a corotating shaft; 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 pipe 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 sliding rod extends from one end of the moving part to the first end of the main shaft and is connected to the transmission shaft; a pushing pin is also provided between the inner disk and the extension arm, a sliding groove is provided 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 pipe 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 pipe surface of the present invention, both axial side walls of the driven gear disc are provided with side plates, and the driving gear disc extends between the two side plates.

[0016] The beneficial effects of the present application: the device enters the inside of the pipe body, can move inside the pipe body, when reaching the position that needs to be polished, the moving piece moves to the first end direction, the unfolding piece reaches the unfolded state, the suction accessory can contact the rotating side pipe wall, thereby improving the stability of the device during polishing, when the unfolding piece reaches the folding state, the suction accessory can be separated from the rotating side pipe wall, thereby making the whole device move more smoothly. BRIEF DESCRIPTION OF DRAWINGS

[0017] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings needed in the embodiment description will be briefly introduced below. Obviously, the drawings in the following description are only some embodiments of the present application, and other drawings can also be obtained by those skilled in the art without creative labor. Among them:

[0018] Figure 1 The overall structure diagram of the automatic crawling polishing robot for the surface of the pipe body.

[0019] Figure 2 The structure diagram of the positioning mechanism described in the present application.

[0020] Figure 3 The working state diagram of the automatic crawling polishing robot for the surface of the pipe body.

[0021] Figure 4 The internal structure diagram of the automatic crawling polishing robot for the surface of the pipe body.

[0022] Figure 5 The structure diagram of the polishing mechanism described in the present application.

[0023] Figure 6 The structure diagram of the polishing mechanism and the power piece described in the present application.

[0024] Figure 7 The structure diagram of the power piece described in the present application. DETAILED DESCRIPTION

[0025] In order to make the above-mentioned purposes, features and advantages of the present application more obvious and easy to understand, the specific embodiments of the present application will be described in detail below with reference to the drawings.

[0026] In the following description, many specific details are set forth in order to provide a thorough understanding of the present application, but the present application can also be implemented in other ways different from the description, and those skilled in the art can make similar generalizations without departing from the scope of the present application, therefore the present application is not limited to the specific embodiments disclosed below.

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

[0028] Furthermore, the present invention is described in detail with reference to schematic diagrams. For ease of illustration, when describing the embodiments of the present invention, cross-sectional views illustrating device structures may be partially enlarged and not to scale. Furthermore, the schematic diagrams are merely illustrative and should not limit the scope of protection of the present invention. Furthermore, in actual production, the three-dimensional dimensions of length, width, and depth should be included.

[0029] Example 1, with reference to 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 the pipe body includes a crawling mechanism 200, including a bracket 201 installed on the main shaft 100, and a crawler part 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 crawler part 202 is installed on the main shaft 100 through the bracket 201. The crawler part 202 can drive the entire device to move inside the pipe body. Furthermore, an adsorption magnet can be set on the crawler part 202 to enhance the adsorption force between the crawler part 202 and the pipe body, so that the device can move stably inside the pipe body.

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

[0032] The automatic crawling polishing robot for the pipe surface includes 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 pipe body also includes a positioning mechanism 500, including a moving part 501 that can be driven by the driving part 400, an expanding part 502 installed on the moving part 501, and an adsorption part 503 installed on the expanding part 502; when the moving part 501 moves in different directions, it can drive the expanding part 502 to switch between the expanded 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 the 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 the folded state, so that the adsorption member 503 can be separated from the side wall of the tube body.

[0035] like Figure 3 , which shows a simulated tube 900 and a rotating side tube wall 800 of the simulated tube 900. 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, the moving part 501 moves toward the first end 101. 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 rod 401 that can slide on the main shaft 100; the moving member 501 is connected to the slide rod 401; the unfolding member 502 includes a connecting pin 502a and a rocker rod 502b; the adsorption member 503 is installed at the end of the rocker rod 502b; one end of the connecting pin 502a is rotatably connected to the slide rod 401, and the other end of the connecting pin 502a is rotatably connected to the rocker rod 502b, one end of the rocker rod 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 rod 502b away from the main shaft 100.

[0037] The automatic crawling polishing robot for the pipe surface further includes a power component 600 , which is used to drive the polishing 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. Alternatively, an electric push rod can 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 piece 501 by shaft connection, four connecting pins 502a are connected to the moving piece 501, the ends of the four connecting pins 502a away from the moving piece 501 are respectively connected to four swing rods 502b by shaft connection, one end of the four swing rods 502b is rotatably installed on the second end 102 of the main shaft 100 by shaft connection, when the moving piece 501 moves towards the first end 101, the angle between the connecting pin 502a and the swing rod 502b changes, prompting the end of the four swing rods 502b installed with the suction accessory 503 to swing away from the moving piece 501, that is, to move towards the inner wall of the pipe body, so that the entire unfolding piece 502 reaches the unfolded state, when the moving piece 501 moves towards the second end 102, prompting the end of the four swing rods 502b installed with the suction accessory 503 to swing towards the moving piece 501, so that the entire unfolding piece 502 reaches the folding state.

[0039] When unfolded, the suction accessory 503 can be brought close to the inner wall of the pipe body, when the suction accessory 503 is adsorbed on the inner wall of the pipe body, the entire device can be stabilized, when folded, the suction accessory 503 can be moved away from the inner wall of the pipe body, when the suction accessory 503 is away from the inner wall of the pipe body, the problem that the unfolding piece 502 may cause obstruction when crawling on the inner wall of the pipe body can be avoided.

[0040] Further, the suction accessory 503 includes a universal ball 503a installed on the swing rod 502b, a convex part 503b installed on the universal ball 503a, and a magnetic body 503c installed on the convex part 503b.

[0041] The reason for using the universal ball 503a is to allow the magnetic body 503c to adjust the direction by suction force when it is close to the pipe body, so that the magnetic body 503c can be stably adsorbed on the pipe body.

[0042] Embodiment 2, refer to Figure 1 The difference between this embodiment and the first embodiment is that the polishing mechanism 300 includes a rotating disc 301 rotatably installed on the first end 101 of the main shaft 100, an extension arm 302 installed on the rotating disc 301, and a friction body 303 installed on the extension arm 302.

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

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

[0045] The housing 103 has a bearing groove inside, the 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 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.

[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: the end of the sliding rod 401 away from the moving part 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, and a sliding groove 301a is provided on the turntable 301, and the extension arm 302 is slidably installed on the inner side of the sliding groove 301a.

[0050] Among them, the extension arm 302 has two ends, one end of which 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 provided 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 inside 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 rod 401 moves towards the first end 101, the inner disc 603 can be pushed to move close to the rotating disc 301, in the process, the pushing pin 700 can push the extension arm 302 to move, so that the extension arm 302 moves away from the center of the rotating disc 301, thereby driving the friction body 303 to move close to the inner wall of the pipe body; when the slide rod 401 moves towards the second end 102, the inner disc 603 can be pulled to move away from the rotating disc 301, in the process, the pushing pin 700 can pull the extension arm 302 to move, so that the extension arm 302 moves close to the center of the rotating disc 301, thereby driving the friction body 303 to move away from the inner wall of the pipe body.

[0052] Therefore, the device can move inside the pipe body, in the process of moving, there is a gap between the friction body 303 and the inner wall of the pipe body, and there is a gap between the adsorption body and the pipe body, so that the whole device can move smoothly; when the device moves to the position inside the pipe body that needs to be polished, the slide rod 401 moves towards the first end 101, at this time, the unfolding piece 502 reaches the unfolded state, so that the adsorption body can adsorb the inner wall of the pipe body, so that the whole device is 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 away from the center of the rotating disc 301, thereby driving the friction body 303 to move close to the inner wall of the pipe body, the motor 601 can drive the transmission shaft 602 to rotate, the transmission shaft 602 drives the inner disc 603 to rotate, the inner disc 603 drives the same rotating shaft 105 to rotate, the same rotating shaft 105 drives the rotating disc 301 to rotate, thereby driving the whole polishing mechanism 300 to work, and polishing the inner wall of the pipe body.

[0053] After polishing is completed, the slide rod 401 is moved in the second direction, which can drive the unfolding piece 502 to reach the folding state, at the same time, the inner disc 603 can be pulled to move away from the rotating disc 301, in the process, the pushing pin 700 can pull the extension arm 302 to move, so that the extension arm 302 moves close to the center of the rotating disc 301, thereby driving the friction body 303 to move away from the inner wall of the pipe body, a gap is generated between the friction body 303 and the inner wall of the pipe body, and a gap is generated between the adsorption body and the pipe body, so that the whole device can move smoothly.

[0054] Specifically, the radial outer wall of the same rotating shaft 105 is provided with a through groove 105a, and the pushing pin 700 passes through the through groove 105a.

[0055] The pushing pin 700 can be connected with the extension arm 302 by passing through the through groove 105a, and because the pushing pin 700 passes through the through groove 105a, in the process of rotating the inner disc 603, the pushing pin 700 can push the same rotating shaft 105 to rotate synchronously.

[0056] As Figure 7Furthermore, the motor 601 and the transmission shaft 602 are connected through the driven gear disc 604 and the driving gear disc 605; the driving gear disc 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 disc 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] It is important to note that the construction and arrangement of the present application shown in a number of different exemplary embodiments are merely illustrative. 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, as well as parameter values ​​such as temperature, pressure, etc., mounting arrangements, use of materials, color, changes in orientation, etc.) without substantially departing from the novel teachings and advantages of the subject matter described in this application. For example, an element shown as integrally formed may be composed of multiple parts or elements, the position of the element may be inverted or otherwise changed, and the nature, number, or position of the discrete elements may be altered or changed. Therefore, all such modifications are intended to be included within the scope of the present invention. The order or sequence of any process or method steps may be changed or reordered according to alternative embodiments. In the claims, any "means plus function" clause is intended to cover the structure described herein that performs the function, and is not only structurally equivalent but also equivalent structures. Other substitutions, modifications, changes, and omissions may be made in the design, operating conditions, and arrangement of the exemplary embodiments without departing from the scope of the present invention. Therefore, the invention is not limited to the specific embodiments, but extends to various modifications that still fall within the scope of the appended claims.

[0061] Furthermore, in the interest of providing a concise description of illustrative embodiments, not all features of an actual implementation can be described (that is, not all

[0062] It will be appreciated that in the development of any actual embodiment, numerous implementation-specific decisions can be made. These implementation-specific decisions can include specific

[0063] It should be noted that the above-mentioned embodiments are only used to illustrate the technical scheme of the present application, but not limit the present application. Although the present application is described in detail with reference to the preferred embodiments, those skilled in the art should understand that the technical scheme of the present application can be modified or replaced equivalently without departing from the spirit and scope of the present application, and all should be covered in the scope of the claims of the present application.

Claims

1. An automatic crawling polishing robot for pipe surface, characterized by: The invention comprises a main shaft (100) having a first end (101) and a second end (102); A crawling mechanism (200) includes a bracket (201) mounted on the main shaft (100), and a crawler portion (202) mounted on the bracket (201) for walking; a grinding mechanism (300) mounted on the first end (101) of the spindle (100); a driving member (400) mounted on the main shaft (100); and a positioning mechanism (500), comprising a moving member (501) capable of being driven by a driving member (400), an expanding member (502) mounted on the moving member (501), and an adsorption member (503) mounted on the expanding member (502); When the moving member (501) moves in different directions, it can drive the unfolding member (502) to switch between the unfolded and folded states; The driving member (400) includes a slide rod (401) capable of sliding 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 (502b); The adsorption member (503) is installed at the end of the rocker (502b); One end of the connecting pin (502a) is rotatably connected to the slide bar (401), the other end of the connecting pin (502a) is rotatably connected to the rocker (502b), one end of the rocker (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 (502b) away from the main shaft (100); The adsorption member (503) includes 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); The automatic crawling polishing robot for the pipe surface further comprises a power member (600), wherein the power member (600) is used to drive a polishing mechanism (300), wherein the polishing mechanism (300) comprises a turntable (301) mounted on a first end (101) of a main shaft (100) and capable of rotating. 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 rotating shaft (105); the power member (600) comprises a motor (601) mounted on the main shaft (100), a transmission shaft (602) capable of being 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.

2. The automatic crawling polishing robot for pipe surfaces according to claim 1, characterized in that: The polishing mechanism (300) further comprises an extension arm (302) mounted on the turntable (301), and a friction body (303) mounted on the extension arm (302).

3. The automatic crawling polishing robot for pipe surfaces according to claim 2, 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 push pin (700) is further provided between the inner disk (603) and the extension arm (302). A sliding groove (301a) is provided on the rotating disk (301), and the extension arm (302) is slidably mounted on the inner side of the sliding groove (301a).

4. The automatic crawling polishing robot for pipe surfaces according to claim 3, characterized in that: A through slot (105a) is provided on the radial outer wall of the corotating shaft (105), and the pushing pin (700) passes through the through slot (105a).

5. The automatic crawling polishing robot for pipe surface according to claim 3 or 4, 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 driving gear disc (605) is mounted on the output shaft of the motor (601); A clamping groove (602a) is provided on the transmission shaft (602), and a clamping block (604a) is provided on the driven gear disc (604). The clamping block (604a) can be slidably extended to the inner side of the clamping groove (602a).

6. The automatic crawling polishing robot for pipe surfaces according to claim 5, characterized in that: 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).

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