Variable-diameter crawler-type pipeline dredging robot

Abstract

A variable-diameter crawler-type pipeline desilting robot comprises a regular hexahedron rack, three crawler transmission assemblies, a motor driving assembly and a rotary desilting assembly, the crawler transmission assemblies are located on the outer side of the rack, and the crawler transmission assemblies are installed on the outer surface of the rack in a 360-degree axial symmetry mode; the motor driving assembly and the rotary desilting assembly are located at the front end of the robot shaft part, the inspection function can be achieved, and an axisymmetric three-track structure adapts to various pipe diameters.

Description

Technical Field

[0001] The invention relates to the field of pipeline dredging robots, and in particular to a diameter-variable crawler-type pipeline dredging robot. Background Art

[0002] With the popularity of Yushu Technology's humanoid robots, the number of students taking our intelligent construction technology elective course has increased suddenly this semester. In view of the heavy rainfall in the Yangtze River Basin every year and the high pressure of sewer pipe desilting, our teachers and students have worked together to try to develop a robot that can automatically desilt pipes. Traditional pipeline desilting mainly relies on manual work or the use of simple mechanical devices for cleaning. This method is not only labor-intensive and inefficient, but also has extremely high safety risks, especially when working in narrow, deep or harsh pipelines.

[0003] In addition, due to the different diameters and shapes of pipes, traditional dredging equipment often lacks adaptability and is difficult to operate effectively in pipes of different sizes. During manual cleaning, it is also difficult to fully and carefully inspect the inner wall of the pipe, and the distribution of tiny cracks, corrosion or sediments is not well understood, making it difficult to achieve accurate dredging and maintenance.

[0004] Southwest Petroleum University of China has developed an adjustable crawler-type urban sewer pipe dredging robot (Chinese patent document CN219062813U), which is designed with crawler walking mechanisms on both sides of the fuselage, crawler inclination adjustment mechanisms, and dredging devices arranged at the front of the fuselage. In this scheme, the crawler walking angle is adjustable, which can achieve better passability in the pipeline. However, in this technical scheme, no emphasis is placed on the design of the dredging device, which is only equivalent to acting as a dredging shovel. There is no attention to the power of the dredging device, but a simple passive dredging. The most important thing is that the pipe size it can adapt to is single. Although it claims to be suitable for scenes with different pipe diameters, in fact, relying solely on adjusting the crawler walking angle will not only cause the crawler to suffer greater shear force, but also the ability to adapt to changes in pipe size is limited to the adjustable range of the crawler. The size of the sewer pipe is usually a standard size, and it is difficult to be suitable for pipes of two calibers at the same time.

[0005] To this end, China University of Geosciences has developed a displacement crawler pipeline dredging robot (Chinese patent document CN108867840A), which includes a dredging reamer mechanism and a first hydraulic motor, thereby solving the problem of dredging power supply. The driving wheels and guide wheels are designed to adjust the inclination angle of the crawler track. However, since this solution uses a large number of hydraulic cylinders, it is necessary to design a large number of valves for multi-way control, which is very taboo in the underwater environment. In other words, this solution only exists in theory and has little practical value.

[0006] The design of the crawler-type dredging robot similar to the above-mentioned prior art is almost entirely based on a self-propelled double-track design. In fact, as a crawler-type dredging robot, it can be directly placed at the pipe mouth and taken out from the pipe after use, which can avoid the additional design of a complex self-propelled mechanism. In addition, there are also some pipeline inspection robot technical solutions in the prior art for monitoring the internal conditions of the pipeline, but most of these robots focus on detection functions and have limited direct support for dredging operations.

[0007] However, there is an urgent need in the prior art for a dredging robot with an axisymmetric three-track structure that can realize an inspection function and is applicable to pipes of different models and diameters. Summary of the invention

[0008] In view of the above-mentioned problems existing in the prior art, the main purpose of the present invention is to provide a variable-diameter crawler pipeline dredging robot that can greatly improve the overall efficiency of pipeline dredging operations, reduce the need for manual intervention, realize inspection functions, have an axially symmetrical three-track structure, and can adapt to a variety of pipe diameters. It can solve the problem of limited application of traditional dredging robots in complex and changeable pipeline environments.

[0009] The technical solution of the present invention is as follows: A variable-diameter crawler pipeline dredging robot, comprising a regular hexahedron frame, a crawler transmission assembly, a motor drive assembly and a rotary dredging assembly, wherein the crawler transmission assembly is located outside the frame, and there are three groups in total, which are installed on the outer surface of the frame in a 360° axial symmetry, and the motor drive assembly and the rotary dredging assembly are located at the front end of the robot shaft, and a front camera for shooting the front end image of the robot to obtain image data is embedded on the base of the rotary dredging assembly, and the front camera is fixedly connected with an image acquisition light for supplementing ambient light and a PID sensor for positioning the robot and obtaining positioning data, and the image data and positioning data are transmitted to the server via wireless WIFI or 5G communication signals to realize detection cruising.

[0010] In this scheme, since a regular hexahedron frame is adopted, a compact design can be realized in an axisymmetric manner. In fact, when the frame is designed as a regular hexahedron frame in this application, not only the three groups of crawler drive components are axisymmetric structures, but in fact, from the cross-sectional direction, they are formed into a point-symmetric structure about the central axis. The crawler drive components are axisymmetrically distributed around the frame, which is more suitable for the shape of traditional cylindrical pipes, and can achieve radially variable convergence in the simplest way to apply to the dredging work of pipes with different inner diameters. Because there are a lot of sludge and debris in the sewer, these sludge and debris will cause great damage to the robot, especially entering the robot structure will directly cause the robot to stop or cause the parts to break. Therefore, the compact axisymmetric structure of this application can effectively avoid or reduce such damage. In addition, this application uses a clever structure with three groups of crawlers symmetrically distributed, without adjusting the angle of the crawler. The three groups of crawler surfaces directly and firmly support the inner wall of the cylindrical pipe, and will not be affected by the deviation and shear force generated by the crawler force surface and the crawler assembly structure, which effectively increases the service life of the robot. In addition, since the present application sets a detection and inspection component on the base of the rotary silt removal component, and the rotary silt removal component can be detachably installed at the front end of the shaft of the robot, it is very convenient to inspect and replace. Although the present invention only installs the detection and inspection component at the front end of the shaft, in fact, a set of such components can also be installed on the rear end surface. In other words, the simple and compact structure of the present application is particularly suitable for DIY design to add other functions, such as obtaining underwater sonar signals, pipeline usage status data, etc., by adding corresponding sensors, and there is no need to worry about affecting the main structure of the robot.

[0011] Preferably, the crawler transmission assembly comprises a crawler transmission assembly mounting plate, a transmission crawler, a crawler driving motor, a motor reducer, a crawler transmission connecting rod 1, a crawler transmission connecting rod 2, a crawler transmission connecting shaft, a supporting bearing seat, a bearing seat supporting plate, a slider mounting plate, a slider, a guide rail, a telescopic push rod, a telescopic sleeve, a sleeve supporting plate, a spring 1, and a sleeve supporting plate reinforcing rib; four crawler transmission connecting rods 1, a crawler transmission assembly mounting plate and a transmission crawler are connected by rolling bearings to form a parallelogram mechanism to realize the reciprocating swing of the transmission crawler, a guide rail is installed on the crawler transmission assembly mounting plate, a slider is installed above the guide rail to realize reciprocating linear motion, a slider mounting plate, a bearing seat supporting plate and a supporting bearing seat are installed above the slider by screws to transmit the force from the transmission crawler The transmission track is connected through rolling bearings, and the two track drive connecting rods are connected to both ends of the track drive connecting shaft through rolling bearings, and the track connecting shaft is connected to the support bearing seat through rolling bearings. When the pipe diameter changes, the angle between the transmission track and the frame becomes smaller, and its force acts on the slider through the track drive connecting rod 2, the track drive connecting shaft, etc., so that the slider slides on the guide rail, realizing the adaptation of the transmission track to different pipe diameters; in order to offset the force transmitted from the transmission track and make the transmission track always contact the inner wall of the pipe, a telescopic push rod is installed on one side of the bearing seat support plate, and the telescopic push rod is inserted into the telescopic sleeve, and a spring is placed in the telescopic sleeve. When the pipe diameter changes and the transmission track approaches the frame, the force is transmitted to the spring through each connecting piece, and the spring is compressed to provide elastic force, so that the transmission track always contacts the inner wall of the pipe. The telescopic sleeve is installed above the sleeve support plate, and three sleeve support plate reinforcement ribs are installed on both sides of the sleeve support plate to play a supporting role.

[0012] Preferably, the motor drive assembly includes a dredging drive motor, a motor mounting plate, a motor output bearing seat, a diaphragm coupling, and a motor connecting shaft; the dredging drive motor is mounted on the motor mounting plate by screws, and in order to transmit power, the dredging drive motor and the motor connecting shaft are connected by a diaphragm coupling, and in order to support the motor connecting shaft, the motor output bearing seat and the motor mounting plate are connected by screws, and are connected to the motor connecting shaft by a rolling bearing.

[0013] Preferably, the rotary dredging component comprises a rotary dredging component base, a blade telescopic sleeve, a second spring, a blade telescopic sleeve end cover, a blade telescopic push rod, and a dredging blade; in order to transmit the power of the self-driving motor, the rotary dredging component base is connected to the motor connecting shaft by a profile and is fixed in the axial direction by screws. In order to improve the dredging efficiency, four blade telescopic sleeves are installed on the four sides of the rotary dredging component base by screws, and a second spring is placed in the blade telescopic sleeve so that the dredging blade can adapt to the changing pipe diameter. The top of the blade telescopic sleeve is connected to the blade telescopic sleeve end cover by a screw to prevent the second spring from rushing out. The blade telescopic push rod is inserted into the blade telescopic sleeve. When the pipe diameter changes, the blade telescopic push rod compresses the second spring so that the second spring provides elastic force for the dredging blade, so that the dredging blade is always close to the inner wall of the pipeline. In order to prevent the blade telescopic push rod from circumferential rotation, the blade telescopic push rod and the blade telescopic sleeve end cover are connected by a profile, with a single-side interval of 1mm, and the dredging blade is connected to the blade telescopic push rod by a screw.

[0014] The working process of the variable diameter crawler type pipeline desilting robot of the present invention includes the following steps: Step 1: According to the diameter of the target desilting pipeline, select the appropriate length and size of the crawler drive link 1, crawler drive link 2, blade telescopic push rod, and desilting blade and install them on the robot. Manually place the robot inside the pipeline and adjust the robot to a posture suitable for the diameter of the pipeline to complete the preparation work before desilting. Step 2: Start the crawler drive motor, drive the crawler to drive the robot to the designated dredging position, start the dredging drive motor, and make the dredging blade start dredging. When the pipe diameter changes, the connecting parts and springs 1 and 2 will make the driving crawler and dredging blade adapt to the pipe diameter to complete the dredging work; Step 3: After dredging is completed, turn off the dredging drive motor, and manually take out the robot at the end of the target dredging pipeline to complete the dredging work; if the robot is inside the pipeline after dredging, pull the robot out through the connecting line of the cable interface installed on the back panel of the rack to complete the dredging work. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 The present invention is a schematic diagram showing the overall structure of a variable diameter crawler type pipeline desilting robot according to a specific embodiment of the present invention; Figure 2 To show Figure 1 A front sectional view of the overall structure of the variable diameter crawler pipeline desilting robot; Figure 3 To show Figure 1 The right side schematic diagram of the overall structure of the variable diameter crawler pipeline desilting robot; Figure 4 To show Figure 1The left side schematic diagram of the overall structure of the variable diameter crawler pipeline desilting robot; Figure 5 To show Figure 1 A schematic diagram of the structure of the crawler transmission assembly of the variable diameter crawler pipeline desilting robot; Figure 6 To show Figure 1 A schematic diagram of the structure of the motor drive assembly of the variable diameter crawler pipeline desilting robot; Figure 7 To show Figure 1 A schematic diagram of the structure of the rotary dredging component of the motor drive component of the variable diameter crawler pipeline dredging robot.

[0016] Legend: 1. Frame; 2. Cable interface; 3. Track drive assembly mounting plate; 4. Sleeve support plate reinforcement rib; 5. Sleeve support plate; 6. Telescopic sleeve; 7. Guide rail; 8. Telescopic push rod; 9. Slider; 10. Track drive motor; 11. Slider mounting plate; 12. Bearing seat support plate; 13. Support bearing seat; 14. Motor reducer; 15. Track drive connecting rod 2; 16. Drive track; 17. Track drive connecting rod 1; 18. Dredging blade; 19. Blade telescopic push rod; 20. Blade telescopic sleeve end cover; 21. Blade telescopic sleeve; 22. Rotary dredging assembly base; 23. Motor output bearing seat; 24. Motor mounting plate; 25. Spring 1; 26. Dredging drive motor; 27. Diaphragm coupling; 28. Motor connecting shaft; 29. ​​Spring 2; 30. Track drive connecting shaft; 31. Frame back plate. DETAILED DESCRIPTION

[0017] The present invention is further described in detail below with reference to the accompanying drawings and in combination with specific embodiments. Those skilled in the art will appreciate that the embodiments provided below are only intended to more clearly illustrate the technical solution of the present invention, and the present invention is not limited to the specific embodiments.

[0018] like Figure 1 As shown, a variable diameter crawler pipeline dredging robot includes a frame 1, a crawler transmission assembly, a motor drive assembly and a rotary dredging assembly. The crawler transmission assembly is located outside the frame, and there are three groups in total, which are evenly installed on the outer surface of the frame 1 at 360 degrees. The motor drive assembly and the rotary dredging assembly are located at the front end of the axis of the robot's rotary axis. In a preferred embodiment, the frame 1 is a regular hexahedron frame, and a front camera for shooting the front end image of the robot to obtain image data is embedded on the base of the rotary dredging assembly. The front camera is fixedly connected with an image acquisition lamp for supplementing ambient light and a PID sensor for positioning the robot and obtaining positioning data. The image data and positioning data are transmitted to the server via wireless WIFI or 5G communication signals to realize detection and cruising.

[0019] The crawler track transmission assembly is described in detail below.

[0020] like Figure 1 , Figure 2 , Figure 5 As shown, the crawler drive assembly includes a crawler drive assembly mounting plate 3, a drive crawler 16, a crawler drive motor 10, a motor reducer 14, a crawler drive connecting rod 17, a crawler drive connecting rod 2 15, a crawler drive connecting shaft 30, a support bearing seat 13, a bearing seat support plate 12, a slider mounting plate 11, a slider 9, a guide rail 7, a telescopic push rod 8, a telescopic sleeve 6, a sleeve support plate 5, a spring 25, and a sleeve support plate reinforcement rib 4; four crawler drive connecting rods 17, a crawler drive assembly mounting plate 3 and a drive crawler 16 are connected by rolling bearings to form a parallelogram mechanism to realize the reciprocating swing of the drive crawler 16, a guide rail 7 is installed on the crawler drive assembly mounting plate 3, a slider 9 is installed above the guide rail 7, and reciprocating linear motion is realized, and a slider mounting plate 11, a bearing seat support plate 12 and a support bearing seat 13 are installed above the slider 9 by screws, in order to transmit the force from the drive crawler 16, two crawler drive connecting rods 2 1 5 is connected to the transmission crawler 16 through rolling bearings, the two crawler drive connecting rods 2 15 are connected to the two ends of the crawler drive connecting shaft 30 through rolling bearings, and the crawler connecting shaft 30 is connected to the support bearing seat 13 through rolling bearings. When the pipe diameter changes, the angle between the transmission crawler 16 and the frame 1 becomes smaller, and its force acts on the slider 9 through the crawler drive connecting rod 2 15, the crawler drive connecting shaft 30, etc., so that the slider 9 slides on the guide rail 7, thereby realizing the adaptation of the transmission crawler 16 to different pipe diameters; in order to offset the force transmitted from the transmission crawler 16 and make the transmission crawler 16 always contact the inner wall of the pipe, a telescopic push rod 8 is installed on one side of the bearing seat support plate 12, and the telescopic push rod 8 is inserted into the telescopic sleeve 6, and a spring 25 is placed in the telescopic sleeve 6. When the pipe diameter changes and the transmission crawler 16 approaches the frame 1, the force is transmitted to the spring 25 through each connecting member, and the spring 25 is compressed to provide elastic force, so that the transmission crawler 16 always contacts the inner wall of the pipe. The telescopic sleeve 8 is installed above the sleeve support plate 5. Three sleeve support plate reinforcing ribs 4 are installed on both sides of the sleeve support plate 5 to play a supporting role.

[0021] Refer to the following Figure 1 , Figure 2 , Figure 6The motor drive assembly is described in detail. The motor drive assembly includes a dredging drive motor 26, a motor mounting plate 24, a motor output bearing seat 23, a diaphragm coupling 27, and a motor connecting shaft 28; the dredging drive motor 26 is mounted on the motor mounting plate 24 by screws; in order to transmit the power of the dredging drive motor 26, the dredging drive motor 26 is connected to the motor connecting shaft 28 by a diaphragm coupling 27, and in order to support the motor connecting shaft 28, the motor output bearing seat 23 is connected to the motor mounting plate 24 by screws, and is connected to the motor connecting shaft 28 by a rolling bearing.

[0022] Refer to the following Figure 1 , Figure 2 , Figure 7 The rotary dredging assembly is described in detail. The rotary dredging assembly includes a rotary dredging assembly base 22, a blade telescopic sleeve 21, a spring 29, a blade telescopic sleeve end cover 20, a blade telescopic push rod 19, and a dredging blade 18; in order to transmit the power from the dredging drive motor 26, the rotary dredging assembly base 22 and the motor connecting shaft 28 are connected by a profile and fixed in the axial direction with screws. In order to improve the dredging efficiency, four blade telescopic sleeves 21 are installed on the four sides of the rotary dredging assembly base 22 by screws, and a spring 29 is placed in the blade telescopic sleeve 21, so that the dredging blade 18 can adapt to the changing pipe diameter. The top of the blade telescopic sleeve 21 is connected to the blade telescopic sleeve end cover 20 by screws to prevent the spring 29 from rushing out. The blade telescopic push rod 19 is inserted into the blade telescopic sleeve 21. When the pipe diameter changes, the blade telescopic push rod 19 compresses the spring 29, so that the spring 29 provides elastic force for the dredging blade 18, so that the dredging blade 18 is always close to the inner wall of the pipeline. To prevent the blade telescopic push rod 19 from circumferential rotation, the blade telescopic push rod 19 and the blade telescopic sleeve end cover 20 are connected by a profile, with a single-side interval of 1mm. The dredging blade 18 is connected to the blade telescopic push rod 19 by screws.

[0023] A front camera (not shown) for capturing the front image of the robot and obtaining image data is embedded on the base 22 of the rotary dredging component. The front camera is fixedly connected with an image acquisition light (not shown) for supplementing the ambient light and a PID sensor (not shown) for positioning the robot and obtaining positioning data. The image data and positioning data are transmitted to a server (not shown) via wireless WIFI or 5G communication signals to realize detection cruising.

[0024] The following is an explanation of the working process of the variable diameter crawler type pipeline desilting robot in this embodiment, which includes the following steps: Step 1: According to the diameter of the target desilting pipeline, select the crawler drive link 17, crawler drive link 2 15, blade telescopic push rod 19, and desilting blade 18 of appropriate length and size and install them on the robot, manually place the robot inside the pipeline, adjust the robot to a posture suitable for the diameter of the pipeline, and complete the preparation work before desilting; Step 2: Start the crawler drive motor 10, drive the crawler to drive the robot to the designated dredging position, start the dredging drive motor 26, and make the dredging blade 18 start the dredging work. When the pipe diameter changes, the connecting parts and the spring 1 25 and the spring 2 29 will make the driving crawler 16 and the dredging blade 18 adapt to the pipe diameter to complete the dredging work; Step 3: After dredging is completed, turn off the dredging drive motor 26, and manually take out the robot at the end of the target dredging pipeline to complete the dredging work; if the robot is located inside the pipeline after dredging, the robot is pulled out through the connecting line of the cable interface 2 installed on the back panel 31 of the frame to complete the dredging work.

[0025] In the present invention, due to the use of a regular hexahedron frame, a compact design can be achieved in an axisymmetric manner, and the crawler drive assembly is axisymmetrically distributed around the frame, which is more suitable for the shape of traditional cylindrical pipes, and can achieve radially variable convergence in the simplest way to be suitable for dredging work of pipes with different inner diameters. The use of this compact axisymmetric structure of the present application can effectively avoid or reduce the damage caused by sludge and debris. The present application uses a clever structure with three groups of symmetrically distributed crawlers, and there is no need to adjust the angle of the crawler. The three groups of crawler surfaces directly and firmly support the inner wall of the cylindrical pipe, and will not be affected by the deviation and shear force generated by the crawler force surface and the crawler assembly structure, which effectively increases the service life of the robot. In addition, since the present application is provided with a detection and inspection assembly on the base of the rotary dredging assembly, and the rotary dredging assembly can be detachably installed at the front end position of the shaft of the robot, it is very convenient to inspect and replace. The simple and compact structure of the present application is particularly suitable for DIY design to add other functions, and there is no need to worry about affecting the main structure of the robot.

[0026] The present invention has been described in detail above. However, those skilled in the art can make various modifications and changes thereto. Without departing from the core technical principles and purpose of the present invention, all modifications and changes made should fall within the protection scope of the present invention. The protection scope of the present invention is defined by the attached claims.

Claims

1. A variable diameter crawler pipeline desilting robot, characterized in that: It includes a regular hexahedron frame, a crawler drive assembly, a motor drive assembly and a rotary dredging assembly. The crawler drive assembly is located outside the frame. There are three groups in total, which are installed on the outer surface of the frame in 360° axisymmetry. The motor drive assembly and the rotary dredging assembly are located at the front end of the robot shaft. A front camera for shooting the front end image of the robot to obtain image data is embedded on the base of the rotary dredging assembly. The front camera is fixedly connected with an image acquisition light for supplementing ambient light and a PID sensor for positioning the robot and obtaining positioning data. The image data and positioning data are transmitted to the server via wireless WIFI or 5G communication signals to realize detection cruising.

2. The variable diameter crawler pipeline desilting robot according to claim 1, characterized in that: The crawler drive assembly comprises a crawler drive assembly mounting plate, a drive crawler, a crawler drive motor, a motor reducer, a crawler drive connecting rod 1, a crawler drive connecting rod 2, a crawler drive connecting shaft, a support bearing seat, a bearing seat support plate, a slider mounting plate, a slider, a guide rail, a telescopic push rod, a telescopic sleeve, a sleeve support plate, a spring 1, and a sleeve support plate reinforcement rib; the four crawler drive connecting rods 1, the crawler drive assembly mounting plate and the drive crawler are connected by rolling bearings to form a parallelogram mechanism to realize the reciprocating swing of the drive crawler.

3. The variable diameter crawler pipeline desilting robot according to claim 2, characterized in that: A guide rail is installed on the mounting plate of the crawler transmission assembly, and a slider is installed above the guide rail to realize reciprocating linear motion. A slider mounting plate, a bearing seat support plate and a supporting bearing seat are installed above the slider by screws. In order to transmit the force from the transmission crawler, two crawler transmission connecting rods are connected to the transmission crawler through rolling bearings, and the two crawler transmission connecting rods are connected to both ends of the crawler transmission connecting shaft through rolling bearings, and the crawler connecting shaft is connected to the supporting bearing seat through rolling bearings. When the pipe diameter changes, the angle between the transmission crawler and the frame becomes smaller, and its force acts on the slider through the crawler transmission connecting rod, the crawler transmission connecting shaft, etc., so that the slider slides on the guide rail, thereby realizing the adaptation of the transmission crawler to different pipe diameters.

4. The variable diameter crawler pipeline desilting robot according to claim 3, characterized in that: A telescopic push rod is installed on one side of the bearing seat support plate. The telescopic push rod is inserted into the telescopic sleeve. A spring is placed in the telescopic sleeve. When the pipe diameter changes and the transmission track approaches the frame, the force is transmitted to the spring through the connecting parts. The spring is compressed to provide elastic force, so that the transmission track always contacts the inner wall of the pipe.

5. The variable diameter crawler pipeline desilting robot according to claim 2, characterized in that: The telescopic sleeve is installed above the sleeve support plate, and three sleeve support plate reinforcing ribs are installed on both sides of the sleeve support plate.

6. The variable diameter crawler pipeline desilting robot according to claim 1, characterized in that: The motor drive assembly includes a dredging drive motor, a motor mounting plate, a motor output bearing seat, a diaphragm coupling, and a motor connecting shaft; the dredging drive motor is mounted on the motor mounting plate by screws, and in order to transmit power, the dredging drive motor and the motor connecting shaft are connected by a diaphragm coupling, and in order to support the motor connecting shaft, the motor output bearing seat and the motor mounting plate are connected by screws, and are connected to the motor connecting shaft by a rolling bearing.

7. The variable diameter crawler pipeline desilting robot according to claim 1, characterized in that: The rotary dredging component comprises a rotary dredging component base, a blade telescopic sleeve, a second spring, an end cover of the blade telescopic sleeve, a blade telescopic push rod, and a dredging blade.

8. The variable diameter crawler pipeline desilting robot according to claim 7, characterized in that: The base of the rotary dredging component and the motor connecting shaft are connected through a profile and fixed in the axial direction by screws.

9. The variable diameter crawler pipeline desilting robot according to claim 7, characterized in that: Four blade telescopic sleeves are installed on the four sides of the base of the rotary dredging component by screws. A spring 2 is placed in the blade telescopic sleeve so that the dredging blade can adapt to the changing pipe diameter. The top of the blade telescopic sleeve is connected to the blade telescopic sleeve end cover by screws to prevent the spring 2 from jumping out. The blade telescopic push rod is inserted into the blade telescopic sleeve. When the pipe diameter changes, the blade telescopic push rod compresses the spring 2, so that the spring 2 provides elastic force for the dredging blade, so that the dredging blade is always close to the inner wall of the pipe.

10. The variable diameter crawler pipeline desilting robot according to claim 9, characterized in that: The blade telescopic push rod and the blade telescopic sleeve end cover are connected through a profile, with a single-side interval of 1mm, and the dredging blade is connected to the blade telescopic push rod through a screw.

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