Auxiliary structure for pipeline robot

Abstract

The invention relates to the technical field of robots, and particularly discloses an auxiliary structure for a pipeline robot, which comprises a robot main body, a plurality of groups of roller assemblies are arranged at the lower part of the robot main body, at least two auxiliary supporting assemblies are arranged at the upper part of the robot main body, and each auxiliary supporting assembly comprises an auxiliary structure base. A universal joint assembly is arranged on the auxiliary structure base, an elastic reset assembly is arranged on the universal joint assembly, a top seat is connected to the elastic reset assembly, and the top seat comprises a top seat body and a plurality of top beads arranged on the top seat body. The auxiliary structure for the pipeline robot is simple in structure, and the walking and obstacle crossing capabilities of the pipeline robot can be effectively improved.

Description

Technical Field

[0001] The present invention relates to the technical field of robots, and in particular, to an auxiliary structure for a pipeline robot. Background Art

[0002] Existing pipeline robots are a kind of operating machinery that can walk along the inside of a pipeline and can perform a series of pipeline operations based on remote control by staff or computer automatic control.

[0003] During the existing pipeline operation process, in order to improve the walking and obstacle-crossing capabilities of the pipeline robot inside the pipeline and ensure that the pipeline robot can work better inside the pipeline, generally, the walking and obstacle-crossing capabilities of the pipeline robot are improved by changing the body structure of the pipeline robot. Among them, the technical solution for changing the main structure of the pipeline robot mainly improves the walking and obstacle-crossing capabilities of the pipeline robot by adopting the mutual cooperation of walking wheels, driving motors, and telescopic brackets. However, the pipeline robot with this structure cannot provide a large traction force, and there may be situations of slipping and instability during walking and obstacle crossing.

[0004] In view of this, there is a need to provide an auxiliary structure for a pipeline robot, which can effectively improve the walking and obstacle-crossing capabilities of the pipeline robot without changing the main structure of the pipeline robot. Summary of the Invention

[0005] The problem to be solved by the present invention is to provide an auxiliary structure for a pipeline robot, and the auxiliary structure for the pipeline robot has a simple structure, is convenient to install, and has a good use effect.

[0006] To achieve the above object, the present invention provides an auxiliary structure for a pipeline robot, including a robot main body. A plurality of roller assemblies are provided at the lower part of the robot main body, and at least two auxiliary support assemblies are provided at the upper part of the robot main body. A single auxiliary support assembly includes an auxiliary structure base, a universal joint assembly is provided on the auxiliary structure base, an elastic reset assembly is provided on the universal joint assembly, and a top seat is connected to the elastic reset assembly. The top seat includes a top seat main body and a plurality of top beads provided on the top seat main body. Each of the top beads can rotate, so that when the auxiliary structure for the pipeline robot travels in the pipeline and encounters an obstacle, causing the robot main body to tilt, each of the top seats can still adhere to the inner wall of the pipeline, and the contact points of each of the top seats with the inner wall of the pipeline and the contact points of each of the roller assemblies with the inner wall of the pipeline always form a triangular structure, thereby maintaining the driving stability of the robot main body.

[0007] As a preferred embodiment, the roller assembly includes a wheel body, a roller mounting bracket, a buffer spring for the roller assembly, and a guide post sleeved inside the buffer spring for the roller assembly. The roller mounting bracket is provided with a guide hole, and the guide post can be adapted to the guide hole so as to be able to move up and down along the guide hole.

[0008] As a preferred embodiment, the guide post includes a guide post body, a connecting plate connected to the upper end of the guide post body, and a limiting plate connected to the lower end of the guide post body.

[0009] As a preferred embodiment, the elastic reset assembly includes an upper main body and an outer spring clamping seat. The upper main body is provided with an inner spring mounting hole, and an inner spring is arranged in the inner spring mounting hole. An inner spring seat abuts against the lower end of the inner spring. An outer spring is arranged in the outer spring clamping seat so as to provide a reset elastic force for the top seat after the top seat is deflected under force.

[0010] As a preferred embodiment, the outer spring clamping seat includes an upper clamping seat and a lower clamping seat. The upper clamping seat is provided with an upper outer spring clamping groove, and the lower clamping seat is provided with a lower outer spring clamping groove. The upper outer spring clamping groove and the lower outer spring clamping groove are arranged correspondingly. The upper end surface of the outer spring abuts against the bottom surface of the upper outer spring clamping groove, and the lower end surface of the outer spring abuts against the bottom surface of the lower outer spring clamping groove.

[0011] As a preferred embodiment, a through hole is provided in the central area of the lower outer spring clamping groove so that the lower outer spring clamping groove can be sleeved on the universal joint assembly.

[0012] As a preferred embodiment, the upper clamping seat is further provided with an inner clamping groove in the upper clamping seat, and the opening direction of the inner clamping groove in the upper clamping seat is opposite to the opening direction of the upper spring clamping groove.

[0013] As a preferred embodiment, one end of the inner spring seat is provided with a spherical surface, and this spherical surface is adapted to always abut against the inner circumferential surface of the inner spring mounting hole during the rotation process.

[0014] As a preferred embodiment, one end of the top seat body is formed as a spherical surface, and its side surface is formed as a cylinder.

[0015] As a preferred embodiment, a rubber anti-slip layer is provided on the outer peripheral surface of the wheel body of the roller assembly.

[0016] Through the above technical solution, the auxiliary structure for a pipeline robot of the present invention includes a robot main body. A plurality of roller assemblies are provided at the lower part of the robot main body, and at least two auxiliary support assemblies are provided at the upper part of the robot main body. A single auxiliary support assembly includes an auxiliary structure base. A universal joint assembly is provided on the auxiliary structure base, an elastic reset assembly is provided on the universal joint assembly, and a top seat is connected to the elastic reset assembly. The top seat includes a top seat main body and a plurality of top beads provided on the top seat main body. Each of the top beads can rotate, so that when the auxiliary structure for the pipeline robot travels in a pipeline and encounters an obstacle, causing the robot main body to tilt, each of the top seats can still adhere to the inner wall of the pipeline, and the contact points between each of the top seats and the inner wall of the pipeline and the contact points between each of the roller assemblies and the inner wall of the pipeline always form a triangular structure, thereby maintaining the driving stability of the robot main body. The auxiliary structure for the pipeline robot of the present invention can effectively improve the walking and obstacle-crossing abilities of the pipeline robot by providing a plurality of roller assemblies and a plurality of top columns.

[0017] Other advantages of the present invention and the technical effects of the preferred embodiments will be further described in the following detailed description. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 is a schematic structural diagram of a specific embodiment of the auxiliary structure for a pipeline robot of the present invention;

[0019] Figure 2 is a schematic structural diagram of a specific embodiment of the roller assembly of the present invention;

[0020] Figure 3 is a schematic structural diagram of a specific embodiment of the auxiliary support assembly of the present invention;

[0021] Figure 4 is a cross-sectional view of a specific embodiment of the auxiliary support assembly of the present invention.

[0022] DESCRIPTION OF THE REFERENCE NUMERALS

[0023] 1 Robot main body 2 Roller assembly

[0024] 201 Wheel body 202 Roller mounting bracket

[0025] 203 Roller assembly buffer spring 204 Guide post

[0026] 3 Auxiliary support assembly 301 Auxiliary structure base

[0027] 302 Universal joint assembly 303 Elastic reset assembly

[0028] 3031 Upper main body 3032 Inner spring mounting hole

[0029] Inner spring 3033, inner spring seat 3034

[0030] Outer spring clamping seat 3035, outer spring 3036

[0031] Top seat 304, top seat main body 3041

[0032] Top bead 3042 Specific implementation mode

[0033] The specific implementation mode of the present invention will be described in detail below with reference to the accompanying drawings. It should be understood that the specific implementation mode described here is only used to illustrate and explain the present invention, and is not used to limit the present invention.

[0034] First of all, it should be noted that some orientation words involved in the description below to clearly illustrate the technical solution of the present invention, such as "up", "down", "inside", "outside", etc. are all the meanings analogized according to the normal orientation of the components in the auxiliary structure for the pipeline robot of the present invention. For example, after the auxiliary structure for the pipeline robot of the present invention is installed, the surface close to the ground is the bottom, and vice versa; the part where the reaction solution is placed is the inside, and vice versa.

[0035] In the description of the present invention, it should be noted that unless otherwise clearly defined and limited, the terms "installation" and "connection" should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a direct connection, or an indirect connection through an intermediate medium, and it can be the communication inside two components or the interaction relationship between two components. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0036] See Figures 1 to 4As shown in the figure, the auxiliary structure for the pipeline robot of the present invention includes a robot main body 1. A plurality of roller assemblies 2 are provided at the lower part of the robot main body 1, and at least two auxiliary support assemblies 3 are provided at the upper part of the robot main body 1. A single auxiliary support assembly 3 includes an auxiliary structure base 301. A universal joint assembly 302 is provided on the auxiliary structure base 301. An elastic reset assembly 303 is provided on the universal joint assembly 302. A top seat 304 is connected to the elastic reset assembly 303. The top seat 304 includes a top seat main body 3041 and a plurality of top beads 3042 provided on the top seat main body 3041. Each of the top beads 3042 can rotate, so that when the auxiliary structure for the pipeline robot travels in the pipeline and encounters an obstacle, causing the robot main body 1 to tilt, each of the top seats 304 can still adhere to the inner wall of the pipeline, and the contact points between each of the top seats 304 and the inner wall of the pipeline and the contact points between each of the roller assemblies 2 and the inner wall of the pipeline always form a triangular structure, thereby maintaining the driving stability of the robot main body 1.

[0037] In this application, the robot main body 1 is an existing pipeline robot, and the lengths of the roller assembly 2 and the auxiliary support assembly 3 are adjusted according to the diameter of the actual pipeline. When the roller assembly 2 and the auxiliary support assembly 3 are installed on the robot main body 1, with a certain cross-section of the robot main body 1 as a reference, two roller assemblies 2 and one auxiliary support assembly 3 are located in the same cross-section. The two roller assemblies 2 are located on both sides of the lower surface of the robot main body 1, and the auxiliary support assembly 3 is provided in the central area of the upper surface of the robot main body 1, so that the contact points between the two roller assemblies 2 and the inner wall of the pipeline and the contact points between the auxiliary support assembly 3 and the inner wall of the pipeline can enclose a triangle. Moreover, the triangle formed by the enclosure in this application will not be changed because of the robot main body 1 during walking or passing through obstacles, or one of the contact points is separated from the contact. Specifically, during the normal walking process of the robot main body 1, the roller assemblies 2 located on the same cross-section always abut against the lower part of the inner wall of the pipeline due to the action of gravity, and the auxiliary support assembly 3 always abuts against the upper part of the inner wall of the pipeline. When the robot main body 1 passes through an obstacle, one of the roller assemblies 2 tilts, causing the robot main body 1 to also tilt. At this time, the auxiliary structure base 301 of the auxiliary support assembly 3 also tilts. Due to the universal joint assembly 302 between the auxiliary structure base 301 and the top seat 304, when the robot main body 1 tilts, the top seat 304 also adaptively deflects partially. However, the top seat 304 can always abut against the upper part of the inner wall of the pipeline, and always maintain the stability structure in which the contact points between the two roller assemblies 2 and the inner wall of the pipeline and the contact points between the auxiliary support assembly 3 and the inner wall of the pipeline can always enclose a triangle, thereby ensuring the obstacle-passing ability of the robot main body 1. After passing through the obstacle, the elastic reset assembly 303 can reset the top seat 304 to its original position, and continue to maintain the walking ability of the robot main body 1.

[0038] As a preferred embodiment, the roller assembly 2 includes a wheel body 201, a roller mounting bracket 202, a roller assembly buffer spring 203, and a guide post 204 sleeved in the roller assembly buffer spring 203. The roller mounting bracket 202 is provided with a guide hole, and the guide post 204 can be adapted to the guide hole to be able to move up and down along the guide hole.

[0039] As Figure 2 As shown, in a single roller assembly 2, the roller mounting bracket 202 is provided with a mounting hole and is detachably connected to the robot main body 1. The roller mounting bracket 202 is formed in a U shape, and the wheel body 201 is arranged at the open end of the roller mounting bracket 202. The upper end of the roller mounting bracket 202 is provided with a guide hole, and the guide post 204 is adapted to the guide hole and moves up and down along the guide hole. The roller assembly buffer spring 203 provides a certain force for the reset of the guide post 204. In the initial state, the roller assembly buffer spring 203 is in a state of neither compression nor tension. When the robot main body 1 needs to cross an obstacle, the roller assembly buffer spring 203 can effectively control the upward contraction distance of the wheel body 201. After crossing the obstacle, the roller assembly buffer spring 203 provides a reset elastic force for the wheel body 201.

[0040] As a preferred embodiment, the guide post 204 includes a guide post main body, a connecting plate connected to the upper end of the guide post main body, and a limiting plate connected to the lower end of the guide post main body.

[0041] It can be known that the connecting plate at the upper end of the guide post main body is provided with a plurality of mounting holes for connecting to the robot main body 1. The connecting plate is integrally connected or welded to the guide post main body, and the guide post main body is integrally connected or welded to the limiting plate, depending on the actual processing technology requirements.

[0042] As a preferred embodiment, the elastic reset assembly 303 includes an upper main body 3031 and an outer spring clamping seat 3035. The upper main body 3031 is provided with an inner spring mounting hole 3032. An inner spring 3033 is arranged in the inner spring mounting hole 3032. An inner spring seat 3034 abuts against the lower end of the inner spring 3033. An outer spring 3036 is arranged in the outer spring clamping seat 3035 to be able to provide a reset elastic force for the top seat 304 after the top seat 304 is deflected by force.

[0043] As Figure 4As shown, the upper main body 3031 includes an upper end portion and a lower main body portion. The diameter of the upper end portion is smaller than that of the lower main body portion. An arc transition surface is provided between the upper end portion and the lower main body portion. The inner spring mounting hole 3032 is provided at one end of the lower main body portion away from the upper end portion. An annular groove with a right trapezoidal cross-section is provided at the same end of the lower main body portion where the inner spring mounting hole 3032 is located. The outer side surface of the annular groove forms an annular boss portion, and the annular boss portion can be clamped on the upper clamping seat and fixed by using components such as fasteners or taper pins. The inner spring 3033 is a compression spring, one end abuts against the bottom of the inner spring mounting hole 3032, and the other end abuts against the end surface of the inner spring seat 3034.

[0044] The upper end portion of the inner spring seat 3034 forms a columnar or boss structure, the middle portion forms a spherical structure, and the lower portion forms a cylindrical structure. The upper columnar or boss structure is adapted to the inner spring 3033, the maximum outer circle of the spherical structure in the middle is adapted to the inner spring mounting hole 3032, and the lower cylindrical structure is adapted to the upper portion of the universal joint assembly 302. Specifically, the structure in which the maximum outer circle of the spherical structure in the middle is adapted to the inner spring mounting hole 3032 can be that an annular groove is provided on the inner spring mounting hole 3032, and the spherical structure in the middle is adapted to the groove, so that the upper main body 3031 can rotate around the center of the spherical structure in the middle.

[0045] As a preferred embodiment, the outer spring clamping seat 3035 includes an upper clamping seat and a lower clamping seat. The upper clamping seat is provided with an upper outer spring clamping groove, the lower clamping seat is provided with a lower outer spring clamping groove, the upper outer spring clamping groove and the lower outer spring clamping groove are correspondingly arranged, the upper end surface of the outer spring 3036 abuts against the bottom surface of the upper outer spring clamping groove, and the lower end surface of the outer spring 3036 abuts against the bottom surface of the lower outer spring clamping groove.

[0046] As a preferred embodiment, a through hole is provided in the central area of the lower outer spring clamping groove so that the lower outer spring clamping groove can be sleeved on the universal joint assembly 302.

[0047] As a preferred embodiment, the upper clamping seat is further provided with an inner clamping groove on the upper clamping seat, and the opening direction of the inner clamping groove on the upper clamping seat is opposite to the opening direction of the upper spring clamping groove.

[0048] The inner clamping groove on the upper clamping seat is adapted to the annular boss portion of the upper main body 3031.

[0049] As a preferred embodiment, one end of the inner spring seat 3034 is provided with a spherical surface, and the spherical surface is adapted to always abut against the inner circumferential surface of the inner spring mounting hole 3032 during rotation.

[0050] As a preferred embodiment, one end of the top seat body 3041 is formed as a spherical surface, and its side surface is formed as a cylinder.

[0051] As a preferred embodiment, a rubber anti-slip layer is provided on the outer peripheral surface of the wheel body 201 of the roller assembly 2.

[0052] As a relatively preferred embodiment of the auxiliary structure for the pipeline robot of the present application, the auxiliary structure for the pipeline robot of the present application includes a robot main body 1. A plurality of roller assemblies 2 are provided at the lower part of the robot main body 1, and at least two auxiliary support assemblies 3 are provided at the upper part. Among them, two roller assemblies 2 and one auxiliary support assembly 3 are located on a cross-section of the robot main body 1 to form a triangular stable structure. A single auxiliary support assembly 3 includes an auxiliary structure base 301. A universal joint assembly 302 is provided on the auxiliary structure base 301. An elastic reset assembly 303 is provided on the universal joint assembly 302. A top seat 304 is connected to the elastic reset assembly 303. The top seat 304 includes a top seat main body 3041 and a plurality of top beads 3042 provided on the top seat main body 3041, and each top bead 3042 can rotate. The elastic reset assembly 303 includes an upper main body 3031 and an outer spring clamping seat 3035. An inner spring installation hole 3032 is provided on the upper main body 3031. An inner spring 3033 is provided in the inner spring installation hole 3032. An inner spring seat 3034 abuts against the lower end of the inner spring 3033. An outer spring 3036 is provided in the outer spring clamping seat 3035. The upper main body 3031 includes an upper end portion and a lower main body portion. The diameter of the upper end portion is smaller than that of the lower main body portion. An arc transition surface is provided between the upper end portion and the lower main body portion. The inner spring installation hole 3032 is provided at one end of the lower main body portion far from the upper end portion. A ring groove with a right trapezoidal cross-section is provided at the same end of the lower main body portion where the inner spring installation hole 3032 is provided. The outer side surface of the ring groove forms a ring boss portion, and the ring boss portion can be clamped on the clamping upper seat and fixed by components such as fasteners or taper pins. The inner spring 3033 is a compression spring, one end abuts against the bottom of the inner spring installation hole 3032, and the other end abuts against the end surface of the inner spring seat 3034. The upper end portion of the inner spring seat 3034 is formed into a column or boss structure, the middle portion is formed into a spherical structure, and the lower portion is formed into a cylindrical structure. The upper column or boss structure at the upper part is adapted to the inner spring 3033, the maximum outer circle of the spherical structure in the middle portion is adapted to the inner spring installation hole 3032, and the cylindrical structure at the lower part is adapted to the upper part of the universal joint assembly 302. The outer spring clamping seat 3035 includes a clamping upper seat and a clamping lower seat. An outer spring upper clamping groove is provided on the clamping upper seat. A through hole is provided in the central area of the outer spring lower clamping groove. An outer spring lower clamping groove and a clamping upper seat inner clamping groove are provided on the clamping lower seat. The opening direction of the clamping upper seat inner clamping groove is opposite to the opening direction of the spring upper clamping groove. The outer spring upper clamping groove and the outer spring lower clamping groove are correspondingly arranged. The upper end surface of the outer spring 3036 abuts against the bottom surface of the outer spring upper clamping groove, and the lower end surface of the outer spring 3036 abuts against the bottom surface of the outer spring lower clamping groove. One end of the inner spring seat 3034 is provided with a spherical surface, and this spherical surface is adapted to always abut against the inner circumferential surface of the inner spring installation hole 3032 during the rotation process.The roller assembly 2 includes a wheel body 201, a roller mounting bracket 202, a buffer spring 203 of the roller assembly, and a guide post 204 sleeved inside the buffer spring 203 of the roller assembly. The roller mounting bracket 202 is provided with a guide hole. The guide post 204 includes a guide post body, a connecting plate connected to the upper end of the guide post body, and a limiting plate connected to the lower end of the guide post body.

[0053] Thus, in the above relatively preferred embodiment, the working process of the auxiliary structure for the pipeline robot of the present application applied to the robot main body 1 is as follows:

[0054] During the normal walking process of the robot main body 1, the roller assemblies 2 located on the same cross-section always abut against the lower inner wall of the pipeline due to the action of gravity, and the auxiliary support assembly 3 always abuts against the upper inner wall of the pipeline. Each top bead 3042 on the top seat 304 can all abut against the inner wall of the pipeline, or can partially abut against the inner wall of the pipeline.

[0055] When the robot main body 1 passes an obstacle, one of the roller assemblies 2 tilts, causing the robot main body 1 to also tilt. At this time, the auxiliary structure base 301 of the auxiliary support assembly 3 also tilts. Due to the universal joint assembly 302 between the auxiliary structure base 301 and the top seat 304, when the robot main body 1 tilts, the top seat 304 also adaptively deflects partially. However, the top seat 304 can always abut against the upper part of the inner wall of the pipeline, and always keep the contact points of the two roller assemblies 2 with the inner wall of the pipeline and the contact points of the auxiliary support assembly 3 with the inner wall of the pipeline able to enclose a stable triangular structure, thereby ensuring the obstacle-passing ability of the robot main body 1.

[0056] When the robot main body 1 finishes passing an obstacle, the elastic reset assembly 303 can reset the top seat 304 to its original position, and continue to maintain the walking ability of the robot main body 1.

[0057] It can be further thought that the auxiliary structure for the pipeline robot of the present application is not only applicable to walking in a conventional pipeline and improving the obstacle-passing ability, but also can be effectively applicable to walking in a special-shaped pipeline and improving the obstacle-passing ability, with unexpected use effects.

[0058] The preferred embodiments of the present invention have been described in detail above with reference to the accompanying drawings. However, the present invention is not limited to the specific details in the above embodiments. Within the technical concept scope of the present invention, various simple modifications can be made to the technical solutions of the present invention, and these simple modifications all belong to the protection scope of the present invention.

[0059] In addition, it should be noted that, among the various specific technical features described in the above specific embodiments, they can be combined in any appropriate manner without conflict. To avoid unnecessary repetition, the present invention will not separately describe various possible combination manners.

[0060] In addition, any combination can also be made among various different embodiments of the present invention, as long as it does not violate the idea of the present invention, and it should also be regarded as the content disclosed by the present invention.

Claims

1. An auxiliary structure for a pipeline robot, comprising a robot body (1), characterized in that: The lower part of the robot body (1) is provided with a plurality of roller assemblies (2), the upper part of the robot body (1) is provided with at least two auxiliary support assemblies (3), a single auxiliary support assembly (3) comprises an auxiliary structure base (301), a universal joint assembly (302) is provided on the auxiliary structure base (301), an elastic reset assembly (303) is provided on the universal joint assembly (302), a top seat (304) is connected to the elastic reset assembly (303), and the top seat (304) comprises a top seat body (3041) and a setting The plurality of top beads (3042) on the top seat body (3041) are each capable of rotating, so that when the pipeline robot uses an auxiliary structure to travel in the pipeline and encounters an obstacle causing the robot body (1) to tilt, each top seat (304) can still adhere to the inner wall of the pipeline, and the contact points between each top seat (304) and the inner wall of the pipeline and the contact points between each roller assembly (2) and the inner wall of the pipeline always form a triangular structure, thereby maintaining the driving stability of the robot body (1).

2. The auxiliary structure for the pipeline robot according to claim 1, characterized in that: The roller assembly (2) comprises a wheel body (201), a roller mounting bracket (202), a roller assembly buffer spring (203), and a guide column (204) sleeved in the roller assembly buffer spring (203); the roller mounting bracket (202) is provided with a guide hole, and the guide column (204) can be matched with the guide hole so as to be able to move up and down along the guide hole.

3. The auxiliary structure for the pipeline robot according to claim 2, characterized in that: The guide column (204) comprises a guide column body, a connecting plate connected to the upper end of the guide column body, and a limiting plate connected to the lower end of the guide column body.

4. The auxiliary structure for the pipeline robot according to claim 1, characterized in that: The elastic reset assembly (303) comprises an upper body (3031) and an outer spring clamping seat (3035); the upper body (3031) is provided with an inner spring mounting hole (3032); an inner spring (3033) is arranged in the inner spring mounting hole (3032); the inner spring seat (3034) abuts against the lower end of the inner spring (3033); and the outer spring clamping seat (3035) is provided with an outer spring (3036) so as to provide a reset elastic force for the top seat (304) after the top seat (304) is deflected by force.

5. The auxiliary structure for the pipeline robot according to claim 4, characterized in that: The outer spring clamping seat (3035) includes an upper clamping seat and a lower clamping seat, the upper clamping seat is provided with an upper clamping groove of the outer spring, the lower clamping seat is provided with a lower clamping groove of the outer spring, the upper clamping groove of the outer spring and the lower clamping groove of the outer spring are arranged correspondingly, the upper end surface of the outer spring (3036) abuts against the bottom surface of the upper clamping groove of the outer spring, and the lower end surface of the outer spring (3036) abuts against the bottom surface of the lower clamping groove of the outer spring.

6. The auxiliary structure for the pipeline robot according to claim 5, characterized in that: A through hole is provided in the central area of ​​the lower clamping groove of the outer spring so that the lower clamping groove of the outer spring can be sleeved on the universal joint assembly (302).

7. The auxiliary structure for the pipeline robot according to claim 6, characterized in that: The clamping upper seat is also provided with an inner clamping slot of the clamping upper seat, and the opening direction of the inner clamping slot of the clamping upper seat is opposite to the opening direction of the clamping slot on the spring.

8. The auxiliary structure for the pipeline robot according to claim 4, characterized in that: One end of the inner spring seat (3034) is provided with a spherical surface, and the spherical surface is suitable for always being in contact with the inner peripheral surface of the inner spring installation hole (3032) during the rotation process.

9. The auxiliary structure for a pipeline robot according to any one of claims 1 to 8, characterized in that: One end of the top seat body (3041) is formed into a spherical surface, and the side surface thereof is formed into a column.

10. The auxiliary structure for a pipeline robot according to any one of claims 1 to 8, characterized in that: A rubber anti-slip layer is provided on the outer peripheral surface of the wheel body (201) of the roller assembly (2).

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