A small-diameter pipe inspection robot with an elastic clamping suspension

Abstract

The present application belongs to the field of robot technology, and particularly relates to a small-diameter pipe detection robot with elastic clamping suspension, comprising three same climbing sub-mechanisms, adjacent climbing sub-mechanisms being connected with each other to form a three-side structure; each climbing sub-mechanism comprises a driving wheel type moving sub-mechanism, a driven wheel type moving sub-mechanism and a frame mechanism, the driving wheel type moving sub-mechanism and the driven wheel type moving sub-mechanism being arranged on two sides of the frame mechanism respectively; in the three-side structure formed by the three climbing sub-mechanisms, three groups of driving wheel type moving sub-mechanisms are arranged on one side of the frame mechanism, and three groups of driven wheel type moving sub-mechanisms are arranged on the other side of the frame mechanism. The robot has simple structure, is convenient to disassemble and assemble, has strong obstacle crossing ability, and can be applied to the outer surface inspection of pipes with different diameters.

Description

Technical Field

[0001] This invention belongs to the field of robotics technology, specifically relating to a small-diameter pipe inspection robot with an elastic clamping suspension. Background Technology

[0002] Pipelines, as an indispensable infrastructure in modern society, are ubiquitous underground in cities, undertaking the task of transporting vital resources such as water, gas, and oil. However, pipelines are constantly exposed to hidden environments and are susceptible to various defects and hidden dangers due to factors such as corrosion, aging, and external damage. Traditional manual inspection methods are inefficient, costly, and dangerous, making them unsuitable for the needs of modern pipeline operation and maintenance.

[0003] With the rapid development of robotics, sensor technology, and artificial intelligence, pipeline inspection robots have emerged. These robots can replace manual labor to enter pipelines and use high-definition cameras, laser scanners, and ultrasonic sensors to conduct comprehensive and high-precision inspections. The data is transmitted in real-time to a ground control system, providing a scientific basis for pipeline health assessment and maintenance decisions. The application of pipeline inspection robots not only improves the efficiency and safety of pipeline inspection and reduces labor costs, but more importantly, it enables the early detection of potential pipeline hazards, preventing accidents and ensuring the safe operation of urban lifelines.

[0004] Currently, the main types of robots used in the field of small-diameter pipe inspection include wheeled, magnetic, tracked, and gripping robots. Wheeled robots generally employ a rigid structure design, enabling rapid movement on pipes. However, due to their point and line contact with the pipe, their load-bearing capacity is relatively limited when facing significant pressure. Tracked robots offer higher climbing stability through large-area contact with the pipe; however, their climbing speed is relatively slow due to their greater weight. Gripping robots, with their unique movement method, demonstrate excellent obstacle-crossing capabilities; however, their movement speed is relatively slow. As for magnetic robots, they are limited to use on pipes made of magnetic materials, thus restricting their applicability. Tracked and magnetic robots, due to their structural limitations, struggle to achieve obstacle-crossing capabilities, and their large mass poses a significant challenge to loading and unloading operations. While traditional rigid-structure climbing robots can attempt obstacle crossing by adjusting their posture or structure, the results are often unsatisfactory. To address these issues, this invention proposes an innovative solution: a three-sided multi-link elastic suspension, which enables the robot to be stably gripped and has a strong obstacle-crossing capability. Summary of the Invention

[0005] The purpose of this invention is to provide a small-diameter pipe inspection robot with an elastic clamping suspension. This robot provides clamping force through its suspension structure and allows for the crossing of obstacles of varying heights by setting different damping strengths. Three climbing submechanisms form a three-sided structure, ensuring more stable movement and preventing slippage. This robot has a simple structure, is easy to assemble and disassemble, and has strong obstacle-crossing capabilities, making it suitable for inspecting the external surfaces of pipes of different diameters.

[0006] Technical solution to achieve the purpose of this invention:

[0007] A small-diameter pipe inspection robot with an elastic clamping suspension includes: three identical climbing sub-mechanisms, adjacent climbing sub-mechanisms being interconnected to form a three-sided structure; each climbing sub-mechanism includes an active wheel-type moving sub-mechanism, a driven wheel-type moving sub-mechanism, and a frame mechanism, with the active wheel-type moving sub-mechanism and the driven wheel-type moving sub-mechanism respectively arranged on both sides of the frame mechanism; in the three-sided structure formed by the interconnection of the three climbing sub-mechanisms, the three sets of active wheel-type moving sub-mechanisms are arranged on one side of the frame mechanism, and the three sets of driven wheel-type moving sub-mechanisms are arranged on the other side of the frame mechanism.

[0008] Furthermore, the frame mechanism includes a system mounting plate, a suspension fixing ring, a shock absorber fixing seat, a lifting connecting arm, a straight connecting arm, and a tension spring connecting seat; the lifting connecting arm and the straight connecting arm are horizontally symmetrically arranged on both sides of the system mounting plate; two shock absorber fixing seats are symmetrically installed in the middle of the outer side of the system mounting plate; suspension fixing rings are symmetrically installed at both ends of the system mounting plate; and tension spring connecting seats are symmetrically installed on the inner side of the system mounting plate.

[0009] Furthermore, the lifting connecting arm and the straight connecting arm are respectively provided with a number of equally spaced mounting adjustment holes; the lifting connecting arm in the frame mechanism is connected to the straight connecting arm in the adjacent frame mechanism through the mounting adjustment holes.

[0010] Furthermore, the active wheel-type moving submechanism includes a wheel structure, a support mechanism, a suspension structure, and a drive mechanism; the driven wheel-type moving submechanism includes a wheel structure, a support mechanism, and a suspension structure; the support mechanism is connected to the frame mechanism through the suspension structure, and the wheel structure is connected to the support mechanism; the drive mechanism is driven and connected to the wheel structure; the suspension structure includes a tension spring mechanism disposed inside the frame mechanism and a spring-linkage mechanism disposed outside the frame mechanism.

[0011] Further, the support mechanism includes: a drive wheel suspension support, an H-shaped support, a first fixed rotating shaft, and a second fixed rotating shaft; the tension spring mechanism includes: a tension spring; the spring linkage mechanism includes: a force transmission rod, a shock absorber slider, and a damping spring; the shock absorber slider is symmetrically installed on the outer side of the system mounting plate near the end position; the tail end of the damping spring is connected to the shock absorber mounting seat, and the top end of the damping spring is coaxially connected to the shock absorber slider and the tail end of the force transmission rod; the top end of the force transmission rod is connected to the drive wheel suspension support through the first fixed rotating shaft; one end of the H-shaped support is connected to the drive wheel suspension support through the second fixed rotating shaft, and the other end is connected to the suspension fixing ring on the frame mechanism; the second fixed rotating shaft is connected to the tension spring connecting seat on the frame mechanism through the tension spring.

[0012] Furthermore, the wheel structure includes: a drive wheel hub, a wheel sleeve, a drive wheel drive shaft, and a drive wheel driven shaft; the drive wheel drive shaft and the drive wheel driven shaft are mounted on the drive wheel suspension bracket; the drive wheel drive shaft and the drive wheel driven shaft are fixedly mounted on the drive wheel hub; and the drive wheel is wrapped with a wheel sleeve on its outer side.

[0013] Furthermore, the wheel sleeve is made of rubber, and the outer surface of the wheel sleeve is U-shaped.

[0014] Furthermore, both the drive shaft and the driven shaft of the drive wheel are provided with grooves on their outer sides, and a retaining ring for the shaft is installed in the groove.

[0015] Furthermore, the drive mechanism includes: a motor mounting base and a drive motor; the motor mounting base is fixedly installed on the outside of the drive wheel suspension bracket, the drive motor is fixedly installed on the outside of the motor mounting base, and the drive motor is connected to the drive wheel drive shaft.

[0016] Furthermore, the drive mechanism also includes: a motor output flange, the output end of the drive motor is fixedly connected to the motor output flange, and the motor output flange is connected to the drive wheel drive shaft.

[0017] The beneficial technical effects of this invention are as follows:

[0018] 1. In the small-diameter pipe inspection robot with elastic clamping suspension provided by this invention, each active or driven wheeled movement sub-mechanism includes a suspension structure. The suspension structure is divided into two parts. A tension spring inside the frame mechanism indirectly drives the wheeled structure to move by pulling on a second fixed rotating shaft connected to it, providing a portion of the adhesion force required for the wheeled structure to adhere. On the outside of the frame mechanism, a spring-linkage mechanism consisting of an adjustable damping spring, a force transmission rod, and a shock-absorbing slider provides clamping force while allowing for different damping intensities. The interaction between the tension spring inside the frame mechanism and the spring-linkage mechanism on the outside enables the robot to have obstacle-crossing capabilities not found in traditional small-diameter pipe-climbing robots. By setting different damping intensities of the damping spring according to different obstacles, the active or driven wheeled movement sub-mechanism can be lifted to a greater height.

[0019] 2. This invention provides a small-diameter pipe inspection robot with an elastic clamping suspension, comprising three climbing submechanisms. Each climbing submechanism includes a set of active wheel-type moving submechanisms and a set of driven wheel-type moving submechanisms, and each set of active or driven wheel-type moving submechanisms has an independent suspension structure. This configuration provides the robot with three driving forces, ensuring sufficient climbing power and enabling faster climbing speeds. Simultaneously, the three-sided structure provides better stability after the robot clamps the pipe compared to the traditional two-sided structure, reducing swaying and vibration during obstacle crossing.

[0020] 3. In the small-diameter pipe inspection robot with elastic clamping suspension provided by this invention, each of the three sets of active wheel-type moving submechanisms and the three sets of driven wheel-type moving submechanisms is equipped with an independent damping adjustable suspension structure. This configuration allows the robot to cope with obstacles of different heights, and by adjusting the damper of the damping spring, the robot's suspension can have a larger swing amplitude. At the same time, because the robot has a three-sided structure, while each suspension structure reduces the adhesion to improve the obstacle-crossing range, it can still maintain stable clamping of the robot without slipping.

[0021] 4. In the small-diameter pipe inspection robot with elastic clamping suspension provided by the present invention, the lifting connecting arm of each frame mechanism is connected to the straight connecting arm of the adjacent frame mechanism, which can ensure the robot's posture.

[0022] 5. The present invention provides a small-diameter pipe inspection robot with an elastic clamping suspension, which has a simple and lightweight structure, is easy to install, and occupies less space. Furthermore, it can flexibly adapt to different force and motion requirements, and has a certain degree of deformation capability, thereby achieving more stable movement performance. Attached Figure Description

[0023] Figure 1This is a three-dimensional structural diagram of the small-diameter pipe inspection robot according to an embodiment of the present invention;

[0024] Figure 2 This is a front view of the small-diameter pipe inspection robot according to an embodiment of the present invention;

[0025] Figure 3 This is a top view of the small-diameter pipe inspection robot according to an embodiment of the present invention;

[0026] Figure 4 This is a mechanical schematic diagram of a small-diameter pipe inspection robot according to an embodiment of the present invention;

[0027] Figure 5 This is a three-dimensional structural diagram of the active wheeled movement submechanism according to an embodiment of the present invention;

[0028] Figure 6 This is a side view of the active wheeled movement submechanism according to an embodiment of the present invention;

[0029] Figure 7 This is a top view of the active wheeled movement submechanism according to an embodiment of the present invention;

[0030] Figure 8 This is a top view of the driven wheel type moving submechanism according to an embodiment of the present invention;

[0031] Figure 9 This is a three-dimensional structural diagram of the frame mechanism according to an embodiment of the present invention;

[0032] Figure 10 This is a front view of the frame mechanism according to an embodiment of the present invention;

[0033] Figure 11 This is a top view of the frame mechanism according to an embodiment of the present invention;

[0034] Figure 12 This is a first mechanical principle diagram of the obstacle-crossing process of the active wheeled mobile submechanism of the small-diameter pipe inspection robot according to an embodiment of the present invention;

[0035] Figure 13 This is a second mechanical schematic diagram of the obstacle-crossing process of the active wheeled mobile submechanism of the small-diameter pipe inspection robot according to an embodiment of the present invention.

[0036] In the picture:

[0037] 1-Active wheeled movement submechanism; 2-Driven wheeled movement submechanism; 3-Frame mechanism;

[0038] 101-Drive wheel suspension bracket; 102-H-type bracket; 1031-First fixed rotating shaft; 1032-Second fixed rotating shaft; 104-Motor mounting base; 105-Force transmission rod; 106-Shock absorber slider; 107-Tension spring; 108-Damping spring; 109-Drive motor; 110-Drive wheel hub; 111-Drive wheel drive shaft; 112-Wheel sleeve; 113-Drive wheel driven shaft; 115-Motor output flange;

[0039] 301-System mounting plate; 302-Active suspension retaining ring; 304-Shock absorber mounting base; 305-Lifting connecting arm; 306-Straight connecting arm; 307-Detection camera bracket; 308-Tension spring connecting base. Detailed Implementation

[0040] The present invention will now be described in further detail with reference to the accompanying drawings and embodiments.

[0041] like Figure 1-3 As shown, the present invention provides a small-diameter pipe inspection robot with an elastic clamping suspension, which includes three identical climbing sub-mechanisms. Adjacent climbing sub-mechanisms are connected to each other to form a three-sided structure.

[0042] Each climbing submechanism includes an active wheeled movement submechanism 1, a driven wheeled movement submechanism 2, and a frame mechanism 3. The active wheeled movement submechanism 1 and the driven wheeled movement submechanism 2 are respectively located on both sides of the frame mechanism 3.

[0043] In the three-sided structure formed by the interconnection of the three climbing sub-mechanisms, the three sets of active wheel-type moving sub-mechanisms 1 are set on one side of the frame mechanism 3, and the three sets of driven wheel-type moving sub-mechanisms 2 are set on the other side of the frame mechanism 3.

[0044] like Figure 9-11 As shown, the frame mechanism 3 includes a system mounting plate 301, a suspension fixing ring 302, a shock absorber fixing seat 304, a lifting connecting arm 305, a straight connecting arm 306, and a tension spring connecting seat 308.

[0045] The lifting connecting arm 305 and the straight connecting arm 306 are horizontally symmetrically arranged on both sides of the system mounting plate 301. The lifting connecting arm 305 and the straight connecting arm 306 are fixedly connected to the system mounting plate 301 by bolts. Each of the lifting connecting arm 305 and the straight connecting arm 306 has several equally spaced mounting adjustment holes for bolts to pass through. Two shock-absorbing mounting seats 304 are symmetrically installed on the center of the outer side of the system mounting plate 301. Two sets of suspension retaining rings 302 are symmetrically installed at both ends of the system mounting plate 301, each set including two symmetrical suspension retaining rings 302; that is, two suspension retaining rings 302 are symmetrically installed at one end of the system mounting plate 301, and two suspension retaining rings 302 are symmetrically installed at the other end. Two sets of tension spring connecting seats 308 are symmetrically installed on the inner side of the system mounting plate 301, each set including two symmetrical tension spring connecting seats 308; that is, two tension spring connecting seats 308 are symmetrically installed on the inner side of the system mounting plate 301 near one end, and two tension spring connecting seats 308 are symmetrically installed on the inner side of the system mounting plate 301 near the other end. The shock absorber fixing seat 304 and the tension spring connecting seats 308 are respectively installed on opposite sides of the system mounting plate 301.

[0046] When adjacent frame mechanisms 3 are connected, the lifting connecting arm 305 in one frame mechanism 3 is connected to the straight connecting arm 306 in another frame mechanism 3 by bolts passing through the mounting adjustment hole.

[0047] When the small-diameter pipe inspection robot of this invention is installed and used on a pipe, the damping strength of the damping spring 108 is first roughly set according to the height of the obstacle on the pipe. Based on the pipe diameter, a suitable installation adjustment hole is selected for installation. The lifting connecting arm 305 of the frame mechanism 3 in the first climbing submechanism is connected to the straight connecting arm 306 of the frame mechanism 3 in the second climbing submechanism using bolts. Then, the lifting connecting arm 305 of the frame mechanism 3 in the second climbing submechanism is connected to the straight connecting arm 306 of the frame mechanism 3 in the third climbing submechanism using bolts. The wheels on the active wheel-type moving submechanism 1 and the driven wheel-type moving submechanism 2 of the first climbing mechanism are aligned with the pipe. Then, the second and third climbing submechanisms are sequentially clamped to hold the pipe. The lifting connecting arm 305 of the frame mechanism 3 in the third climbing submechanism is connected to the straight connecting arm 306 of the frame mechanism 3 in the first climbing submechanism using bolts. The robot is then slowly released, causing the active wheeled movement submechanism 1 and the driven wheeled movement submechanism 2 to clamp and hold the pipe. Driven by the active wheeled movement submechanism 1, the entire pipe inspection robot moves along the pipe.

[0048] like Figure 5-7 As shown, the active wheeled movement submechanism 1 includes a wheel structure, a support mechanism, a suspension structure, and a drive mechanism; as Figure 8As shown, the driven wheel-type moving submechanism 2 includes a wheel structure, a support mechanism, and a suspension structure. The support mechanism is connected to the frame mechanism 3 via the suspension structure, and the wheel structure is connected to the support mechanism; the drive mechanism is driven and connected to the wheel structure. The suspension structure includes a tension spring mechanism located inside the frame mechanism and a spring-linkage mechanism located outside the frame mechanism.

[0049] The support mechanism includes: a drive wheel suspension support 101, an H-type support 102, a first fixed rotating shaft 1031, and a second fixed rotating shaft 1032.

[0050] The suspension structure includes a tension spring mechanism located inside the frame mechanism and a spring-link mechanism located outside the frame mechanism. The tension spring mechanism includes a tension spring 107; the spring-link mechanism includes a force transmission rod 105, a damping slider 106, and a damping spring 108.

[0051] The shock absorber slider 106 is symmetrically installed on the outer side of the system mounting plate 301 near the end position. The shock absorber slider 106 and the shock absorber mounting base 304 are respectively installed on the same side of the system mounting plate 301.

[0052] In one specific embodiment, the shock-absorbing slider 106 is symmetrically slidably mounted on the outer side of the system mounting plate 301 near the end position.

[0053] The tail end of the damping spring 108 is connected to the shock absorber mounting base 304, and the top end of the damping spring 108 is coaxially connected to the shock absorber slider 106 and the tail end of the force transmission rod 105. The top end of the force transmission rod 105 is connected to the drive wheel suspension bracket 101 through the first fixed rotating shaft 1031 (that is, the top end of the force transmission rod 105 is connected to the first fixed rotating shaft 1031, and both ends of the first fixed rotating shaft 1031 pass through the drive wheel suspension bracket 101). One end of the H-shaped bracket 102 is connected to the drive wheel suspension bracket 101 through the second fixed rotating shaft 1032, and the other end is connected to the suspension fixing ring 302 on the frame mechanism 3. The second fixed rotating shaft 1032 is connected to the tension spring connecting seat 308 on the frame mechanism 3 through a pair of tension springs 107 to provide tension.

[0054] The damping spring 108 is a spring with damping function. It includes a hydraulic cylinder or damper filled with hydraulic oil, and its damping magnitude or strength can be changed by adjusting the hydraulic cylinder or damper. After being impacted by an external force, the spring body of the damping spring 108 immediately shortens and returns to its original shape after the external force disappears. During this process, the damping layer of the damping spring 108 absorbs vibration and reduces impact, thereby suppressing the spring body's bounce and enabling the damping spring 108 to maintain good stability and vibration reduction effect in a vibrating environment.

[0055] The wheel structure includes: a drive wheel hub 110, a wheel sleeve 112, a drive wheel drive shaft 111, and a drive wheel driven shaft 113.

[0056] The drive wheel drive shaft 111 and drive wheel driven shaft 113 are mounted on the drive wheel suspension bracket 101. The drive wheel hub 110 has four screw holes inside. The drive wheel drive shaft 111 and the opposite drive wheel driven shaft 113 are fixedly mounted on the drive wheel hub 110 by bolts passing through these screw holes. The drive wheel is covered by a wheel sleeve 112.

[0057] In one specific embodiment, ball bearings are embedded in the drive wheel suspension bracket 101 at the positions where the drive wheel drive shaft 111 and the drive wheel driven shaft 113 are mounted. The drive wheel drive shaft 111 and the drive wheel driven shaft 113 pass through the ball bearings and are mounted on the drive wheel suspension bracket 101, thereby reducing the rotational friction of the wheel structure and preventing dry friction at the connection between the drive wheel drive shaft 111 and the drive wheel driven shaft 113 and the drive wheel suspension bracket 101.

[0058] In one embodiment, the wheel sleeve 112 is made of rubber. The outer surface of the wheel sleeve 112 is U-shaped to accommodate the curved contact surface on the pipe and provide the friction required for climbing.

[0059] In one specific embodiment, the drive wheel drive shaft 111 and the opposite drive wheel driven shaft 113 are both provided with grooves on their outer sides. Shaft retaining rings are installed in the grooves. By installing shaft retaining rings in the grooves, the drive wheel drive shaft 111 and the drive wheel driven shaft 113 are prevented from swaying axially, thereby preventing the wheel structure from swaying axially.

[0060] The drive mechanism includes: a motor mounting base 104, a drive motor 109, and a motor output flange 115. The motor mounting base 104 is fixedly installed on the outside of the drive wheel suspension bracket 101. The drive motor 109 is fixedly installed on the outside of the motor mounting base 104 by two screws. The drive motor 109 is connected to the drive wheel drive shaft 111.

[0061] In one specific embodiment, a motor output flange 115 is fixedly connected to the output end of the drive motor 109. The motor output flange 115 is connected to the drive wheel drive shaft 111. The drive motor 109 drives the drive wheel drive shaft 111 to rotate, thereby driving the drive wheel hub 110 to rotate.

[0062] Driven by the drive motor 109, the drive motor 109 drives the motor output flange 115 connected to it to drive the drive wheel drive shaft 111 to rotate, causing the drive wheel hub 110 to rotate. Through the wheel sleeve 112, it contacts the surface of the pipe, so that the entire pipe inspection robot moves along the pipe.

[0063] The motor output flange 115 is a connecting key that can be fixedly connected to the motor output end. One end is connected to the output end of the drive motor 109 by bolts, and the other end is provided with a cut that matches the drive wheel drive shaft 111. The two can be locked together, so that the torque output by the drive motor 109 can be directly transmitted to the wheel structure (drive wheel drive shaft 111).

[0064] In one specific embodiment, a detection camera bracket 307 is provided on the frame mechanism 3, such as... Figure 9-10 As shown.

[0065] In one specific embodiment, the frame mechanism 3 is also provided with a control system placement box for storing the robot's circuit boards, batteries, and wiring, and is provided with circular switch button mounting holes, such as... Figure 1-3 As shown.

[0066] like Figure 4 , 12 As shown in Figure -13, when the robot grips the pipe, the tension spring 107 is in a stretched state, and the damping spring 108 is in a compressed state. Driven by the drive motor 109, the robot moves along the pipe. When the wheel sleeve 112 contacts an obstacle, the drive wheel hub 110 is lifted outwards by the reaction force, stretching the tension spring 107. Simultaneously, the H-shaped bracket 102, the drive wheel suspension bracket 101, and the drive wheel hub 110 are lifted upwards. When the drive wheel hub 110 reaches the height of the obstacle, the robot crosses the obstacle under the drive motor 109. At this point, under the tension of the tension spring 107 and the thrust of the damping spring 108, the drive wheel hub 110 is pulled back to its original position. The H-shaped bracket 102, the drive wheel suspension bracket 101, and the drive wheel hub 110 all return to their original positions, and the tension spring 107 also returns to its original length.

[0067] The adjustable damping spring 108, located on the outer side of the frame mechanism 3, works in conjunction with the shock-absorbing slider 106 and the force transmission rod 105 to provide clamping force while also allowing for different clamping strengths. The interaction between the tension spring on the inner side of the frame mechanism and the damping spring 108 on the outer side, along with the shock-absorbing slider 106 and the force transmission rod 105, gives the robot's suspension structure a wider range of motion, enabling obstacle-crossing capabilities not found in traditional pipeline inspection robots.

[0068] The present invention has been described in detail above with reference to the accompanying drawings and embodiments. However, the present invention is not limited to the above embodiments, and various changes can be made within the scope of knowledge possessed by those skilled in the art without departing from the spirit of the present invention. All contents not described in detail in the present invention can be derived from existing technologies.

Claims

1. A small diameter pipe inspection robot having an elastic gripping suspension, characterized by, The application relates to a three-leg climbing mechanism. The frame mechanism (3) comprises a system mounting plate (301), a suspension fixing ring (302), a damping fixing seat (304), a lifting connecting arm (305), a straight connecting arm (306) and a tension spring connecting seat (308); the lifting connecting arm (305) and the straight connecting arm (306) are horizontally and symmetrically arranged on the two sides of the system mounting plate (301); two damping fixing seats (304) are symmetrically arranged on the middle part of the outer side of the system mounting plate (301); suspension fixing rings (302) are symmetrically arranged on the two ends of the system mounting plate (301); and a tension spring connecting seat (308) is symmetrically arranged on the inner side of the system mounting plate (301). The driving wheel suspension support (101), the H-shaped support (102), the first fixed rotating shaft (1031) and the second fixed rotating shaft (1032) are arranged in the support mechanism; the tension spring (107) is arranged in the tension spring mechanism; the damping spring (108), the damping sliding block (106) and the force transmission rod (105) are arranged in the spring connecting rod mechanism; the tail end of the damping spring (108) is connected with the damping fixing seat (304); the top end of the damping spring (108) is coaxially connected with the tail end of the damping sliding block (106) and the force transmission rod (105); the top end of the force transmission rod (105) is connected with the driving wheel suspension support (101) through the first fixed rotating shaft (1031); one end of the H-shaped support (102) is connected with the driving wheel suspension support (101) through the second fixed rotating shaft (1032), and the other end is connected with the suspension fixing ring (302) on the frame mechanism (3); the second fixed rotating shaft (1032) is connected with the tension spring connecting seat (308) on the frame mechanism (3) through the tension spring (107); and the damping strength of the damping spring (108) is adjustable. ​ ​ 2. The small diameter pipe inspection robot with an elastic clamping suspension according to claim 1, characterized in that, The lifting connecting arm (305) and the straight connecting arm (306) are respectively provided with a plurality of installation adjustment holes which are distributed at equal intervals; the lifting connecting arm (305) in the frame mechanism (3) is connected with the straight connecting arm (306) in the adjacent frame mechanism (3) through the installation adjustment holes.

3. The small diameter pipe inspection robot with an elastic clamping suspension according to claim 1, characterized in that, The wheel structure comprises a driving wheel hub (110), a wheel cover (112), a driving wheel driving shaft (111) and a driving wheel driven shaft (113); the driving wheel driving shaft (111) and the driving wheel driven shaft (113) are installed on a driving wheel suspension support (101); the driving wheel driving shaft (111) and the driving wheel driven shaft (113) are fixedly installed on the driving wheel hub (110); the driving wheel hub (110) is wrapped with the wheel cover (112) on the outside.

4. The small diameter pipe inspection robot with an elastic clamping suspension according to claim 3, characterized in that, The wheel cover (112) is made of rubber, and the outer surface of the wheel cover (112) is in a U shape.

5. The small diameter pipe inspection robot with an elastic clamping suspension according to claim 3, characterized in that, The driving wheel driving shaft (111) and the driving wheel driven shaft (113) are both provided with grooves on the outside, and the grooves are provided with shaft retaining rings.

6. The small diameter pipe inspection robot with an elastic clamping suspension according to claim 3, characterized in that, The driving mechanism comprises a motor fixing seat (104) and a driving motor (109); the motor fixing seat (104) is fixedly installed on the outside of the driving wheel suspension support (101), the driving motor (109) is fixedly installed on the outside of the motor fixing seat (104), and the driving motor (109) is connected with the driving wheel driving shaft (111).

7. The small diameter pipe inspection robot with an elastic clamping suspension according to claim 6, characterized in that, The driving mechanism further comprises a motor output flange (115); the motor output flange (115) is fixedly connected with the output end of the driving motor (109), and the motor output flange (115) is connected with the driving wheel driving shaft (111).

Images