Jacking device of pipeline robot and pipeline robot

Abstract

The invention relates to the technical field of pipeline robots, and provides a jacking device of a pipeline robot and the pipeline robot, and the jacking device of the pipeline robot comprises a first support used for being connected with an outer shell of the pipeline robot; the jacking assembly is connected with the first support; the elastic piece abuts against the first support and the abutting assembly. The jacking assembly can move relative to the first support to compress the elastic piece, so that the elastic piece generates elastic force, and the elastic piece is used for making the jacking assembly jack the pipeline wall. According to the technical scheme, when the pipeline robot encounters a variable-diameter pipeline, the jacking device can jack pipelines with different pipe diameters in a self-adaptive mode under the condition that the pipeline robot does not need to be shut down, so that the working efficiency of the pipeline robot is improved, and the service life of the pipeline robot is prolonged.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of pipeline robots, in particular to a pipeline robot and a pipeline robot top pressing device. BACKGROUND

[0002] The pipeline robot is an electromechanical integrated system capable of automatically walking along the inside or outside of a pipeline and carrying sensors to complete the work inside and outside the pipeline, which is composed of a walking mechanism, a signal transmission system, a power transmission system, an internal identification and detection system, and a control system.

[0003] Generally, when a pipeline robot encounters a variable-diameter pipeline, it often needs to first retract or raise the existing top pressing mechanism to a suitable pipe diameter before entering. Generally, the top pressing mechanism is mostly controlled by an electric push rod. This process requires the pipeline robot to stop, adjust the electric push rod, and then continue, which affects the work efficiency of the pipeline robot, especially when encountering complex changes in pipe diameter, frequent stopping also affects the service life of the pipeline robot. SUMMARY

[0004] The technical problem to be solved by the present application is to provide a pipeline robot and a pipeline robot top pressing device. When encountering a variable-diameter pipeline, the top pressing device can adaptively press the pipeline of different diameters without stopping the pipeline robot, thereby improving the working efficiency and service life of the pipeline robot.

[0005] To solve the above technical problems, the present application adopts the following technical solutions: In a first aspect, the present application provides a pipeline robot top pressing device, comprising: a first support seat for connecting with the outer shell of a pipeline robot; a top pressing assembly connected with the first support seat; an elastic member abutting with the first support seat and the top pressing assembly respectively; the top pressing assembly is movable relative to the first support seat to compress the elastic member, so that the elastic member generates elastic force, and the elastic member is used to make the top pressing assembly press the pipeline wall.

[0006] As an implementation manner, the top pressing assembly comprises a first support arm provided with a containing groove for containing the elastic member, and the first support arm is further provided with a first abutting groove in communication with the containing groove and used for abutting one end of the elastic member, and the first support seat is provided with a second abutting groove used for abutting the other end of the elastic member.

[0007] As an implementation manner, the first support arm comprises a first segment and a second segment detachably connected with each other, and the second segment is provided with the containing groove; the top pressing assembly further comprises a first roller rotatably connected with the first segment and used for contacting the pipeline wall.

[0008] As an implementation form, the tightening device further comprises a driving mechanism, the driving mechanism comprises a driving member arranged in the pipeline robot shell, the driving member is connected with the tightening assembly, and the driving member is used for driving the tightening assembly to rotate so as to lower the height of the tightening assembly.

[0009] As an implementation form, the tightening device further comprises a driving mechanism, the driving mechanism comprises a driving member arranged in the pipeline robot shell, the driving member is connected with the tightening assembly, and the driving member is used for driving the tightening assembly to rotate so as to lower the height of the tightening assembly.

[0010] As an implementation form, the driving member is used for driving the tightening assembly to rotate so as to lower the height of the tightening assembly when the driving member rotates in a first direction; the driving member can rotate in a second direction relative to the tightening assembly, and the second direction is opposite to the first direction.

[0011] As an implementation form, the tightening assembly further comprises a second support arm, the second support arm is connected with the driving member, and the second support arm is connected with the first support arm.

[0012] As an implementation form, the second support arm comprises a third segment and a fourth segment which are detachably connected with each other, the fourth segment is connected with the driving member; the tightening assembly further comprises a second roller, the second roller is rotationally connected with the third segment and is used for being in contact with the pipeline wall; the second roller is coaxial with the first roller, the third segment is coaxial with the first segment, and the fourth segment is coaxial with the second segment.

[0013] As an implementation form, the driving mechanism further comprises an output shaft, the output shaft is connected with the driving member, and the output shaft is connected with the fourth segment and the driving member.

[0014] As an implementation form, the tightening assembly further comprises a connecting frame, the connecting frame is rotationally connected with the first support arm and the second support arm, and a plurality of rollers are arranged on the connecting frame.

[0015] As an implementation form, the connecting frame is connected with the first support arm and the second support arm at a position close to one end of the advancing direction of the pipeline robot.

[0016] In a second aspect, the application further provides a pipeline robot comprising the tightening device of the pipeline robot provided in the first aspect.

[0017] The technical scheme of the present application has the following beneficial effects: The pressing device of the pipeline robot comprises a first support for connecting with a shell on the pipeline robot to provide stable support for the pressing device; the pressing device further comprises a pressing assembly connected with the first support and capable of moving relative to the first support, the pressing assembly being capable of pressing against the pipeline wall to facilitate the pipeline robot to work; the pressing device further comprises elastic members abutting against the first support and the pressing assembly respectively, capable of providing elastic support force to the pressing assembly to make the pressing assembly abut against the pipeline wall; when different pipe diameters are encountered, the pressing assembly will move relative to the first support to generate different compression forces to the elastic members, and the elastic members will continuously provide elastic force to the pressing assembly to make the pressing assembly always abut against the pipeline wall, so that the pressing device can self-adaptively press against pipelines with different pipe diameters without stopping the pipeline robot, thereby improving the working efficiency and service life of the pipeline robot. BRIEF DESCRIPTION OF DRAWINGS

[0018] In order to more clearly illustrate the technical scheme of the embodiments of the present application, the following will briefly introduce the drawings needed to be used in the embodiments of the present application. It should be understood that the following drawings only show some embodiments of the present application, and therefore should not be regarded as a limitation on the scope. For those skilled in the art, other related drawings can also be obtained without creative labor.

[0019] Figure 1 A structural schematic diagram of the pressing device of the pipeline robot provided by the embodiments of the present application is shown in FIG. 1. Figure 2 Another perspective structural schematic diagram of the pressing device of the pipeline robot provided by the embodiments of the present application is shown in FIG. 2. Figure 3 A different perspective structural schematic diagram of the pressing device of the pipeline robot provided by the embodiments of the present application is shown in FIG. 3. Figure 4 A structural schematic diagram of the pressing device of the pipeline robot provided by the embodiments of the present application is shown in FIG. 4. Figure 3 A sectional structural schematic diagram of the pressing device of the pipeline robot provided by the embodiments of the present application is shown in FIG. 5. Figure 5 An exploded structural schematic diagram of the pressing device of the pipeline robot provided by the embodiments of the present application is shown in FIG. 6. Figure 6 A different perspective exploded structural schematic diagram of the pressing device of the pipeline robot provided by the embodiments of the present application is shown in FIG. 7. Figure 7 A structural schematic diagram of the pressing device of the pipeline robot provided by another embodiment of the present application is shown in FIG. 8. Figure 8 A structural schematic diagram of the pipeline robot provided by the embodiments of the present application is shown in FIG. 9. Figure 9A schematic diagram of the lifting assembly provided in this application embodiment during its upward movement; Figure 10 This is a schematic diagram of the retracted structure of the clamping assembly provided in an embodiment of this application; Figure 11 This is a schematic diagram of the clamping assembly provided in an embodiment of this application.

[0020] Icons: 1-First support; 11-Second abutment groove; 12-Positioning part; 2-Tightening assembly; 21-First support arm; 211-First section; 212-Second section; 213-First roller; 214-Receiving groove; 215-First abutment groove; 22-Second support arm; 221-Third section; 222-Fourth section; 223-Second roller; 3-Drive component; 4-Output shaft; 5-Flange; 6-First bearing; 7-Second support; 8-Second bearing; 9-Actuating component; 10-Elastic component; 13-Mounting base; 14-Housing; 15-Connecting frame. Detailed Implementation

[0021] The technical solutions in the embodiments of this application will now be described with reference to the accompanying drawings.

[0022] It should be noted that similar reference numerals and letters in the following figures indicate similar items; therefore, once an item is defined in one figure, it does not need to be further defined and explained in subsequent figures. Furthermore, in the description of this application, terms such as "first," "second," etc., are used only to distinguish descriptions and should not be construed as indicating or implying relative importance.

[0023] like Figures 1 to 4As shown, in a first aspect, embodiments of this application provide a clamping device for a pipeline robot, including a first support 1, which is connected to the housing 14 on the pipeline robot to provide stable support for the clamping device; the clamping device also includes a clamping component 2, which is connected to the first support 1 and can move relative to the first support 1, and can clamp against the pipe wall, thereby facilitating the operation of the pipeline robot; the clamping device also includes an elastic element 10, which abuts against the first support 1 and the clamping component 2 respectively, and can provide elastic support force to the clamping component 2, so that the clamping component 2 abuts against the pipe wall; when encountering different pipe diameters, the clamping component 2 will relative to the pipe wall. The movement of the first support 1 generates different compressive forces on the elastic element 10. In order to recover its deformation, the elastic element 10 will also continuously provide elastic force to the clamping component 2, so that the clamping component 2 always abuts against the pipe wall. This allows the pipe robot to adaptively clamp pipes of different diameters without stopping the machine, thus improving the working efficiency and service life of the pipe robot. The elastic force of the elastic element 10 is used to transmit the radial pressure to the top of the pipe wall through the end of the clamping component 2, thereby increasing the normal pressure between the pipe robot's body traveling parts (such as wheels and tracks) and the pipe wall, increasing the friction, and making the pipe robot stable and reducing the problem of slippage.

[0024] In the prior art, the top clamping mechanism of pipeline robots is mostly a piston or spring push rod, which is generally large in size and requires the introduction of many transmission mechanisms or complex control algorithms. However, in the embodiment of this application, the elastic force provided by the elastic element 10 to the clamping component 2 is used to provide a clamping device with a simple structure that does not require a complex control algorithm. It occupies a small volume, has a simple structure, strong applicability, and also reduces production costs.

[0025] Optionally, the movement of the clamping component 2 relative to the first support 1 includes the clamping component 2 being able to rotate relative to the first support 1; of course, it also includes the clamping component 2 being able to move relative to the first support 1 along the axial direction of the clamping component 2, that is, the elastic element 10 can provide axial elastic force to the clamping component 2.

[0026] Optionally, the first support 1 can be fixedly connected to the housing 14 on the pipeline robot by bolts.

[0027] Optionally, the elastic element 10 can be a tension spring, a compression spring, or a torsion spring. As a preferred embodiment, the elastic element 10 in this application embodiment is a torsion spring.

[0028] Of course, in some cases, a tension spring or a compression spring can also be set at the connection position between the first support 1 and the clamping component 2. The tension spring or compression spring provides elastic force to the clamping component 2. When encountering a pipe with a changing diameter, the tension spring or compression spring can keep the clamping component 2 abutting against the pipe wall, so as to achieve the purpose of adaptive diameter change.

[0029] Of course, in some cases, a tension spring or a compression spring can also be used to set the connection position between the first support arm 21 and the first roller 213.

[0030] Optionally, when a pipe encounters a change in diameter, the range of the change is not very large. In addition, during the change in diameter, a transition pipe is usually used for connection. Therefore, the clamping device provided in this application embodiment has a wide range of applications and rarely encounters the clamping component 2 getting stuck in the position of the pipe with a change in diameter. Moreover, even if it gets stuck in the position of the pipe with a change in diameter, the clamping device in this application embodiment can control the clamping component 2 to descend through the drive mechanism to avoid the clamping component 2 getting stuck.

[0031] like Figure 6 As shown, in one embodiment, the clamping assembly 2 includes a first support arm 21. The first support arm 21 is provided with a receiving groove 214 for accommodating the elastic member 10. By providing the receiving groove 214, an installation position is provided for the elastic member 10, so that the elastic member 10 can provide a stable elastic force to the first support arm 21. The first support arm 21 is also provided with a first abutting groove 215, which is connected to the receiving groove 214 and can be used to abut one end of the elastic member 10. The first support 1 is provided with a second abutting groove 11, which is used to abut the other end of the elastic member 10. By providing two abutting grooves, the two ends of the elastic member 10 can abut against each other. The first support 1 is fixedly connected to the shell 14 of the pipeline robot. When the first support arm 21 moves relative to the first support 1, it can compress or release the elastic member 10, and the elastic member 10 can provide a stable elastic support force to the first support arm 21.

[0032] like Figure 5 As shown, optionally, the first support 1 is also provided with a receiving part for accommodating the first support arm 21. The receiving part is also provided with a positioning part 12 for axially positioning the elastic member 10. By providing the positioning part 12, the elastic member 10 is provided with positioning support to prevent the elastic member 10 from shaking.

[0033] like Figure 2 , 4As shown in Figure 5, optionally, the clamping device also includes a mounting base 13, which is located on both sides of the first support arm 21, and the mounting base 13, the first support arm 21 and the first support 1 are located on the same side of the pipe robot housing 14; the mounting base 13 can pass through the first support arm 21 and the elastic member 10, and is connected to the positioning member 12 to provide axial positioning for the elastic member 10.

[0034] Optionally, the mounting base 13 can be fixedly connected to the housing 14 of the pipeline robot, such as by snap-fit ​​or plug-in, so as to facilitate disassembly; of course, it can also be fixedly connected to the pipeline robot by bolts; the mounting base 13 and the positioning part 12 can be interference fit, or they can be connected by fasteners; of course, the mounting base 13 can also be rotatably connected to the housing 14 of the pipeline robot, then it also needs to be rotatably connected to the positioning part 12.

[0035] Optionally, in some cases, the mounting base 13 can be omitted, and the length of the positioning part 12 can be extended so that the positioning part 12 passes through the elastic member 10 and is directly fixedly connected to the housing 14 of the pipeline robot.

[0036] Optionally, one end of the first support arm 21 is provided through, so that the mounting base 13 and the positioning part 12 can pass through.

[0037] like Figure 5 As shown, in one embodiment, the first support arm 21 includes a first section 211 and a second section 212 that are detachably connected to each other. The second section 212 is provided with a receiving groove 214. The clamping assembly 2 also includes a first roller 213, which is rotatably connected to the first section 211 and is used to contact the pipe wall. By detaching and connecting the first section 211 and the second section 212, it is convenient to change the length of the first section 211, so that the clamping device can meet the needs of pipes with different diameters and improve the product's adaptability.

[0038] Optionally, the first segment 211 and the second segment 212 can be connected by a plug-in joint, a bolt connection, or a snap-fit ​​connection. For example... Figure 7 As shown, the first segment 211 and the second segment 212 can be connected by a mortise and tenon structure.

[0039] Optionally, the first support arm 21 is bent, which makes it easier for the clamping assembly 2 to reduce the space occupied after it is lowered, reduce the overall size of the pipe robot, and make it easier for the pipe robot to pass through pipes with smaller diameters.

[0040] Optionally, in some cases, the first support arm 21 can also be a straight arm structure.

[0041] like Figures 4 to 6As shown, in one embodiment, the clamping device also includes a drive mechanism. The drive mechanism includes a drive component 3 for installation inside the pipe robot housing 14. The drive component 3 is connected to the clamping assembly 2 and is used to drive the clamping assembly 2 to rotate, so that the clamping assembly 2 lowers in height. When the pipe robot is stuck in the pipe and cannot move forward, the drive component 3 can control the clamping assembly 2 to lower, so that the pipe robot can pass through the pipe smoothly. Of course, in some pipes with a relatively small diameter, the drive component 3 can also control the clamping assembly 2 to lower, so that the pipe robot can pass through the pipe.

[0042] Optionally, the drive unit 3 can be a motor.

[0043] Optionally, the drive component 3 can be fixedly connected to the clamping assembly 2, driving the clamping assembly 2 to rotate synchronously.

[0044] like Figure 5 As shown, optionally, a flange 5 can be installed on one side of the motor, and the flange 5 is connected to the housing 14 of the pipeline robot.

[0045] like Figure 4 and 5 As shown, optionally, the drive mechanism also includes an output shaft 4, which is connected to the motor via a flange 5; the output shaft 4 can be connected to the flange 5 via a pin.

[0046] like Figure 4 and 5 As shown, optionally, the clamping device also includes a first bearing 6 and a second support 7. The second support 7 and the first support 1 are respectively located on both sides of the housing 14 of the pipeline robot. The second support 7 can be fixed to the outside of the housing 14 of the pipeline robot by bolts. The second support 7 is provided with a groove to accommodate the first bearing 6. The output shaft 4 passes through the first bearing 6 and is connected to the clamping assembly 2. By setting the first bearing 6, the output shaft 4 can also rotate smoothly through the housing 14.

[0047] Optionally, the second support arm 22 of the clamping assembly 2 can be fixedly connected to the output shaft 4 by fasteners.

[0048] like Figure 2 , 5As shown in Figures 6 and 10, in a parallel embodiment, the clamping device also includes a drive mechanism. The drive mechanism includes a drive member 3 for mounting inside the pipe robot housing 14. The drive member 3 is connected to the clamping assembly 2 and can rotate independently relative to the clamping assembly 2. The drive mechanism also includes a toggle member 9, which is connected to the drive member 3. When the drive member 3 rotates, it can drive the toggle member 9 to rotate. The toggle member 9 then contacts the clamping assembly 2 and drives the clamping assembly 2 to rotate, so that the clamping assembly 2 lowers in height. When the pipe robot is stuck in the pipe and cannot move forward, the clamping assembly 2 can be lowered by the drive member 3, so that the pipe robot can pass through the pipe smoothly. Of course, in some pipes with a relatively small diameter, the clamping assembly 2 can also be lowered by the drive member 3 to facilitate the pipe robot to pass through the pipe.

[0049] Optionally, the clamping assembly 2 includes a second support arm 22, which is rotatably connected to the drive component 3 via a second bearing 8. Specifically, the second bearing 8 is mounted on the output shaft 4, the output shaft 4 is connected to the drive component 3, and the second support arm 22 is connected to the drive component 3 via the second bearing 8.

[0050] Optionally, the actuating element 9 can be connected to the output shaft 4 via fasteners, or it can be connected to the output shaft 4 via a milled flat part on the output shaft 4.

[0051] Optionally, the actuating element 9 includes an actuating surface that can contact the second support arm 22, thereby driving the second support arm 22 to rotate.

[0052] Optionally, one end of the output shaft 4 can be axially limited by a snap ring to restrict the second support arm 22.

[0053] like Figure 10 As shown, in one embodiment, when the actuating member 9 rotates in the first direction, that is, when it rotates in the counterclockwise direction, the actuating member 9 can drive the clamping component 2 to rotate, so that the clamping component 2 lowers in height. At the same time, when the pipeline robot is stuck in the pipeline and cannot move forward, the driving member 3 can also control the clamping component 2 to lower, so that the pipeline robot can pass through the pipeline smoothly. like Figure 11 As shown, the actuating element 9 can also rotate relative to the clamping assembly 2 in the second direction, i.e., clockwise, and after rotation, it abuts against the clamping assembly 2. If the clamping assembly 2 is under a large load during the operation of the pipeline robot and requires a greater clamping force to stabilize the body, the actuating element 9 can be rotated clockwise to abut against the second support arm 22. For example, the actuating element 9 can rotate 270°, and the auxiliary elastic element 10 can further compress the clamping assembly 2 to increase the clamping force of the clamping assembly 2 on the pipe wall; in addition, it can also limit the rebound of the elastic element 10 to provide clamping force to the clamping assembly 2. The second direction is opposite to the first direction.

[0054] Optionally, the first direction can be counterclockwise and the second direction can be clockwise; of course, in some cases, the first direction can also be clockwise and the second direction can be counterclockwise, but for ease of description, the first direction in this embodiment is described as counterclockwise.

[0055] Optionally, in some cases, the actuating element 9 can also contact the second support arm 22 by rotating counterclockwise, further rotating the second support arm 22, which can also increase the clamping force between the second support arm 22 and the pipe wall.

[0056] like Figure 6 As shown, in one embodiment, the clamping assembly 2 also includes a second support arm 22, which is connected to the drive member 3 and the first support arm 21. In this way, when the drive member 3 drives the second support arm 22 to rotate, it can also drive the first support arm 21 to rotate synchronously, thereby increasing the clamping force of the clamping assembly 2 or causing the clamping assembly 2 to descend.

[0057] Optionally, the first support arm 21 and the second support arm 22 can be connected by a first connecting shaft.

[0058] like Figure 5 As shown, in one embodiment, the second support arm 22 includes a third section 221 and a fourth section 222 that are detachably connected to each other. The detachable connection between the third section 221 and the fourth section 222 facilitates the replacement of the length of the third section 221, making it easier for the clamping device to meet the needs of pipes with different diameters and improving the product's adaptability. The fourth section 222 is connected to the drive component 3. The clamping assembly 2 also includes a second roller 223, which is rotatably connected to the third section 221 and is used to contact the pipe wall. The second roller 223 is coaxial with the first roller, increasing the clamping force on the pipe wall. The third section 221 is coaxial with the first section 211, and the fourth section 222 is coaxial with the second section 212, enabling the first support arm 21 and the second support arm 22 to move synchronously.

[0059] Optionally, the third segment 221 and the fourth segment 222 can be connected by a plug, a bolt, or a snap-fit.

[0060] Optionally, the second support arm 22 is bent at the same angle as the first support arm 21, which makes it easier for the clamping assembly 2 to reduce the space occupied after it is lowered, reduce the overall size of the pipe robot, and make it easier for the pipe robot to pass through pipes with smaller diameters.

[0061] Optionally, in some cases, the second support arm 22 and the first support arm 21 can also be straight-arm structures.

[0062] like Figure 1 and4 As shown, in one embodiment, the drive mechanism also includes an output shaft 4, which is connected to the drive member 3. The rotation of the drive member 3 can drive the output shaft 4 to rotate synchronously. The output shaft 4 is connected to the fourth segment 222 and the toggle member 9, and can drive the toggle member 9 to rotate. The fourth segment 222 is connected to the output shaft 4 through the second bearing 8, and the output shaft 4 can rotate relative to the fourth segment 222.

[0063] like Figure 7 As shown, in one embodiment, the clamping assembly 2 also includes a connecting frame 15, which is rotatably connected to the first support arm 21 and the second support arm 22. The connecting frame 15 is provided with multiple rollers. By rotatably connecting the connecting frame 15 to the first support arm 21 and the second support arm 22, the multiple rollers on the connecting frame 15 can contact the pipe wall, which can improve the friction between the rollers and the pipe wall. At the same time, it can also prevent the pipe robot from deflecting and improve the stability of the pipe robot.

[0064] Optionally, the connecting bracket 15 can be rectangular, square, or rhomboid, etc.

[0065] In one implementation, the connection position of the connecting frame 15 with the first support arm 21 and the second support arm 22 is close to one end of the pipeline robot's forward direction. Thus, when the clamping assembly rises, because the connection position of the connecting frame 15 with the first support arm 21 and the second support arm 22 is close to one end of the forward direction—that is, the connection position of the connecting frame 15 with the first support arm 21 and the second support arm 22 is not in the middle of the connecting frame 15, but near the front end—the rollers near the front end can preferentially contact the pipeline wall. The default operating environment is that the connecting frame 15 should contact the top of the pipeline wall when it is horizontally raised. When the rollers near the front end contact the top surface before it is horizontally raised, or when the rollers near the rear end have not yet contacted the top of the pipeline wall, it indicates that the clamping assembly 2 still has room to rise further. Continuing to rise allows the rollers near the rear end to contact the top surface after the rollers near the front end. If the first support arm 21 and the second support arm 22 are connected to the connecting frame 15 at the middle position, the connecting frame 15 is prone to jamming.

[0066] Secondly, embodiments of this application also provide a pipeline robot, including the clamping device of the pipeline robot provided in the first aspect.

[0067] Optionally, the pipeline robot can be either tracked or roller-based.

[0068] The instructions for using the pipeline robot are as follows: When the pipeline robot is in standby mode, the second support arm 22 is rotated counterclockwise by the actuating element 9 and pressed down onto the machine body. Simultaneously, the first support arm 21, together with the elastic element 10, is pressed down onto the machine body, thereby tightening the clamping assembly 2.Figure 11 As shown.

[0069] When the pipeline robot enters the pipeline and begins its movement and operation, the drive component 3 drives the actuating component 9 to rotate clockwise to a position greater than or equal to 45°, thus releasing the retracted state of the clamping assembly 2. Figure 10 As shown, at this time, the actuating member 9 no longer compresses the clamping component 2. The clamping component 2 is lifted upward under the action of the elastic member 10 until it contacts the top of the pipe wall and is clamped under the action of the elastic member 10. In this embodiment, when the clamping component 2 is rotated to the 45° position, its end is raised to the maximum height. Of course, different specifications of the elastic member 10 can also make the clamping component 2 rotate to different angles.

[0070] When the pipeline robot passes through pipes of different diameters, the first roller 213 and the second roller 223 at the end of the clamping component 2 can slide between pipes of different diameters. If the pipe diameter is smaller, the first roller 213 and the second roller 223 at the end will drive the clamping component 2 together with the elastic element 10 to press down. Conversely, if the pipe diameter is larger, the torque of the elastic element 10 will drive the first support arm 21 together with the second support arm 22 to lift up until it contacts the top, thus realizing adaptive pipe diameter change.

[0071] When the pipeline robot exits the pipeline and ends its work, the drive component 3 drives the actuating component 9 to press down the second support arm 22. Simultaneously, the first support arm 21, together with the elastic component 10, is pressed down and returns to the retracted state of the clamping component 2.

[0072] The above description is merely an embodiment of this application and is not intended to limit the scope of protection of this application. Various modifications and variations can be made to this application by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application should be included within the scope of protection of this application.

[0073] The above description is merely a specific embodiment of this application, but the scope of protection of this application is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the technical scope disclosed in this application should be included within the scope of protection of this application. Therefore, the scope of protection of this application should be determined by the scope of the claims.

[0074] It should be noted that, in this document, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element.

Claims

1. A clamping device for a pipeline robot, characterized in that, include: The first support is used to connect to the outer shell of the pipeline robot; The clamping assembly is connected to the first support; The elastic element abuts against the first support and the tightening assembly, respectively. The clamping assembly is movable relative to the first support to compress the elastic element, causing the elastic element to generate elastic force, and the elastic element is used to clamp the clamping assembly against the pipe wall.

2. The clamping device for the pipeline robot according to claim 1, characterized in that, The clamping assembly includes a first support arm, which has a receiving groove for accommodating the elastic element. The first support arm also has a first abutting groove, which communicates with the receiving groove and is used to abut against one end of the elastic element. The first support has a second abutting groove, which is used to abut against the other end of the elastic element.

3. The clamping device for the pipeline robot according to claim 2, characterized in that, The first support arm includes a first section and a second section that are detachably connected to each other, and the second section is provided with the receiving groove; The clamping assembly also includes a first roller, which is rotatably connected to the first section and is used to contact the pipe wall.

4. The clamping device for the pipeline robot according to any one of claims 1 to 3, characterized in that, The clamping device further includes a drive mechanism, which includes a drive component for mounting inside the pipe robot housing. The drive component is connected to the clamping assembly and is used to drive the clamping assembly to rotate, thereby lowering the clamping assembly.

5. The clamping device for the pipeline robot according to any one of claims 1 to 3, characterized in that, The clamping device further includes a drive mechanism, which includes a drive component for mounting inside the pipe robot housing. The drive component is connected to the clamping assembly and can rotate independently relative to the clamping assembly. The driving mechanism further includes a toggle member connected to the driving member. When the driving member drives the toggle member to rotate, the toggle member contacts the clamping assembly and drives the clamping assembly to rotate, thereby lowering the clamping assembly.

6. The clamping device for the pipeline robot according to claim 5, characterized in that, When the actuating member rotates in the first direction, it drives the clamping assembly to rotate, thereby lowering the clamping assembly in height; the actuating member can rotate relative to the clamping assembly in a second direction and abut against the clamping assembly, the second direction being opposite to the first direction.

7. The clamping device for the pipeline robot according to claim 6, characterized in that, The clamping assembly further includes a second support arm, which is connected to the drive component and to the first support arm.

8. The clamping device for the pipeline robot according to claim 7, characterized in that, The second support arm includes a third section and a fourth section that are detachably connected to each other, the fourth section being connected to the drive component; The clamping assembly also includes a second roller, which is rotatably connected to the third section for contacting the pipe wall; The second roller is coaxial with the first roller, the third segment is coaxial with the first segment, and the fourth segment is coaxial with the second segment.

9. The clamping device for the pipeline robot according to claim 8, characterized in that, The drive mechanism further includes an output shaft, which is connected to the drive member and to the fourth segment and the toggle member.

10. The clamping device for the pipeline robot according to claim 7, characterized in that, The clamping assembly also includes a connecting frame, which is rotatably connected to the first support arm and the second support arm, and the connecting frame is provided with a plurality of rollers.

11. The clamping device for the pipeline robot according to claim 10, characterized in that, The connection position of the connecting frame with the first support arm and the second support arm is close to one end of the pipeline robot's forward direction.

12. A pipeline robot, characterized in that, The pipeline robot includes the clamping device of the pipeline robot according to any one of claims 1 to 11.

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