Pipeline polishing robot

Abstract

The utility model discloses a pipeline polishing robot which comprises a robot body, a polishing device, a reducing mechanism and a moving mechanism, the polishing device is connected to the end of the robot body and comprises a polishing piece, and the polishing piece can rotate around a rotating axis; the diameter changing mechanism comprises two or more supporting leg assemblies, the two or more supporting leg assemblies are arranged in the length direction of the robot body at intervals, each supporting leg assembly comprises a plurality of foot stool rods arranged in the circumferential direction of the robot body, and the moving mechanism is arranged at the ends of the foot stool rods. The pipeline polishing robot can adapt to polishing of pipelines with different inner diameters, so that the inner walls of the pipelines are smoother and smoother, the efficiency of pipeline polishing operation is effectively improved, the labor intensity is reduced, and the operation risk is reduced.

Description

Technical Field

[0001] The utility model relates to a pipeline maintenance device, and more specifically, to a pipeline grinding robot. Background Art

[0002] As a large-scale power generation facility, a nuclear power plant involves numerous projects and equipment, including a large amount of pipeline work. In the nuclear power industry, there are welds, scaling, etc. inside some key pipeline systems of the nuclear island, which need to be ground. Due to the spatial limitation of the pipeline diameter, when manual grinding operations are inaccessible, it is necessary to rely on pipeline internal grinding robots suitable for different pipe diameters to achieve remote operation and complete the automated grinding process of the pipelines in the cooling water system, steam system, wastewater system, and fire protection system, which is of great significance for ensuring the safe operation of the pipelines.

[0003] The prior art CN210822515U discloses an electric centering variable-diameter grinding crawling robot, which includes a mirror body and a crawler connected corresponding to the mirror body. The crawler includes a support mechanism and a telescopic mechanism. The telescopic mechanism includes a lead screw, a movable clamping ring movably installed on the lead screw, and a fixed clamping ring fixedly installed at the front end of the lead screw. The outside of the fixed clamping ring is fixedly connected to the mirror body; a grinding mechanism is vertically arranged on the connecting shaft, and the support mechanism is in 3 groups and evenly distributed along the circumference of the lead screw.

[0004] The prior art CN109140112A discloses a pipeline robot, which includes a first fixed seat, a second fixed seat, a guide rod, a mechanical leg assembly for walking, and a variable-diameter mechanism; the first fixed seat and the second fixed seat are coaxial and arranged at intervals, the first end of the guide rod is connected to the first fixed seat, the second end of the guide rod passes through the second fixed seat, and the second fixed seat can slide axially along the guide rod; there are at least three mechanical leg assemblies, and each mechanical leg assembly includes a mechanical leg and a strut hinged to the mechanical leg.

[0005] Existing pipeline grinding robots have problems such as the grinding device being unable to change the grinding depth according to the change of the pipe diameter, and the variable-diameter mechanism of the pipeline grinding robot being relatively complex.

[0006] In view of the above technical problems, the present utility model is specifically introduced. Summary of the Invention

[0007] The main purpose of the present utility model is to provide a pipeline grinding robot, which is used to solve problems such as the grinding device being unable to change the grinding depth according to the change of the pipe diameter, and the variable-diameter mechanism of the pipeline grinding robot being relatively complex.

[0008] To achieve the above object, the present utility model provides a pipeline grinding robot, which includes a robot main body, a grinding device, a diameter-changing mechanism and a moving mechanism. The grinding device is connected to the end of the robot main body. The grinding device includes a grinding member, and the grinding member can rotate around a rotation axis. The diameter-changing mechanism includes more than two support leg assemblies. The more than two support leg assemblies are arranged at intervals in the length direction of the robot main body. Each support leg assembly includes a plurality of tripod bars arranged circumferentially around the robot main body. The moving mechanism is arranged at the end of the tripod bar.

[0009] Furthermore, the grinding device further includes a rotary connection platform. The rotary connection platform includes a rotary shaft. One end of the grinding member is movably connected to the rotary shaft, and the grinding member can move along the radial direction of the rotary connection platform.

[0010] Furthermore, a chute is arranged on the grinding member. The length of the chute is along the radial direction. A first elastic member is arranged in the chute. Two ends of the first elastic member respectively act on the grinding member and the rotary shaft.

[0011] Furthermore, the grinding device further includes a detachable buckle assembly, and the buckle assembly limits the length of the first elastic member.

[0012] Furthermore, the grinding member includes a connecting rod and a grinding part. The connecting rod extends along the radial direction. The grinding part is an arc-shaped member. The end of the connecting rod is connected to the middle position of the arc-shaped member.

[0013] Furthermore, the support leg assembly further includes a fixed bracket and a movable bracket. The fixed bracket and the movable bracket are arranged at intervals in the circumferential direction of the robot main body. One end of the tripod bar is rotatably connected to the fixed bracket. The tripod bar is connected to the movable bracket, and the movable bracket can move along the axial direction of the robot main body to drive the plurality of tripod bars to rotate synchronously.

[0014] Furthermore, a second elastic member is also arranged on the robot main body. The second elastic member acts on the movable bracket, so that the tripod bar has a tendency to rotate radially outward of the robot main body.

[0015] Furthermore, the diameter-changing mechanism includes a first support leg assembly and a second support leg assembly. The movable brackets of the first support leg assembly and the second support leg assembly are arranged adjacent to each other. The second elastic member includes a plurality of torsion springs. Two ends of the torsion spring respectively act on the movable brackets of the first support leg assembly and the second support leg assembly.

[0016] Furthermore, the plurality of tripod bars of the first support leg assembly and the plurality of tripod bars of the second support leg assembly are arranged in a staggered manner, and the plane where the ends of the plurality of tripod bars of the first support leg assembly are located is always parallel to the plane where the ends of the plurality of tripod bars of the second support leg assembly are located.

[0017] Further, the support leg assembly further includes a plurality of sliding rods. One end of each of the plurality of sliding rods is rotatably connected to the tripod rod, and the other end is rotatably connected to the moving bracket.

[0018] Applying the technical solution of the present utility model achieves at least the following beneficial effects:

[0019] 1. By providing a grinding device, a diameter-changing mechanism, a moving mechanism, etc., the pipeline grinding robot of the present application can move in a narrow pipeline space and adapt to pipelines with different inner diameters for grinding through the diameter-changing mechanism, making the inner wall of the pipeline smoother and brighter, thereby effectively improving the efficiency of pipeline grinding operations, reducing labor intensity, and reducing operation risks.

[0020] 2. By providing structures such as a chute and a first elastic member between the grinding member and the rotary connecting platform, the grinding device of the present application can adjust the position of the grinding member according to the change in the inner diameter of the pipeline to control the grinding force and speed within a suitable range, with stable grinding quality, preventing incomplete grinding or excessive grinding of the inner wall of the pipeline from affecting the service life of the pipeline.

[0021] 3. By providing components such as a fixed bracket and a moving bracket, the size and rate of diameter change of the diameter-changing mechanism can be controlled by controlling the position and moving speed of the moving bracket. The structural design of the diameter-changing mechanism is relatively simple and the adjustment is more convenient, making the control of the diameter change of the pipeline grinding robot more accurate and coordinated.

[0022] 4. By providing a torsion spring to control the relative position between the moving brackets of the first and second support leg assemblies to maintain the fit between the moving mechanism and the inner wall of the pipeline, and by setting the moving mechanisms of the first and second support leg assemblies always on two planes, the coaxiality between the pipeline grinding robot and the pipeline is effectively improved. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] The specification drawings forming a part of the present utility model are used to provide a further understanding of the present utility model. The schematic embodiments of the present utility model and their descriptions are used to explain the present utility model and do not constitute an improper limitation to the present utility model. In the drawings:

[0024] Figure 1 Shows a schematic diagram of a pipeline grinding robot of an embodiment;

[0025] Figure 2 Shows Figure 1 the top view of

[0026] Figure 3 Shows a schematic diagram of a grinding member of an embodiment;

[0027] Figure 4Shows a schematic diagram of a robot body according to an embodiment;

[0028] Figure 5 Shows a schematic diagram of a fixed bracket according to an embodiment;

[0029] Figure 6 Shows a front view and a left view of a tripod rod according to an embodiment;

[0030] Figure 7 Shows a schematic diagram of a sliding rod connecting sleeve according to an embodiment.

[0031] Among them, the above-mentioned drawings include the following reference numerals:

[0032] 1. Robot body; 11. Fixed bracket connecting part; 12. Moving bracket connecting part; 13. Spacing part; 2. Grinding device; 21. Grinding piece; 22. Rotating connecting platform; 23. Chute; 24. Rotating shaft; 25. Connecting rod; 26. Grinding part; 3. Diameter-changing mechanism; 31. Tripod rod; 32. Fixed bracket; 33. Moving bracket; 34. Sliding rod; 35. Sliding rod connecting sleeve; 36. Roller connecting part; 37. Connecting sleeve groove; 4. Moving mechanism. Detailed implementation manners

[0033] It should be noted that, without conflict, the embodiments and features in the embodiments of the present invention can be combined with each other. The present invention will be described in detail below with reference to the drawings and in conjunction with the embodiments.

[0034] The following further describes the present invention in detail with specific embodiments, and these embodiments should not be construed as limiting the scope claimed by the present invention. The term "comprising" indicates the presence of features when used, but does not exclude the presence or addition of one or more other features; the terms "transverse", "upper", "lower", "front", "rear", "left", "right", "top", "bottom", "inner", "outer", etc. indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, and are only for the convenience of description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be construed as a limitation to the present invention; in addition, the terms "first" and "second" are only used for descriptive purposes and cannot be construed as indicating or implying relative importance.

[0035] In the description, it should be noted that unless otherwise clearly specified and defined, the terms "installation", "connection", and "linkage" 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. For those of ordinary skill in the art, the specific meanings of the above terms in the present utility model can be understood according to specific situations. In addition, in the description of the present utility model, unless otherwise stated, the meaning of "a plurality of" is two or more than two.

[0036] Embodiment:

[0037] This application proposes a pipeline grinding robot, as Figure 1 shown, which includes a robot main body 1, a grinding device 2, a diameter-changing mechanism 3, and a moving mechanism 4. The grinding device 2 is connected to the end of the robot main body 1. The robot main body 1 is the main driving and connecting device, and its main function is to provide power and connection to the main body for the grinding device 2 and the diameter-changing mechanism 3. Combining Figure 2 shown, the grinding device 2 includes a grinding member 21, and the grinding member 21 can rotate around the rotation axis to grind the inner wall of the pipeline.

[0038] The diameter-changing mechanism 3 includes more than two support leg assemblies, and the more than two support leg assemblies are arranged at intervals in the length direction of the robot main body 1. As Figure 1 shown, the diameter-changing mechanism 3 includes two, namely the first support leg assembly and the second support leg assembly. Each support leg assembly includes a plurality of tripod bars 31 arranged circumferentially around the robot main body 1, and the moving mechanism 4 is arranged at the end of the tripod bar 31.

[0039] Preferably, each support leg assembly includes three tripod bars 31 circumferentially around the robot main body 1, and the three tripod bars 31 can rotate synchronously so that the moving mechanism 4 at the end of the tripod bar 31 moves radially synchronously, and the pipeline grinding robot changes its diameter. In some other embodiments, the diameter can also be changed by controlling the expansion and contraction of the three tripod bars 31.

[0040] Further preferably, the moving mechanism 4 generally adopts moving parts such as rollers, rollers, belts, etc. for contacting the inner wall of the pipeline. As Figure 6 shown, one end of the tripod bar 31 is a roller connection part 36 for connecting rollers, etc. The pipeline grinding robot is driven to move in the pipeline by driving the moving mechanism 4.

[0041] This pipeline grinding robot can move in a narrow pipeline space and adapt to pipelines with different inner diameters for grinding through the diameter-changing mechanism, making the inner wall of the pipeline smoother and more polished, thereby effectively improving the efficiency of pipeline grinding operations, reducing labor intensity, and reducing operation risks.

[0042] The grinding device 2 further includes a rotary connecting platform 22, which is connected to one end of the robot body 1 and is used to connect the grinding member 21. As Figure 2 shown, the rotary connecting platform 22 includes a rotary shaft 24. One end of the grinding member 21 is movably connected to the rotary shaft 24, and the grinding member 21 can move along the radial direction of the rotary connecting platform 22.

[0043] Specifically, preferably, as shown in Figure 3 shown, the grinding member 21 includes a connecting rod 25 and a grinding part 26. The connecting rod 25 extends along the radial direction, and the grinding part 26 is an arc-shaped member. The end of the connecting rod 25 is connected to the middle position of the arc-shaped member. The rotary shaft 24 drives the connecting rod 25 to rotate, and the shape design of the grinding part 26 facilitates grinding the inner wall of pipes with different diameters.

[0044] As shown in Figure 2 shown, a sliding groove 23 is provided at the connection of the grinding member 21 and the rotary shaft 24, and the length of the sliding groove 23 is along the radial direction. A first elastic member is arranged in the sliding groove 23, and both ends of the first elastic member act on the grinding member 21 and the rotary shaft 24 respectively. The elongation and shortening of the first elastic member enable the grinding member 21 to slide relative to the rotary shaft 24 along the radial direction to adjust and change the grinding radius of the grinding member. And under the action of the elastic force of the first elastic member, the grinding part 26 of the grinding member 21 has a tendency to fit with the inner wall of the pipe.

[0045] Preferably, the first elastic member can be selected as a spring or the like. By designing the size of the sliding groove 23, the inner diameter range of the pipe that the grinding member 21 can grind is 150 - 180 mm. By designing parameters such as the elastic coefficient of the spring, the thickness and strength of grinding can be controlled. The thickness of grinding is 0 - 2 mm. If the inner wall surface of the pipe is not thoroughly ground, it will affect the service life of the pipe; if the inner wall surface of the pipe is ground excessively, it will affect the overall strength of the pipe.

[0046] In addition, the grinding device 2 further includes a detachable buckle assembly, which is used to limit the length of the first elastic member. Preferably, the spring can be compressed to the shortest by the buckle assembly, and the grinding member 21 moves to the innermost radial position, so as to facilitate the grinding device 2 to enter the pipe.

[0047] The grinding device can adjust the position of the grinding member according to the change of the inner diameter of the pipe to control the grinding strength and speed to maintain a suitable range, so that the grinding quality is stable, and prevent the incomplete grinding or excessive grinding of the inner wall of the pipe from affecting the service life of the pipe.

[0048] As shown in Figure 1 and Figure 4As shown, the support leg assembly further includes a fixed bracket 32 and a movable bracket 33. The fixed bracket 32 and the movable bracket 33 are arranged at intervals in the circumferential direction of the robot body 1. One end of the tripod rod 31 is rotatably connected to the fixed bracket 32, and the tripod rod 31 is connected to the movable bracket 33. The movable bracket 33 can move along the axial direction of the robot body 1 to drive the plurality of tripod rods 31 to rotate synchronously.

[0049] Specifically, preferably, the robot body 1 can be designed as a stepped column as Figure 4 shown, so as to facilitate the installation of the diameter-changing mechanism 3. The robot body 1 is provided with a fixed bracket connection part 11 for installing the fixed bracket 32, a movable bracket connection part 12 for installing the movable bracket 33, and a spacer part 13 for installing between adjacent two support leg assemblies.

[0050] As Figure 5 shown, preferably, both the fixed bracket 32 and the movable bracket 33 are arranged in a ring shape. The fixed bracket 32 is evenly provided with three connecting shafts at intervals of 120 degrees along the circumferential direction of the ring, which are respectively used for hinging with the ends of the three tripod rods 31. And the tripod rod 31 can only rotate in a plane along the radial direction of the robot.

[0051] Preferably, as Figure 1 shown, the support leg assembly further includes a plurality of sliding rods 34. As Figure 6 shown, a connecting sleeve groove 37 is provided at the middle section position of the tripod rod 31 for installing a connecting sleeve 35 as Figure 7 shown. One ends of the plurality of sliding rods 34 are hinged to the connecting shaft on the connecting sleeve 35, so as to be rotatably connected to the tripod rod 31, and the other ends of the plurality of sliding rods 34 are all hinged to the connecting shafts evenly arranged in the circumferential direction of the movable bracket 33.

[0052] In some other embodiments, the movable bracket 33 can also be movably connected to the tripod rod 31 through other structures, and it can also realize that when the movable bracket 33 moves along the axial direction of the robot body 1, the tripod rod 31 rotates in a plane along the radial direction of the robot, so that the moving mechanism 4 moves radially synchronously to change the diameter, adapting to different inner diameter pipe working conditions.

[0053] The movable bracket connection part 12 is provided with a guide for the movable bracket 33 to move axially, such as a chute, a track, etc. In this way, by controlling the position and moving speed of the movable bracket 33, the size and rate of diameter change of the diameter-changing mechanism can be controlled. The structure design of the diameter-changing mechanism is relatively simple and the adjustment is more convenient, making the control of the diameter change of the pipe grinding robot more accurate and coordinated.

[0054] The robot body 1 is further provided with a second elastic member, and the second elastic member acts on the movable bracket 33, so that the tripod rod 31 has a tendency to rotate radially outward of the robot body 1.

[0055] Preferably, as Figure 1 shown, the moving brackets 33 of the first support leg assembly and the second support leg assembly are arranged adjacent to each other with an interval part 13 therebetween, so that the first support leg assembly and the second support leg assembly are oppositely arranged on the robot body 1. And the plurality of support rods 31 of the first support leg assembly and the plurality of support rods 31 of the second support leg assembly are arranged in a staggered manner.

[0056] More preferably, the second elastic member is a plurality of torsion springs, and both ends of the torsion springs respectively act on the moving brackets 33 of the first support leg assembly and the moving brackets 33 of the second support leg assembly. The support rods of the torsion springs are curved. Both ends of the torsion springs are respectively connected to the two moving brackets 33, and the center of the torsion springs is movably connected to the interval part 13 through a collar. The elastic forces of the torsion springs respectively push the two moving brackets 33, so that the diameter-changing mechanism has a tendency to increase radially, so as to maintain the fit between the moving mechanism and the inner wall of the pipeline.

[0057] Preferably, the planes where the ends of the plurality of support rods 31 of the first support leg assembly are located are always parallel to the planes where the ends of the plurality of support rods 31 of the second support leg assembly are located. By arranging the moving mechanisms of the first and second support leg assemblies on two planes all the time, the coaxiality between the pipeline grinding robot and the pipeline is effectively improved.

[0058] Optionally, the variable-diameter pipeline grinding robot of the present application can also be integrally installed with the following devices to further improve the intelligent and automatic levels, improve the working efficiency and realize more functions.

[0059] Sensing device: The pipeline grinding robot has visual perception technology, can automatically identify the surface conditions of the pipeline, including uneven surfaces, contamination, etc., and observe the grinding conditions, and is equipped with various sensors to achieve precise positioning and measurement inside the pipeline, so that the robot can perform automatic operations such as diameter change and movement according to the size and shape of the pipeline.

[0060] Storage device: The pipeline grinding robot can record information such as the size, geometric shape, and contamination conditions of the pipeline, provide useful data support for subsequent pipeline maintenance, and improve the operability of pipeline maintenance.

[0061] Automatic control system: The pipeline grinding robot automatically controls the grinding device 2, the diameter-changing mechanism 3, etc. according to the information such as the pipeline size sensed by the sensor, and then adjusts parameters such as the working distance and the lifting height of the robot to meet the grinding requirements of pipelines with different inner diameters.

[0062] In summary, in this embodiment, the use process of the pipeline grinding robot is as follows:

[0063] Before the pipe grinding robot is placed into the pipe, use the buckle assembly to compress the spring on the grinding part 21 and fix it to the shortest position. After placing the grinding device into the pipe, release the buckle assembly so that the grinding part 21 fits against the inner wall of the pipe.

[0064] Push the pipe grinding robot further into the pipe. The three tripod rods 31 of the first support leg assembly are radially contracted under the pressure of the inner wall of the pipe, and the 3 rollers are in contact with the pipe wall. By manually pushing the position of the moving bracket 33, the three tripod rods 31 of the second support leg assembly are radially contracted. Continue to push the robot until the pipe grinding robot is completely pushed into the pipe interior.

[0065] Start the grinding device to grind the pipe. After the initial grinding position is completed, synchronously drive the drive motors of the 6 rollers. The drive motors drive each roller through a belt or chain, etc. Under the rolling of the rollers, the robot as a whole starts to move forward in the pipe.

[0066] In summary, from the above description, it can be seen that the above embodiments of the present utility model achieve the following technical effects:

[0067] 1. The pipe grinding robot of the present application is provided with a grinding device, a diameter-changing mechanism, a moving mechanism, etc., so that the pipe grinding robot can move in a narrow pipe space, and adapt to pipes with different inner diameters for grinding through the diameter-changing mechanism, making the inner wall of the pipe smoother and brighter, thereby effectively improving the efficiency of pipe grinding operations, reducing labor intensity, and reducing operation risks.

[0068] 2. The pipe grinding robot of the present application is provided with structures such as a chute and a first elastic member between the grinding part and the rotary connection platform, so that the grinding device can adjust the position of the grinding part according to the change of the inner diameter of the pipe, so as to control the grinding force and speed to maintain a suitable range, the grinding quality is stable, and it is prevented that the inner wall of the pipe is not thoroughly ground or over-ground, which affects the service life of the pipe.

[0069] 3. The pipe grinding robot of the present application is provided with components such as a fixed bracket and a moving bracket. By controlling the position and moving speed of the moving bracket, the size and rate of diameter change of the diameter-changing mechanism can be controlled. The structural design of the diameter-changing mechanism is relatively simple and the adjustment is more convenient, making the control of the diameter change of the pipe grinding robot more accurate and coordinated.

[0070] 4. The pipe grinding robot of the present application is provided with a torsion spring to control the relative position between the moving brackets of the first and second support leg assemblies to maintain the fit between the moving mechanism and the inner wall of the pipe. By setting the moving mechanisms of the first and second support leg assemblies to always be on two planes, the coaxiality between the pipe grinding robot and the pipe is effectively improved.

[0071] The above are only the preferred embodiments of the present utility model and are not intended to limit the present utility model. For those skilled in the art, the present utility model can have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present utility model shall be included within the protection scope of the present utility model.

Claims

1. A pipeline grinding robot, comprising a robot main body (1), a grinding device (2), a diameter-changing mechanism (3) and a moving mechanism (4), characterized in that: The grinding device (2) is connected to the end of the robot main body (1). The grinding device (2) includes a grinding member (21), and the grinding member (21) can rotate around a rotation axis. The diameter-changing mechanism (3) includes more than two support leg assemblies. More than two of the support leg assemblies are arranged at intervals in the length direction of the robot main body (1). Each support leg assembly includes a plurality of tripod bars (31) arranged circumferentially around the robot main body (1), and the moving mechanism (4) is arranged at the end of the tripod bar (31).

2. The pipe grinding robot according to claim 1, characterized in that: The grinding device (2) further includes a rotary connection platform (22). The rotary connection platform (22) includes a rotary shaft (24). One end of the grinding member (21) is movably connected to the rotary shaft (24), and the grinding member (21) can move in the radial direction of the rotary connection platform (22).

3. The pipe grinding robot according to claim 2, characterized in that: A chute (23) is arranged on the grinding member (21). The length of the chute (23) is along the radial direction. A first elastic member is arranged in the chute (23), and both ends of the first elastic member act on the grinding member (21) and the rotary shaft (24) respectively.

4. The pipe grinding robot according to claim 3, wherein: The grinding device (2) further includes a detachable buckle assembly, and the buckle assembly limits the length of the first elastic member.

5. The pipe grinding robot according to claim 3, wherein: The grinding member (21) includes a connecting rod (25) and a grinding portion (26). The connecting rod (25) extends in the radial direction. The grinding portion (26) is an arc-shaped member, and the end of the connecting rod (25) is connected to the middle position of the arc-shaped member.

6. The pipe grinding robot according to any one of claims 1-5, characterized in that: The support leg assembly further includes a fixed bracket (32) and a moving bracket (33). The fixed bracket (32) and the moving bracket (33) are arranged at intervals in the circumferential direction of the robot main body (1). One end of the tripod bar (31) is rotatably connected to the fixed bracket (32), and the tripod bar (31) is connected to the moving bracket (33). The moving bracket (33) can move in the axial direction of the robot main body (1) to drive the plurality of tripod bars (31) to rotate synchronously.

7. The pipe grinding robot according to claim 6, wherein: A second elastic member is further arranged on the robot main body (1), and the second elastic member acts on the moving bracket (33) so that the tripod bar (31) has a tendency to rotate radially outward of the robot main body (1).

8. The pipe grinding robot according to claim 7, wherein: The diameter-changing mechanism (3) includes a first support leg assembly and a second support leg assembly. The moving brackets (33) of the first support leg assembly and the second support leg assembly are arranged adjacent to each other. The second elastic member includes a plurality of torsion springs, and both ends of the torsion spring act on the moving bracket (33) of the first support leg assembly and the moving bracket (33) of the second support leg assembly respectively.

9. The pipe grinding robot according to claim 8, characterized in that: The plurality of the tripod bars (31) of the first support leg assembly and the plurality of the tripod bars (31) of the second support leg assembly are arranged in a staggered manner, and the plane where the ends of the plurality of the tripod bars (31) of the first support leg assembly are located is always parallel to the plane where the ends of the plurality of the tripod bars (31) of the second support leg assembly are located.

10. The pipe grinding robot according to claim 6, wherein: The support leg assembly further includes a plurality of sliding rods (34), one end of each of the plurality of sliding rods (34) is rotatably connected to the tripod bar (31), and the other ends are all rotatably connected to the moving bracket (33).

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