A pipeline dredging robot

Abstract

This utility model discloses a pipeline dredging robot, including a body, a travel diameter-adjusting structure, a dredging diameter-adjusting structure, at least two spiral dredging devices, and at least three travel wheel assemblies. Each travel wheel assembly is arranged around the outside of the body via the travel diameter-adjusting structure, forming a structure where the distance from each travel wheel assembly to the central axis of the body is adjustable. Furthermore, the dredging diameter-adjusting structure is located at the front end of the body, and each spiral dredging device is connected to the body via the dredging diameter-adjusting structure, forming a structure where the distance from each spiral dredging device to the central axis of the body is adjustable. This utility model can adapt to pipelines with different inner diameters and has the advantages of strong dredging ability and wide applicability.

Description

Technical Field

[0001] This utility model relates to the field of pipeline dredging technology, specifically to a pipeline dredging robot. Background Technology

[0002] A city's pipeline dredging system is like the blood vessels of a human body; its stable operation is a crucial prerequisite for maintaining the order of daily urban life. Currently, most solutions to sludge blockages rely on manual dredging, but this method has limitations such as limited space, harsh environments, low efficiency, and incomplete cleaning. With the continuous advancement of modern technology, artificial intelligence robots have been widely developed across various industries. Inspired by this, research on pipeline dredging robots has become a development trend both domestically and internationally. Examples include the Versatrax450 pipeline robot developed by Inuktun in the United States, and the Moritz eight-legged pipeline robot developed by Andreas Zagler at the Technical University of Munich in Germany.

[0003] Current research indicates that pipeline dredging robots suffer from limitations in design and functionality, particularly given the diverse types and sizes of underground drainage pipes. Current dredging robots often lack adaptability due to their relatively uniform size, hindering their effective operation in pipes of varying dimensions. To address this, Chinese invention patent CN202410955681.0 discloses a wheeled pipeline repair robot. By incorporating key variable-diameter and wheeled walking mechanisms, this robot achieves passage through pipes of varying inner diameters, enhancing its adaptability to complex environments and operational stability. However, this robot only incorporates a variable-diameter structure in its walking mechanism. Its three spiral dredging devices, connected to the main body via reinforcing ribs at the bottom, cannot adapt to pipes of different inner diameters, severely limiting its dredging capacity and range.

[0004] Therefore, in view of the above situation, there is an urgent need to develop a pipeline dredging robot to overcome the shortcomings in current practical applications. Utility Model Content

[0005] To address the shortcomings of existing technologies, this utility model proposes a pipeline dredging robot that can adapt to pipelines with different inner diameters, has stronger dredging capabilities, and a wider range of applications.

[0006] The technical solution of this utility model is implemented as follows:

[0007] A pipeline dredging robot includes a body, a travel diameter-changing structure, a dredging diameter-changing structure, at least two spiral dredging devices, and at least three travel wheel assemblies. Each of the travel wheel assemblies is arranged around the outside of the body via the travel diameter-changing structure, forming a structure where the distance from each travel wheel assembly to the central axis of the body is adjustable. Furthermore, the dredging diameter-changing structure is located at the front end of the body, and each of the spiral dredging devices is connected to the body via the dredging diameter-changing structure, forming a structure where the distance from each spiral dredging device to the central axis of the body is adjustable.

[0008] In a preferred embodiment, the spiral dredging device includes a dredging base, a spiral head, and a dredging motor. The dredging base is connected to the end of the dredging variable diameter structure away from the machine body, and the dredging motor is fixedly connected to the dredging base and drivenly connected to the spiral head.

[0009] In a preferred embodiment, the spiral head includes a rotating shell, the outer wall of which is provided with spiral blades, and a drive shaft is sleeved inside the rotating shell. The two ends of the drive shaft are respectively connected to the rotating shell and the dredging motor. At least one gear is sleeved on the drive shaft, and the gear is coaxially sleeved inside the rotating shell and meshes with the inner wall of the rotating shell.

[0010] In a preferred embodiment, the end of the rotating shell away from the dredging and diameter-changing structure is provided with a rounded conical head.

[0011] In a preferred embodiment, the dredging diameter-changing structure includes a dredging diameter-changing motor, a dredging linkage mechanism, and a dredging diameter-changing tie rod. The dredging diameter-changing motor is connected to the front end of the machine body via a connecting flange. The two ends of the dredging linkage mechanism are respectively connected to the connecting flange and the spiral dredging device. Furthermore, the output end of the dredging diameter-changing motor is driven by a dredging diameter-changing lead screw. The two ends of the dredging diameter-changing tie rod are respectively hinged to the lead screw nuts of the dredging linkage mechanism and the dredging diameter-changing lead screw.

[0012] In a preferred embodiment, the dredging diameter-changing structure further includes a diameter-changing housing, in which the dredging diameter-changing motor and the dredging diameter-changing lead screw are located. The diameter-changing housing is fixedly connected to the connecting flange. Furthermore, the diameter-changing housing has a guide opening extending along its length. The end of the dredging diameter-changing tie rod away from the dredging connecting rod mechanism extends from the guide opening into the diameter-changing housing and is hinged to the lead screw nut of the dredging diameter-changing lead screw.

[0013] In a preferred embodiment, the walking wheel assembly includes a walking housing, which is connected to the walking variable diameter structure and has a walking motor mounted on it. Rollers are rotatably mounted at at least at both ends of the walking housing, and at least one of the rollers is drive-connected to the walking motor.

[0014] In a preferred embodiment, the traveling diameter changing structure includes a traveling diameter changing tie rod and two traveling diameter changing connecting rods. The two traveling diameter changing connecting rods are parallel to each other, and both ends of each traveling diameter changing connecting rod are respectively hinged to the traveling housing and the machine body. Furthermore, a traveling diameter changing motor is installed inside the machine body, and the output end of the traveling diameter changing motor is drivenly connected to a traveling diameter changing lead screw. Both ends of the traveling diameter changing tie rod are respectively hinged to one of the traveling diameter changing connecting rods and the lead screw nut of the traveling diameter changing lead screw.

[0015] Compared with the prior art, the present invention has the following advantages:

[0016] This invention features a variable-diameter walking structure, allowing the walking wheel assemblies to surround the outer side of the robot body. This structure enables the robot to adjust the distance between each walking wheel assembly and the central axis of the robot body, allowing it to enter and move alongside pipes of varying inner diameters. Furthermore, a spiral sludge-cleaning device rapidly agitates and breaks up sludge in a spiral motion. Each spiral sludge-cleaning device is connected to the robot body via the variable-diameter structure, making the distance between each device and the central axis adjustable to accommodate pipes of different inner diameters. This prevents the spiral sludge-cleaning devices from obstructing the robot's entry into pipes of varying inner diameters. Combined with the adjustable distance between the walking wheel assemblies and the central axis, this allows the robot to enter and move alongside pipes of different inner diameters for sludge removal, resulting in stronger sludge removal capabilities and a wider range of applications. Attached Figure Description

[0017] To more clearly illustrate the technical solutions in the embodiments of this utility model or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this utility model. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0018] Figure 1 This is a perspective view of the present utility model;

[0019] Figure 2 This is a front view of the present invention;

[0020] Figure 3 This is a cross-sectional view of the spiral head of this utility model;

[0021] Figure 4 This is a perspective view of the dredging and diameter-changing structure of this utility model.

[0022] Figure label:

[0023] Body-1; Traveling diameter changing structure-2, traveling diameter changing tie rod-21, traveling diameter changing connecting rod-22; Dredging diameter changing structure-3, dredging connecting rod mechanism-31, dredging diameter changing tie rod-32, connecting flange-33, diameter changing housing-34, guide port-35; Spiral dredging device-4, dredging base-41, spiral head-42, rotating housing-421, spiral blade-422, drive shaft-423, gear-424, conical head-425; Traveling wheel assembly-5, traveling housing-51, roller-52. Detailed Implementation

[0024] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the protection scope of the present utility model.

[0025] In the description of this utility model, it should be noted that the terms "center," "upper," "lower," "left," "right," "vertical," "horizontal," "inner," and "outer," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are used only for the convenience of describing this utility model and for simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this utility model. Furthermore, the terms "first," "second," "third," and "fourth," etc., are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0026] In the description of this utility model, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "joining" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this utility model based on the specific circumstances.

[0027] Reference Figures 1-4

[0028] A pipeline dredging robot includes a body 1, a travel diameter-adjusting structure 2, a dredging diameter-adjusting structure 3, at least two spiral dredging devices 4, and at least three travel wheel assemblies 5. Each of the travel wheel assemblies 5 is arranged around the outside of the body 1 via the travel diameter-adjusting structure 2, forming a structure where the distance from each travel wheel assembly 5 to the central axis of the body 1 is adjustable. Furthermore, the dredging diameter-adjusting structure 3 is located at the front end of the body 1, and each of the spiral dredging devices 4 is connected to the body 1 via the dredging diameter-adjusting structure 3, forming a structure where the distance from each spiral dredging device 4 to the central axis of the body 1 is adjustable.

[0029] In this specific embodiment, each of the walking wheel assemblies 5 surrounds the outside of the body 1, and each of the spiral sludge removal devices 4 surrounds the front of the body 1 in the forward direction. The inner diameter of the pipe that the robot can enter is limited by the diameter of the circle formed by the lines connecting the walking wheel assemblies 5 and the diameter of the circle formed by the lines connecting the spiral sludge removal devices 4. The walking wheel assemblies 5 are connected by the walking diameter-changing structure 2, and the spiral sludge removal devices 4 are connected by the sludge removal diameter-changing structure 3. This allows the diameter of the circle formed by the lines connecting the walking wheel assemblies 5 and the diameter of the circle formed by the lines connecting the spiral sludge removal devices 4 to be adjustable, thereby adapting to pipes with different inner diameters. The robot can enter and walk in pipes with different inner diameters to sludge pipes with different inner diameters, resulting in stronger sludge removal capabilities and a wider range of applications.

[0030] In this specific embodiment, there are three walking wheel assemblies 5, etc. When encountering a silted pipe with an upper wall, one of the walking wheel assemblies 5 can fit against the upper wall, which can provide more powerful power for dredging. In addition, the angle between the line connecting each walking wheel assembly 5 and the central axis of the body 1 is 120°, which allows the robot to walk better in the circular urban pipe. There are three spiral dredging devices 4, and the angle between the line connecting each spiral dredging device 4 and the central axis of the body 1 is 120°, so as to achieve a comprehensive and thorough dredging operation.

[0031] In some preferred embodiments, the spiral dredging device 4 includes a dredging base 41, a spiral head 42, and a dredging motor (not shown). The dredging base 41 is connected to the end of the dredging reducer structure 3 away from the machine body 1. The dredging motor is fixedly connected to the dredging base 41 and is drively connected to the spiral head 42. The dredging motor provides power to the spiral head 42, causing the spiral head 42 to rotate at high speed, thereby achieving the effect of removing sludge buildup in the pipe.

[0032] In some preferred embodiments, the spiral head 42 includes a rotating shell 421, the outer wall of which is provided with spiral blades 422, and a drive shaft 423 is sleeved inside the rotating shell 421. The two ends of the drive shaft 423 are respectively connected to the rotating shell 421 and the sludge removal motor. The sludge removal motor is connected to the drive shaft 423 through a coupling, driving the drive shaft 423 to rotate axially, thereby driving the rotating shell 421 and the spiral blades 422 to rotate, so that the spiral blades 422 can quickly stir and break up the sludge in the pipeline.

[0033] Furthermore, at least one gear 424 is sleeved on the drive shaft 423. The gear 424 is coaxially sleeved inside the rotating shell 421 and meshes with the inner wall of the rotating shell 421, so as to realize the effect of synchronous rotation of the drive shaft 423, the gear 424 and the rotating shell 421. This can better and more smoothly transmit power to the rotating shell 421, and the gear 424 can support the rotating shell 421, reducing the vibration when the rotating shell 421 rotates.

[0034] Furthermore, the rotating shell 421 is provided with a rounded conical head 425 at the end away from the dredging and diameter-changing structure 3, which enables the spiral head 42 to penetrate the sludge better, thereby stirring and breaking up the sludge.

[0035] In some preferred embodiments, the dredging diameter-changing structure 3 includes a dredging diameter-changing motor (not shown), a dredging linkage mechanism 31, and a dredging diameter-changing tie rod 32. The dredging diameter-changing motor is connected to the front end of the machine body 1 through a connecting flange 33. The two ends of the dredging linkage mechanism 31 are respectively connected to the connecting flange 33 and the spiral dredging device 4. Furthermore, the output end of the dredging diameter-changing motor is driven by a dredging diameter-changing lead screw (not shown). The two ends of the dredging diameter-changing tie rod 32 are respectively hinged to the lead screw nuts of the dredging linkage mechanism 31 and the dredging diameter-changing lead screw.

[0036] In this specific embodiment, the dredging linkage mechanism 31 is a four-bar linkage, including two long rods and two short rods. The two short rods are perpendicularly and fixedly connected to the dredging base 41 and the connecting flange 33, respectively. One end of one long rod is connected to one end of each of the two short rods. One end of the other long rod is connected to the other end of one of the short rods, and the other end of the long rod is connected to the connecting flange 33. Furthermore, one end of the dredging reducing tie rod 32 is hinged to the screw nut of the dredging reducing lead screw, and one end of the dredging reducing tie rod 32 is connected to one of the short rods. The long rod is hinged in the middle. The dredging and diameter-changing screw is coaxial with the machine body 1. The output end of the dredging and diameter-changing motor is connected to the dredging and diameter-changing screw through a coupling. When the dredging and diameter-changing motor drives the dredging and diameter-changing screw to rotate axially, the screw nut of the dredging and diameter-changing screw moves back and forth along the rod body of the dredging and diameter-changing screw. This will pull the dredging connecting rod mechanism 31 through the dredging and diameter-changing tie rod 32, causing the included angle between the long rod and the dredging and diameter-changing screw to change, thereby changing the distance from the spiral dredging device 4 to the central axis of the machine body 1, which can adapt to pipes with different inner diameters.

[0037] Furthermore, the dredging diameter-changing structure 3 also includes a diameter-changing housing 34. The dredging diameter-changing motor and the dredging diameter-changing lead screw are both located inside the diameter-changing housing 34. The diameter-changing housing 34 is fixedly connected to the connecting flange 33. A guide opening 35 extending along the length of the diameter-changing housing 34 is provided. One end of the dredging diameter-changing tie rod 32, away from the dredging connecting rod mechanism 31, extends from the guide opening 35 into the diameter-changing housing 34 and is hinged to the lead screw nut of the dredging diameter-changing lead screw. The diameter-changing housing 34 effectively protects the dredging diameter-changing motor and the dredging diameter-changing lead screw, reducing the impact of sludge on them.

[0038] In some preferred embodiments, the walking wheel assembly 5 includes a walking housing 51, which is connected to the walking variable diameter structure 2 and is equipped with a walking motor (not shown). Furthermore, at least one of the rollers 52 is rotatably disposed at both ends of the walking housing 51, and at least one of the rollers 52 is drive-connected to the walking motor.

[0039] In this specific embodiment, the walking motor drives the roller 52 to rotate via gear or belt transmission, and the walking motor is located inside the walking housing 51, which can provide protection. Furthermore, each of the walking wheel assemblies 5 is equipped with a walking motor, so that each walking wheel assembly 5 has independent driving capability, stronger power, and can also prevent damage to the walking wheel assembly 5 during operation as a backup.

[0040] It is understandable that the walking wheel assembly 5 can also adopt a tracked structure to realize the robot's mobility function.

[0041] In some preferred embodiments, the traveling diameter changing structure 2 includes a traveling diameter changing tie rod 21 and two traveling diameter changing connecting rods 22. The two traveling diameter changing connecting rods 22 are parallel to each other, and the two ends of each traveling diameter changing connecting rod 22 are respectively hinged to the traveling housing 51 and the machine body 1. Furthermore, a traveling diameter changing motor (not shown) is provided inside the machine body 1, and the output end of the traveling diameter changing motor is driven by a traveling diameter changing lead screw (not shown). The two ends of the traveling diameter changing tie rod 21 are respectively hinged to one of the traveling diameter changing connecting rods 22 and the lead screw nut of the traveling diameter changing lead screw.

[0042] In this specific embodiment, the walking housing 51, the body 1, and the two walking diameter-changing connecting rods 22 form a four-bar linkage. The output end of the walking diameter-changing motor is connected to the walking diameter-changing lead screw through a coupling, and the walking diameter-changing lead screw is coaxial with the body 1. When the walking diameter-changing motor drives the walking diameter-changing lead screw to rotate axially, the lead screw nut of the walking diameter-changing lead screw moves back and forth along the rod body of the walking diameter-changing lead screw, thereby pulling the walking diameter-changing connecting rod 22 hinged to the walking diameter-changing tie rod 21. The included angle between the walking diameter-changing connecting rod 22 and the body 1 changes, thereby changing the distance from the walking wheel assembly 5 to the central axis of the body 1, which can adapt to pipes with different inner diameters.

[0043] In some optional embodiments, the dredging reducing screw and the traveling reducing screw are both ball screws. When their rods rotate axially, the corresponding screw nut moves along their axis, thereby pulling the dredging reducing rod 32 and the traveling reducing rod 21. In addition, since the screw nut on the dredging reducing screw is connected to the connecting flange 33 in sequence via the dredging reducing screw and the dredging connecting rod mechanism 31, the rotational freedom of the screw nut on the dredging reducing screw can be restricted. Furthermore, since the screw nut on the traveling reducing screw is connected to the machine body 1 in sequence via the traveling reducing screw and the traveling reducing connecting rod 22, the rotational freedom of the screw nut on the traveling reducing screw can be restricted.

[0044] In some preferred embodiments, the dredging motor, the dredging variable diameter motor, the walking motor, and the walking variable diameter motor are all electrically connected to a controller, which is connected to a control terminal wirelessly or via wired means; and the front end of the machine body 1 is provided with a lighting lamp and a camera, both of which are electrically connected to the controller.

[0045] Working principle of this utility model:

[0046] In operation, the traveling diameter-changing motor starts, driving the traveling diameter-changing lead screw to rotate axially and the lead screw nut of the traveling diameter-changing lead screw to move linearly, pulling the traveling diameter-changing connecting rod 22 hinged to the traveling diameter-changing tie rod 21. This changes the angle between the traveling diameter-changing connecting rod 22 and the machine body 1, thereby changing the distance from the traveling wheel assembly 5 to the central axis of the machine body 1, until the diameter of the circle formed by the lines connecting the traveling wheel assemblies 5 is smaller than the inner diameter of the pipe. Simultaneously, the dredging diameter-changing motor starts, driving the dredging diameter-changing lead screw to rotate axially and the lead screw nut of the dredging diameter-changing lead screw to move linearly. This, through the dredging diameter-changing tie rod 32, pulls the dredging connecting rod mechanism 31 hinged to it, changing the angle of the dredging connecting rod mechanism 31, thereby changing the distance from the spiral dredging device 4 to the central axis of the machine body 1. The distance between the central axis of the robot body 1 and the diameter of the circle formed by the connecting lines between each spiral sludge removal device 4 is smaller than the inner diameter of the pipe, thus adapting to pipes with different inner diameters. Then, the walking motor starts, driving the roller 52 to rotate. At the same time, the sludge removal motor starts, driving the rotating shell 421 and the spiral blade 422 to rotate axially via the transmission shaft 423 and gear 424. This allows the spiral blade 422 to quickly stir and break up the sludge in the pipe, achieving the effect of the robot moving forward while stirring up the sludge. This allows the robot to enter and walk in pipes with different inner diameters to sludge pipes with different inner diameters. Combined with subsequent artificial water flow impact, it can achieve better sludge removal capabilities, stronger sludge removal capabilities, and a wider range of applications.

[0047] The above description is only a preferred embodiment of the present utility model and is not intended to limit the present utility model. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present utility model should be included within the protection scope of the present utility model.

Claims

1. A pipeline dredging robot, characterized in that: The system includes a body (1), a travel diameter-changing structure (2), a dredging diameter-changing structure (3), at least two spiral dredging devices (4), and at least three travel wheel assemblies (5). Each of the travel wheel assemblies (5) is arranged around the outside of the body (1) through the travel diameter-changing structure (2), forming a structure in which the distance from each travel wheel assembly (5) to the central axis of the body (1) is adjustable. Furthermore, the dredging diameter-changing structure (3) is located at the front end of the body (1), and each of the spiral dredging devices (4) is connected to the body (1) through the dredging diameter-changing structure (3), forming a structure in which the distance from each spiral dredging device (4) to the central axis of the body (1) is adjustable.

2. The pipeline dredging robot according to claim 1, characterized in that: The spiral dredging device (4) includes a dredging base (41), a spiral head (42), and a dredging motor. The dredging base (41) is connected to the end of the dredging variable diameter structure (3) away from the machine body (1). The dredging motor is fixedly connected to the dredging base (41) and is drivenly connected to the spiral head (42).

3. The pipeline dredging robot according to claim 2, characterized in that: The spiral head (42) includes a rotating shell (421), the outer wall of which is provided with spiral blades (422), and a drive shaft (423) is sleeved inside the rotating shell (421). The two ends of the drive shaft (423) are respectively connected to the rotating shell (421) and the sludge removal motor. At least one gear (424) is sleeved on the drive shaft (423), and the gear (424) is coaxially sleeved inside the rotating shell (421) and meshes with the inner wall of the rotating shell (421).

4. The pipeline dredging robot according to claim 3, characterized in that: The rotating shell (421) is provided with a rounded conical head (425) at the end away from the dredging and diameter-changing structure (3).

5. A pipeline dredging robot according to any one of claims 1 to 4, characterized in that: The dredging and diameter-changing structure (3) includes a dredging and diameter-changing motor, a dredging linkage mechanism (31), and a dredging and diameter-changing tie rod (32). The dredging and diameter-changing motor is connected to the front end of the machine body (1) through a connecting flange (33). The two ends of the dredging linkage mechanism (31) are respectively connected to the connecting flange (33) and the spiral dredging device (4). The output end of the dredging and diameter-changing motor is connected to a dredging and diameter-changing screw. The two ends of the dredging and diameter-changing tie rod (32) are respectively hinged to the screw nut of the dredging linkage mechanism (31) and the dredging and diameter-changing screw.

6. A pipeline dredging robot according to claim 5, characterized in that: The dredging diameter changing structure (3) also includes a diameter changing housing (34). The dredging diameter changing motor and the dredging diameter changing lead screw are both located inside the diameter changing housing (34). The diameter changing housing (34) is fixedly connected to the connecting flange (33). Furthermore, the diameter changing housing (34) has a guide opening (35) extending along its length direction. The end of the dredging diameter changing tie rod (32) away from the dredging connecting rod mechanism (31) extends from the guide opening (35) into the interior of the diameter changing housing (34) and is hinged to the lead screw nut of the dredging diameter changing lead screw.

7. A pipeline dredging robot according to any one of claims 1 to 4, characterized in that: The walking wheel assembly (5) includes a walking housing (51), which is connected to the walking variable diameter structure (2) and is provided with a walking motor. Rollers (52) are rotatably provided at at least at both ends of the walking housing (51), and at least one of the rollers (52) is connected to the walking motor in a transmission connection.

8. A pipeline dredging robot according to claim 7, characterized in that: The traveling diameter changing structure (2) includes a traveling diameter changing tie rod (21) and two traveling diameter changing connecting rods (22). The two traveling diameter changing connecting rods (22) are parallel to each other and the two ends of each traveling diameter changing connecting rod (22) are respectively hinged to the traveling housing (51) and the machine body (1). Furthermore, a traveling diameter changing motor is installed inside the machine body (1). The output end of the traveling diameter changing motor is connected to a traveling diameter changing lead screw. The two ends of the traveling diameter changing tie rod (21) are respectively hinged to one of the traveling diameter changing connecting rods (22) and the lead screw nut of the traveling diameter changing lead screw.

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