A pipe maintenance robot

Abstract

The utility model particularly relates to a kind of pipeline maintenance motor device, comprising: tracked mobile car, with installation site;Mechanical arm assembly, with installation pedestal and mechanical arm component;The installation pedestal is detachably located at the installation site;One end of the mechanical arm component is rotatably arranged in the installation pedestal;Control valve component, with lifting ring, assembly seat;The lifting ring is movably connected to the other end of the mechanical arm component;The assembly seat is configured to be able to install derusting device.By tracked mobile car drive mechanical arm assembly and control valve component together for short-distance transport, and the disassembly and assembly of control valve component and mechanical arm assembly are facilitated.The structure belongs to stability design, when tracked mobile car moves, derusting device will not shake due to gravity shift, and the risk of derusting device falling is avoided.

Description

Technical Field

[0001] This utility model relates to the technical field of auxiliary equipment for removing rust from the surface of metal pipes, and in particular to a mobile device for pipe maintenance. Background Technology

[0002] In the field of industrial pipeline maintenance, rust removal from metal pipe surfaces is a fundamental step in ensuring the long-term safe operation of the system. Common rust removal processes include sandblasting and high-pressure water jetting. These methods effectively remove rust layers through mechanical impact or high-pressure water jets. The application of automated equipment further improves operational efficiency and consistency, reduces reliance on manual labor, and ensures uniform rust removal quality. This automated approach not only meets the demands of modern industry for efficient and precise operations but also provides a feasible path for maintaining complex pipeline environments.

[0003] However, with the widespread adoption of automated tooling, significant challenges arise in its practical deployment. Relying on manual labor for moving and placing the tooling, as well as carrying the entire pipeline system, is not only inefficient but also difficult to operate. Using existing general-purpose lifting equipment generally suffers from insufficient operational flexibility and poor positioning accuracy, limiting installation efficiency. A deeper issue lies in safety and applicability. Due to the significant weight of the tooling itself, and its frequent use of protruding nozzles, pipelines, and other components, existing clamping or suspension structures lack robust design, making them prone to swaying or even falling due to shifting center of gravity, posing a potential threat to operators. Utility Model Content

[0004] In order to solve or at least partially solve the above-mentioned technical problems, this utility model provides a pipeline maintenance motorized device.

[0005] This utility model provides a mobile pipeline maintenance device, which includes a tracked mobile vehicle, a robotic arm assembly, and a control valve assembly. The tracked mobile vehicle has a mounting position; the robotic arm assembly has a mounting base and a robotic arm assembly; the mounting base is detachably disposed at the mounting position; one end of the robotic arm assembly is rotatably disposed at the mounting base; the control valve assembly has a lifting ring and a mounting seat; the lifting ring is movably connected to the other end of the robotic arm assembly; the mounting seat is configured to install a rust removal device.

[0006] Optionally, the robotic arm assembly includes a first sub-arm, a support arm, a second sub-arm, and a cylinder. One end of the first sub-arm is connected to the mounting base, and the first sub-arm is rotatable about the axis of the mounting base. One end of the support arm is connected to the other end of the first sub-arm. One end of the second sub-arm is hinged to the other end of the support arm. The main body of the cylinder is hinged to the support arm, and the telescopic end of the cylinder is hinged to the second sub-arm. The second sub-arm swings upward or downward as the telescopic end of the cylinder extends or retracts.

[0007] Optionally, the first sub-arm has an arc-shaped structure; and / or, the second sub-arm has an arc-shaped structure.

[0008] Optionally, the robotic arm assembly further includes a first slewing bearing, which is disposed between the other end of the first sub-arm and one end of the support arm; the first slewing bearing is coaxially arranged with the mounting base.

[0009] Optionally, the top of the first sub-arm has a bearing mounting base; the robotic arm assembly further includes a second slewing bearing, which is disposed on the bearing mounting base and located between the first sub-arm and the support arm; the support arm rotates about the axis of the second slewing bearing.

[0010] Optionally, the robotic arm assembly also includes a lifting bracket and flexible components. One end of the hoisting bracket is located at the end of the second sub-arm away from the support arm, and the other end of the hoisting bracket has an assembly space, in which a crossbeam is provided; One end of the flexible component passes through the annular hole of the crossbeam and lifting ring in the assembly space and is fixedly connected to the other end of the flexible component to realize the movable connection between the robotic arm assembly and the control valve assembly.

[0011] Optionally, the control valve assembly includes a central shaft, a sliding handle, a first return spring, a lifting valve, a second return spring, and a lowering valve. The lifting ring is located at the top of the central shaft, and the mounting base is located at the bottom of the central shaft. The sliding handle is sleeved on the central shaft and can move along the axial direction of the central shaft. The first return spring is sleeved on the top of the central shaft, with one end abutting against the top of the sliding handle. The lifting valve is located at the top of the central shaft, facing the top of the sliding handle. The second return spring is sleeved on the bottom of the central shaft, with one end abutting against the bottom of the sliding handle. The lowering valve is located at the bottom of the central shaft, facing the bottom of the sliding handle. When the bottom of the sliding handle abuts against the lowering valve, the cylinder retracts; when the top of the sliding handle abuts against the lifting valve, the cylinder extends.

[0012] Optionally, the control valve assembly further includes a first limiting block disposed between the lifting ring and the central shaft; one end of the first return spring abuts against the first limiting block, and the other end of the first return spring abuts against the top of the sliding handle; the lifting valve is disposed on the first limiting block, and the sensing end of the lifting valve faces the sliding handle; when the sliding handle slides upward and abuts against the sensing end of the lifting valve, the telescopic end of the cylinder extends.

[0013] Optionally, the control valve assembly further includes a second limiting block, which is disposed between the mounting base and the central shaft; one end of the second return spring abuts against the second limiting block, and the other end of the second return spring abuts against the bottom end of the sliding handle; the falling valve is disposed on the second limiting block, and the sensing end of the falling valve faces the sliding handle; when the sliding handle slides down and abuts against the sensing end of the falling valve, the telescopic end of the cylinder retracts.

[0014] Optionally, the top and bottom of the sliding handle are both provided with limiting grooves; the other end of the first return spring is provided in the limiting groove located at the top of the sliding handle; the other end of the second return spring is provided in the limiting groove located at the bottom of the sliding handle.

[0015] Optionally, the tracked mobile vehicle also has a rust removal pre-installation position on the top, which can be used to place a rust removal device; the tracked mobile vehicle is equipped with a control console on the top; the tracked mobile vehicle is equipped with a pneumatic motor at the bottom; and the tracked mobile vehicle is equipped with a working roller on the top, which is used to store compressed air pipes and / or high-pressure water pipes.

[0016] Compared to existing technologies, in this embodiment, the pipeline maintenance mobile device can be transported short distances together with the robotic arm assembly and control valve assembly using a tracked mobile vehicle, facilitating the assembly and disassembly of the control valve assembly and robotic arm assembly. The entire system uses compressed air as its power source, ensuring safe operation in special explosion-proof environments. The rust removal device is connected to the robotic arm assembly via the control valve assembly, which is movably connected to the robotic arm assembly via a lifting ring. This allows for a certain speed error between the tracked mobile vehicle and the control valve assembly, reducing the difficulty of operation for the operator. This structure is a stability design; when the tracked mobile vehicle moves, the rust removal device will not shake due to a shift in the center of gravity, avoiding the risk of the rust removal device falling. Attached Figure Description

[0017] To more clearly illustrate the embodiments of this utility model, the relevant drawings will be briefly described below. It should be understood that the drawings described below are only for illustrating some embodiments of this utility model, and those skilled in the art can obtain many other technical features and connections not mentioned herein based on these drawings.

[0018] Figure 1 This is a schematic diagram illustrating the operation of one embodiment of the pipeline maintenance motorized device of this utility model; Figure 2 This is a schematic diagram of one embodiment of a pipeline maintenance motorized device according to the present invention; Figure 3 This is a partial exploded view of one embodiment of a pipeline maintenance motorized device according to the present invention; Figure 4 This is a schematic diagram of one embodiment of the robotic arm assembly of a pipeline maintenance motorized device according to this utility model; Figure 5 This is a partial exploded view of an embodiment of the robotic arm assembly of a pipeline maintenance motorized device according to this utility model; Figure 6 This is a partial schematic diagram of one embodiment of the robotic arm assembly of a pipeline maintenance motorized device according to this utility model; Figure 7 This is a schematic diagram of the structure of a control valve assembly of a pipeline maintenance motorized device according to this utility model; Figure 8 This is a cross-sectional schematic diagram of one embodiment of the control valve assembly of a pipeline maintenance motorized device according to this utility model.

[0019] Explanation of reference numerals in the attached figures: 1. Tracked mobile vehicle; 11. Mounting position; 12. Rust removal pre-assembly position; 13. Control console; 14. Pneumatic motor; 15. Working roller; 21. Mounting base; 211. Mounting slot; 22. Mounting hole; 23. Threaded hole; 3. Robotic arm assembly; 30. Rotating protrusion; 31. First sub-arm; 32. Support arm; 321. Assembly slot; 33. Second sub-arm; 34. Cylinder; 35. First slewing bearing; 36. Second slewing shaft 37. Lifting bracket; 371. Assembly space; 372. Crossbeam; 38. Bearing mounting seat; 39. Flexible component; 4. Control valve assembly; 40. Lifting ring; 41. Assembly seat; 42. Central shaft; 43. Sliding handle; 431. Limiting groove; 432. Hand support; 44. First return spring; 45. Lifting valve; 46. Second return spring; 47. Lowering valve; 48. First limiting block; 49. Second limiting block. Detailed Implementation

[0020] To provide a more detailed understanding of the features and technical content of the embodiments of this disclosure, the implementation of the embodiments of this disclosure will be described in detail below with reference to the accompanying drawings. The accompanying drawings are for illustrative purposes only and are not intended to limit the embodiments of this disclosure. In the following technical description, for ease of explanation, several details are used to provide a full understanding of the disclosed embodiments. However, one or more embodiments may still be implemented without these details. In other cases, well-known structures and devices may be simplified in their depiction to simplify the drawings.

[0021] The terms "first," "second," etc., used in the specification, claims, and accompanying drawings of this disclosure are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate for the embodiments of this disclosure described herein. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover non-exclusive inclusion.

[0022] In this disclosure, the terms "upper," "lower," "inner," "middle," "outer," "front," and "rear," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. These terms are primarily for better description of the embodiments of this disclosure and their implementations, and are not intended to limit the indicated devices, elements, or components to having a specific orientation, or to require them to be constructed and operated in a specific orientation. Furthermore, some of the aforementioned terms may be used to indicate other meanings besides orientation or positional relationship; for example, the term "upper" may in some cases indicate a dependency or connection relationship. Those skilled in the art can understand the specific meaning of these terms in the embodiments of this disclosure according to the specific circumstances.

[0023] Furthermore, the terms "set up," "connect," and "fix" should be interpreted broadly. For example, "connection" can be a fixed connection, a detachable connection, or an integral structure; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, or it can be an internal connection between two devices, components, or parts. Those skilled in the art can understand the specific meaning of the above terms in the embodiments of this disclosure according to the specific circumstances.

[0024] Unless otherwise stated, the term "multiple" means two or more, and "multiple groups" means two or more groups.

[0025] It should be noted that, unless otherwise specified, the embodiments and features described in the present disclosure can be combined with each other.

[0026] During the research and development process, the inventors also conducted a search of existing technologies, and some of the existing technologies found are as follows: Prior art 1: Invention patent application with authorization publication number CN118528240A.

[0027] Prior art 2: Utility model patent with authorization announcement number CN218754699U.

[0028] In the aforementioned prior art, the clamping or suspension structure of the existing hanger lacks a stable design, which can easily cause swaying or even falling due to the shift of the center of gravity, posing a potential threat to the operator.

[0029] In view of the above, the inventor of this utility model provides a pipeline maintenance motorized device to solve the aforementioned problems. Several specific embodiments of this utility model will be described in detail below with reference to the accompanying drawings. In this utility model, the pipeline maintenance motorized device is simply referred to as the pipeline maintenance motorized device.

[0030] First Embodiment The pipeline maintenance motorized device mentioned in this embodiment, such as Figure 1 , Figure 2 As shown, the pipeline maintenance mobile device includes a tracked mobile vehicle 1, a robotic arm assembly, and a control valve assembly 4. The robotic arm assembly is mounted on the tracked mobile vehicle 1, and the control valve assembly 4 is mounted on the robotic arm assembly. Mounting the robotic arm assembly and control valve assembly 4 on the tracked mobile vehicle 1 gives the pipeline maintenance mobile device in this embodiment good adaptability, making it suitable for complex road conditions and facilitating the transportation of the robotic arm assembly and control valve assembly 4. Optionally, the tracked mobile vehicle 1 can be a tracked transport vehicle manufactured by Shandong Kaiyue Engineering Machinery Co., Ltd. Specifically, a pneumatic motor 14 is installed at the bottom of the tracked mobile vehicle 1. The pneumatic motor 14 serves as the drive mechanism for the tracked mobile vehicle 1, driving its movement. This configuration ensures the safe operation of the pipeline maintenance mobile device in special explosion-proof locations. The tracked mobile vehicle 1 is equipped with a control console 13 on its top. The working status of the pneumatic motor 14 can be controlled through the control console 13. In this utility model, the connection method between the control console 13 and the pneumatic motor 14 and the principle of controlling the pneumatic motor 14 through the control console 13 are existing technologies and will not be described in detail here.

[0031] like Figure 2 , Figure 3As shown, the tracked mobile vehicle 1 has a mounting position 11 and a rust removal pre-installation position 12 on its top. The robotic arm assembly is located at the mounting position 11 of the tracked mobile vehicle, while the rust removal pre-installation position 12 can be used to store the rust removal device. By placing the rust removal device at the rust removal pre-installation position 12, it is not only convenient to transport the rust removal device, but also convenient to install the rust removal device and the control valve assembly 4. In this utility model, the rust removal device can be an existing sandblasting rust removal device or an existing water spraying rust removal device. The mounting position 11 of the tracked mobile vehicle 1 has multiple threaded holes 23, which are evenly distributed around the axis of the mounting position 11.

[0032] like Figure 2 , Figure 3 As shown, the robotic arm assembly includes a mounting base 21 and a robotic arm component 3. The mounting base 21 is frustoconical in shape, and its bottom has multiple mounting holes 22 evenly distributed around the axis of the mounting base 21. The mounting holes 22 of the mounting base 21 correspond one-to-one with the threaded holes 23 of the mounting position 11. When the mounting base 21 is positioned at the mounting position 11, the mounting holes 22 of the mounting base 21 are aligned with the threaded holes 23 of the mounting position 11. Screws are passed through the mounting holes 22 and screwed into the threaded holes, achieving a detachable connection between the mounting base 21 and the tracked mobile vehicle 1. The top of the mounting base 21 has a mounting groove 211.

[0033] like Figure 3 , Figure 4 As shown, the robotic arm assembly 3 includes a first sub-arm 31, a support arm 32, a second sub-arm 33, a cylinder 34, a first slewing bearing 35, a second slewing bearing 36, and a lifting bracket 37. Both the first sub-arm 31 and the second sub-arm 33 are curved into an arc shape. The bottom of the first sub-arm 31 has a cylindrical rotating protrusion 30. The first slewing bearing 35 is placed in the mounting groove 211 of the mounting base 21, and the first slewing bearing 35 is coaxially aligned with the mounting base 21. Then, the rotating protrusion 30 of the first sub-arm 31 is inserted into the inner ring hole of the first slewing bearing 35. This arrangement allows the first sub-arm 31 to rotate about the axis of the mounting base 21.

[0034] like Figure 4 , Figure 5 As shown, a bearing mounting seat 38 is provided at the top of the first sub-arm 31, and a second slewing bearing 36 is disposed within the bearing mounting seat 38, with the second slewing bearing 36 and the bearing mounting seat 38 arranged coaxially. The bottom of the support arm 32 has a cylindrical rotating protrusion 30. The rotating protrusion 30 of the support arm 32 is inserted into the inner ring hole of the second slewing bearing 36. This arrangement allows the support arm 32 to rotate about the axis of the second slewing bearing 36.

[0035] like Figure 4 , Figure 6As shown, the support arm 32 has an assembly groove 321, and the bottom of the second sub-arm 33 is disposed within the assembly groove 321, with the bottom of the second sub-arm 33 hinged to the top of the support arm 32. One end of the main body of the cylinder 34 is disposed within the assembly groove 321, and the main body of the cylinder 34 is hinged to the support arm 32. The telescopic end of the cylinder 34 is hinged to the second sub-arm 33. One end of the lifting bracket 37 is fixedly connected to the end of the second sub-arm 33 away from the support arm 32. The other end of the lifting bracket 37 has an assembly space 371, which extends through the bottom and top of the lifting bracket 37, and a crossbeam 372 is disposed within the assembly space 371.

[0036] like Figure 1 , Figures 6 to 8 As shown, the control valve assembly 4 includes a central shaft 42, a first limiting block 48, a second limiting block 49, a sliding handle 43, a first return spring 44, a lifting valve 45, a second return spring 46, and a lowering valve 47. The central shaft 42 is cylindrical, as are the first and second limiting blocks 48 and 49. The first limiting block 48 is located at the top of the central shaft 42, and the second limiting block 49 is located at the bottom of the central shaft 42. A lifting ring 40 is provided at the top of the first limiting block 48. A flexible element 39 passes through the crossbeam 372 in the assembly space 371 and the annular hole of the lifting ring 40, thus enabling the control valve assembly 4 to be movably connected to the robotic arm assembly. Optionally, the flexible element 39 can be made of steel wire or chain. A mounting base 41 is provided at the bottom of the second limiting block 49. The mounting base 41 has mounting holes 22 to facilitate the installation and connection of the mounting base 41 with the rust removal device. A sliding handle 43 is sleeved on the central shaft 42, and is located between the first limiting block 48 and the second limiting block 49. The sliding handle 43 can move along the axial direction of the central shaft. A first return spring 44 is sleeved on the top end of the central shaft 42, with one end abutting against the first limiting block 48 and the other end abutting against the top end face of the sliding handle 43. A second return spring 46 is sleeved on the bottom end of the central shaft 42, with one end abutting against the second limiting block 49 and the other end abutting against the bottom end face of the sliding handle 43. Due to the cooperation of the first return spring 44 and the second return spring 46, the sliding handle 43 can be positioned in the middle of the central shaft 42. The top end of the sliding handle 43 does not contact the first limiting block 48, and the bottom end of the sliding handle 43 does not contact the second limiting block 49. The lifting valve 45 is mounted on the first limiting block 48, with its sensing end facing the top end face of the sliding handle 43. The lowering valve 47 is mounted on the second limiting block 49, with its sensing end facing the bottom end face of the sliding handle 43. In this embodiment, the connection relationships between the cylinder 34, the lifting valve 45, the lowering valve 47, the air compressor, and the high-pressure water pump are common knowledge in the art and will not be described in detail.

[0037] Optional, such as Figure 8 As shown, both the top and bottom ends of the sliding handle 43 have limiting grooves 431. When the sliding handle 43 is mounted on the central shaft 42, one end of the first return spring 44 abuts against the first limiting block 48, and the other end of the first return spring 44 is located in the limiting groove 431 at the top end of the sliding handle 43. This limits the first return spring 44, allowing it to elastically deform along the central shaft 42. Meanwhile, one end of the second return spring 46 abuts against the second limiting block 49, and the other end of the second return spring 46 is located in the limiting groove 431 at the bottom end of the sliding handle 43. This limits the second return spring 46, allowing it to elastically deform along the central shaft 42.

[0038] Optional, such as Figure 8 As shown, the outer surface of the sliding handle 43 is recessed inward toward the axis of the sliding handle 43 to form a hand support 432. This makes it easier to operate the sliding handle 43 up and down by using the hand support 432.

[0039] Optional, such as Figure 2 As shown, the tracked mobile vehicle 1 is also equipped with a working roller 15 on its top. The working roller 15 can be used to wind hoses and facilitate the storage of hoses. For example, the working roller 15 is used to store compressed air pipes and high-pressure water pipes, both of which are made of flexible hoses.

[0040] An exemplary usage process of the pipeline maintenance mobile device disclosed in this embodiment: like Figures 1 to 8As shown, before starting the operation, the rust removal device is first set up on the rust removal pre-installation position 12. Then, the air compressor and high-pressure water machine are left in a safe area outside the work site. The air compressor is connected to the cylinder 34 through the hose on the working roller 15 and provides compressed air to the pipeline between the cylinder 34 and the lifting valve 45 and the lowering valve 47. The high-pressure water machine is connected to the high-pressure water spray rust removal device through the hose on the working roller 15 and provides high-pressure water to the high-pressure water spray rust removal device. As the tracked mobile vehicle 1 moves, the hose on the working roller 15 is extended, which facilitates the flexible movement of the tracked mobile vehicle 1 and allows the rust removal device to be easily transported to the work area of ​​the pipeline to be treated. Afterwards, the control valve assembly 4 is adjusted above the rust removal device, and the rust removal device is connected to the mounting base 41 of the control valve assembly 4. Since there are first slewing bearings 35 and second slewing bearings 36 in the robotic arm assembly, this setting allows the robotic arm assembly 3 to have a larger range of motion, which can flexibly adjust the working angle and adapt to different work requirements. During operation, the operator holds the rust removal fixture with one hand and the sliding handle 43 with the other, causing the sliding handle 43 to move downwards against the resistance of the second return spring 46 until the lowering valve 47 is triggered. This changes the air path, controlling the cylinder 34 to retract. The second sub-arm 33 then swings downwards under the action of the cylinder 34, lowering the rust removal device. To adjust the position of the rust removal device upwards, the operator simply moves the sliding handle 43 upwards against the resistance of the first return spring 44 until the lifting valve 45 is triggered. This changes the air path, controlling the cylinder 34 to extend. The second sub-arm 33 then swings upwards under the action of the cylinder 34, raising the rust removal device.

[0041] When performing rust removal operations on pipelines, operators can manually control a tracked mobile vehicle to follow the rust removal device, or they can set the movement direction and speed of the tracked mobile vehicle to match those of the rust removal device, thus achieving automatic following. Because the robotic arm assembly can rotate in multiple dimensions, it can effectively accommodate changes in the distance between the tracked mobile vehicle and the rust removal device. Operators only need to monitor the process and make necessary corrections as needed; this utility model's mobile pipeline maintenance device can then automatically perform rust removal operations on the outer surface of pipelines.

[0042] Compared to existing technologies, in this embodiment, the pipeline maintenance mobile device can be transported short distances together with the robotic arm assembly and control valve assembly using a tracked mobile vehicle, facilitating the assembly and disassembly of the control valve assembly and robotic arm assembly. The entire system uses compressed air as its power source, ensuring safe operation in special explosion-proof environments. The rust removal device is connected to the robotic arm assembly via the control valve assembly, which is movably connected to the robotic arm assembly via a lifting ring. This allows for a certain speed error between the tracked mobile vehicle and the control valve assembly, reducing the difficulty of operation for the operator. This structure is a stability design; when the tracked mobile vehicle moves, the rust removal device will not shake due to a shift in the center of gravity, avoiding the risk of the rust removal device falling.

[0043] Finally, it should be noted that those skilled in the art will understand that many technical details have been presented in the embodiments of this utility model to facilitate a better understanding of the present invention. However, even without these technical details and various changes and modifications based on the above embodiments, the technical solutions claimed in the claims of this utility model can be substantially achieved. Therefore, in practical applications, various changes can be made to the above embodiments in form and detail without departing from the spirit and scope of this utility model.

Claims

1. A mobile pipeline maintenance device, characterized in that, include: Tracked mobile vehicle with mounting positions; The robotic arm assembly includes a mounting base and robotic arm components. The mounting base is detachably disposed at the mounting position; One end of the robotic arm assembly is rotatably mounted on the mounting base; the robotic arm assembly includes: The first sub-arm is connected at one end to the mounting base, and the first sub-arm is capable of rotating about the axis of the mounting base. The support arm has one end connected to the other end of the first sub-arm; The second sub-arm is hinged at one end to the other end of the support arm; The cylinder has its main body hinged to the support arm, and the telescopic end of the cylinder is hinged to the second sub-arm; the second sub-arm swings upward or downward as the telescopic end of the cylinder extends or retracts. A control valve assembly includes a lifting ring and a mounting base; the lifting ring is movably connected to the other end of the robotic arm assembly; the mounting base is configured to mount a rust removal device; the control valve assembly includes: The central shaft has the lifting ring at its top and the mounting base at its bottom. A sliding handle is fitted onto the central shaft and can move along the axial direction of the central shaft; The first return spring is sleeved on the top end of the central shaft, and one end abuts against the top end of the sliding handle; A lifting valve is located at the top of the central shaft, and the lifting valve is positioned facing the top of the sliding handle; The second return spring is sleeved on the bottom end of the central shaft, and one end abuts against the bottom end of the sliding handle; A drop valve is located at the bottom end of the central shaft, and the drop valve is positioned facing the bottom end of the sliding handle; When the bottom of the sliding handle contacts the lowering valve, the cylinder retracts; when the top of the sliding handle contacts the raising valve, the cylinder extends.

2. The pipeline maintenance motorized device according to claim 1, characterized in that, The first sub-arm has an arc-shaped structure; and / or, the second sub-arm has an arc-shaped structure.

3. The pipeline maintenance motorized device according to claim 1, characterized in that, The robotic arm assembly also includes: A first slewing bearing is disposed between the other end of the first sub-arm and one end of the support arm; the first slewing bearing is coaxially arranged with the mounting base.

4. The pipeline maintenance motorized device according to claim 3, characterized in that, The top of the first sub-arm has a bearing mounting base; the robotic arm assembly also includes: The second slewing bearing is disposed on the bearing mounting base and located between the first sub-arm and the support arm; the support arm rotates about the axis of the second slewing bearing.

5. The pipeline maintenance motorized device according to claim 1, characterized in that, The robotic arm assembly also includes: The hoisting bracket has one end located at the end of the second sub-arm away from the support arm, and the other end has an assembly space with a crossbeam inside the assembly space. The flexible component has one end inserted through the annular hole of the crossbeam and lifting ring in the assembly space and is fixedly connected to the other end to realize the movable connection between the robotic arm assembly and the control valve assembly.

6. The pipeline maintenance motorized device according to claim 1, characterized in that, The control valve assembly also includes: A first limiting block is located between the lifting ring and the central shaft; one end of the first return spring abuts against the first limiting block, and the other end of the first return spring abuts against the top of the sliding handle; the lifting valve is located on the first limiting block, and the sensing end of the lifting valve faces the sliding handle; when the sliding handle slides upward and abuts against the sensing end of the lifting valve, the extension end of the cylinder extends.

7. The pipeline maintenance motorized device according to claim 6, characterized in that, The control valve assembly also includes: The second limiting block is located between the mounting base and the central shaft; one end of the second return spring abuts against the second limiting block, and the other end of the second return spring abuts against the bottom end of the sliding handle; the falling valve is located on the second limiting block, and the sensing end of the falling valve faces the sliding handle; when the sliding handle slides down and abuts against the sensing end of the falling valve, the telescopic end of the cylinder retracts.

8. The pipeline maintenance motorized device according to claim 7, characterized in that, The top and bottom of the sliding handle are both provided with limiting grooves; the other end of the first reset spring is located in the limiting groove at the top of the sliding handle; the other end of the second reset spring is located in the limiting groove at the bottom of the sliding handle.

9. The pipeline maintenance motorized device according to claim 1, characterized in that, The top of the tracked mobile vehicle also has a rust removal pre-installation position, which can be used to place a rust removal device; The tracked mobile vehicle is equipped with a control console on its top; The tracked mobile vehicle is equipped with a pneumatic motor at its bottom; The tracked mobile vehicle is equipped with a working roller on its top. The working roller is used to house compressed air pipes and / or high-pressure water pipes.

Images