CN210860286U

CN210860286U - Pipeline robot driving system based on external power source

Info

Publication number: CN210860286U
Application number: CN201920739699.1U
Authority: CN
Inventors: 高峰; 詹保平; 李艳; 王慧武; 吴庆; 冯燕
Original assignee: Xian University of Technology
Current assignee: Xian University of Technology
Priority date: 2019-05-22
Filing date: 2019-05-22
Publication date: 2020-06-26
Anticipated expiration: 2029-05-22

Abstract

The utility model discloses a pipeline robot actuating system based on external power source, including the hydraulic control unit, hydraulic control unit both sides symmetric connection has piston rod A and piston rod B respectively, be provided with piston cylinder A on the piston rod A, the built-in piston A of piston cylinder A, piston rod A links firmly with piston A, be provided with piston cylinder B on the piston rod B, the built-in piston B of piston cylinder B, piston rod B links firmly with piston B, one side that hydraulic control unit was kept away from to piston cylinder A is connected with clamping device's clamping arm A, one side that hydraulic control unit was kept away from to piston cylinder B is connected with clamping device's clamping arm B, it has advancing device all to set up the same that has of structure between hydraulic control unit and piston cylinder A and the piston cylinder B. The utility model provides a pipeline robot thrust that exists among the prior art little, the clamp force skids and the unstable structure for a short time easily, can not satisfy the problem of the occasion that has big thrust demand.

Description

Pipeline robot driving system based on external power source

Technical Field

The utility model belongs to the technical field of pipeline robot, concretely relates to pipeline robot actuating system based on external power source.

Background

Various pipelines are ubiquitous in industrial production and daily life, and materials of fluid nature such as water, gas, oil, powder and other chemical raw materials are transported through the pipelines. For inspection, maintenance or work in a pipeline, it is indispensable to use a pipeline robot. The pipeline robot can be divided into a motor-driven robot, a hydraulic-driven robot and a mechanical-driven robot according to different power sources. The mobile robot can be divided into a wheeled robot, a clamping arm creeping type robot, a crawler type robot and the like according to different movement forms. Among them, the peristaltic hydraulic robot is widely used in various pipe works. The working principle is that working fluid with certain pressure is generated by a hydraulic pump and is conveyed into the pipeline robot through a continuous pipeline, the working fluid is used as the driving force of the robot to push the robot to move forward, and the robot carries operating equipment to complete various kinds of work. The hydraulic drive robot has the characteristics that power is derived from working fluid, a power source is placed outside a pipeline, the structure of the robot is simplified, the working stability and safety of the robot are improved, and the design of hydraulic drive can meet the requirement of high thrust of the robot. However, due to the structural limitation of the driving device, the robot is mainly applied to the inspection work. The main reasons are that the thrust is small, the clamping force is small, the slipping is easy, the structure is unstable, and the occasion with the requirement of large thrust cannot be met.

SUMMERY OF THE UTILITY MODEL

The utility model aims at providing a pipeline robot actuating system based on external power source has solved that the pipeline robot thrust that exists among the prior art is little, the clamp force skids for a short time easily and the structure is unstable, can not satisfy the problem of the occasion that has big thrust demand.

The utility model adopts the technical scheme that a pipeline robot driving system based on external power source, including the hydraulic control unit, hydraulic control unit both sides are connected with piston rod A and piston rod B respectively symmetrically, be provided with piston cylinder A on the piston rod A, piston rod A embeds piston A, piston rod A links firmly with piston A, be provided with piston cylinder B on the piston rod B, piston rod B embeds piston B, piston rod B links firmly with piston B, one side that piston cylinder A kept away from the hydraulic control unit is connected with clamping arm A of clamping device, one side that piston cylinder B kept away from the hydraulic control unit is connected with clamping arm B of clamping device, all set up the same propulsion unit that has of structure between hydraulic control unit and piston cylinder A and the piston cylinder B;

the clamping device uses the hydraulic control unit as a central symmetrical structure, the structures of the clamping device positioned at two sides of the hydraulic control unit are the same, namely, the structure of the clamping device positioned at the side of the piston cylinder B is the same as the structure of the clamping device positioned at the side of the piston cylinder A, and the concrete structure of the clamping device positioned at the side of the piston cylinder A is as follows: the guide belt type piston rod comprises a piston rod A, wherein the piston rod A is formed by welding a piston rod C and a piston rod D, one end of the piston rod C is welded with the piston rod D, the other end of the piston rod C is connected with a sealing sleeve in a threaded mode, and an O-shaped sealing ring A, O-shaped sealing ring B, a guide belt C and a guide belt D are arranged between the piston rod C and the sealing sleeve. The outer wall of one side of the piston rod C, which is close to the sealing sleeve, is connected with a clamping arm movable connecting seat in a sliding manner, the clamping arm movable connecting seat is uniformly provided with 3 rectangular grooves along the circumferential direction, the clamping arm movable connecting seat is correspondingly provided with a through hole which is vertical to each rectangular groove, a clamping arm connecting shaft is arranged in each through hole, the 3 clamping arm connecting shafts are distributed on the circumference at an angle of 120 degrees, two ends of each clamping arm connecting shaft are axially fixed by a plug, each clamping arm connecting shaft is hinged with one end of one clamping arm A, the middle of the clamping arm A is connected with a roller shaft, a pair of rollers are arranged on the roller shaft, the other end of the clamping arm A is hinged and fixed on a clamping arm fixed connecting seat, the clamping arm fixed connecting seat is fixed on a push rod, the push rod is fixedly connected with a ratchet wheel, the ratchet wheel can, one end of the spring abuts against the clamping arm fixing and connecting seat, the other end of the spring abuts against the flange protruding from the end of the push rod, the clamping arm fixing and connecting seat is connected with one end of a sleeve A through external threads, the other end of the sleeve A is connected with a piston cylinder A through internal threads, and a piston rod A, a sealing sleeve, a piston rod C and the piston cylinder A jointly form a closed working cavity.

A sealing ring C, a guide belt A and a guide belt B are arranged between one end of the push rod close to the piston cylinder A and the sleeve A; a guide belt L, a guide belt T and a sealing ring F are arranged between one end of the push rod of the sleeve A, which is close to the piston cylinder A, and the piston rod A; the sleeve A is in threaded connection with the piston cylinder A, and a guide belt M and a guide belt N are arranged between the sleeve A and the piston cylinder A; a guide belt O, a guide belt P and a sealing ring G are arranged between the piston cylinder A and the piston rod C.

The hydraulic control unit and the piston cylinder A propulsion device have the specific structure that: the piston rod assembly comprises a locking member which is in interference connection with a piston rod C and a piston rod D, wherein an other member A and an other member B are respectively arranged at two ends of the locking member, the other member A is matched with a pressing member and is fixed between a sleeve B and the piston rod C through a screw, the other member A and the other member B are positioned in the middle of the pressing member, the inner surfaces of the other member A and the other member B are conical surfaces, the locking member is clamped together, and the other member A, the other member B, the pressing member and the locking member jointly form a;

the propulsion device and the clamping device between the hydraulic control unit and the piston cylinder B are constructed as above.

The utility model is also characterized in that,

the piston rod A is an elongated piece formed by welding a piston rod C and a piston rod D, and the piston A is arranged at the welding position.

The piston rod C is internally provided with a guide hole A along the long direction, the piston rod D is internally provided with a guide hole B along the long direction, and one ends of the guide hole A and the guide hole B, which are far away from the piston A, are communicated with the hydraulic control unit.

A guide belt E, O type sealing ring D and a guide belt F are arranged between the piston A and the sleeve B, and a guide belt G and a guide belt S are arranged between the piston A and the piston rod C; the side of the sleeve B close to the piston cylinder A is in threaded connection with the piston cylinder A, a guide belt Q and a guide belt R are arranged between the sleeve B and the piston cylinder A, one side of an end cover of the piston cylinder is in threaded connection with an end cover of the piston cylinder, and a guide belt H and a guide belt I are arranged between the sleeve B and the end cover of the piston cylinder; and a guide belt J, a guide belt K and a sealing ring E are arranged between the side of the piston rod C close to the piston cylinder end cover and the piston cylinder end cover.

The beneficial effects of the utility model are that, pipeline robot actuating system based on external power source provides power through outside hydraulic pump and pressure control unit, and the power supply is located outside the robot, has simplified the robot structural design, for other parts have strived for the space, provide great thrust simultaneously, can satisfy general detection demand, can satisfy the occasion that has big thrust demand again. The clamping arms are stretched and retracted through the ingenious combination of the cam, the spring and the hydraulic pressure. Small occupied volume, low cost, simple structure, safety and reliability. The design of the propulsion unit piston clamping structure can be used as a common piston and is matched with a piston cylinder to realize relative motion; but also can strengthen the strength of the slender piston rod and consolidate the strength of the piston rod.

Drawings

FIG. 1 is a schematic structural view of a clamping device of a pipeline robot;

fig. 2 is a schematic view of a connection part of the clamping device and the propulsion device of the pipeline robot.

FIG. 3 is a partial sectional view A-A of the schematic structural view of the clamping device of the pipeline robot;

FIG. 4 is a partial sectional view B-B of the schematic structural view of the clamping device of the pipeline robot;

FIG. 5 is a schematic view of a propulsion device of the pipeline robot;

FIG. 6 is a partial sectional view of C-C in the schematic view of the propulsion apparatus of the pipeline robot;

FIG. 7 is a partial sectional view taken along line D-D in the schematic view of the propulsion unit of the pipeline robot;

FIG. 8 is an isometric view of the clamp assembly with one of the clamp arms hidden;

fig. 9 is a schematic view of the crawling action 1 of the pipeline robot;

FIG. 10 is a schematic view of the crawling action 2 of the pipeline robot;

fig. 11 is a schematic view of the crawling action 3 of the pipeline robot;

fig. 12 is a schematic view of the pipeline robot crawling action 4.

In the figure, 1, a pipeline, 2, a piston rod A, 3, a clamping arm A, 4, a clamping device piston long hole, 5, a piston A, 6, a guide belt L, 7, a piston cylinder A, 8, a hydraulic control unit, 9, a piston rod B, 10, a piston cylinder B, 11, a sealing ring F, 12, a piston B, 13, a guide belt T, 14, a clamping arm B, 15, a working fluid conveying pipeline, 16, an O-shaped sealing ring A, 17, a sealing sleeve, 18, an O-shaped sealing ring B, 19, a clamping arm movable connecting seat, 20, a guide belt M, 21 and a guide belt U are arranged; 22. roller, 23 ratchet wheel, 24 push rod, 25 clamping arm fixed connection seat, 26 sleeve A, 27 spring, 28 guide belt A, 29 sealing ring C, 30 guide belt B, 31 guide belt C, 32 guide belt D, 33 clamping arm connection shaft, 34 end cap, 35 roller shaft, 36 sleeve B, 37 pressing piece, 38 fastening piece A, 39 locking piece, 40 fastening piece B, 41 piston rod C, 42 screw, 43 guide belt E, 44O type sealing ring D, 45 guide belt F, 46 guide belt G, 47 guide hole A, 48 guide hole B, 49 piston rod D, 50 piston cylinder end cap, 51 guide belt H, 52 guide belt I, 53 guide belt J, 54 sealing ring E, 55 guide belt K, 56 guide belt N, 57 guide belt O, 58.O type sealing ring G, 59 guide belt P, 60. the guide belts Q, 61, R, 62, S.

Detailed Description

The present invention will be described in detail with reference to the accompanying drawings and specific embodiments.

The utility model relates to a pipeline robot actuating system based on external power source, as shown in fig. 1 ~ 11, including hydraulic control unit 8, hydraulic control unit 8 both sides symmetric connection has piston rod A2 and piston rod B9 respectively, be provided with piston cylinder A7 on the piston rod A2, piston cylinder A7 embeds piston A5, piston rod A2 links firmly with piston A5, be provided with piston cylinder B10 on the piston rod B9, piston cylinder B10 embeds piston B12, piston rod B9 links firmly with piston B12, one side that hydraulic control unit 8 was kept away from to piston cylinder A7 is connected with clamping device's clamping arm A3, hydraulic control unit 8 was kept away from to piston cylinder B10 one side is connected with clamping device's clamping arm B14, all set up the same structure between hydraulic control unit 8 and piston cylinder A7 and the piston cylinder B10 and have advancing device.

As shown in fig. 1 to 4, the clamp device has a symmetrical structure with respect to the hydraulic control unit 8, the structures of the clamp devices on both sides of the hydraulic control unit 8 are the same, that is, the structure of the clamp device on the side of the piston cylinder B10 is the same as the structure of the clamp device on the side of the piston cylinder a7, and the specific structure of the clamp device on the side of the piston cylinder a7 is as follows: comprises a piston rod A2, a piston rod C20 is connected on a piston rod A2 in a sliding way, one end of a piston rod C20 is sleeved with the piston cylinder A7, the other end of the piston rod C20 is sleeved in a sealing sleeve 17, the cylinder wall of the piston rod C20 is connected with a clamping arm movable connecting seat 19 in a sliding way, the clamping arm movable connecting seat 19 is uniformly provided with 3 rectangular grooves 21 along the circumferential direction, a through hole is correspondingly formed on the clamping arm movable connecting seat 19 vertical to each rectangular groove 21, a clamping arm connecting shaft 33 is arranged in each through hole, the 3 clamping arm connecting shafts 33 are distributed at 120 degrees and are distributed on the circumference, two ends of each clamping arm connecting shaft 33 are axially fixed by plugs 34, each clamping arm connecting shaft 33 is hinged with one end of one clamping arm A3, a roller shaft 35 is connected in the middle of the clamping arm A3, a pair of rollers 22 is arranged on the roller shaft 35, and, the clamping arm fixed connection seat 25 is fixed on the push rod 24, the push rod 24 is fixedly connected with the ratchet wheel 23, the ratchet wheel 23 can axially slide along the piston rod C20, the outer contour of the ratchet wheel is always in contact with the roller wheel 22 in the movement process, the spring 27 is sleeved on the push rod 24, one end of the spring 27 abuts against the clamping arm fixed connection seat 25, the other end of the spring 27 abuts against a flange protruding from the end of the push rod 24, the clamping arm fixed connection seat 25 is connected with one end of a sleeve A26 through an external thread, the other end of the sleeve A26 is connected with a piston cylinder A7 through an internal thread, and the piston rod A2, the sealing sleeve 17, the piston rod C20.

The piston rod C20 and the sealing sleeve 17 are sealed through an O-shaped sealing ring B18, the sealing sleeve 17 and the piston rod A2 are sequentially sealed through an O-shaped sealing ring A16, a guide belt C31 and a guide belt D32, and the O-shaped sealing ring A16, the guide belt C31 and the guide belt D32 guarantee the sealing performance of the working cavity when the sealing sleeve 17 slides along the piston rod A2.

The end of the push rod 24 close to the piston cylinder A7 is also provided with a sealing ring C29, a guide belt A28 and a guide belt B30 which are connected with the push rod 24 and the sleeve A26 in a sealing way.

The piston rod A2 is an elongated piece formed by welding a piston rod C41 and a piston rod D49, and a piston A5 is arranged at the welding position.

As shown in fig. 5 to 8, the hydraulic control unit 8 and the piston cylinder a7 propelling device have the following specific structure: the piston comprises a locking member 39 which is in interference connection with a piston rod C41 and a piston rod D49, wherein two ends of the locking member 39 are respectively provided with a fastening member A38 and a fastening member B40, the fastening member A38 is matched with a pressing member 37 and is fixed between a sleeve B36 and the piston rod C41 through a screw 42, the fastening member A38 and the fastening member B40 are positioned in the middle of the pressing member 37, the inner surfaces of the fastening member A38 and the fastening member B40 are conical surfaces, and the locking member 39, the fastening member A38, the fastening member B40, the pressing member 37 and the locking member 39 jointly form a piston A5;

the propulsion device between the hydraulic control unit 8 and the piston cylinder B10 is constructed as above.

A guide hole A27 is formed in the piston rod C41 along the length direction, a guide hole B48 is formed in the piston rod D49 along the length direction, and the ends, far away from the piston A5, of the guide hole A27 and the guide hole B48 are communicated with the hydraulic control unit 8.

A guide belt E43, an O-shaped sealing ring D44 and a guide belt F45 are arranged between the piston A5 and the sleeve B36, and two guide belts G46 are arranged between the piston A5 and the piston rod C41; a guide belt H51 and a guide belt I52 are arranged between one side of the sleeve B36 close to the piston cylinder end cover 50 and the piston cylinder end cover 50; a guide belt J53, a guide belt K55 and a sealing ring E54 are arranged between the piston rod C41 close to the piston cylinder end cover 50 and the piston cylinder end cover 50.

The utility model relates to a pipeline robot actuating system based on external power source, the theory of operation as follows:

the clamping device clamps the pipe wall to provide friction force required by movement of the robot, and the propelling device drives the whole robot to creep forward. The power of the pipeline robot is controlled by a pressure control unit, and the pressure control unit is connected with a hydraulic pump outside the pipeline through a continuous hydraulic pipeline. The pressure control unit is positioned in the middle of the whole pipeline robot, the left side and the right side of the pressure control unit are respectively and fixedly connected with the propelling device of the pipeline robot, and pressure working fluid is conveyed to the pressure control unit through an internal pipeline. The propulsion device of the pipeline robot is composed of a piston cylinder, a piston rod and a piston, wherein the piston rod is fixedly connected with the pressure control unit, and the piston cylinder is fixedly connected with the clamping unit. When the pipeline robot works, the clamping units on the left side and the right side are alternately contacted with the inner wall of the pipeline, and the propelling units propel the whole pipeline robot to move. Specifically, as shown in fig. 1 to 11, the clamp device is composed of a clamp arm A3 and a clamp arm B14, and the propulsion device is composed of a piston cylinder a7, a piston a5, a piston rod a2, a piston cylinder B10, a piston B12, and a piston rod B15. The clamping arms A3 and B14 are alternately contacted with the inner wall of the working pipeline 1 and are used for supporting the whole robot in the pipeline 1. The clamping arm A3 is fixedly connected with the right side of a piston cylinder A7, a piston A5 is arranged in the piston cylinder A7, a piston A5 is fixedly connected with a piston rod A2, a hydraulic control unit 8 is fixedly arranged on the right side of the piston rod A2, a piston rod B9 is fixedly connected with the right side of the hydraulic control unit 8, a piston rod B9 is fixedly connected with a piston B12, the piston B12 is slidably connected with a piston cylinder B10, and a clamping arm B14 is fixedly connected with the right side of a piston cylinder. The robot performs crawling in a four-step one-cycle manner, each motion comprising two basic motions: clamping and pushing. The clamping movement is realized: the hydraulic control unit 8 leads pressure working fluid into a containing cavity between a piston cylinder A7 and a push rod 24 through a working fluid conveying pipe 15 by a clamping device piston long hole 4, pushes the push rod 24 to move to one side of a clamping arm A3, compresses a spring 27 at the same time, and pushes a ratchet wheel 23 to move to the side of a clamping arm movable connecting seat 19 relative to a clamping arm A3, so that a roller 22 is in contact with the contour of the convex part of the ratchet wheel 23, further, the clamping arm A3 is propped up to be in contact with the inner wall of the pipeline 1 to realize clamping, after the pressure working fluid is removed, under the action of the spring 27, the push rod 24 moves to the side of the piston cylinder A7 relative to the clamping arm A, so that the roller 22 is in contact with the contour of the concave part of; propelling: as shown in fig. 5 and 6, the pressure control unit 8 supplies the pressure operating fluid to the pilot hole 47, and pushes the piston a5 to move toward the piston cylinder end cover 50 side with respect to the sleeve by sandwiching the piston rod, thereby realizing a pushing action. Four actions per duty cycle: action 1, after a clamping arm A3 is expanded until the clamping arm is contacted with a pipe wall, after the clamping arm is retracted, a hydraulic control unit 8 introduces pressure working fluid into a cavity between a piston cylinder A7 and a piston rod A5, the piston A5 drives the piston rod A2 to move towards a clamping arm B14 side, and further pushes a piston rod B9, a piston cylinder B10 and a clamping arm B14 to move towards the advancing direction, meanwhile, pressure working fluid enters into a cavity on one side, close to the advancing direction, of a piston cylinder B9, and pushes the piston cylinder B10 and the clamping arm B14 to move towards the advancing direction relative to the piston rod B9; action 2, after the pistons A5 and B12 complete one stroke, the hydraulic control unit controls the clamping arm B14 to be unfolded, the clamping arm B14 is in contact with the pipe wall 1, the whole robot stays at the center of the pipe, and then the clamping arm A3 is controlled to be retracted so as to perform the next action; action 3, pressure working fluid enters one side of the piston cylinder B11 in the advancing direction, the push piston B12 moves in the advancing direction, the piston A5 and the piston cylinder A7 are pulled to move rightwards, meanwhile, a cavity on one side, close to the advancing direction, of the piston cylinder A7 enters the pressure working fluid, and the push piston cylinder A7 and the clamping arm A3 move in the advancing direction relative to the piston rod A2; and 4, after the pistons A5 and B12 complete one stroke, controlling the clamping arm A3 to be opened, and after the pistons A5 and B12 contact the pipe wall, retracting the clamping arm B14 to complete one action cycle. The operation is repeated in such a circulating way to finish crawling.

Claims

1. The utility model provides a pipeline robot actuating system based on external power source, a serial communication port, including hydraulic control unit (8), hydraulic control unit (8) both sides respectively symmetric connection has piston rod A (2) and piston rod B (9), be provided with piston cylinder A (7) on piston rod A (2), piston rod A (7) embeds piston A (5), piston rod A (2) link firmly with piston A (5), be provided with piston cylinder B (10) on piston rod B (9), piston cylinder B (10) embeds piston B (12), piston rod B (9) link firmly with piston B (12), one side that hydraulic control unit (8) were kept away from in piston cylinder A (7) is connected with clamping arm A (3) of clamping device, one side that hydraulic control unit (8) were kept away from in piston cylinder B (10) is connected with clamping arm B (14) of clamping device, it has the push to all set up the same structure between hydraulic control unit (8) and piston cylinder A (7) and piston cylinder B (10), have to push away from Feeding the device;

the clamping device takes the hydraulic control unit (8) as a central symmetrical structure, the structures of the clamping device positioned at the two sides of the hydraulic control unit (8) are the same, namely the structure of the clamping device positioned at the side of the piston cylinder B (10) is the same as the structure of the clamping device positioned at the side of the piston cylinder A (7), and the concrete structure of the clamping device positioned at the side of the piston cylinder A (7) is as follows: comprises a piston rod A (2), the piston rod A (2) is formed by welding a piston rod C (41) and a piston rod D (49), one end of the piston rod C (41) is welded with the piston rod D (49), the other end of the piston rod C (41) is connected with the inside of a sealing sleeve (17) in a threaded manner, the outer wall of the piston rod C (41) is connected with a clamping arm movable connecting seat (19) in a sliding manner, the clamping arm movable connecting seat (19) is uniformly provided with 3 rectangular grooves (21) along the circumferential direction, a through hole is correspondingly formed in the clamping arm movable connecting seat (19) and is vertical to each rectangular groove (21), a clamping arm connecting shaft (33) is installed in each through hole, 3 clamping arm connecting shafts (33) are distributed on the circumference at an angle of 120 degrees, two ends of each clamping arm connecting shaft (33) are axially fixed by a plug (34), each clamping arm connecting shaft (33) is hinged with one end of one, a pair of rollers (22) is mounted on a roller shaft (35), the other end of a clamping arm A (3) is hinged and fixed on a clamping arm fixed connection seat (25), the clamping arm fixed connection seat (25) is fixed on a push rod (24), the push rod (24) is fixedly connected with a ratchet wheel (23), the ratchet wheel (23) can axially slide along a piston rod C (41), the outline of the ratchet wheel is always in contact with the rollers (22) in the motion process, a spring (27) is sleeved on the push rod (24), one end of the spring (27) abuts against the clamping arm fixed connection seat (25), the other end of the spring (27) abuts against a flange protruding from the end of the push rod (24), the clamping arm fixed connection seat (25) is connected with one end of a sleeve A (26) through external threads, the other end of the sleeve A (26) is connected with a piston cylinder A (7) through internal threads, the piston rod A (2), a, The piston cylinders A (7) jointly form a closed working cavity;

the piston rod C (41) and the sealing sleeve (17) are sealed through an O-shaped sealing ring B (18), the sealing sleeve (17) and the piston rod A (2) are sequentially sealed through an O-shaped sealing ring A (16), a guide belt C (31) and a guide belt D (32), and the O-shaped sealing ring A (16), the guide belt C (31) and the guide belt D (32) ensure the sealing performance of the working cavity when the sealing sleeve (17) slides along the piston rod A (2);

the propelling device positioned between the hydraulic control unit (8) and the piston cylinder A (7) has the following specific structure: the piston rod clamping device comprises a locking part (39) which is in interference connection with a piston rod C (41) and a piston rod D (49), wherein two ends of the locking part (39) are respectively provided with an other locking part A (38) and an other locking part B (40), the other locking part A (38) is matched with a pressing part (37) and is fixed between a sleeve B (36) and the piston rod C (41) through a screw (42), the other locking part A (38) and the other locking part B (40) are located in the middle of the pressing part (37), the inner surfaces of the other locking part A (38) and the other locking part B (40) are conical surfaces, the locking part (39) is clamped together, and the other locking part A (38), the other locking part B (40), the pressing part (37) and the locking;

the propulsion device between the hydraulic control unit (8) and the piston cylinder B (10) is structurally the same.

2. The pipeline robot driving system based on the external power source as claimed in claim 1, wherein the end of the push rod (24) close to the piston cylinder A (7) is further provided with a sealing ring C (29), a guiding belt A (28) and a guiding belt B (30), which are hermetically connected with the push rod (24) and the sleeve A (26).

3. The robotic driving system for a pipeline based on an external power source as claimed in claim 2, wherein the piston rod A (2) is an elongated piece formed by welding a piston rod C (41) and a piston rod D (49), and the piston A (5) is arranged at the welding position.

4. The pipeline robot driving system based on the external power source as claimed in claim 3, wherein the piston rod C (41) is internally provided with a guide hole A (47) along the length direction, the piston rod D (49) is internally provided with a guide hole B (48) along the length direction, and the ends of the guide hole A (47) and the guide hole B (48) far away from the piston A (5) are both communicated with the hydraulic control unit (8).

5. The external power source-based pipeline robot driving system according to claim 4, wherein a guide belt E (43), an O-shaped sealing ring D (44) and a guide belt F (45) are arranged between the piston A (5) and the sleeve B (36), and two guide belts G (46) are arranged between the piston A (5) and the piston rod C (41); a guide belt H (51) and a guide belt I (52) are arranged between one side of the sleeve B (36) close to the piston cylinder end cover (50) and the piston cylinder end cover (50); a guide belt J (53), a guide belt K (55) and a sealing ring E (54) are arranged between the side of the piston rod C (41) close to the piston cylinder end cover (50) and the piston cylinder end cover (50).