Grinding robot for inside wall of small diameter pipes

A grinding robot for an inside wall of a small diameter pipe, comprising a grinding device, a transmission device, and a driving device, wherein

• the grinding device includes a first connecting portion;
• the driving device includes a second connecting portion;
• the transmission device includes a first gimbal, two second gimbals, a second gimbal connecting plate, second gimbal bearings, tuck bolts, and sleeves;
• the second gimbals are connected to the first connecting portion and the second connecting portion, respectively;
• the first gimbal passes through a hollow portion of the second gimbals;
• the first gimbal transmits a grinding driving force variably from the driving device to the grinding device;
• the second gimbal connecting plate is connected to the two second gimbals, respectively;
• each of the second gimbals is provided with the second gimbal bearings on sidewalls along a first direction and a second direction, respectively;
• the tuck bolts are threaded through the sidewalls of the second gimbals along the first direction and the second direction;
• the first connecting portion is movably sleeved on the tuck bolts of one of the second gimbals;
• and the second connecting portion is movably sleeved on the tuck bolts of the other of the second gimbals;
• the sleeves are sleeved on the tuck bolts and are located between the second gimbal bearings and an end of the tuck bolts;
• the grinding device further includes a rotary grinding module, a rotary grinding mounting frame, and a revolving module;
• the rotary grinding module is mounted on the rotary grinding mounting frame, the revolving module is connected to the rotary grinding module, and the revolving module drives the rotary grinding module to rotate circumferentially around the inside wall of the pipe;
• the rotary grinding module includes a main body, a grinding drive input shaft, a grinding drive input shaft gear, a grinding body, and a speed reduction assembly;
• one end of the grinding drive input shaft is drive-connected to the first gimbal, and the other end of the grinding drive input shaft is drive-connected to the grinding drive input shaft gear;
• the grinding drive input shaft gear transmits the grinding driving force to the grinding body through the speed reduction assembly;
• the speed reduction assembly includes an input pulley shaft gear, an input pulley shaft, an input pulley, an output pulley, an input pulley mounting frame, an output pulley shaft, and an output pulley mounting frame;
• and
• the input pulley shaft gear is driven in mesh with the grinding drive input shaft gear;
• one end of the input pulley shaft is connected to the input pulley shaft gear, and the other end of the input pulley shaft is connected to the input pulley;
• the input pulley is drive-connected to the output pulley;
• one end of the output pulley shaft is connected to the output pulley, and the other end of the output pulley shaft is connected to the grinding body.