A pipeline connection correction inspection robot

Abstract

The present invention provides a pipeline connection correction inspection robot, which belongs to the field of pipeline connection technology. It includes a control terminal, both ends of the control terminal are fixedly connected with a fixed frame; a driving component, the driving component is used to drive the control terminal to move, the driving component is connected to the fixed frame; a correction component, the correction component is used to adjust the position of the docking pipeline, the correction component is connected to the driving component, and the fixed frame is a triangular structure. By setting the driving component, the present invention can integrate the correction seat and the driving component during the use of the inspection robot, which not only reduces the manufacturing cost, but also greatly improves the synchronization of the two pipelines during correction. By setting the correction component, during the use of the inspection robot, the three bonding plates can cooperate with the expansion of the driving component to achieve the bonding and alignment of the two pipelines, thereby improving the effect of pipeline connection correction.

Description

Technical Field

[0001] The invention relates to the technical field of pipeline connection, and in particular to a pipeline connection deviation correction inspection robot. Background Art

[0002] A pipeline is a device connected by pipes, pipe connectors and valves for conveying gas, liquid or fluid with solid particles. Usually, the fluid flows from the high pressure part of the pipeline to the low pressure part after being pressurized by blowers, compressors, pumps and boilers. It can also be conveyed by the fluid's own pressure or gravity. Pipelines are widely used, mainly in water supply, drainage, heating, gas supply, long-distance transportation of oil and natural gas, agricultural irrigation, hydraulic engineering and various industrial installations. During the pipeline layout and installation process, in order to ensure that adjacent pipelines can be quickly connected and the sealing of the pipeline interface is good, it is necessary to determine whether the front and rear pipelines are on the same axis or whether the interface ends are aligned when the pipelines are connected. Generally, during the pipeline layout and installation process, the workers will check and connect them by themselves.

[0003] The invention patent with publication number CN 117090997 A proposes a pipeline connection correction inspection robot. In order to ensure that adjacent pipelines can be quickly docked and the sealing of the pipeline interface is good, it is necessary to determine whether the front and rear pipelines are on the same axis or whether the interface ends are aligned when the pipelines are docked. The present invention arranges the correction mechanism on the frame, uses the walking mechanism to drive the frame and the correction mechanism to move in the pipeline, and inspects the pipeline. When it is found that the interface of the adjacent pipeline is misaligned or twisted, the correction head is extended into the inner side of the interface of the front section of the pipeline, and the correction seat is located at the interface of the rear section of the pipeline. Then the tensioning assembly slowly expands the correction head and the correction seat outward until the correction seat is close to the inner edge of the interface of the rear section of the pipeline, and at this time, the correction head also aligns the misaligned pipeline interface with the rear section of the pipeline interface. The present invention can be used for both pipeline arrangement and installation and pipeline inspection, and has a simple structure and convenient operation.

[0004] Although the above scheme can realize the auxiliary connection function during actual use, its structure is relatively complicated, in which each correcting seat requires a separate driving component to drive the auxiliary pipeline connection, which not only increases the manufacturing cost of the robot, but also has poor synchronization between the correcting seats at both ends, resulting in poor correction effect. Therefore, the present invention provides a pipeline connection correction inspection robot to meet the needs. Summary of the invention

[0005] In order to solve the above technical problems, the present invention provides the following technical solutions:

[0006] A pipeline connection correction inspection robot comprises a control terminal, both ends of which are fixedly connected to a fixing frame; a driving component, which is used to drive the control terminal to move, and the driving component is connected to the fixing frame; and a correction component, which is used to adjust the position of the docking pipeline, and the correction component is connected to the driving component.

[0007] Optionally, the fixed frame is a triangular structure, and the driving assembly includes a support frame rotatably connected to each corner of the two fixed frames, one end of the support frame is rotatably connected to a caster, the inside of the control terminal is fixedly connected to a motor, both sides of the two fixed frames are rotatably connected to a No. 1 gear, and one of the No. 1 gears is fixedly connected to the output shaft of the motor, the insides of the two No. 1 gears are fixedly connected to a No. 1 screw, the outsides of the two No. 1 screws are threadedly connected to threaded sleeves, one side of the two threaded sleeves is fixedly connected to a transmission plate, the two transmission plates are also triangular structures, and each side of the two transmission plates is rotatably connected to a No. 1 connecting plate, and the other end of each No. 1 connecting plate is rotatably connected to one side of the support frame.

[0008] Optionally, a transmission rod is rotatably connected inside the two fixing frames, and both ends of the transmission rod are fixedly connected to a No. 2 gear, and the two No. 2 gears are respectively meshed with the No. 1 gear on one side thereof.

[0009] Optionally, the interior of the fixing frame triangle is fixedly connected with a fixing rod, both ends of the three fixing rods are fixedly connected with a side plate, and both sides of the side plate are fixedly connected with a camera.

[0010] Optionally, the correction assembly includes a No. 2 connecting plate rotatably connected to each support frame on the opposite side of the No. 1 connecting plate, the other end of each No. 2 connecting plate is rotatably connected to a guide block, and the outside of the top of each two relatively arranged guide blocks is slidably connected to a fitting plate.

[0011] Optionally, a dual-axis motor is fixedly connected to the bottom of the inner cavity of the bonding plate, and two output shafts of the dual-axis motor are fixedly connected to No. 2 screws, and the two No. 2 screws are respectively threadedly connected to the inside of the two guide blocks.

[0012] Optionally, two of the six support frames on both sides of the two fixed frames are fixedly connected to the outside of a driving motor, and a No. 1 driving gear is fixedly connected to the output shaft of the driving motor, and a No. 2 driving gear is fixedly connected to one side of the caster rotation axis in the support frame, and the bottom of the No. 1 driving gear is meshed with one side of the No. 2 driving gear.

[0013] Optionally, the bonding plate includes a supporting portion, a guide groove is provided at the bottom of the inner cavity of the supporting portion, the guide groove is slidably connected to the top of the guide block, a contact surface No. 1 is provided at the top of the supporting portion, a deformation cavity No. 1 is provided inside the supporting portion, a reset piece is provided at the top of the inner cavity of the deformation cavity No. 1, the reset piece is a flatter "U"-shaped structure, contact surfaces No. 2 are provided on both sides of the top of the supporting portion, and an arc-shaped supporting plate is provided between the bottom on both sides of the top of the supporting portion and the two sides of the bottom.

[0014] Optionally, the surface of the No. 1 contact surface has a protrusion with a certain curvature, and the thickness between the No. 1 contact surface and the top of the inner cavity of the No. 1 deformation cavity is three centimeters, the thickness of the reset piece is two centimeters, the thickness of the arc support plate is two centimeters, a No. 2 deformation cavity is provided between the arc support plate and the support part, and the thickness between the No. 2 deformation cavity and the No. 2 contact surface is three centimeters.

[0015] Optionally, the bonding plate is an integrally formed structure.

[0016] Compared with the prior art, the present invention has at least the following beneficial effects:

[0017] In the above scheme, by setting up a driving component, the deviation correction seat and the driving component can be integrated into one design during the use of the inspection robot, which not only reduces the manufacturing cost but also greatly improves the synchronization of the two pipelines during deviation correction.

[0018] In the above scheme, by setting up a correction component, during the use of the inspection robot, the three fitting plates can cooperate with the expansion of the driving component to achieve the fitting and alignment of the two pipe joints, thereby improving the effect of pipe connection correction.

[0019] In the above scheme, by setting up a fitting, when fitting the inner wall of the pipe, the fitting can be deformed due to the pressure on the fitting itself so that the fitting can fit more closely with the pipe according to the shape of the pipe, thereby ensuring that the pipe is subjected to more uniform extrusion force during the correction process. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] The accompanying drawings, which are incorporated herein and constitute a part of the specification, illustrate embodiments of the invention and, together with the description, further serve to explain the principles of the invention and to enable those skilled in the relevant art to make and use the invention.

[0021] Figure 1 This is a schematic diagram of the three-dimensional structure of the pipeline connection correction inspection robot;

[0022] Figure 2 It is a schematic diagram of the coordinated three-dimensional structure of the drive assembly;

[0023] Figure 3 It is a schematic diagram of the coordinated three-dimensional structure of the deviation-correcting component;

[0024] Figure 4 This is a side view of the inspection robot;

[0025] Figure 5 It is a schematic diagram of the three-dimensional structure of the driving motor;

[0026] Figure 6 It is a schematic diagram of the coordinated three-dimensional structure of the deviation-correcting component;

[0027] Figure 7 It is a schematic diagram of the coordinated three-dimensional structure of the control terminal;

[0028] Figure 8 It is a schematic diagram of the three-dimensional structure of the laminated panels.

[0029] [Reference Signs]

[0030] 1. Fixing frame; 2. Control terminal; 3. Fixing rod; 4. Side panel; 5. Camera; 6. Gear No. 1; 7. Screw No. 1; 8. Gear No. 2; 9. Transmission rod; 10. Threaded sleeve; 11. Transmission plate; 12. Support frame; 13. Connecting plate No. 1; 14. Caster; 15. Connecting plate No. 2; 16. Guide block; 17. Fitting plate; 171. Support part; 172. Contact surface No. 1; 173. Deformation cavity No. 1; 174. Reset part; 175. Contact surface No. 2; 176. Arc-shaped supporting plate; 177. Deformation cavity No. 2; 18. Dual-axis motor; 20. Screw No. 2; 21. Driving motor; 22. Driving gear No. 1; 23. Driving gear No. 2.

[0031] As shown in the figure, in order to clearly implement the structure of the embodiment of the present invention, specific structures and devices are marked in the figure, but this is only for illustrative purposes and is not intended to limit the present invention to the specific structure, device and environment. According to specific needs, ordinary technicians in this field can adjust or modify these devices and environments. DETAILED DESCRIPTION

[0032] The following is a detailed description of a pipeline connection deviation correction inspection robot provided by the present invention in conjunction with the accompanying drawings and specific embodiments. At the same time, it is explained here that in order to make the embodiments more detailed, the following embodiments are the best and preferred embodiments, and those skilled in the art may also adopt other alternative methods to implement some known technologies; and the accompanying drawings are only for more specific description of the embodiments, and are not intended to specifically limit the present invention.

[0033] like Figures 1 to 7As shown, an embodiment of the present invention provides a pipeline connection deviation correction inspection robot, including a control terminal 2, both ends of the control terminal 2 are fixedly connected to a fixing frame 1, a driving component, the driving component is used to drive the control terminal 2 to move, the driving component is connected to the fixing frame 1, the fixing frame 1 is a triangular structure, the driving component includes a support frame 12 rotatably connected to each corner of the two fixing frames 1, one end of the support frame 12 is rotatably connected to a caster 14, the control terminal 2 is fixedly connected to a motor inside, both sides of the two fixing frames 1 are rotatably connected to a No. 1 gear 6, and one of the No. 1 gears 6 is fixedly connected to the output shaft of the motor, the insides of the two No. 1 gears 6 are fixedly connected to a No. 1 screw 7, and the outsides of the two No. 1 screws 7 are threadedly connected to threaded sleeves 10, one side of the two threaded sleeves 10 is fixedly connected with a transmission plate 11, and the two transmission plates 11 are also triangular structures, and each side of the two transmission plates 11 is rotatably connected to a No. 1 connecting plate 13, and the other end of each No. 1 connecting plate 13 is rotatably connected to one side of the support frame 12, and the inside of the two fixed frames 1 is rotatably connected with a transmission rod 9, and both ends of the transmission rod 9 are fixedly connected with a No. 2 gear 8, and the two No. 2 gears 8 are respectively meshed with the No. 1 gear 6 on one side thereof, and the inside of the fixed frame 1 triangle is fixedly connected with a fixing rod 3, and both ends of the three fixing rods 3 are fixedly connected with a side plate 4, and both sides of the side plate 4 are fixedly connected with a camera 5, and two of the six supporting frames 12 on both sides of the two fixed frames 1 are fixedly connected to the outside of the driving motor The machine 21, and the output shaft of the driving motor 21 is fixedly connected with a No. 1 driving gear 22, and one side of the rotating shaft of the caster 14 in the support frame 12 is fixedly connected with a No. 2 driving gear 23, and the bottom of the No. 1 driving gear 22 is meshed with one side of the No. 2 driving gear 23. During use, the motor in the control terminal 2 is first started, and the motor drives a No. 1 gear 6 and a No. 1 screw 7 on one side to rotate, and at the same time, the No. 1 gear 6 drives the No. 2 gear 8 on one side to rotate, and the No. 2 gear 8 drives the internal transmission rod 9 and the No. 2 gear 8 at the other end of the transmission rod 9 to rotate synchronously, so that when the No. 1 gear 6 and the No. 1 screw 7 on one side rotate, the No. 1 gear 6 on the other side and its corresponding No. 1 screw 7 can be driven to rotate synchronously. When the two No. 1 screw rods 7 rotate synchronously, the two threaded sleeves 10 outside the No. 1 screw rods 7 will also synchronously perform threaded movement on the outside of the two No. 1 screw rods 7. During the transmission of the threaded sleeves 10, the threaded sleeves 10 will drive the transmission plate 11 to move synchronously. At this time, the three No. 1 connecting plates 13 on the side of the transmission plate 11 will drive the three support frames 12 to expand and contract synchronously with the connection with the fixed frame 1 as the center. When the six support frames 12 expand and contract synchronously, the inspection robot can be adjusted to the size suitable for the current inspection pipeline, and the inspection robot is placed inside the pipeline, and the motor in the control terminal 2 is started again, so that the six support frames 12 expand at the same time, so that the casters 14 can fit the inner wall of the pipeline.Then the driving motor 21 can be started, and the driving motor 21 drives the No. 1 driving gear 22 to rotate, and the No. 1 driving gear 22 can drive the No. 2 driving gear 23 and the caster 14 on one side of the No. 2 driving gear 23 to rotate, and then the inspection robot can be driven to move inside the pipeline by the power provided by the caster 14. When the operator observes through the camera 5 that there is a pipeline in front that needs to be corrected, the six support frames 12 can be operated by the motor in the control terminal 2 through the above steps to shrink at the same time, and move forward through the caster 14, so that the two fixed frames 1 in the inspection robot are respectively located inside the two pipelines. At this time, the motor in the control terminal 2 is started again, so that the six support frames 12 are synchronously expanded, and the six casters 14 respectively support the two pipelines, preliminarily ensuring that the connection of the pipeline can be aligned, and then the pipeline connection synchronous correction is achieved through a simple structure, which not only reduces the manufacturing cost, but also greatly improves the synchronization during correction.

[0034] In this embodiment, if Figures 1 to 8As shown, the deviation correction component is used to adjust the position of the docking pipe. The deviation correction component is connected to the driving component. The deviation correction component includes a No. 2 connecting plate 15 rotatably connected to each support frame 12 and the opposite side of the No. 1 connecting plate 13. The other end of each No. 2 connecting plate 15 is rotatably connected to a guide block 16, and the outside of the top of each two relatively arranged guide blocks 16 is slidably connected to a fitting plate 17. The bottom of the inner cavity of the fitting plate 17 is fixedly connected to a dual-axis motor 18. The two output shafts of the dual-axis motor 18 are fixedly connected to No. 2 screws 20, and the two No. 2 screws 20 are respectively threadedly connected to the inside of the two guide blocks 16. During the movement of the inspection robot, the dual-axis motor 18 can be started to make the No. 2 screws 20 at both ends of the dual-axis motor 18 rotate, and the two guide blocks 16 outside the No. 2 screw 20 synchronously move away from or close to the dual-axis motor 18. When the inspection robot moves, the two guide blocks 16 move closer to the dual-axis motor 18. , so that the angle between the second connecting plate 15 and the bonding plate 17 is reduced, and the bonding plate 17 is brought close to the control terminal 2, so that the stable movement of the inspection robot is not affected during the movement. When the inspection robot moves to the position where correction is required, the dual-axis motor 18 can be started in the reverse direction, so that the two guide blocks 16 move in the opposite direction of the dual-axis motor 18, thereby increasing the angle between the second connecting plate 15 and the bonding plate 17, so that the bonding plate 17 is away from the control terminal 2 and close to the inside of the pipeline. During the correction process, when the six support frames 12 are expanded synchronously, the second connecting plate 15 on the six support frames 12 will drive the bonding plate 17 to expand synchronously, so that the bonding plate 17 moves toward the connection of the two pipes, and then the three bonding plates 17 expand at the connection of the two pipes. This synchronous expansion ensures that the three bonding plates 17 can move toward the connection of the two pipes at the same time to form a triangular support structure. This structure not only enhances the stability of the deviation correction component, but also improves the accuracy and efficiency of the deviation correction. As the bonding plate 17 moves toward the connection between the two pipes, they will gradually expand and stick to the inner wall of the pipe. This sticking effect enables the deviation correction component to accurately sense the position and deviation of the pipe, and by controlling the rotation direction and speed of the dual-axis motor 18, accurately adjust the position and angle of the bonding plate 17, thereby achieving the deviation correction of the docking pipe. During the deviation correction process, the control system will monitor the position and angle changes of the bonding plate 17 in real time, and adjust the working state of the dual-axis motor 18 as needed. Once the deviation correction is completed, the control system will stop the rotation of the dual-axis motor 18 and lock the position of the bonding plate 17 to ensure the stability and safety of the docking pipe. Through this design, the deviation correction component can automatically sense and correct the deviation of the docking pipe during the movement of the inspection robot, ensuring that the robot can stably perform the inspection task.

[0035] In this embodiment, if Figure 8As shown, the bonding plate 17 includes a support portion 171, a guide groove is provided at the bottom of the inner cavity of the support portion 171, and the guide groove is slidably connected to the top of the guide block 16. A contact surface 172 is provided at the top of the support portion 171, and a deformation cavity 173 is provided inside the support portion 171. A reset member 174 is provided at the top of the inner cavity of the deformation cavity 173. The reset member 174 is a relatively flat "U"-shaped structure. A second contact surface 175 is provided on both sides of the top of the support portion 171, and an arc-shaped support plate 176 is provided between the bottom of both sides of the top of the support portion 171 and the two sides of the bottom. The surface of the contact surface 172 has a protrusion with a certain curvature, and the contact surface 172 has a certain curvature. The thickness between 172 and the top of the inner cavity of the first deformation cavity 173 is three centimeters, the thickness of the reset piece 174 is two centimeters, the thickness of the arc support plate 176 is two centimeters, and the second deformation cavity 177 is provided between the arc support plate 176 and the support part 171. The thickness between the second deformation cavity 177 and the second contact surface 175 is three centimeters. The bonding plate 17 is an integrally formed structure. Before the robot moves to the vicinity of the docking pipe, the bonding plate 17 is in a natural state, the reset piece 174 maintains its original shape, and pushes the top of the support part 171 (i.e., the first contact surface 172) to the initial position. As the bonding plate 17 gradually approaches the pipe. At this time, the first contact surface 172 first contacts the inner wall of the pipe. Since the surface of the first contact surface 172 has a certain curvature of the convexity, it can better fit the curved surface of the inner wall of the pipe. When the first contact surface 172 contacts the inner wall of the pipe and is subjected to pressure, the support part 171 begins to deform. The No. 1 deformation cavity 173 allows the support portion 171 to undergo necessary deformation to adapt to the shape of the pipe. At the same time, the reset member 174 is compressed and stores elastic potential energy. In the deformation process, the arc-shaped support plate 176 plays a key role. It not only enhances the structural strength of the bonding plate 17, but also further increases the bonding area and stability between the bonding plate 17 and the inner wall of the pipe through the deformation of the No. 2 deformation cavity 177. The No. 2 contact surface 175 may also contact other parts of the pipe to further enhance stability. When the bonding plate 17 is completely in contact with the inner wall of the pipe and reaches the desired deviation correction position, the dual-axis motor 18 stops working.At this time, the elastic potential energy of the reset member 174 begins to be released, pushing the support portion 171 to gradually return to its original shape, ensuring that the bonding plate 17 can maintain a stable position after the correction is completed. The raised design of the No. 1 contact surface 172 and the deformation ability of the support portion 171 enable the bonding plate 17 to fit the inner wall of the pipe with high precision, ensuring the accuracy and reliability of the correction. The design of the arc-shaped support plate 176 and the No. 2 deformation cavity 177 enhances the structural strength and stability of the bonding plate 17, making it less likely to shake or deform during the bonding process. The elastic deformation ability of the No. 1 deformation cavity 173 and the reset member 174 enables the bonding plate 17 to adapt to pipes of different shapes and sizes, thereby improving its scope of application and versatility. The addition of the reset member 174 enables the bonding plate 17 to automatically reset to its initial position after the correction is completed, reducing the need for manual intervention and improving work efficiency. The bonding plate 17 adopts an integrated molding structure, which not only improves its structural strength, but also simplifies the manufacturing process and reduces costs. At the same time, the one-piece structure also ensures the stability and reliability of the bonding plate 17 during long-term use.

[0036] The working principle provided by the present invention is that during use, the motor in the control terminal 2 is first started, and the motor drives a No. 1 gear 6 and a No. 1 screw 7 on one side to rotate. At the same time, the No. 1 gear 6 drives a No. 2 gear 8 on one side to rotate. The No. 2 gear 8 drives the internal transmission rod 9 and the No. 2 gear 8 at the other end of the transmission rod 9 to rotate synchronously, so that when the No. 1 gear 6 and the No. 1 screw 7 on one side rotate, the No. 1 gear 6 on the other side and its corresponding No. 1 screw 7 can be driven to rotate synchronously. When the two No. 1 screws 7 rotate synchronously, the two threaded sleeves 10 outside the No. 1 screw 7 will also be synchronized on the two No. 1 screws 7. The threaded movement occurs on the outside. During the transmission of the threaded sleeve 10, the threaded sleeve 10 will drive the transmission plate 11 to move synchronously. At this time, the three No. 1 connecting plates 13 on the side of the transmission plate 11 will drive the three support frames 12 to expand and contract synchronously with the connection with the fixed frame 1 as the center. When the six support frames 12 expand and contract synchronously, the inspection robot can be adjusted to the size suitable for the current inspection pipeline, and the inspection robot is placed inside the pipeline. The motor in the control terminal 2 is started again, so that the six support frames 12 expand at the same time, so that the casters 14 can fit with the inner wall of the pipeline, and then the drive motor 21 can be started. , the driving motor 21 drives the No. 1 driving gear 22 to rotate, and the No. 1 driving gear 22 can drive the No. 2 driving gear 23 and the caster 14 on one side of the No. 2 driving gear 23 to rotate, and then the inspection robot can be driven to move inside the pipeline by the power provided by the caster 14. When the operator observes through the camera 5 that there is a pipeline that needs to be corrected in front, the motor in the control terminal 2 can be used to operate the six support frames 12 to shrink at the same time through the above steps, and move forward through the caster 14, so that the two fixed frames 1 in the inspection robot are respectively located inside the two pipelines. At this time, the motor in the control terminal 2 is started again to make the six support frames 12 retract at the same time through the above steps, and move forward through the caster 14, so that the two fixed frames 1 in the inspection robot are located inside the two pipelines respectively. The six support frames 12 are expanded synchronously, so that the six casters 14 respectively support the two pipes, preliminarily ensuring that the connection of the pipes can be aligned, and then the synchronous correction of the pipe connection is realized through a simple structure. During the correction process, when the six support frames 12 are expanded synchronously, the No. 2 connecting plate 15 on the six support frames 12 will drive the bonding plate 17 to expand synchronously, so that the bonding plate 17 moves toward the connection of the two pipes, and then the three bonding plates 17 expand at the connection of the two pipes. This synchronous expansion ensures that the three bonding plates 17 can move toward the connection of the two pipes at the same time. As the bonding plate 17 gradually approaches the pipe. At this time, the No. 1 contact surface 172 first contacts the inner wall of the pipe. Since the surface of the No. 1 contact surface 172 has a certain curvature of the convex, it can better fit the curved surface of the inner wall of the pipe. When the No. 1 contact surface 172 contacts the inner wall of the pipe and is subjected to pressure, the support portion 171 begins to deform. The No. 1 deformation cavity 173 allows the support portion 171 to undergo necessary deformation to adapt to the shape of the pipe.

[0037] The present invention covers any substitution, modification, equivalent method and scheme made on the essence and scope of the present invention. In order to make the public have a thorough understanding of the present invention, specific details are described in detail in the following preferred embodiments of the present invention, but those skilled in the art can fully understand the present invention without the description of these details. In addition, in order to avoid unnecessary confusion about the essence of the present invention, well-known methods, processes, procedures, components and circuits are not described in detail.

[0038] The above is only a preferred embodiment of the present invention. It should be pointed out that for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the principle of the present invention. These improvements and modifications should also be regarded as the scope of protection of the present invention.

Claims

1. A pipeline connection deviation correction inspection robot, comprising a control terminal (2), characterized in that: Both ends of the control terminal (2) are fixedly connected to a fixing frame (1); A drive assembly, the drive assembly is used to drive the control terminal (2) to move, the drive assembly is connected to the fixed frame (1); the fixed frame (1) is a triangular structure, the drive assembly includes a support frame (12) rotatably connected to each corner of the two fixed frames (1), one end of the support frame (12) is rotatably connected to a caster (14), the control terminal (2) is fixedly connected to a motor inside, the outer sides of the two fixed frames (1) are both rotatably connected to a No. 1 gear (6), and one of the No. 1 gears (6) is fixedly connected to the output shaft of the motor, The interiors of the two No. 1 gears (6) are fixedly connected to the No. 1 screw rods (7), the exteriors of the two No. 1 screw rods (7) are threadedly connected to the threaded sleeves (10), one side of the two threaded sleeves (10) is fixedly connected to the transmission plates (11), the two transmission plates (11) are also triangular structures, and each side of the two transmission plates (11) is rotatably connected to the No. 1 connecting plate (13), and the other end of each No. 1 connecting plate (13) is rotatably connected to one side of the support frame (12); A deviation correction component, the deviation correction component is used to adjust the position of the docking pipe, the deviation correction component is connected to the driving component, the deviation correction component includes a No. 2 connecting plate (15) rotatably connected to the other side of each support frame (12), the other end of each No. 2 connecting plate (15) is rotatably connected to a guide block (16), and the top ends of each two oppositely arranged guide blocks (16) are slidably connected to a fitting plate (17), the bottom of the inner cavity of the fitting plate (17) is fixedly connected to a double-axis motor (18), and the two output shafts of the double-axis motor (18) are fixedly connected to a No. 2 screw (20), The two No. 2 screw rods (20) are respectively threadedly connected to the inside of the two guide blocks (16); the laminating plate (17) comprises a supporting portion (171); a guiding groove is provided at the bottom of the inner cavity of the supporting portion (171); the guiding groove is slidably connected to the top of the guide block (16); a No. 1 contact surface (172) is provided at the top of the supporting portion (171); a No. 1 deformation cavity (173) is provided inside the supporting portion (171); a reset member (174) is provided at the top of the inner cavity of the No. 1 deformation cavity (173); the reset member (174) is a relatively flat "U"-shaped structure; No. 2 contact surfaces (175) are provided on both sides of the top of the supporting portion (171); arc-shaped supporting plates (176) are provided between the bottom of both sides of the top of the supporting portion (171) and the two sides of the bottom; The surface of the No. 1 contact surface (172) has a protrusion with a certain curvature, and the thickness between the No. 1 contact surface (172) and the top of the inner cavity of the No. 1 deformation cavity (173) is three centimeters, the thickness of the reset member (174) is two centimeters, the thickness of the arc-shaped support plate (176) is two centimeters, a No. 2 deformation cavity (177) is provided between the arc-shaped support plate (176) and the support portion (171), the thickness between the No. 2 deformation cavity (177) and the No. 2 contact surface (175) is three centimeters, and the bonding plate (17) is an integrally formed structure.

2. The pipeline connection deviation correction inspection robot according to claim 1 is characterized in that: The two fixing frames (1) are internally rotatably connected with a transmission rod (9), and both ends of the transmission rod (9) are fixedly connected with a No. 2 gear (8), and the two No. 2 gears (8) are respectively meshed with the No. 1 gear (6) on one side thereof.

3. The pipeline connection deviation correction inspection robot according to claim 1 is characterized in that: The interior of the fixing frame (1) is fixedly connected to fixing rods (3), both ends of the three fixing rods (3) are fixedly connected to side panels (4), and both sides of the side panels (4) are fixedly connected to cameras (5).

4. The pipeline connection deviation correction inspection robot according to claim 1 is characterized in that: Two of the six support frames (12) on both sides of the two fixed frames (1) are externally fixedly connected to a driving motor (21), and a first driving gear (22) is fixedly connected to the output shaft of the driving motor (21), and a second driving gear (23) is fixedly connected to one side of the rotating shaft of the caster (14) in the support frame (12), and the bottom of the first driving gear (22) is meshed with one side of the second driving gear (23).

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