A steel pipeline inner wall clamping robot and a clamping deviation correction method

Abstract

The application discloses a steel pipeline inner wall clamping robot and a clamping deviation rectification method, relates to the technical field of pipeline robots, and comprises a vehicle body, a permanent magnet wheel is installed at the bottom, electric top columns are arranged at the upper end and the lower end, a camera and a direction adjusting assembly are arranged at the front end; the direction adjusting assembly comprises an adjusting ball and a rope winding device, a pull rope is connected to the adjusting assembly, and a shock absorbing assembly is arranged at the upper end and the lower end of the main support plate of the adjusting assembly; the shock absorbing assembly comprises a supporting bag and a swing hammer, and the end of the inclined pipeline is loosened by vibration; the device detects the deviation of the pipeline during inspection, moves to the inclined position, adjusts the angle to adapt to the inclined pipeline, loosens the supporting bag by vibration after the supporting bag abuts against the pipeline wall, the rope winding device pulls the pipeline to be straight and splices the pipeline, the deviation rectification work is completed, and efficient dynamic deviation rectification of the steel pipeline is realized.

Description

Technical Field

[0001] This invention relates to the field of pipeline alignment robot technology, and in particular to a steel pipeline inner wall clamping robot and clamping and alignment method. Background Technology

[0002] After welding, large-diameter steel pipes require anti-corrosion treatment of the weld seam to ensure the safety and durability of the pipeline for long-term use. However, during construction, the connection between steel pipes may shift due to external forces, foundation changes, or operational factors. This shift can cause the subsequent circumferential weld joints to fail to align and weld properly, severely delaying the overall welding progress. Therefore, it is essential to carefully check for any shifts at the connection between steel pipes before welding. If a shift exceeding the allowable error range is found, measures must be taken promptly to correct it to the correct position. Currently, most commonly used steel pipe connection correction equipment uses a static clamping method on the inner wall of the pipe when clamping the two steel pipes that need to be adjusted, relying on rigid components for leveling.

[0003] This working method has obvious problems: when the equipment exerts force to support the offset steel pipe in an attempt to adjust it, because its clamping is fixed (static) and the leveling process is a forced hard contact (rigid), the force on the clamping point is not easy to be balanced. This can easily cause the two clamped pipes, together with the equipment itself, to tilt or shake as a whole, rather than to move their positions smoothly and accurately. Therefore, it cannot achieve a good correction effect. Summary of the Invention

[0004] This application provides a steel pipe inner wall clamping robot and clamping correction method, which solves the technical problems in the prior art where static clamping and rigid leveling cause uneven force at the clamping point and the clamped pipe body is prone to tilting and shaking, making it impossible to accurately correct the deviation. Through the adjustment component, the positioning component and the vibration adjustment component, the technical effect of efficiently loosening the end of the pipe, smoothly leveling the position and completing welding and spraying is achieved.

[0005] This application provides a steel pipe inner wall clamping robot and clamping correction method, including a vehicle body and a robotic arm execution system integrated at its front end. Multiple permanent magnet wheels (controlled by a motor, not shown in the attached drawings) are installed at the bottom of the vehicle body. Hydraulic jacks are also installed at the upper and lower ends of the vehicle body, with the upper hydraulic jacks being angled. A camera and a lighting assembly are installed at the front end of the vehicle body. The robotic arm execution system consists of a steering component, a positioning component, a vibration adjustment component, and a control terminal, wherein: The positioning component includes an adjusting sleeve and a support plate, which grip the inner wall of the pipe. The vibration adjustment component includes a swing hammer, which acts as an impact manipulator to apply vibration thrust. The control terminal adjusts the gripping force and manipulation strategy in real time based on sensor data to achieve pipe gripping, alignment and leveling.

[0006] The steering assembly includes an adjusting ball, a rope winder, adjusting blocks, and adjusting bladders. The steering assembly is mounted on the adjusting ball, and the rope winder adjusts the angle up and down by pulling the adjusting assembly with a rope. The adjusting ball is attached to the middle of the front end of the vehicle body. A partition is also installed inside the vehicle body, close to the adjusting ball. The rope winder is installed on the top of the partition. Adjusting blocks are also symmetrically installed inside the vehicle body, located at the bottom of the partition.

[0007] The adjusting blocks are C-shaped, and the openings of the two adjusting blocks are arranged facing each other; one end of the adjusting ball is fixed with an adjusting rod, which passes through the openings of the two adjusting blocks; a dual-purpose air pump is fixed to the side end of the adjusting block, and the dual-purpose air pump is connected to the adjusting bladder through an air tube.

[0008] The positioning assembly includes a main support plate fixed to the adjusting ball, electric rod one and electric rod two embedded in the other end of the main support plate, and displacement rails fixed to the output ends of electric rod one and electric rod two; an angle sensor is installed inside the adjusting ball to facilitate data collection by the control terminal; teeth are provided on the displacement rails; auxiliary platforms are also fixed at the upper and lower ends of the main support plate, the auxiliary platforms are C-shaped, and a magnet is embedded in their arc surface; one end of the pull rope is fixed in the rope winder, and the other end is fixed to one end of the main support plate.

[0009] A pair of support platforms are symmetrically fixed at the upper and lower ends of the other end of the main support plate. The support platforms are hinged with adjustment sleeves. The bottom of the adjustment sleeve is a semi-circular structure. The arc surface of the semi-circular structure is provided with teeth that mesh with the teeth of the displacement rail. An electric rod three is embedded in the other end of the adjustment sleeve. The arc surface of the adjustment sleeve matches the arc surface of the auxiliary platform. A magnet two corresponding to magnet one is also fixed on the outer section of the adjustment sleeve.

[0010] The vibration adjustment assembly includes a support plate fixed to the three output ends of the electric rod, support bladders equidistantly fixed to the top of the support plate, auxiliary rollers symmetrically fixed to the bottom of the support plate, and a pair of motors fixed to the outer cross section of the auxiliary rollers; the swing hammer is fixed to the output end of the motor; auxiliary boxes are installed on the side of the housings of the two pairs of motors, and a miniature self-priming pump is installed on the other side; the swing hammer is an eccentric wheel structure.

[0011] The auxiliary box is equipped with a miniature dual-purpose air pump, which is connected to the support bladder through an air pipe; the swing hammer has a cavity, and the miniature self-priming pump is connected to the cavity of the swing hammer through multiple delivery pipes. The miniature self-priming pump and the delivery pipes are rotatably connected and are equipped with solenoid valves.

[0012] The miniature self-priming pump contains multiple containers, which are filled with silicone oil and lead powder, respectively.

[0013] The support plate is divided into an upper support plate and a lower support plate. The lower support plate is connected to the upper support plate by multiple elastic elements. The upper support plate has auxiliary edges symmetrically fixed to its side ends.

[0014] Furthermore, the support plate is divided into an upper support plate and a lower support plate, with the lower support plate connected to the upper support plate by multiple elastic elements; auxiliary edges are symmetrically fixed to the side ends of the upper support plate.

[0015] One or more technical solutions provided in this application have at least the following technical effects or advantages: The continuous rotation of the swing hammer causes the support plate to vibrate against the inclined steel tube. After being vibrated, the inclined steel tube loosens, and the main support plate is pulled straight by the rope reel and the pull rope, thus achieving a level state between the straight steel tube and the inclined steel tube. By first loosening the inclined steel tube and then adjusting it, a dynamic clamping is formed, which effectively prevents the tail end of the inclined steel tube from getting stuck and unable to be adjusted. In addition, the ball joint structure between the adjusting ball and the front of the vehicle body can adapt to the tilt angle of the inclined steel tube and effectively level it.

[0016] Different amplitudes can be generated by swing hammers of different masses to meet the needs of different steel pipes. To prevent the amplitude driven by the swing hammer from being concentrated at a certain point on the support plate, thereby increasing the friction between the support bag and the inclined steel pipe and affecting the vibration effect, the vibration period is changed by varying the maximum and minimum amplitude points through the different rotation speeds of multiple swing hammers, thus avoiding the amplitude from being concentrated at a certain point on the support bag.

[0017] The miniature dual-purpose air pump adjusts the rigidity of the support bladder. The softer support bladder can absorb some high-frequency vibrations, but allows low-frequency oscillations or torsions with larger amplitudes to be transmitted to the inclined steel tube. This is more conducive to overcoming static friction and reduces the situation where the inclined steel tube is "locked" due to excessive rigidity of the overall structure. This makes it easier for it to produce small relative sliding under vibration. Furthermore, the elastic constraint can produce small deformations during vibration, providing space for the inclined steel tube to loosen. Attached Figure Description

[0018] Figure 1 This is a schematic diagram of the structure of a steel pipe inner wall clamping robot according to the present invention; Figure 2 This is a three-dimensional structural view of a steel pipe inner wall clamping robot according to the present invention; Figure 3 This is a half-sectional view of a steel pipe inner wall clamping robot according to the present invention; Figure 4 This is a three-dimensional structural schematic diagram of a steel pipe inner wall clamping robot according to the present invention; Figure 5 This is a perspective view of the adjustment bladder structure of a steel pipe inner wall clamping robot according to the present invention; Figure 6 This is a schematic diagram showing the second position of the magnet in a steel pipe inner wall clamping robot according to the present invention; Figure 7 This is a three-dimensional view of the vibration adjustment component structure of a steel pipe inner wall clamping robot according to the present invention; Figure 8 This is a schematic diagram of the steel pipe double-lift state of a steel pipe inner wall clamping robot according to the present invention; Figure 9 This is a schematic diagram of a second embodiment of a steel pipe inner wall clamping robot according to the present invention.

[0019] In the picture: 10. Vehicle body; 101. Camera; 11. Electric top column; 12. Permanent magnet wheel; 13. Lighting assembly; 14. Orientation component; 141. Pull rope; 142. Adjusting ball; 143. Partition; 144. Rope winder; 145. Adjusting block; 146. Adjusting bladder; 147. Adjusting rod; 15. Positioning component; 151. Main support plate; 152. Electric rod one; 153. Electric rod two; 154. Displacement rail; 155. Support platform; 156. Auxiliary platform; 15 7. Magnet 1; 20. Vibration adjustment assembly; 201. Adjustment sleeve; 203. Magnet 2; 204. Electric rod 3; 210. Support plate; 2101. Upper support plate; 2102. Lower support plate; 211. Support bladder; 212. Miniature self-priming pump; 213. Auxiliary box; 214. Miniature dual-purpose air pump; 220. Auxiliary roller; 221. Motor; 222. Swing hammer; 16. Positive steel pipe; 17. Inclined steel pipe; 300. Auxiliary side; 301. Elastic element. Detailed Implementation

[0020] To facilitate understanding of the present invention, a more complete description of this application will be given below with reference to the accompanying drawings, which illustrate preferred embodiments of the invention. However, the invention can be implemented in many different forms and is not limited to the embodiments described herein. Rather, these embodiments are provided to enable a more thorough and complete understanding of the disclosure of the present invention.

[0021] It should be noted that the terms "vertical," "horizontal," "up," "down," "left," "right," and similar expressions used in this article are for illustrative purposes only and do not represent the only possible implementation.

[0022] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention pertains; the terminology used herein in the description of the invention is for the purpose of describing particular embodiments only and is not intended to limit the invention; the term "and / or" as used herein includes any and all combinations of one or more of the associated listed items.

[0023] Example 1: As Figures 1 to 8 As shown, this application discloses a steel pipe inner wall clamping robot and clamping correction method, including a vehicle body 10 and a robotic arm execution system integrated at its front end. The bottom of the vehicle body 10 is equipped with multiple permanent magnet wheels 12 (rotated by a motor, not shown in the attached drawings). Electric push columns 11 are also installed at the upper and lower ends of the vehicle body 10, with the upper electric push column 11 being angled. A camera 101 and a lighting assembly 13 are installed at the front end of the vehicle body 10. The robotic arm execution system consists of a steering component 14, a positioning component 15, a vibration adjustment component 20, and a control terminal, wherein: The adjustment component 15 includes an adjustment sleeve 201 and a support plate 210, which grip the inner wall of the pipe through the adjustment sleeve 201 and the support plate 210; the vibration adjustment component 20 includes a swing hammer 222, which acts as an impact manipulator to apply vibration thrust; the control terminal adjusts the gripping force and manipulation strategy in real time based on sensor data to realize pipe gripping, alignment and leveling.

[0024] Since the pipe tilt may cause left and right deviations, the moving angle of the main support plate 151 needs to be adjusted synchronously. The adjustment component 14 includes an adjusting ball 142, a rope winder 144, an adjusting block 145, and an adjusting bladder 146. The adjustment component 15 is installed on the adjusting ball 142. The rope winder 144 pulls the adjustment component 15 up and down to adjust the angle by pulling the rope 141. The adjusting ball 142 is ball-connected to the middle of the front end of the vehicle body 10. A partition 143 is also installed inside the vehicle body 10, close to the adjusting ball 142. The rope winder 144 is installed on the top of the partition 143. Adjusting blocks 145 are also symmetrically installed inside the vehicle body 10, located at the bottom of the partition 143.

[0025] The adjusting block 145 is C-shaped, and the openings of the two adjusting blocks 145 are arranged facing each other; one end of the adjusting ball 142 is fixed with an adjusting rod 147, which passes through the openings of the two adjusting blocks 145; a dual-purpose air pump 148 is fixed to the side end of the adjusting block 145, and the dual-purpose air pump 148 is connected to the adjusting bag 146 through an air tube.

[0026] The positioning assembly 15 includes a main support plate 151 fixed to the adjusting ball 142, an electric rod 152 and an electric rod 153 embedded in the other end of the main support plate 151, and displacement rails 154 fixed to the output ends of the electric rods 152 and 153; an angle sensor is provided inside the adjusting ball 142 to facilitate data collection by the control terminal; teeth are provided on the displacement rails 154; auxiliary platforms 156 are also fixed at the upper and lower ends of the main support plate 151, the auxiliary platforms 156 are C-shaped, and magnets 157 are embedded in their arc surfaces; one end of the pull rope 141 is fixed in the rope winder 144, and the other end is fixed to one end of the main support plate 151.

[0027] A pair of support platforms 155 are symmetrically fixed at the upper and lower ends of the other end of the main support plate 151. The support platform 155 is hinged to an adjustment sleeve 201. The bottom of the adjustment sleeve 201 is a semi-circular structure. The arc surface of the semi-circular structure is provided with teeth that mesh with the teeth of the displacement rail 154. The other end of the adjustment sleeve 201 is embedded with an electric rod 204. The arc surface of the adjustment sleeve 201 matches the arc surface of the auxiliary platform 156. The outer section of the adjustment sleeve 201 is also fixed with a magnet 203 corresponding to the magnet 157.

[0028] The vibration adjustment assembly 20 includes a support plate 210 fixed to the output end of the electric rod 204, support bladders 211 equidistantly fixed to the top of the support plate 210, auxiliary rollers 220 symmetrically fixed to the bottom of the support plate 210, and a pair of motors 221 fixed to the outer cross section of the auxiliary rollers 220; the swing hammer 222 is fixed to the output end of the motors 221; auxiliary boxes 213 are installed on the side of the housings of the two pairs of motors 221, and a miniature self-priming pump 212 is installed on the other side; the swing hammer 222 is an eccentric wheel structure.

[0029] The auxiliary box 213 is equipped with a miniature dual-purpose air pump 214, which is connected to the support bladder 211 via an air pipe. The swing hammer 222 has a cavity inside, and the miniature self-priming pump 212 is connected to the cavity of the swing hammer 222 via multiple delivery pipes. The miniature self-priming pump 212 is rotatably connected to the delivery pipes and is equipped with a solenoid valve. The miniature self-priming pump 212 has multiple containers inside, which are respectively filled with silicone oil and lead powder.

[0030] Specific implementation: S1, First, before spraying the weld seam of the steel pipe, the clamping robot will inspect the inner wall of the steel pipe to check whether the steel pipes are misaligned or damaged. If there are no problems, the weld seam of the steel pipe will be sprayed (the weld seam of the pipe will be sprayed with anti-corrosion coating).

[0031] S2, when the inspection detects that there is a tilt between the steel pipes, the clamping robot moves from the straight steel pipe 16 to the inclined steel pipe 17. The control terminal observes whether the inclined steel pipe 17 has shifted left or right through the camera 101 and the lighting group 13. If no shift occurs, proceed directly to the next step S3. If the inclined steel pipe 17 has shifted left or right, the dual-purpose air pump 148 controls the expansion of one of the adjustment bladders 146. The expanded adjustment bladder 146 drives the adjustment rod 147 to deflect left or right, which in turn drives the main support plate 151 to deflect.

[0032] S3, the main support plate 151 is tilted up or down by the rope reel 144, and the walking device drives the adjustment component 15 to move into the inclined steel pipe 17. The displacement rail 154 is moved by the electric rod 152 and the electric rod 253, which drives the adjustment sleeve 201 to rotate from horizontal to match the tilt angle of the inclined steel pipe 17. Then the electric rod 3 204 extends, so that the support bladder 211 on the support plate 210 flexibly grips the inner wall of the inclined steel pipe 17. The rigidity and softness of the grip of the support bladder 211 (strong grip / soft buffer) is adjusted by the micro dual-purpose air pump 214 to achieve gripping of the inner wall of the steel pipe. When the misalignment between the inclined pipe and the straight pipe is too large, exceeding the range that vibration loosening can automatically correct, or when the end of the pipe is stuck by foreign objects such as gravel or welding slag, simple vibration may not be able to loosen it. The robot needs to first grasp the inner wall of the inclined pipe and apply a continuous, directional pulling or pushing force to perform "pre-reset" to break the constraints of static friction and create conditions for subsequent fine vibration leveling.

[0033] S4. When encountering pipes with poor ellipticity or local deformation, the rigidity of the support bladder 211 is adjusted by the actively controllable micro dual-purpose air pump 214. This allows it to adapt to irregular pipe walls, provide reliable fixing force, ensure effective transmission of vibration energy, and prevent the device from slipping during vibration. After the support bladder 211 abuts against the inner wall of the inclined steel pipe 17, the dual-purpose air pump 148 controls the contraction of one adjustment bladder 146 and the expansion of the other adjustment bladder 146. This causes the adjustment bladder 146 to drive the adjustment rod 147 to deflect in the opposite direction, thereby causing the main support plate 151 to deflect and center the inclined steel pipe 17. If the inclined steel pipe 17 does not shift left or right, the process jumps to S5.

[0034] S5, after the support bladder 211 abuts against the inner wall of the inclined steel pipe 17, open the solenoid valves corresponding to one or more support bladders 211 and start the micro self-priming pump 212 to fill the cavity of one or more swing hammers 222 with silicone oil and lead powder. Different amounts can be filled into multiple swing hammers 222. Then close the solenoid valve and start the motor 221. Swing hammers 222 of different masses produce different amplitudes to loosen the end of the inclined steel pipe 17. When a strong pre-reset is required, firmly grip the inner wall of the steel pipe before starting high-intensity vibration to avoid the pipe shaking. When adjusting precisely, gripping is the main method, supplemented by small vibrations to overcome the final friction.

[0035] S6, when the swing hammer 222 vibrates the inclined steel pipe 17, the angle sensor in the adjusting ball 142 monitors the adjusted angle in real time, finds the inflection point of the end of the inclined steel pipe 17 during this process, and after the inclined steel pipe 17 is loosened; the inclined steel pipe 17 has been loosened by vibration, but is in an unstable critical state, it is necessary to continuously grab and hold the inclined steel pipe 17, and achieve precise position adjustment based on the feedback of the camera 211 and the angle sensor. Then, the rope winder 144 pulls the main support plate 151 through the pull rope 141 to adjust the angle of the inclined steel pipe 17 back to the horizontal position. The walking device moves in the opposite direction of the inclined steel pipe 17 to drive it close to the positive steel pipe 16 and aligns the interface splicing to complete the correction work.

[0036] One or more technical solutions provided in this application have at least the following technical effects or advantages: The continuous rotation of the swing hammer 222 causes the support plate 210 to vibrate against the inclined steel tube 17. After being vibrated, the inclined steel tube 17 loosens and is pulled straight by the rope winder 144 and the pull rope 141, thus achieving a level state between the straight steel tube 16 and the inclined steel tube 17. By first loosening the inclined steel tube 17 and then adjusting it, a dynamic clamping is formed, which effectively prevents the tail end of the inclined steel tube 17 from getting stuck and unable to be adjusted. In addition, the ball joint structure between the adjusting ball 142 and the front end of the vehicle body 10 can adapt to the tilt angle of the inclined steel tube 17 and effectively level it.

[0037] Different amplitudes can be generated by swing hammers 222 of different masses to meet the needs of different steel pipes. In order to prevent the amplitude driven by swing hammers 222 from being concentrated at a certain point on the support plate 210, thereby increasing the friction between the support bladder 211 and the inclined steel pipe 17 and affecting the vibration effect, the vibration period is changed by using the changes in the maximum and minimum amplitude points and the different rotation speeds of multiple swing hammers 222 to avoid the amplitude being concentrated at a certain point on the support bladder 211.

[0038] When encountering pipes with poor ellipticity or local deformation, the rigidity of the support bladder 211 can be adjusted by actively controlling the micro dual-purpose air pump 214. This allows it to adapt to irregular pipe walls, provide reliable fixing force, ensure effective transmission of vibration energy, and prevent the device from slipping during vibration. The softer support bladder 211 can absorb some high-frequency vibrations, but allows lower-frequency oscillations or torsions with larger amplitudes to be transmitted to the inclined steel pipe 17. This is more conducive to overcoming static friction and reduces the possibility of the inclined steel pipe 17 being "locked up" due to excessive rigidity of the overall structure. This makes it easier for it to generate small relative sliding under vibration, and the elastic constraint can generate small deformations during vibration, providing space for the inclined steel pipe 17 to loosen.

[0039] Example 2: In order to further improve the efficiency of loosening the inclined steel pipe 17, the support plate 210 is improved; like Figure 9 As shown, the support plate 210 is divided into an upper support plate 2101 and a lower support plate 2102. The lower support plate 2102 is connected to the upper support plate 2101 by a plurality of elastic elements 301. The upper support plate 2101 has auxiliary edges 300 symmetrically fixed on its side ends.

[0040] One or more technical solutions provided in this application have at least the following technical effects or advantages: During rotation, the swing hammer 222 directly pushes the auxiliary edge 300, causing one side of the upper support plate 2101 to be lifted upwards, thus displacing the inclined steel pipe 17 in the corresponding direction. When the swing hammer 222 disengages, the elastic element 301 drives the upper support plate 2101 to quickly return to its original position. This dynamic process adds a lateral vibration component to the original vertical vibration. Through alternating lifting and returning actions, the inclined steel pipe 17 is subjected to multi-directional alternating stress, effectively breaking the static friction state of its stuck end, thereby significantly improving the loosening efficiency. At the same time, the buffering effect of the elastic element 301 avoids pipe wall damage caused by rigid impact, ensuring that vibration energy is efficiently transferred to the end of the pipe. This composite vibration mode solves the problem of local stress concentration that may be caused by single vertical vibration, and significantly shortens the correction preparation time.

[0041] The above description is merely a preferred embodiment of the present invention and is not intended to limit the invention. For those skilled in the art, the present invention can have various modifications and variations. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the scope of protection of the present invention.

Claims

1. A steel pipe inner wall clamping robot, characterized in that, The system includes a vehicle body (10) and a robotic arm execution system integrated at its front end. Multiple permanent magnet wheels (12) are installed at the bottom of the vehicle body (10), and electric push columns (11) are installed at the upper and lower ends of the vehicle body (10), with the upper electric push column (11) being angled. A camera (101) and a lighting assembly (13) are installed at the front end of the vehicle body (10). The robotic arm execution system consists of a steering component (14), a positioning component (15), a vibration adjustment component (20), and a control terminal, wherein: The adjustment component (15) includes an adjustment sleeve (201) and a support plate (210), which grip the inner wall of the pipe through the adjustment sleeve (201) and the support plate (210); the vibration adjustment component (20) includes a swing hammer (222), which acts as an impact manipulator to apply vibration thrust; the control terminal adjusts the gripping force and manipulation strategy in real time based on sensor data to realize pipe gripping, alignment and leveling; The steering assembly (14) includes an adjusting ball (142), a rope winder (144), an adjusting block (145), and an adjusting bladder (146). The positioning assembly (15) is installed on the adjusting ball (142). The rope winder (144) pulls the positioning assembly (15) up and down to adjust the angle by pulling the rope (141). The adjusting ball (142) is connected to the middle of the front end of the vehicle body (10). A partition (143) is also installed inside the vehicle body (10) and is close to the adjusting ball (142). The rope winder (144) is installed on the top of the partition (143). The adjusting block (145) is also symmetrically installed inside the vehicle body (10) and is located at the bottom of the partition (143).

2. The steel pipe inner wall clamping robot as described in claim 1, characterized in that, The adjustment block (145) is C-shaped, and the openings of the two adjustment blocks (145) are arranged facing each other; one end of the adjustment ball (142) is fixed with an adjustment rod (147), which passes through the opening of the two adjustment blocks (145); a dual-purpose air pump (148) is fixed to the side end of the adjustment block (145), and the dual-purpose air pump (148) is connected to the adjustment bag (146) through an air tube.

3. The steel pipe inner wall clamping robot as described in claim 1, characterized in that, The adjustment assembly (15) includes a main support plate (151) fixed on the adjustment ball (142), an electric rod one (152) and an electric rod two (153) embedded in the other end of the main support plate (151), and a displacement rail (154) fixed at the output end of the electric rod one (152) and the electric rod two (153); an angle sensor is provided in the adjustment ball (142) to facilitate data collection by the control terminal; teeth are provided on the displacement rail (154); an auxiliary platform (156) is also fixed at the upper and lower ends of the main support plate (151), the auxiliary platform (156) is C-shaped, and a magnet one (157) is embedded in its arc surface; one end of the pull rope (141) is fixed in the rope winder (144), and the other end is fixed to one end of the main support plate (151).

4. The steel pipe inner wall clamping robot as described in claim 3, characterized in that, The upper and lower ends of the other end of the main support plate (151) are symmetrically fixed with a pair of support platforms (155). The support platform (155) is hinged with an adjustment sleeve (201). The bottom of the adjustment sleeve (201) is a semi-circular structure. The arc surface of the semi-circular structure is provided with teeth that mesh with the teeth of the displacement rail (154). The other end of the adjustment sleeve (201) is embedded with an electric rod three (204). The arc surface of the adjustment sleeve (201) matches the arc surface of the auxiliary platform (156). The outer section of the adjustment sleeve (201) is also fixed with a magnet two (203) corresponding to magnet one (157).

5. A steel pipe inner wall clamping robot as described in claim 4, characterized in that, The vibration adjustment assembly (20) includes a support plate (210) fixed to the output end of the electric rod three (204), support bladders (211) equidistantly distributed and fixed to the top of the support plate (210), auxiliary rollers (220) symmetrically fixed to the bottom of the support plate (210), and a pair of motors (221) fixed to the outer section of the auxiliary rollers (220); the swing hammer (222) is fixed to the output end of the motor (221); auxiliary boxes (213) are installed on the side of the housing of the two pairs of motors (221), and a micro self-priming pump (212) is installed on the other side; the swing hammer (222) is an eccentric wheel structure.

6. A steel pipe inner wall clamping robot as described in claim 5, characterized in that, The auxiliary box (213) is equipped with a miniature dual-purpose air pump (214), which is connected to the support bladder (211) through an air pipe; the swing hammer (222) has a cavity, and the miniature self-priming pump (212) is connected to the cavity of the swing hammer (222) through multiple delivery pipes. The miniature self-priming pump (212) is rotatably connected to the delivery pipes and is equipped with a solenoid valve.

7. A steel pipe inner wall clamping robot as described in claim 6, characterized in that, The miniature self-priming pump (212) has multiple containers, which are filled with silicone oil and lead powder respectively.

8. A steel pipe inner wall clamping robot as described in claim 7, characterized in that, The support plate (210) is divided into an upper support plate (2101) and a lower support plate (2102). The lower support plate (2102) is connected to the upper support plate (2101) by a plurality of elastic elements (301). The upper support plate (2101) has auxiliary edges (300) symmetrically fixed on its side ends.

9. A method for clamping and correcting the inner wall of a steel pipe, comprising the steel pipe inner wall clamping robot according to claim 5, characterized in that, S1. First, before spraying the weld seam of the steel pipe, the clamping robot will inspect the inner wall of the steel pipe to check whether the steel pipes are misaligned or damaged. If there are no problems during the inspection, the weld seam of the steel pipe will be sprayed. S2, when the inspection finds that there is a tilt between the steel pipes, the clamping robot moves from the inside of the straight steel pipe (16) to the inclined steel pipe (17). The control terminal observes whether the inclined steel pipe (17) has shifted left or right through the camera (101) and the lighting group (13). If no shift occurs, proceed directly to the next step S3. If the inclined steel pipe (17) has shifted left or right, the dual-purpose air pump (148) controls the expansion of one of the adjustment bladders (146). The expanded adjustment bladder (146) drives the adjustment rod (147) to deflect left or right, which in turn drives the main support plate (151) to deflect. S3, using the rope reel (144) to control the main support plate (151) to tilt upward or downward, the walking device drives the adjustment component (15) to move into the inclined steel pipe (17), and the displacement rail (154) is moved by the electric rod one (152) and electric rod two (153), which drives the adjustment sleeve (201) to rotate from horizontal to match the tilt angle of the inclined steel pipe (17). Then the electric rod three (204) extends, so that the support bladder (211) on the support plate (210) flexibly grabs the inner wall of the inclined steel pipe (17). The rigidity of the gripping of the support bladder (211) is adjusted by the micro dual-purpose air pump (214) to realize the gripping of the inner wall of the steel pipe. S4, after the support bladder (211) abuts against the inner wall of the inclined steel tube (17), the contraction of one of the regulating bladders (146) is controlled by the dual-purpose air pump (148), and the expansion of the other regulating bladder (146) is controlled, so that the regulating bladder (146) drives the regulating rod (147) to deflect in the opposite direction, thereby causing the main support plate (151) to deflect and adjusting the inclined steel tube (17) to the center; if the inclined steel tube (17) does not shift left or right, then jump to S5; S5, after the support bladder (211) abuts against the inner wall of the inclined steel tube (17), open the solenoid valves corresponding to one or more support bladders (211) and start the micro self-priming pump (212) to fill the cavity of one or more swing hammers (222) with silicone oil and lead powder. Different amounts can be filled for multiple swing hammers (222); then close the solenoid valve and start the motor (221). Swing hammers (222) of different masses produce different amplitudes to loosen the end of the inclined steel tube (17); S6, when the swing hammer (222) vibrates the inclined steel pipe (17), the angle sensor in the adjusting ball (142) monitors the adjusted angle in real time, finds the inflection point of the end of the inclined steel pipe (17) during this process, and after the inclined steel pipe (17) is loosened, the rope winder (144) pulls the main support plate (151) through the pull rope (141) to adjust the angle of the inclined steel pipe (17) back to the horizontal position. The walking device moves in the opposite direction of the inclined steel pipe (17) to drive it close to the positive steel pipe (16) and aligns the interface splicing to complete the correction work.

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