Welding robot for machining nodes of heavy bearing steel structure of supercritical boiler

Abstract

The invention discloses a welding robot for machining nodes of a heavy bearing steel structure of a supercritical boiler, and belongs to the technical field of welding robots. The welding robot comprises a supporting seat and hydraulic rods which are fixedly mounted on a welding seat, and the hydraulic rods are symmetrically arranged relative to the supporting seat; the output end of the hydraulic rod is fixedly provided with a bracket used for supporting the steel structural part, meanwhile, the supporting seat is rotationally provided with a movable seat, and the movable seat is fixedly provided with a welding mechanical arm; a position adjusting driving assembly is installed between the supporting base and the movable base, and a first cavity, a second cavity, a third cavity and a fourth cavity are formed in the inner side of the movable base. According to the welding robot for machining the nodes of the heavy bearing steel structure of the supercritical boiler, high-temperature flue gas generated by welding can be evenly collected and filtered, automatic heat preservation and welding sealing detection can be conducted on the welded position through the filtered high-temperature flue gas, and the working efficiency is effectively guaranteed.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of welding robots, in particular to a welding robot for processing supercritical boiler heavy load steel structure nodes. BACKGROUND

[0002] As a core component of high-efficiency power generation equipment, the supercritical boiler usually operates under supercritical conditions with a pressure greater than 22.1 MPa and a temperature higher than 374℃, which puts extremely high requirements on the load-bearing capacity, structural stability and sealing performance of the boiler body structure. Among them, the heavy load steel structure node, as the core stress unit connecting key components such as the boiler water wall, steam drum and steel frame, not only needs to withstand the long-term action of high temperature, high pressure and alternating load, but also needs to meet strict size precision and welding quality standards.

[0003] The prior art (Chinese patent with publication number CN117047376A and publication date 2023-11-14) discloses a steel node automatic welding processing equipment, which comprises a linkage frame, an electric wire and a welding gun. A drive motor is installed inside the linkage frame, the output shaft of the drive motor is connected with a lifting assembly, a bearing plate is installed on the lifting assembly, a placing mechanism is arranged on the bearing plate, a conduction assembly is arranged at the top of the linkage frame near one end of the lifting assembly, a take-up and pay-off mechanism is arranged on one side of the conduction assembly, and the electric wire is wound on the take-up and pay-off mechanism. The above structure can synchronously lift the welding gun and release the electric wire, facilitating welding of steel nodes at high places, and facilitating arrangement of the electric wire before and after processing. Moreover, the length of the electric wire can be stretched without affecting the collection and arrangement of the electric wire at the working position, thereby expanding the welding range of the welding gun. The prior art (Chinese patent with publication number CN119589251A and publication date 2025-03-11) discloses a building steel structure node welding equipment, which comprises a welding table, two fixing devices are arranged on one side of the welding table, a plurality of magnetic balls are used to fix the hemispheres, a welding head is slidably connected in the sliding cylinder, a coating device is arranged on the other side of the welding table, and the coating device is used to apply anti-splashing coating to the welding position of the two hemispheres. The magnetic balls of the fixing device can more quickly fix the hemispheres for welding, without the need for manual fixing and adjustment of the butt joint of the hemispheres by the operator. When the fixing device with the hemispheres is pressed against the welding position of the two hemispheres, the welding position is automatically adjusted to a vertical state for welding. The coating is applied to the side of the welding seam of the hemispheres through the roller to prevent splashing of welding slag and sparks. After the anti-splashing coating is applied, full welding is performed on the two hemispheres to complete the welding work of the node ball, thereby reducing the fixing time of the node ball and speeding up the welding efficiency of the node ball.

[0004] The existing heavy load bearing steel structure node processing welding equipment is inconvenient for efficient treatment of welding high-temperature flue gas, and cannot utilize welding heat for auxiliary heat preservation treatment of the welding position and automatic monitoring of the welding seam, and has certain use defects. SUMMARY

[0005] The present application aims to provide a supercritical boiler heavy load bearing steel structure node processing welding robot to solve the problem of the current market heavy load bearing steel structure node processing welding equipment in use, which is inconvenient for efficient treatment of welding high-temperature flue gas, and cannot utilize welding heat for auxiliary heat preservation treatment of the welding position and automatic monitoring of the welding seam.

[0006] To achieve the above-mentioned purpose, the present application provides the following technical scheme: a supercritical boiler heavy load bearing steel structure node processing welding robot, comprising a support seat fixedly installed on a welding seat and a hydraulic rod, and the hydraulic rod is symmetrically arranged about the support seat, and the output end of the hydraulic rod is fixedly installed with a bracket for supporting a steel structure part, and a movable seat is rotatably installed on the support seat, and the movable seat is fixedly installed with a welding mechanical arm; a position adjusting drive assembly is installed between the support seat and the movable seat, a first cavity, a second cavity, a third cavity and a fourth cavity are respectively formed in the inner side of the movable seat, an active plug is arranged in the inner side of the first cavity in an interference sliding manner, a transmission assembly is arranged between the support seat and the movable seat for driving the active plug to reciprocate, a gas pipe group for conveying welding flue gas is arranged on the movable seat, and a gas tightness detection assembly for detecting welding effect is also arranged on the movable seat.

[0007] Preferably, the position adjusting drive assembly comprises a motor fixedly installed on the outer side of the support seat, the output end of the motor is fixedly installed with a first gear, the outer side of the movable seat is fixedly installed with an outer gear ring, the outer gear ring and the first gear are meshed and connected, and the movable seat rotates to drive the welding mechanical arm to rotate around the steel structure for welding.

[0008] Preferably, the inner diameter of both ends of the movable seat is greater than the middle position, and the movable seat and the steel structure welding position are correspondingly arranged, and the movable seat collects the welding slag falling during the welding process.

[0009] Preferably, the transmission assembly comprises a reciprocating screw rod rotatably connected to the movable seat, one end of the reciprocating screw rod located on the outer side of the movable seat is fixedly installed with a second gear, and the left end of the support seat is fixedly installed with an inner gear ring, and the second gear and the inner gear ring are meshed and connected during the rotation of the movable seat to drive the reciprocating screw rod to rotate.

[0010] Preferably, the threaded part of the reciprocating screw rod is located inside the first cavity, the outer side of the movable plug is fixedly provided with a connecting piece, and the reciprocating screw rod and the connecting piece are threadedly connected, and the movable plug is driven to reciprocate in the first cavity through the connecting piece during rotation of the reciprocating screw rod.

[0011] Preferably, the gas pipe group comprises an air inlet pipe fixedly provided on the movable seat, the air inlet pipe is provided with a filter screen structure at the end close to the steel structure, the air inlet pipe is connected with the first cavity, a gas outlet pipe is connected between the first cavity and the second cavity, the air inlet pipe and the gas outlet pipe are both provided with a one-way valve structure, and the first cavity draws welding fume through the air inlet pipe and discharges the welding fume to the second cavity through the gas outlet pipe when the movable plug reciprocates in the first cavity.

[0012] Preferably, the inside of the second cavity is filled with smoke purifying material, and a gas conveying pipe is connected between the second cavity and the third cavity.

[0013] Preferably, the air tightness detection assembly comprises a first detection pipe fixedly connected to the third cavity, the end of the first detection pipe close to the steel structure is connected with a detection seat, and the detection seat is further connected with a second detection pipe, the inside of the detection seat is elastically connected with an adjusting seat through a spring, the end of the adjusting seat close to the steel structure is fixedly bonded with a sealing capsule, and the sealing capsule is sealed to the welded weld under the elastic force of the spring.

[0014] Preferably, the end of the second detection pipe away from the detection seat is connected with the fourth cavity, the side wall of the movable seat is rotatably connected with a rotating ring, the rotating ring is fixedly connected with an air outlet pipe, the inside of the fourth cavity is further provided with an air pressure sensor, preferably, the two sides of the supporting seat are uniformly fixedly provided with second magnetic strips, the two ends of the movable seat are elastically rotatably provided with first magnetic strips, and the adjacent first magnetic strips are connected with an elastic film, the elastic film is provided with a through hole, the side of the elastic film away from the steel structure is fixedly connected with a sealing film, and the single side of the sealing film is fixedly connected to the elastic film, the movable seat drives the first magnetic strips to gradually pass the outside of the second magnetic strips at different positions during rotation, the magnetic poles of the opposite surfaces of the first magnetic strips and the second magnetic strips are opposite, the sealing film is elastically deformed under the air pressure when the first magnetic strips are rotated and gathered, and the sealing film blocks the through hole when the first magnetic strips are rotated and separated.

[0015] Compared with the prior art, the welding robot for supercritical boiler heavy load steel structure node processing can uniformly collect and filter the high-temperature welding fume, and can automatically preserve and seal the welding completion through the filtered high-temperature welding fume, thereby effectively ensuring the work efficiency, and the specific content is as follows. 1. It is equipped with a movable seat and a movable plug. As welding proceeds, the movable seat will rotate, causing the second gear and the internal gear ring to mesh, thereby driving the reciprocating screw to rotate. At this time, the reciprocating screw will drive the connecting piece through the meshing action, causing the connecting piece to drive the movable plug to reciprocate through interference sliding on the inner side of the first cavity, so that the first cavity can draw in welding fumes through the air inlet pipe under negative pressure.

[0016] 2. The device is equipped with a first detection tube, a detection seat, and a second detection tube. The telescopic adjustment of the detection seat and the adjusting seat, combined with the elastic deformation of the sealing bladder, allows the sealing bladder to fit against the outer side of the weld seam of the steel structure. As the movable plug moves back and forth, it can transport the inhaled flue gas to the inner side of the second chamber for purification, and then transport it to the third chamber through the gas supply pipe. This allows the high-temperature flue gas to enter the inner side of the detection seat through the first detection tube, so that the flue gas can contact the previously welded part and achieve auxiliary heat preservation of the weld position. At the same time, the gas flows through the weld seam during the gas supply process, and the gas pressure sensor can simultaneously detect the weld seam sealing performance.

[0017] 3. It is equipped with a first magnetic strip, an elastic film, and a second magnetic strip. As the movable seat rotates, the first magnetic strip can intermittently pass over the outside of the second magnetic strip at different positions, causing the first magnetic strip to rotate elastically. This causes the elastic film to gather and expand. During the expansion process, air can be drawn in from both ends of the movable seat, thus preventing the spread of fumes. During the gathering process, the sealing film will undergo elastic deformation under air pressure, opening the through hole and preventing the welding fumes from being blown away from the absorption area, further improving the fume treatment effect. Attached Figure Description

[0018] Figure 1 This is a schematic diagram of the main structure of the present invention; Figure 2 This is a side view of the support structure of the present invention; Figure 3 This is a schematic diagram of the main structure of the support base of the present invention; Figure 4 This is a schematic diagram of the main cross-sectional structure of the support base of the present invention; Figure 5 This is a three-dimensional structural diagram of the support base portion of the present invention; Figure 6 For the present invention Figure 5 Enlarged structural diagram at point A in the middle; Figure 7 For the present invention Figure 4 Enlarged structural diagram at point B; Figure 8 This is a schematic diagram of the connection structure between the first magnetic strip and the elastic film of the present invention; Figure 9 This is a schematic diagram of the second magnetic strip mounting structure of the present invention; Figure 10 For the present invention Figure 2 Amplification structure schematic diagram in C.

[0019] In the figure: 1, support seat; 2, hydraulic rod; 3, bracket; 4, movable seat; 5, outer gear ring; 6, motor; 7, first gear; 8, welding robot; 9, first cavity; 10, second cavity; 11, third cavity; 12, fourth cavity; 13, reciprocating screw rod; 14, second gear; 15, inner gear ring; 16, movable plug; 1601, adapter; 17, exhaust pipe; 18, air inlet pipe; 19, gas conveying pipe; 20, first detection pipe; 21, detection seat; 22, second detection pipe; 23, rotating ring; 24, air outlet pipe; 25, air pressure sensor; 26, adjusting seat; 27, spring; 28, sealing capsule; 29, first magnetic stripe; 30, elastic film; 31, second magnetic stripe; 32, through hole; 33, sealing film. DETAILED DESCRIPTION

[0020] The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative work fall within the scope of protection of the present application.

[0021] Embodiment one: the existing welding robot for supercritical boiler heavy load steel structure node processing needs to adjust the welding position in real time when welding, which makes it inconvenient to effectively absorb and process the smoke generated during welding. In order to solve this technical problem, the present embodiment discloses the following technical content, please refer to Figures 1-6 and Figures 8-10 A welding robot for supercritical boiler heavy load steel structure node processing, comprising a support seat 1 fixedly installed on a welding seat and a hydraulic rod 2, wherein the hydraulic rod 2 is symmetrically arranged about the support seat 1, and the output end of the hydraulic rod 2 is fixedly installed with a bracket 3 for supporting a steel structure part, and a movable seat 4 is rotatably installed on the support seat 1, the movable seat 4 is fixedly installed with a welding robot 8, a positioning driving assembly is installed between the support seat 1 and the movable seat 4, the inner side of the movable seat 4 is respectively provided with a first cavity 9, a second cavity 10, a third cavity 11 and a fourth cavity 12, the inner side of the first cavity 9 is provided with a movable plug 16 in interference sliding mode, and a transmission assembly for driving the movable plug 16 to reciprocally slide is arranged between the support seat 1 and the movable seat 4, and a gas conveying pipe group for conveying welding smoke is arranged on the movable seat 4.

[0022] The position adjusting driving assembly comprises a motor 6 fixedly installed outside the support base 1, the output end of the motor 6 is fixedly installed with a first gear 7, the outer side of the movable base 4 is fixedly installed with an outer gear ring 5, the outer gear ring 5 and the first gear 7 are meshed and connected, the movable base 4 drives the welding mechanical arm 8 to rotate around the steel structure during the rotation of the movable base 4, the inner diameter of the two ends of the movable base 4 is larger than the middle position, the movable base 4 and the steel structure welding position are correspondingly arranged, the movable base 4 collects the welding slag during the welding process, the transmission assembly comprises a reciprocating screw rod 13 uniformly rotatably connected to the movable base 4, one end of the reciprocating screw rod 13 outside the movable base 4 is fixedly installed with a second gear 14, the left end of the support base 1 is fixedly installed with an inner gear ring 15, the second gear 14 and the inner gear ring 15 are meshed and connected during the rotation of the movable base 4 to drive the reciprocating screw rod 13 to rotate, the threaded part of the reciprocating screw rod 13 is located inside the first cavity 9, the outer side of the movable plug block 16 is fixedly installed with a connecting piece 1601, the reciprocating screw rod 13 and the connecting piece 1601 are screw connected, the movable plug block 16 is driven by the connecting piece 1601 to reciprocate inside the first cavity 9 during the rotation of the reciprocating screw rod 13, the gas pipe group comprises an air inlet pipe 18 fixedly installed on the movable base 4, the end of the air inlet pipe 18 close to the steel structure is provided with a filter screen structure, the air inlet pipe 18 is connected with the first cavity 9, the first cavity 9 and the second cavity 10 are connected with an exhaust pipe 17, the exhaust pipe 17 and the air inlet pipe 18 are both provided with a one-way valve structure, when the movable plug block 16 reciprocates inside the first cavity 9, the first cavity 9 draws welding fume through the air inlet pipe 18 and inputs the welding fume into the second cavity 10 through the exhaust pipe 17, the inside of the second cavity 10 is filled with fume purification material, the second cavity 10 and the third cavity 11 are connected with a gas conveying pipe 19, the end of the second detection pipe 22 away from the detection base 21 is connected with the fourth cavity 12, the side wall of the movable base 4 is rotatably connected with a rotating ring 23, the rotating ring 23 is fixedly connected with an air outlet pipe 24, the inside of the fourth cavity 12 is further provided with an air pressure sensor 25.

[0023] As Figures 1-7As shown, the steel structure joint to be welded is hoisted to the bracket 3 and spliced, then the welding robot arm 8 is controlled to aim the welding gun at the welding position, then the motor 6 is started to drive the first gear 7, so that the first gear 7 and the outer gear ring 5 are engaged to drive the outer gear ring 5 to rotate the movable seat 4, so that the welding robot arm 8 on the movable seat 4 performs circular welding, at the same time, the second gear 14 is engaged with the inner gear ring 15 to drive the reciprocating screw rod 13 to rotate, so that the reciprocating screw rod 13 drives the adapter 1601 to reciprocate on the outside through the reciprocating thread, at this time, the adapter 1601 drives the movable plug 16 to reciprocate in the inner side of the first cavity 9, so that the first cavity 9 under the action of negative pressure draws welding fumes through the air inlet pipe 18, and at the same time, the drawn fumes are transported into the second cavity 10 through the exhaust pipe 17, and the fumes are purified in the second cavity 10, the purification filter material in the second cavity 10 is activated carbon, ceramic filter material, etc., and the purified fumes enter the third cavity 11 through the gas conveying pipe 19, then the fumes flow into the fourth cavity 12 through the first detection pipe 20, detection seat 21 and second detection pipe 22, and then are transported and discharged through the exhaust pipe 17.

[0024] The second magnetic strips 31 are uniformly and fixedly installed on both sides of the support seat 1, the first magnetic strips 29 are elastically and rotatably installed at both ends of the movable seat 4, and the elastic films 30 are connected between adjacent first magnetic strips 29, the through holes 32 are formed in the elastic films 30, the sealing films 33 are fixedly connected to the sides of the elastic films 30 away from the steel structure, and the sealing films 33 are fixedly connected to the elastic films 30 on a single side surface, the first magnetic strips 29 gradually pass the outer sides of the second magnetic strips 31 at different positions during the rotation of the movable seat 4, the magnetic poles of the opposite surfaces of the first magnetic strips 29 and the second magnetic strips 31 are opposite, the sealing films 33 are elastically deformed under the action of air pressure when the first magnetic strips 29 rotate and gather, and the sealing films 33 block the through holes 32 when the first magnetic strips 29 rotate and move away from each other.

[0025] As shown in Figure 2 and Figures 8-10 , with the rotation of the movable seat 4, the first magnetic strips 29 intermittently pass the outer sides of the second magnetic strips 31 at different positions, so that the first magnetic strips 29 drive the elastic films 30 to deform under the action of magnetic force, so that the elastic films 30 reciprocate and gather and expand, when the elastic films 30 expand, the flow of external air to the inner ring position of the movable seat 4 can be accelerated under the action of negative pressure, so as to avoid the escape of welding fumes, and when the elastic films 30 gather, the sealing films 33 are elastically deformed, so that the through holes 32 are opened, avoiding the escape of welding fumes to the outside, further improving the fume suction and treatment effect.

[0026] The technical content disclosed in this embodiment is a further improvement based on the above-mentioned embodiment one. The existing welding robot for processing supercritical boiler heavy load steel structure node is inconvenient for reusing welding fumes in the welding process. In order to further solve this technical problem, the technical content is disclosed as follows, such as Figures 5-7 The movable seat 4 is further provided with an air tightness detection assembly for detecting the welding effect. The air tightness detection assembly comprises a first detection tube 20 fixedly connected to the third cavity 11. An end of the first detection tube 20 close to the steel structure is connected with a detection seat 21. The detection seat 21 is further connected with a second detection tube 22. The inner side of the detection seat 21 is elastically connected with an adjusting seat 26 through a spring 27. An end of the adjusting seat 26 close to the steel structure is fixedly bonded with a sealing capsule 28. The sealing capsule 28 is made of high-temperature resistant rubber material. The sealing capsule 28 is sealed and fitted to the welded seam under the elastic force of the spring 27.

[0027] During the welding process, the detection seat 21 and the adjusting seat 26 are elastically adjusted. The sealing capsule 28 outside the adjusting seat 26 is sealed and fitted to the outside of the welded seam after the welding is completed. When the treated welding fumes enter the inside of the detection seat 21, the welding position can be assisted to be heat preserved. When there are gaps or holes in the welding seam due to welding defects, part of the fumes will be leaked, so that the air pressure inside the fourth cavity 12 changes. At this time, the air pressure sensor 25 can realize detection information feedback through air pressure detection change, so as to realize real-time detection of the welding position, and further ensure the welding effect.

[0028] The contents not described in detail in the specification belong to the prior art known by the person skilled in the art.

[0029] Although the present application has been described in detail with reference to the foregoing embodiments, those skilled in the art can modify the technical solutions recorded in the foregoing embodiments, or make equivalent replacement to part of the technical features, any modification, equivalent replacement, improvement, etc. made within the spirit and principles of the present application shall be included in the protection scope of the present application.

Claims

1. A welding robot for processing heavy load-bearing steel structure nodes of a supercritical boiler, comprising a support base (1) and a hydraulic rod (2) fixedly installed on a welding seat, wherein the hydraulic rod (2) is symmetrically arranged about the support base (1), and a bracket (3) for supporting steel structure components is fixedly installed at the output end of the hydraulic rod (2), while a movable seat (4) is rotatably installed on the support base (1), and a welding robotic arm (8) is fixedly installed on the movable seat (4); Its features are, An adjustment drive assembly is installed between the support base (1) and the movable base (4). The inner side of the movable base (4) is provided with a first cavity (9), a second cavity (10), a third cavity (11) and a fourth cavity (12). The inner side of the first cavity (9) is provided with an interference-slidable movable plug (16). A transmission assembly for driving the movable plug (16) to slide back and forth is provided between the support base (1) and the movable base (4). The movable base (4) is provided with a gas supply pipe assembly for conveying welding fumes. The movable base (4) is also provided with an air tightness detection assembly for detecting the welding effect.

2. The welding robot for processing heavy-duty load-bearing steel structure nodes of a supercritical boiler according to claim 1, characterized in that: The adjustment drive assembly includes a motor (6) fixedly installed on the outside of the support base (1), and a first gear (7) is fixedly installed at the output end of the motor (6). An external gear ring (5) is fixedly installed on the outside of the movable base (4). At the same time, the external gear ring (5) and the first gear (7) are meshed and connected. During the rotation of the movable base (4), the welding robot arm (8) is driven to rotate and weld around the steel structure.

3. The welding robot for processing heavy-duty load-bearing steel structure nodes of a supercritical boiler according to claim 1, characterized in that: The inner diameter of both ends of the movable seat (4) is larger than that of the middle position, and the movable seat (4) is set in accordance with the welding position of the steel structure. The movable seat (4) collects the welding slag that falls during the welding process.

4. The welding robot for processing heavy-duty load-bearing steel structure nodes of a supercritical boiler according to claim 1, characterized in that: The transmission assembly includes a reciprocating screw (13) that is uniformly rotatably connected to the movable seat (4), and a second gear (14) is fixedly installed at one end of the reciprocating screw (13) located outside the movable seat (4), and an internal gear ring (15) is fixedly installed at the left end of the support seat (1). At the same time, during the rotation of the movable seat (4), the second gear (14) and the internal gear ring (15) mesh to drive the reciprocating screw (13) to rotate.

5. The welding robot for processing heavy-duty load-bearing steel structure nodes of a supercritical boiler according to claim 4, characterized in that: The threaded portion of the reciprocating screw (13) is located inside the first cavity (9), and a connector (1601) is fixedly installed on the outer side of the movable plug (16). The reciprocating screw (13) and the connector (1601) are threadedly connected. During the rotation of the reciprocating screw (13), the movable plug (16) is driven to slide back and forth inside the first cavity (9) through the connector (1601).

6. The welding robot for processing heavy-duty load-bearing steel structure nodes of a supercritical boiler according to claim 1, characterized in that: The gas supply pipe assembly includes an air inlet pipe (18) that is uniformly fixed on the movable seat (4). The end of the air inlet pipe (18) near the steel structure is provided with a filter structure. The air inlet pipe (18) is connected to the first cavity (9). At the same time, an exhaust pipe (17) is connected between the first cavity (9) and the second cavity (10). Both the exhaust pipe (17) and the air inlet pipe (18) are provided with a one-way valve structure. When the movable plug (16) slides back and forth inside the first cavity (9), the first cavity (9) draws welding fumes through the air inlet pipe (18) and supplies gas to the inside of the second cavity (10) through the exhaust pipe (17).

7. The welding robot for processing heavy-duty load-bearing steel structure nodes of a supercritical boiler according to claim 1, characterized in that: The inner side of the second cavity (10) is filled with flue gas purification material, and a gas supply pipe (19) is connected between the second cavity (10) and the third cavity (11).

8. The welding robot for processing heavy-duty load-bearing steel structure nodes of a supercritical boiler according to claim 1, characterized in that: The airtightness testing assembly includes a first testing tube (20) fixedly connected to the third cavity (11), and a testing seat (21) is connected to one end of the first testing tube (20) near the steel structure. A second testing tube (22) is also connected to the testing seat (21). An adjustment seat (26) is elastically extended and retracted to the inner side of the testing seat (21) via a spring (27). A sealing bladder (28) is fixedly bonded to one end of the adjustment seat (26) near the steel structure. The sealing bladder (28) is sealed and adhered to the weld after welding under the elastic force of the spring (27).

9. A welding robot for processing heavy-duty load-bearing steel structure nodes in a supercritical boiler according to claim 8, characterized in that: The end of the second detection tube (22) away from the detection seat (21) is connected to the fourth cavity (12). The side wall of the movable seat (4) is rotatably connected to a rotating ring (23), and an air outlet pipe (24) is fixedly connected through the rotating ring (23). A pressure sensor (25) is also provided on the inner side of the fourth cavity (12).

10. A welding robot for processing heavy-duty load-bearing steel structure nodes in a supercritical boiler according to claim 1, characterized in that: The second magnetic strips (31) are evenly fixedly installed on both sides of the support base (1), and the first magnetic strips (29) are elastically rotatably installed at both ends of the movable base (4). An elastic film (30) is connected between adjacent first magnetic strips (29). A through hole (32) is opened on the elastic film (30), and a sealing film (33) is fixedly connected to the side of the elastic film (30) away from the steel structure. A single side of the sealing film (33) is fixedly connected to the elastic film (30). During the rotation of the movable base (4), the first magnetic strips (29) are driven to gradually pass through the outside of the second magnetic strips (31) at different positions. The magnetic poles of the opposite sides of the first magnetic strips (29) and the second magnetic strips (31) are opposite. When the first magnetic strips (29) rotate and converge, the sealing film (33) undergoes elastic deformation under the action of air pressure. When the first magnetic strips (29) rotate away from each other, the sealing film (33) seals the through hole (32).

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