A kind of walking type cylinder annular seam welding internal protection inflatable equipment

Abstract

The present invention discloses a walkable inflatable device for internal protection of cylinder annular seam welding, comprising a walkable trolley and a lifting trolley, the walkable trolley is provided with a plurality of cylinder displacement roller frames, the lifting trolley comprises a walkable trolley and a lifting drive mechanism and a lifting platform installed thereon, a movable tray is installed on the lifting platform, the movable tray can be horizontally moved on the lifting platform to approach or move away from the cylinder, a walkable inflatable device is parked on the movable tray, the walkable inflatable device comprises a walking mechanism and a pneumatic lifting rod and an internal protection inflatable hood arranged thereon, the walking mechanism enables the walkable inflatable device to move back and forth between the movable tray and the cylinder, the internal protection inflatable hood is arranged at the upper end of the pneumatic lifting rod, and the pneumatic lifting rod drives the internal protection inflatable hood to move up and down to approach or move away from the cylinder annular seam. The inflatable device of the present invention is not limited to the length of the cylinder group, can save production space, reduce labor intensity, and improve production efficiency.

Description

Technical Field

[0001] The invention belongs to the technical field of pressure vessel welding equipment, and in particular relates to a walkable cylinder annular seam welding internal protection inflation equipment. Background Art

[0002] For thin-walled cylinders of pressure vessels, especially stainless steel cylinders, the circumferential seams are usually welded using plasma welding technology (P+T) or deep-penetration TIG (or K-TIG) welding technology. Plasma welding technology (P+T) can achieve 6mm wall thickness weld without beveling, and deep-penetration TIG (or K-TIG) welding technology can achieve 12mm wall thickness weld without beveling, achieving single-sided welding and double-sided forming. During the welding process, the welding gun is usually located near the top 12 o'clock position on the outside of the cylinder annular seam. An inner protective gas hood must be installed inside the cylinder annular seam and below the welding gun. High-purity argon gas is introduced into the inner protective gas hood to protect the molten metal inside the cylinder annular seam and the surrounding of the weld to prevent the weld metal from being oxidized by high temperature to cause welding defects and the surrounding of the weld from being oxidized and blackened. The prior art is to use a cantilever to extend into the inside of the cylinder, and to install the inner protective gas hood upward at the end of the cantilever. Since the cantilever is usually only 6 meters long, it is not suitable for use in the annular seam welding of workpieces with a cylinder length of more than 6 meters after assembly, and the cantilever device has lifting and telescopic functions, which requires a large area. Another prior art is to manually install the inner protective gas hood device in the cylinder, relying on manual transportation of the inner support support frame to different annular seams. Since the inner diameter of the cylinder varies greatly, it is necessary to prepare multiple inner protective gas hood devices that can adapt to different diameters, which consumes a lot of physical strength and time, affecting efficiency. Summary of the invention

[0003] The purpose of the present invention is to overcome the above-mentioned defects and provide a walkable cylinder circumferential seam welding internal protection inflation device, which is not limited to the length of the cylinder group, saves production space, reduces labor intensity and improves production efficiency.

[0004] In order to achieve the above object, the present invention adopts the following technical solutions:

[0005] A walkable cylinder annular seam welding internal protection inflatable equipment, comprising a walkable trolley and a lifting trolley,

[0006] The walkable trolley is provided with a plurality of cylinder displacement roller frames, and the cylinder displacement roller frames are used to place the cylinders that have completed the teaming and drive the cylinders to rotate;

[0007] The lifting trolley comprises a walkable trolley and a lifting drive mechanism and a lifting platform installed on the walkable trolley, the lifting drive mechanism drives the lifting platform to rise and fall on the walkable trolley, a movable tray is installed on the lifting platform, the movable tray can move horizontally on the lifting platform to approach or move away from the cylinder, a walkable inflatable device is parked on the movable tray, the walkable inflatable device comprises a walking mechanism and a pneumatic lifting rod and an inner protective inflatable cover arranged on the walking mechanism, the walking mechanism enables the walkable inflatable device to move back and forth between the movable tray and the cylinder, the inner protective inflatable cover is arranged on the upper end of the pneumatic lifting rod, and the pneumatic lifting rod drives the inner protective inflatable cover to rise and fall to approach or move away from the annular seam of the cylinder;

[0008] An automatic air pipe reel and an automatic cable reel are installed at the rear end of the movable tray. The walkable inflatable device also includes an inflatable hose and a cable, which are respectively connected to the automatic air pipe reel and the automatic cable reel.

[0009] Furthermore, the walkable inflatable device also includes a frame, the frame is arranged above the walking mechanism, the pneumatic lifting rod is arranged at the middle position of both sides of the frame, cylinder mounting supports are arranged at both ends of the frame, a waist-shaped groove in a vertical direction is opened in the middle of the side steel plate of the cylinder mounting support, a limit pin is installed at the waist-shaped groove of the cylinder mounting support, the limit pin can move up and down along the waist-shaped groove, and one end of the limit pin is a stud that can be fixed to the waist-shaped groove of the cylinder mounting support with a nut;

[0010] A cylinder is provided on the cylinder mounting support, and a piston rod of the cylinder is connected to the chain plate support to drive the chain plate support to move downward. Two symmetrical ear plates are provided under the chain plate support, and one end of the driving chain plate is hinged to the ear plate, and the other end of the driving chain plate is hinged to the middle of the swing chain plate. One end of the swing chain plate is hinged to the chain plate support at the lower end, and the chain plate support at the lower end is installed on the flange of the frame. A connecting shaft is installed at the other end of the swing chain plate, and the two swing chain plates located on the same side of the frame are connected to the same connecting shaft, and a number of rollers are installed on the connecting shaft.

[0011] Furthermore, one end of the chain plate support away from the lower end of the swing chain plate is evenly provided with holes, the swing chain plate extension sleeve is a hollow structure and has holes evenly provided on both sides, the swing chain plate extension sleeve is sleeved on one end of the swing chain plate opening, the relative position of the swing chain plate extension sleeve and the swing chain plate is adjusted and fixed with bolts.

[0012] Furthermore, the walkable inflatable device also includes a high-definition camera, which is installed in the inner protective inflatable hood for upward monitoring. The high-definition camera is used to observe and find the position of the annular seam of the cylinder, so that the inner protective inflatable hood is aligned with the annular seam of the cylinder.

[0013] Furthermore, the inner protective air-filled hood is made of a thin plate into a funnel shape, an air pipe nozzle is provided at the bottom of the inner protective air-filled hood, the air pipe nozzle is connected to the inflation hose, a flow equalizing plate covered with small holes is provided in the middle of the inner protective air-filled hood, the upper arc surface of the inner protective air-filled hood is similar in shape to the arc surface of the inner wall of the cylinder, and a compressible and deformable flexible high-temperature resistant material layer is installed on the upper arc surface.

[0014] Furthermore, small bearings are installed near the four corners above the inner protective inflatable cover.

[0015] Furthermore, a guiding mechanism and a tray translation driving mechanism are provided between the lifting platform and the movable tray, and the tray translation driving mechanism drives the movable tray to move horizontally toward or away from the cylinder under the guiding action of the guiding mechanism.

[0016] Furthermore, the walking mechanism of the walkable inflatable device includes a tracked walking mechanism, and the tracked walking mechanism includes a motor, a reducer and a track.

[0017] Furthermore, the walking mechanism of the walkable inflatable device includes a wheeled walking mechanism, which includes a motor, a reducer and a plurality of active anti-skid wheels, and the active anti-skid wheels are arranged on both sides of the bottom of the walkable inflatable device.

[0018] Furthermore, the inflation device also includes a control system, which is electrically connected to each actuator and is used to control the start and stop of a driving device on each actuator.

[0019] The beneficial effects of the present invention are that the inflation equipment of the present invention is particularly suitable for stainless steel cylinders of different diameters, and the annular seam is welded by plasma welding technology (P+T) or deep melting TIG (or K-TIG) welding technology. There is no restriction on the length of the cylinder group, which can save production space, reduce labor intensity and improve production efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 It is a schematic diagram of the structure of the inflation device of the present invention;

[0021] Figure 2 It is a structural schematic diagram of a lifting trolley and a walkable inflatable device (the walking mechanism is a crawler-type walking mechanism) in the inflatable device of the present invention;

[0022] Figure 3 It is a schematic diagram of the working state structure of the walkable inflating device (the walking mechanism is a crawler-type walking mechanism) in the inflating equipment of the present invention;

[0023] Figure 4 It is a schematic structural diagram of a walkable inflatable device (the walking mechanism is a wheeled walking mechanism) in the inflatable device of the present invention;

[0024] Among them: 1. Walkable trolley; 2. Cylinder; 3. Cylinder annular seam; 4. Cylinder displacement roller frame; 5. Lifting trolley; 51. Walkable trolley; 52. Lifting drive mechanism; 53. Lifting platform; 54. Guide column; 55. Movable tray; 56. Tray translation drive mechanism; 57. Universal wheel; 6. Automatic air hose reel; 7. Walkable inflatable device; 701. Tracked walking mechanism; 702. Frame; 703. Pneumatic lifting rod; 704. Internal protective inflatable Air hood; 7041, small bearing; 7042, upper arc surface; 7043, air pipe nozzle; 7044, connecting ear plate; 705, cylinder mounting support; 706, cylinder; 707, chain plate support; 708, driving chain plate; 709, swing chain plate; 710, swing chain plate extension sleeve; 711, connecting shaft; 712, roller; 713, limit pin; 714, waist round groove; 715, wheeled walking mechanism; 7151, active anti-skid wheel; 8, automatic cable reel. DETAILED DESCRIPTION

[0025] In order to better illustrate the purpose, technical solutions and advantages of the present invention, the present invention will be further described below in conjunction with specific embodiments. The present invention can be implemented in many different forms and should not be construed as being limited to the embodiments set forth herein. On the contrary, these embodiments are provided so that this disclosure will be thorough and complete, and the concept of the present invention will be fully conveyed to those skilled in the art, and the present invention will only be limited by the claims.

[0026] like Figure 1-4 As shown, a remote-controlled walkable cylinder circumferential seam welding internal protection inflation device includes a walkable trolley 1, a lifting trolley 5 and a control system. The control system is electrically connected to each actuator to control the start and stop of the drive device on each actuator.

[0027] A plurality of cylinder displacement roller frames 4 are arranged on the walkable trolley 1, and the cylinder displacement roller frames 4 are used for placing the cylinders 2 that have been assembled and driving the cylinders 2 to rotate.

[0028] As one embodiment, the cylinder displacement roller frame 4 includes a mounting frame, on which two active rollers are hingedly arranged, and an active roller driving mechanism is also arranged on the mounting frame. The active roller driving mechanism drives the active roller to rotate, thereby driving the cylinder 2 to rotate.

[0029] The lifting trolley 5 includes a walkable trolley 51 and a lifting drive mechanism 52 and a lifting platform 53 installed on the walkable trolley 51. The lifting drive mechanism 52 drives the lifting platform 53 to rise and fall on the walkable trolley 51. A movable tray 55 is installed on the lifting platform 53. The movable tray 55 can move horizontally on the lifting platform 53 to approach or move away from the cylinder 2.

[0030] Specifically, a universal wheel 57 is installed at the bottom of the walkable trolley 51 of the lifting trolley 5, and the walkable trolley 51 can walk on the bottom surface, approaching or moving away from the walkable trolley 1.

[0031] The lifting drive mechanism 52 is preferably a lifting cylinder, the front flange of the lifting cylinder is connected to the walkable trolley 51, and the piston rod of the lifting cylinder is connected to the lifting platform 53. A guide column 54 is also installed between the walkable trolley 51 and the lifting platform 53, and the guide column 54 plays a guiding role in the lifting and lowering of the lifting platform 53.

[0032] Furthermore, a guide mechanism and a tray translation driving mechanism 56 are provided between the lifting platform 53 and the movable tray 55 , and the tray translation driving mechanism 56 drives the movable tray 55 to move horizontally toward or away from the cylinder 2 under the guidance of the guide mechanism.

[0033] Specifically, a walking mechanism is provided at the bottom of the movable tray 55, a linear guide rail is provided on the lifting platform 53, and the tray translation drive mechanism 56 is preferably a hand wheel or a motor. Driven by the hand wheel or the motor, the movable tray 55 moves horizontally on the lifting platform 53.

[0034] Baffles are provided on both sides of the movable tray 55, and a mounting bracket is provided at the rear end, on which the automatic air pipe reel 6 and the automatic cable reel 9 are arranged.

[0035] A walkable inflatable device 7 is parked on the movable tray 55, and the walkable inflatable device 7 includes a walking mechanism, a pneumatic lifting rod 703 and an inner protective inflatable cover 704 arranged on the walking mechanism. The walking mechanism enables the walkable inflatable device 7 to move back and forth between the movable tray 55 and the cylinder 2, and the inner protective inflatable cover 704 is arranged on the upper end of the pneumatic lifting rod 703. The pneumatic lifting rod 703 drives the inner protective inflatable cover 704 to move up and down to approach or move away from the cylinder annular seam 3. The pneumatic lifting rod 703 can also be replaced with an electric lifting rod.

[0036] An automatic air pipe reel 6 and an automatic cable reel 8 are installed at the rear end of the movable tray 55. The walkable inflation device 7 also includes an inflation hose and a cable, which are connected to the automatic air pipe reel 6 and the automatic cable reel 8 respectively.

[0037] As one embodiment, the walking mechanism of the walkable inflatable device 7 includes a crawler walking mechanism 701, and the crawler walking mechanism 701 includes a cable, a motor and a reducer, and a crawler. The cable is connected to the motor and the reducer, and the motor and the reducer drive the crawler to move, thereby driving the walkable inflatable device 7 to walk. The crawler can be a special-shaped crawler with a convex outer ring.

[0038] As another embodiment, the walking mechanism of the walkable inflatable device 7 includes a wheeled walking mechanism 715, which includes a cable, a motor and a reducer, and a plurality of active anti-skid wheels 7151. The cable is connected to the motor and the reducer, and the motor and the reducer drive the active anti-skid wheels 7151 to rotate, thereby driving the walkable inflatable device 7 to walk. The active anti-skid wheels 7151 are arranged on both sides of the bottom of the walkable inflatable device 7.

[0039] Furthermore, the walkable inflatable device 7 also includes a frame 702, which is arranged above the walking mechanism, and the pneumatic lifting rod 703 is vertically arranged in the middle position of both sides of the frame 702. Cylinder mounting brackets 705 are provided at both ends of the frame 702. A vertical waist-shaped groove 714 is opened in the middle of the side steel plate of the cylinder mounting bracket 705, and a limit pin 713 is installed at the waist-shaped groove 714 of the cylinder mounting bracket 705. The limit pin 713 can move up and down along the waist-shaped groove 714. One end of the limit pin 713 is a stud which can be fixed at the waist-shaped groove 714 of the cylinder mounting bracket 705 with a nut.

[0040] A cylinder 706 is provided on the cylinder mounting support 705, and the front flange of the cylinder 706 is connected to the cylinder mounting support 705. The piston rod of the cylinder 706 is connected to the chain plate support 707 to drive the chain plate support 707 to move downward. Two symmetrical ear plates are provided under the chain plate support 707. One end of the driving chain plate 708 is hinged to the ear plate, and the other end of the driving chain plate 708 is hinged to the middle of the swinging chain plate 709. One end of the swinging chain plate 709 is hinged to the chain plate support 707 at the lower end. The chain plate support 707 at the lower end is installed on the flange of the frame 702, and the other end of the swinging chain plate 709 is installed with a connecting shaft 711. The two swinging chain plates 709 on the same side of the frame 702 are connected to the same connecting shaft 711, and a number of rollers 711 are installed on the connecting shaft 711.

[0041] Furthermore, holes are evenly distributed on one end of the swing chain plate 709 away from the chain plate support 707 at the lower end, and the swing chain plate extension sleeve 710 is a hollow structure with holes evenly distributed on both sides. The swing chain plate extension sleeve 710 is sleeved on one end of the swing chain plate 709 with holes, and the relative positions of the swing chain plate extension sleeve 710 and the swing chain plate 709 are adjusted and fixed with bolts. The swing chain plate extension sleeve 710 can play the role of extending the swing chain plate 709.

[0042] Furthermore, the walkable inflatable device 7 also includes a high-definition camera, which is installed in the inner protective inflatable hood 704 to monitor upward, and uses the high-definition camera to observe and find the position of the cylinder annular seam 3, so that the inner protective inflatable hood 704 is aligned with the cylinder annular seam 3.

[0043] The control system includes a display, and a high-definition camera is connected to the display. The display shows the images captured by the high-definition camera. The high-definition television camera can also allow the welder to observe and monitor the welding status of the inner ring seam in real time.

[0044] Furthermore, the inner protective inflatable cover 704 is made of a thin plate into a funnel shape, an air pipe nozzle 7043 is provided at the bottom of the inner protective inflatable cover 704, the air pipe nozzle 7043 is connected to the inflatable hose, a flow equalizing plate covered with small holes is provided in the middle of the inner protective inflatable cover 704, the shape of the upper arc surface 7042 of the inner protective inflatable cover 704 is similar to the shape of the inner wall arc surface of the cylinder 2, and a compressible and deformable flexible high temperature resistant material layer is installed on the upper arc surface 7042 to fill the gap between the inner protective inflatable cover 704 and the inner wall arc surface of the cylinder.

[0045] The inner protective inflatable hood 704 further includes a connecting ear plate 7044 , and the inner protective inflatable hood 704 is connected to the pneumatic lifting rod 703 via the connecting ear plate 7044 .

[0046] Furthermore, small bearings 7041 are installed near the four corners above the inner protection inflatable cover 704. The interference of the friction force from the inner wall of the cylinder to the normal working position of the inner protection inflatable cover 704 can be reduced.

[0047] Working process: several cylinder displacement roller frames 4 are placed on the walkable trolley 1, and the cylinder 2 that has been assembled is placed on the cylinder displacement roller frame 4. The lifting trolley 5 carrying the walkable inflatable device 7 is driven to one end of the cylinder 2 that has been assembled, and the height of the lifting platform 53 on the lifting trolley 5 is adjusted to be close to the height of the inner wall of the lower end of the cylinder 2. The tray translation drive mechanism 56 is adjusted to make the movable tray 55 translate and contact one end of the cylinder 2 that has been assembled, and the walkable inflatable device 7 is driven from the movable tray 55 into the cylinder 2, and stops at the cylinder annular seam 3. The inflatable hose and cable of the walkable inflatable device 7 are respectively connected to the automatic air pipe reel 6 and the automatic cable reel 8, and the cylinders 706 at both ends are started at the same time. The end of the piston rod of the cylinder 706 is connected to a chain plate support 707, and the chain plate support 707 is connected to the driving chain plate 708. The driving chain plate 708 drives the swinging chain plate 709 to move downward, bringing The connecting shaft 711 movably installed at the front end of the swing chain plate 709 and the roller 712 with bearings on the connecting shaft 711 move downward until they contact the inner wall of the cylinder 2 and make the walking mechanism (crawler walking mechanism 701 or wheeled walking mechanism 715) of the walkable inflatable device 7 suspended in the air, and then the pneumatic lifting rods 703 on both sides of the walkable inflatable device 7 are raised, and the pneumatic lifting rods 703 lift the inner protective inflatable cover 704 to the working position. In order to adapt to the change in the diameter of the cylinder 2, the opening angle of the swing chain plate 709 can be controlled by adjusting the height of the limit pin 713. The dead weight of the walkable inflatable device 7 is large enough. When the cylinder 2 rotates, the walkable inflatable device 7 can be kept in a relatively static state under the action of gravity, ensuring that the inner protective inflatable cover 704 remains unchanged in the working position. The walkable inflatable device 7 is equipped with a high-definition camera, and the entire working process is completed by remote control through the control system.

[0048] Obviously, the above embodiments are merely examples for the purpose of clear explanation, and are not intended to limit the implementation methods. For those skilled in the art, other different forms of changes or modifications can be made based on the above description. It is not necessary and impossible to list all the implementation methods here. The obvious changes or modifications derived therefrom are still within the scope of protection of the invention.

Claims

1. A walkable cylinder annular seam welding internal protection inflatable equipment, characterized by: It comprises a walkable trolley (1) and a lifting trolley (5), wherein the walkable trolley (1) is provided with a plurality of cylinder displacement roller frames (4), and the cylinder displacement roller frames (4) are used to place the cylinders (2) that have completed the formation and to drive the cylinders (2) to rotate; The lifting trolley (5) comprises a walkable trolley (51), a lifting drive mechanism (52) and a lifting platform (53) installed on the walkable trolley (51); the lifting drive mechanism (52) drives the lifting platform (53) to move up and down on the walkable trolley (51); a movable tray (55) is installed on the lifting platform (53); the movable tray (55) can move horizontally on the lifting platform (53) to approach or move away from the cylinder (2); and a walkable The walkable inflatable device (7) comprises a walking mechanism, a pneumatic lifting rod (703) and an inner protective inflatable cover (704) arranged on the walking mechanism, the walking mechanism enables the walkable inflatable device (7) to move back and forth between the movable tray (55) and the cylinder (2), the inner protective inflatable cover (704) is arranged on the upper end of the pneumatic lifting rod (703), and the pneumatic lifting rod (703) drives the inner protective inflatable cover (704) to move up and down to approach or move away from the cylinder annular seam (3); The movable tray (55) is provided with an automatic air pipe reel (6) and an automatic cable reel (8) at the rear end thereof, and the walkable inflatable device (7) further comprises an inflatable hose and a cable, wherein the inflatable hose and the cable are connected to the automatic air pipe reel (6) and the automatic cable reel (8) respectively; The walkable inflatable device (7) further comprises a frame (702), wherein the frame (702) is arranged above the walking mechanism, the pneumatic lifting rod (703) is arranged at the middle position of both sides of the frame (702), and cylinder mounting brackets (705) are arranged at both ends of the frame (702), and a waist-shaped groove (714) in a vertical direction is opened in the middle of the side steel plate of the cylinder mounting bracket (705), and a limit pin (713) is installed at the waist-shaped groove (714) of the cylinder mounting bracket (705), and the limit pin (713) can move up and down along the waist-shaped groove (714), and one end of the limit pin (713) is a stud that can be fixed to the waist-shaped groove (714) of the cylinder mounting bracket (705) by a nut; A cylinder (706) is provided on the cylinder mounting support (705), and a piston rod of the cylinder (706) is connected to a chain plate support (707) to drive the chain plate support (707) to move downward. Two symmetrical ear plates are provided below the chain plate support (707), and one end of a driving chain plate (708) is hinged to the ear plate, and the other end of the driving chain plate (708) is hinged to the middle of a swinging chain plate (709). One end of the swinging chain plate (709) is hinged to the chain plate support (707) at the lower end, and the chain plate support (707) at the lower end is mounted on the flange of the frame (702). A connecting shaft (711) is installed on the other end of the swinging chain plate (709), and the two swinging chain plates (709) located on the same side of the frame (702) are connected to the same connecting shaft (711), and a plurality of rollers (712) are installed on the connecting shaft (711); The walkable inflatable device (7) further comprises a high-definition camera, which is installed in the inner protective inflatable cover (704) for upward monitoring. The high-definition camera is used to observe and find the position of the cylindrical annular seam (3), so that the inner protective inflatable cover (704) is aligned with the cylindrical annular seam (3).

2. According to claim 1, a walkable cylinder annular seam welding internal protection inflatable equipment is characterized by: One end of the swing chain plate (709) away from the lower end of the chain plate support (707) is evenly provided with holes, and the swing chain plate extension sleeve (710) is a hollow structure with holes evenly provided on both sides. The swing chain plate extension sleeve (710) is sleeved on one end of the hole of the swing chain plate (709), and the relative position of the swing chain plate extension sleeve (710) and the swing chain plate (709) is adjusted and fixed with bolts.

3. According to claim 1, a walkable cylinder annular seam welding internal protection inflatable equipment is characterized by: The inner protective inflatable hood (704) is made of a thin plate into a funnel shape, and an air pipe nozzle (7043) is provided at the bottom of the inner protective inflatable hood (704), and the air pipe nozzle (7043) is connected to an inflatable hose. A flow equalizing plate covered with small holes is provided in the middle of the inner protective inflatable hood (704). The shape of the upper arc surface (7042) of the inner protective inflatable hood (704) is similar to the shape of the inner wall arc surface of the cylinder (2), and the upper arc surface (7042) is installed with a compressible and deformable flexible high-temperature resistant material layer.

4. According to claim 3, a walkable cylinder annular seam welding internal protection inflatable equipment is characterized in that: Small bearings (7041) are installed near the four corners above the inner protective inflatable cover (704).

5. According to claim 1, a walkable cylinder annular seam welding internal protection inflatable equipment is characterized by: A guiding mechanism and a tray translation driving mechanism (56) are provided between the lifting platform (53) and the movable tray (55), and the tray translation driving mechanism (56) drives the movable tray (55) to move horizontally toward or away from the cylinder (2) under the guiding action of the guiding mechanism.

6. According to claim 1, a walkable cylinder annular seam welding internal protection inflatable equipment is characterized by: The walking mechanism of the walkable inflatable device (7) comprises a crawler-type walking mechanism (701), and the crawler-type walking mechanism (701) comprises a motor, a reducer and a crawler.

7. According to claim 1, a walkable cylinder annular seam welding internal protection inflatable equipment is characterized by: The walking mechanism of the walkable inflatable device (7) comprises a wheeled walking mechanism (715), the wheeled walking mechanism (715) comprises a motor and a reducer and a plurality of active anti-skid wheels (7151), and the active anti-skid wheels (7151) are arranged on both sides of the bottom of the walkable inflatable device (7).

8. According to claim 1, a walkable cylinder annular seam welding internal protection inflatable equipment is characterized by: The inflation device also includes a control system, which is electrically connected to each actuator and is used to control the start and stop of a driving device on each actuator.

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