Method and device for positioning the welding of membrane water wall tubes

Abstract

The application discloses a membrane water-cooled wall pipe welding positioning method and device. The membrane water-cooled wall pipe welding positioning method mainly comprises the following steps: the first height information and the second height information obtained through feedback of a first range finder and a second range finder are used to assist in adjusting the pose of a magnetic attraction vehicle body, the third height information obtained through feedback of a third range finder is used to assist in adjusting the horizontal position and the height position of an arc-shaped track, until the height error between the center of the arc-shaped track and the center of the water-cooled wall pipe is eliminated, the center of the arc-shaped track is coincided with the center of the water-cooled wall pipe, at this time, the arc-shaped track reaches the correct welding position, the welding assembly is moved along the arc-shaped track, the moving path of the welding assembly can be adapted to the curved surface structure of the water-cooled wall pipe, and finally, a qualified arc-shaped weld can be obtained on the curved surface of the water-cooled wall pipe.

Description

Technical Field

[0001] This invention relates to the field of membrane water-cooled wall welding technology, and in particular to a method and apparatus for welding and positioning membrane water-cooled wall tubes. Background Technology

[0002] Large boilers are one of the key pieces of equipment in thermal power generation. They are devices that generate electricity by burning pulverized coal internally, heating water in the surrounding water-cooled wall pipes to produce steam, which drives a turbine. The water-cooled walls are the main evaporative heating surfaces of the boiler in a thermal power plant. Arranged around the combustion chamber, their main functions include: absorbing radiant heat from the combustion chamber to heat the water and produce saturated steam; cooling the furnace outlet temperature below the ash softening temperature to prevent coking and heat absorption within the furnace, which is highly beneficial for reducing slagging inside and outside the furnace; separating the combustion chamber from the furnace walls, protecting the furnace walls, and preventing damage from coking and slagging; simplifying the furnace wall structure and reducing its weight, mainly due to the high heat transfer efficiency of water-cooled walls, thus reducing boiler steel consumption and cost, and facilitating installation.

[0003] Regular inspection and maintenance of water-cooled walls are of great significance for the safe operation of thermal power plants and for maintaining national and corporate economic development.

[0004] Common boiler membrane water-cooled wall tube failures can be broadly categorized into wear and tear, cracking, etc. Currently, water-cooled wall tube maintenance primarily relies on manual welding. First, the boiler to be inspected is shut down. Then, welders approach the water-cooled wall tubes using scaffolding or steel pipe "ladders" and perform manual welding repairs. However, traditional manual inspection methods have the following drawbacks: high risk of accidents; water-cooled wall tubes are typically tens of meters high, requiring scaffolding for climbing, posing significant safety hazards; high inspection and maintenance costs; boiler shutdown during maintenance, delaying production and impacting company profits; manual welding is affected by the welder's skill level, working condition, and the on-site working environment, making it difficult to guarantee welding efficiency and quality, thus extending the power plant maintenance period.

[0005] Compared to manual welding, automated welding can largely overcome the aforementioned problems, such as lower dependence on welder skills, stable welding parameters, excellent welding quality, and high welding efficiency. However, due to the special curved structure of the water-cooled wall tube and the fact that the weld to be welded is an arc-shaped weld, how to accurately locate the position of the weld to be welded on the water-cooled wall tube and make the moving path of the welding assembly adapt to the curved structure of the water-cooled wall tube is a difficult problem that has not yet been solved in the existing technology. Summary of the Invention

[0006] The technical problem to be solved by the present invention is to provide a welding positioning method and device for membrane water-cooled wall tubes, which can accurately locate the position of the weld to be welded on the water-cooled wall tube, so that the moving path of the welding components can be adapted to the curved structure of the water-cooled wall tube.

[0007] The technical solution adopted by this invention to solve its technical problem is: to provide a method for welding and positioning membrane water-cooled wall tubes, which includes the following steps:

[0008] S1. The magnetic trolley body is attached to the membrane water-cooled wall; the first rangefinder, the second rangefinder, and the arc-shaped track are respectively connected to the magnetic trolley body and move with the magnetic trolley body; the line connecting the transmitting ends of the first rangefinder and the second rangefinder is parallel to the forward direction of the magnetic trolley body; the third rangefinder is connected to the center of the arc-shaped track.

[0009] S2. Obtain first height information h1 and second height information h2 through the first rangefinder and the second rangefinder respectively. The first height information h1 corresponds to the distance measured by the first rangefinder on the surface of the water-cooled wall tube of the membrane water-cooled wall, and the second height information h2 corresponds to the distance measured by the second rangefinder on the surface of the water-cooled wall tube.

[0010] S3. Determine whether the first altitude information h1 is equal to the second altitude information h2:

[0011] If so, proceed to step S4;

[0012] If not, control the magnetic vehicle body to move and adjust its posture until the first height information h1 is equal to the second height information h2;

[0013] S4. Obtain third height information h3 through the third distance measuring instrument, the third height information h3 corresponding to the distance measured by the third distance measuring instrument on the water-cooled wall tube;

[0014] S5. With the height position of the third rangefinder unchanged, determine whether the third height information h3 has reached its minimum value:

[0015] If so, proceed to step S6;

[0016] If not, adjust the horizontal position of the arc track until the third height information h3 reaches its minimum value;

[0017] S6. Determine whether the third height information h3 is equal to R1-R2-h4, where R1 is the maximum arc radius of the arc track, R2 is the radius of the water-cooled wall tube, and h4 is the maximum distance between the outermost surface of the arc track center and the third distance measuring instrument.

[0018] If so, then it is determined that the center of the largest arc of the arc track, C1, coincides with the center of the water-cooled wall tube, and the welding positioning is successful;

[0019] If not, adjust the height position of the arc track until the third height information h3 equals R1-R2-h4.

[0020] Preferably, the first rangefinder is closer to the rear of the magnetic vehicle body than the second rangefinder; in step S3, controlling the magnetic vehicle body to move and adjust its posture until the first height information h1 equals the second height information h2 includes:

[0021] Continue to determine the difference between the first height information h1 and the second height information h2. If the first height information h1 > the second height information h2, control the magnetic trolley to rotate to the left in its forward direction; if the first height information h1 < the second height information h2, control the magnetic trolley to rotate to the right in its forward direction until the first height information h1 equals the second height information h2.

[0022] Preferably, in step S5, adjusting the horizontal position of the arc-shaped track until the third height information h3 reaches its minimum value includes:

[0023] S51. Control the arc-shaped track to move to the left or right along the forward direction of the magnetic vehicle body for the first time, and record the change of the third height information h3 during the first movement.

[0024] S52. Determine whether the third height information h3 gradually increases or gradually decreases;

[0025] If it is determined that the third height information h3 gradually increases, the arc track is controlled to move in the opposite direction, the minimum value of the third height information h3 during the reverse movement is recorded, and the arc track is moved to the horizontal position corresponding to the minimum value of the third height information h3.

[0026] If it is determined that the third height information h3 is gradually decreasing, the arc track is controlled to continue moving forward, the minimum value of the third height information h3 during the forward movement is recorded, and the arc track is moved to the horizontal position corresponding to the minimum value of the third height information h3.

[0027] And / or, in step S6, adjusting the height position of the arc-shaped track until the third height information h3 equals R1-R2-h4 includes:

[0028] S61. Control the arc-shaped track to move for the first time along the direction perpendicular to the fins of the membrane water-cooled wall, and record the change of the preset value Q during the first movement. The preset value Q = h3 - (R1 - R2 - h4).

[0029] S62. Determine whether the preset value Q gradually increases or gradually decreases;

[0030] If it is determined that the preset value Q gradually increases, the arc track is controlled to move in the opposite direction, the minimum value of the preset value Q is recorded during the reverse movement, and the arc track is moved to the height position corresponding to the minimum value of the preset value Q.

[0031] If it is determined that the preset value Q is gradually decreasing, the arc-shaped track is controlled to continue moving forward, the minimum value of the preset value Q is recorded during the forward movement, and the arc-shaped track is moved to the height position corresponding to the minimum value of the preset value Q.

[0032] The present invention also provides a membrane water-cooled wall tube welding positioning device, which includes a magnetic trolley body, a posture feedback unit, a three-dimensional spatial position adjustment unit, an arc track, and a third rangefinder for acquiring third height information h3;

[0033] The pose feedback unit and the three-dimensional spatial position adjustment unit are respectively disposed on the magnetic trolley body and move with the magnetic trolley body; the pose feedback unit includes a first rangefinder for acquiring first height information h1 and a second rangefinder for acquiring first height information h2.

[0034] The arc-shaped track is set on the three-dimensional spatial position adjustment unit and can move with the three-dimensional spatial position adjustment unit in two mutually perpendicular X, Y and Z directions, wherein the X direction is consistent with the forward and backward movement direction of the magnetic traction vehicle body;

[0035] The third rangefinder is connected to the center of the arc-shaped track.

[0036] Preferably, the pose feedback unit further includes a linear motor module, a connector, and a camera;

[0037] The linear motor module is mounted on the magnetic trolley body and moves with the magnetic trolley body. The connector is connected to the linear motor module and can move back and forth along the length direction of the linear motor module. The first rangefinder, the second rangefinder and the first camera are respectively connected to the connector.

[0038] The linear motor module's length direction is perpendicular to the magnetic trolley's forward and backward movement direction, and the line connecting the transmitters of the first and second rangefinders is parallel to the magnetic trolley's forward and backward movement direction.

[0039] Preferably, the arc-shaped track includes an arc-shaped base, an arc-shaped rack and an arc-shaped groove disposed on the arc-shaped base; the membrane water-cooled wall tube welding positioning device further includes a first rotary drive unit;

[0040] The first rotary drive unit includes a roller, a first driven gear, a second driven gear, a first driving gear, a first motor, and a first transmission shaft; the roller rolls into the arc-shaped groove, the first driven gear meshes with the arc-shaped rack, the first driven gear and the second driven gear are connected by the first transmission shaft, the second driven gear meshes with the first driving gear, and the output shaft of the first motor is connected by the first driving gear.

[0041] The central axes of the first driving gear and the second driven gear are perpendicular.

[0042] Preferably, the three-dimensional spatial position adjustment unit includes an X-axis adjustment component, a Y-axis adjustment component, and a Z-axis adjustment component;

[0043] The X-axis adjustment component is connected to the magnetic traction vehicle body and moves with the magnetic traction vehicle body; the Y-axis adjustment component is connected to the X-axis adjustment component and can move in the X direction; the Z-axis adjustment component is connected to the Y-axis adjustment component and can move in both the X and Y directions; the arc-shaped track is connected to the Z-axis adjustment component and can move in the X, Y, and Z directions.

[0044] Alternatively, the Y-axis adjustment component is connected to the magnetic vehicle body and moves with the magnetic vehicle body; the X-axis adjustment component is connected to the Y-axis adjustment component and can move in the Y direction; the Z-axis adjustment component is connected to the X-axis adjustment component and can move in both the X and Y directions; the arc-shaped track is connected to the Z-axis adjustment component and can move in the X, Y, and Z directions.

[0045] Preferably, the X-axis adjustment assembly includes a second motor, a second driving gear, a third driven gear, a first lead screw, and a first transmission component; the output end of the second motor is connected to the second driving gear, the third driven gear meshes with the second driving gear, the first lead screw is connected to the third driven gear, the first transmission component is connected to the first lead screw, and the Y-axis adjustment assembly or the Z-axis adjustment assembly is connected to the first transmission component and moves with the first transmission component;

[0046] Wherein, the length direction of the first lead screw is consistent with the X direction.

[0047] Preferably, the Y-axis adjustment assembly includes a third motor, a third driving gear, a fourth driven gear, a second lead screw, and a second transmission component; the output end of the third motor is drivenly connected to the third driving gear, the fourth driven gear meshes with the third driving gear, the second lead screw is drivenly connected to the fourth driven gear, the second transmission component is drivenly connected to the second lead screw, and the X-axis adjustment assembly or the Z-axis adjustment assembly is connected to the second transmission component and moves with the second transmission component; wherein, the length direction of the second lead screw is consistent with the Y-axis.

[0048] Preferably, the Z-axis adjustment assembly includes a fourth motor, a fourth driving gear, a fifth driven gear, a third lead screw, and a third transmission component; the output end of the fourth motor is drivenly connected to the fourth driving gear, the fifth driven gear meshes with the fourth driving gear, the third lead screw is drivenly connected to the fifth driven gear, the third transmission component is drivenly connected to the third lead screw, and the X-axis adjustment assembly or the Y-axis adjustment assembly is connected to the third transmission component and moves with the third transmission component;

[0049] The length direction of the third lead screw is consistent with the Z direction.

[0050] Implementing this invention has at least the following beneficial effects: the first and second height information fed back by the first and second rangefinders assist in adjusting the position and posture of the magnetic trolley body, and the third height information fed back by the third rangefinder assists in adjusting the horizontal and vertical positions of the arc track until the height error between the center of the arc track and the center of the water-cooled wall tube is eliminated, so that the center of the arc track coincides with the center of the water-cooled wall tube. At this time, the arc track reaches the correct welding position, and the welding component moves along the arc track, so that the movement path of the welding component can be adapted to the curved surface structure of the water-cooled wall tube, and finally a qualified arc weld can be obtained on the curved surface of the water-cooled wall tube. Attached Figure Description

[0051] To more clearly illustrate the technical solution of the present invention, the present invention will be further described below in conjunction with the accompanying drawings and embodiments. In the accompanying drawings:

[0052] Figure 1 This is a schematic diagram of the structure of a membrane water-cooled wall;

[0053] Figure 2 This is a logic block diagram of a membrane water-cooled wall tube welding and positioning method according to an embodiment of the present invention;

[0054] Figure 3 This is a schematic diagram of the irradiation point positions of the first rangefinder and the second rangefinder on the water-cooled wall tube when the first height information h1 and the second height information h2 are not equal in the welding positioning method of the membrane water-cooled wall tube according to an embodiment of the present invention.

[0055] Figure 4 This is a schematic diagram of the irradiation point positions of the first rangefinder and the second rangefinder on the water-cooled wall tube when the first height information h1 and the second height information h2 are equal in a membrane water-cooled wall tube welding positioning method according to an embodiment of the present invention.

[0056] Figure 5 This is a schematic diagram showing the position of the arc-shaped track when the center of the arc-shaped track does not coincide with the center of the water-cooled wall tube in the welding positioning method of the membrane water-cooled wall tube according to an embodiment of the present invention.

[0057] Figure 6 This is a schematic diagram showing the position of the arc-shaped track when it coincides with the center of the water-cooled wall tube in the welding positioning method of the membrane water-cooled wall tube according to an embodiment of the present invention.

[0058] Figure 7 This is a three-dimensional structural schematic diagram of a membrane water-cooled wall tube welding positioning device according to an embodiment of the present invention;

[0059] Figure 8 yes Figure 7 A schematic diagram of the posture feedback unit of the membrane water-cooled wall tube welding positioning device shown.

[0060] Figure 9 yes Figure 7 A partial structural schematic diagram of the membrane water-cooled wall tube welding positioning device shown from another perspective.

[0061] Figure 10 This is a schematic diagram of the irradiation point positions of the first and second rangefinders on the fins when the first height information h1 and the second height information h2 are equal in a membrane water-cooled wall tube welding positioning method according to an embodiment of the present invention.

[0062] Figure 11 A three-dimensional structural schematic diagram of a membrane water-cooled wall tube welding positioning device according to another embodiment of the present invention;

[0063] Figure 12 yes Figure 11 An exploded view of the X-axis adjustment component of the membrane water-cooled wall tube welding positioning device shown.

[0064] Figure 13 yes Figure 12 A schematic diagram of a partial assembly structure of the X-axis adjustment component is shown.

[0065] Figure 14 yes Figure 12 A schematic diagram of a partial assembly structure of the X-axis adjustment component is shown.

[0066] Figure 15 yes Figure 11 A partial structural schematic diagram of the membrane water-cooled wall tube welding positioning device shown.

[0067] Figure 16 yes Figure 15 A schematic diagram of the local decomposition structure;

[0068] Figure 17 yes Figure 16 A schematic diagram of the structure from another perspective. Detailed Implementation

[0069] To provide a clearer understanding of the technical features, objectives, and effects of the present invention, specific embodiments of the present invention will now be described in detail with reference to the accompanying drawings.

[0070] like Figure 1 As shown, the membrane water-cooled wall includes several water-cooled wall tubes 10 arranged at intervals, and adjacent water-cooled wall tubes 10 are connected by fins 11. The directional term "horizontal" in the following text refers to the plane containing the fins 11, that is, the horizontal direction refers to the direction parallel to the fins 11. The term "height" refers to the plane perpendicular to the fins 11, that is, the height direction refers to the direction perpendicular to the fins 11.

[0071] The membrane water-cooled wall tube welding positioning method of the present invention can accurately locate the position of the weld to be welded in the water-cooled wall tube 10. In this position, the center C1 of the maximum arc of the arc track 13 coincides with the center C2 of the water-cooled wall tube 10, so that the welding assembly 14 can move along the arc track 13. This allows the welding movement path of the welding assembly 14 to be adapted to the shape of the arc weld to be welded, and finally a qualified arc weld can be obtained on the curved surface of the water-cooled wall tube 10.

[0072] like Figure 2 As shown, a method for welding and positioning membrane water-cooled wall tubes according to an embodiment of the present invention includes the following steps:

[0073] S1. The magnetic trolley body 12 is attached to the membrane water-cooled wall. The first rangefinder 151, the second rangefinder 152, and the arc-shaped track 13 are connected to the magnetic trolley body 12 and move with it. It should be noted that the connection between the first rangefinder 151, the second rangefinder 152, the arc-shaped track 13, and the magnetic trolley body 12 can be direct or indirect through other intermediate components. The line connecting the transmitting ends of the first rangefinder 151 and the second rangefinder 152 is parallel to the forward direction of the magnetic trolley body 12. The third rangefinder 153 is connected to the center of the arc-shaped track 13.

[0074] Specifically, the welding assembly 14, used to complete the welding operation on the water-cooled wall tubes, can be installed on the arc-shaped track 13 and move along the trajectory of the arc-shaped track 13. That is, the arc-shaped track 13 is used to define the movement path of the welding assembly 14. The first rangefinder 151, the second rangefinder 152, and the third rangefinder 153 are located at three different positions on the magnetic trolley body 12, with the first rangefinder 151 and the second rangefinder 152 serving as the pose feedback unit 15 of the magnetic trolley body 12. The transmitting end of each rangefinder faces the membrane water-cooled wall. The ranging principle of the rangefinder is to determine the straight-line distance between the two by measuring the time required for the radio wave to travel from the magnetic trolley body 12 to the membrane water-cooled wall and back. Therefore, the transmitting end of each rangefinder refers to the end that emits radio waves (light waves, sound waves, or electromagnetic waves). For example, each rangefinder can be a laser rangefinder, an infrared rangefinder, etc. When each rangefinder is a laser rangefinder, its laser transmitting end faces the membrane water-cooled wall. The magnetic trolley body 12 has a permanent magnet wheel 121, which can be magnetically attached to the membrane water-cooled wall. Personnel can remotely control the permanent magnet wheel 121 of the magnetic trolley body 12 to roll forward or backward, and rotate left or right, etc. The specific implementation principle can refer to the principle of remote control cars in the prior art.

[0075] S2. First height information h1 and second height information h2 are obtained by the first rangefinder 151 and the second rangefinder 152, respectively. The first height information h1 corresponds to the distance measured by the first rangefinder 151 on the surface of the water-cooled wall tube 10, and the second height information h2 corresponds to the distance measured by the second rangefinder 152 on the surface of the water-cooled wall tube 10. For example, the emitting end of the laser rangefinder emits a laser to the surface of the water-cooled wall tube 10 and feeds back the corresponding height information.

[0076] S3. Determine whether the first height information h1 is equal to the second height information h2: if yes, proceed to step S4; if no, control the magnetic trolley body 12 to move and adjust its posture until the first height information h1 equals the second height information h2. Specifically, as follows... Figure 3 As shown, since the upper surface of the water-cooled wall tube 10 is arc-shaped, when h1 is not equal to h2, it indicates that the illumination point 151a of the first rangefinder 151 and the illumination point 152a of the second rangefinder 152 are not on the same straight line. This indicates that the orientation of the magnetic trolley 12 is deviated—the forward direction of the magnetic trolley 12 is not parallel to the length direction of the water-cooled wall tube 10. In this case, the orientation of the magnetic trolley 12 needs to be adjusted. For example... Figure 4 As shown, when h1 equals h2, it means that the illumination point 151a of the first rangefinder 151 and the illumination point 152a of the second rangefinder 152 are on the same straight line, indicating that the magnetic trolley body 12 is in the correct position - the forward direction of the magnetic trolley body 12 is parallel to the length direction of the water-cooled wall tube 10.

[0077] Furthermore, such as Figure 3 and Figure 4As shown, the first rangefinder 151 is closer to the rear of the magnetic trolley body 12 than the second rangefinder 152. Step S3, controlling the magnetic trolley body 12 to move and adjust its posture until the first height information h1 equals the second height information h2, may include: continuing to determine the difference between the first height information h1 and the second height information h2; if the first height information h1 > the second height information h2, then controlling the magnetic trolley body 12 to rotate to the left in its forward direction. If the first height information h1 < the second height information h2, then controlling the magnetic trolley body 12 to rotate to the right in its forward direction until the first height information h1 equals the second height information h2.

[0078] S4. Obtain the third height information h3 through the third rangefinder 153. The third height information h3 corresponds to the distance measured by the third rangefinder 153 on the water-cooled wall tube 10. The arc track 13 is closer to the front of the magnetic trolley body 12 than the first rangefinder 151 and the second rangefinder 152. Therefore, the third rangefinder 153 is also closer to the front of the magnetic trolley body 12 than the first rangefinder 151 and the second rangefinder 152.

[0079] S5. With the height position of the third rangefinder 153 unchanged, determine whether the third height information h3 has reached its minimum value: if yes, proceed to step S6; if no, adjust the horizontal position of the arc track 13 until the third height information h3 reaches its minimum value. The unchanged height position of the third rangefinder 153 means that the height of the third rangefinder 153 relative to the membrane water-cooled wall tube remains unchanged. For example, the height position of the third rangefinder 153 can be the height of the third rangefinder 153 relative to the fins 11 of the membrane water-cooled wall tube.

[0080] like Figure 5 As shown, since the third rangefinder 153 is connected to the center of the arc track 13, when h3 reaches its minimum value, it indicates that the illumination point 153a of the third rangefinder 153 is exactly at the highest point of the water-cooled wall tube 10, and the line connecting the center point of the arc track 13 and the center C2 of the water-cooled wall tube 10 is exactly perpendicular to the fin 11, indicating that the arc track 13 has reached the correct horizontal position. Conversely, if h3 does not reach its minimum value, it indicates that the arc track 13 has not reached the correct horizontal position, and the horizontal position of the arc track 13 needs to be adjusted.

[0081] Furthermore, if h3 does not reach its minimum value, adjusting the horizontal position of the arc track 13 until the third height information h3 reaches its minimum value may include:

[0082] S51. Control the arc track 13 to move to the left or right along the direction of travel of the magnetic traction vehicle 12 for the first time, and record the change of the third height information h3 during the first movement.

[0083] S52. Determine whether the third height information h3 is gradually increasing or gradually decreasing.

[0084] If the third height information h3 is determined to be gradually increasing, it indicates that the direction of movement is incorrect. In this case, the arc track 13 is controlled to move in the opposite direction. The minimum value of the third height information h3 during the reverse movement is recorded, and the arc track 13 is moved to the horizontal position corresponding to the minimum value of the third height information h3.

[0085] If the third height information h3 is determined to be gradually decreasing, it indicates that the direction of movement is correct. Then, control the arc track 13 to continue moving forward, record the minimum value of the third height information h3 during the forward movement, and move the arc track 13 to the horizontal position corresponding to the minimum value of the third height information h3.

[0086] Specifically, for example, first control the arc-shaped track 13 to move to the left along the forward direction of the magnetic trolley body 12. If it is determined that the third height information h3 is gradually increasing, it means that the direction of movement is wrong. Then control the arc-shaped track 13 to move to the right in the opposite direction. At this time, the third height information h3 will gradually decrease. When the third height information h3 decreases to the minimum value, the arc-shaped track 13 continues to move to the right in the opposite direction. The third height information h3 will start to increase. At this time, record the minimum value of the third height information h3. Then move the arc-shaped track 13 to the left to the horizontal position corresponding to the minimum value of the third height information h3, and the correct horizontal position can be reached.

[0087] like Figure 5 As shown, when the arc track 13 reaches the correct horizontal position, there may still be a height error Δh between the center C1 of the maximum arc of the arc track 13 and the center C2 of the water-cooled wall tube 10. At this time, it is necessary to continue to execute step S6 to determine whether Δh exists. If Δh exists, it is necessary to eliminate Δh.

[0088] S6. Determine if the third altitude information h3 is equal to R1-R2-h4 (i.e., R1=h3+R2+h4). Figure 6As shown, R1 is the maximum radius of the arc of the curved track 13, which is also the radius of the outermost surface of the curved track 13. The outermost surface refers to the surface furthest from the water-cooled wall tube 10; R2 is the radius of the water-cooled wall tube 10; h4 is the maximum distance between the outermost surface (the surface furthest from the water-cooled wall tube 10) at the center of the arc of the track 13 and the third rangefinder 153, which is also the distance between the outermost surface at the center of the arc of the track 13 and the transmitting end face (e.g., the laser-emitting end face) of the third rangefinder 153. R1, R2, and h4 are all measurable known values. If yes, the welding positioning is successful, meaning R1 = h3 + R2 + h4. This indicates that the center C1 of the largest arc of the arc track 13 coincides with the center C2 of the water-cooled wall tube 10. At this point, the arc track 13 has reached the correct welding position. As long as the welding component 14 moves along the arc track 13, its welding trajectory will be consistent with the circumferential trajectory of the water-cooled wall tube 10, thus enabling a qualified arc weld to be formed on the upper surface of the water-cooled wall tube 10. If not, adjust the height of the arc track 13 until the third height information h3 = R1 - R2 - h4 is reached.

[0089] Furthermore, if h3 is not equal to R1-R2-h4, adjusting the height position of the arc track 13 until the third height information h3 equals R1-R2-h4 can include:

[0090] S61. Control the arc-shaped track 13 to move for the first time along the direction perpendicular to the fins 11 of the membrane water-cooled wall, and simultaneously record the change of the preset value Q during the first movement. The preset value Q = h3 - (R1 - R2 - h4) = h3 - R1 + R2 + h4. If h3 = R1 - R2 - h4, then h3 - (R1 - R2 - h4) = preset value Q = 0. It should be noted that the direction perpendicular to the fins 11 of the membrane water-cooled wall includes the direction of the fins 11 close to the membrane water-cooled wall and the direction of the fins 11 away from the membrane water-cooled wall.

[0091] S62. Determine whether the preset value Q is gradually increasing or gradually decreasing.

[0092] If the preset value Q is determined to be gradually increasing, the arc track 13 is controlled to move in the opposite direction, moving the arc track 13 to the height position corresponding to the preset value Q = 0.

[0093] If the preset value Q is determined to be gradually decreasing, the arc track 13 is controlled to continue moving in the positive direction, moving the arc track 13 to the height position corresponding to the preset value Q = 0.

[0094] Specifically, please refer to Figure 6For example, first, control the arc-shaped track 13 to move downwards along the direction close to the fins 11 of the membrane water-cooled wall. If the preset value Q gradually increases, it indicates that the direction of movement is incorrect. Then, control the arc-shaped track 13 to move upwards in the opposite direction. At this time, the preset value Q will gradually decrease. When the preset value Q = 0, the arc-shaped track 13 stops moving and reaches the correct height position. At this time, the preset value Q = h3 - (R1 - R2 - h4) = h3 - R1 + R2 + h4 = 0, that is, h3 + R2 + h4 = R1. This is equivalent to the maximum arc center C1 of the arc-shaped track 13 coinciding with the center C2 of the water-cooled wall tube 10. At this time, the arc-shaped track 13 has reached the correct welding position.

[0095] In summary, the membrane water-cooled wall tube welding positioning method of the present invention uses the first height information h1 and the second height information h2 fed back by the first rangefinder 151 and the second rangefinder 152 to assist in adjusting the position of the magnetic trolley body 12, and uses the third height information h3 fed back by the third rangefinder 153 to assist in adjusting the horizontal and vertical positions of the arc track 13 until the height error between the maximum arc center C1 of the arc track 13 and the center C2 of the water-cooled wall tube 10 is eliminated, so that the maximum arc center C1 of the arc track 13 coincides with the center C2 of the water-cooled wall tube 10. At this time, the arc track 13 reaches the correct welding position, and the welding component 14 moves along the arc track 13, so that the movement path of the welding component 14 can be adapted to the curved surface structure of the water-cooled wall tube, and finally a qualified arc weld can be obtained on the curved surface of the water-cooled wall tube 10.

[0096] The membrane water-cooled wall tube welding positioning method of the present invention can be implemented by a computer program, which is suitable for loading by a processor to execute the steps of the above-described membrane water-cooled wall tube welding positioning method.

[0097] like Figure 7 As shown, the present invention also provides a membrane water-cooled wall tube welding positioning device, which can be used to implement the above-mentioned membrane water-cooled wall tube welding positioning method. Figure 7 The membrane water-cooled wall tube welding positioning device shown in an embodiment of the present invention includes a magnetic trolley body 12, a posture feedback unit 15, a three-dimensional spatial position adjustment unit, an arc track 13, and a third rangefinder 153.

[0098] The pose feedback unit 15 and the three-dimensional spatial position adjustment unit are respectively mounted on the magnetic trolley body 12 and move with the magnetic trolley body 12. The pose feedback unit 15 includes a first rangefinder 151 for acquiring first height information h1 and a second rangefinder 152 for acquiring first height information h2. The first rangefinder 151 is closer to the front of the magnetic trolley body 12 than the second rangefinder 152.

[0099] The arc-shaped track 13 is mounted on the three-dimensional spatial position adjustment unit and can move in the X, Y, and Z directions, which are mutually perpendicular. The X direction aligns with the forward and backward movement of the magnetic trolley 12 and also with the length of the water-cooled wall tube 10. The Y direction aligns with the left and right sides of the magnetic trolley 12. The Z direction is perpendicular to the plane containing the fins 11 of the water-cooled wall, corresponding to the height direction. Moving the arc-shaped track 13 along the Y direction adjusts its horizontal position until the third height information h3 reaches its minimum value. Moving the arc-shaped track 13 along the Z direction eliminates the height difference Δh between the maximum arc center C1 of the arc-shaped track 13 and the center C2 of the water-cooled wall tube 10, until the maximum arc center C1 of the arc-shaped track 13 coincides with the center C2 of the water-cooled wall tube 10. Moving the arc-shaped track 13 along the X direction allows it to move along the length of the water-cooled wall tube 10, reaching any position along its length. When the welding assembly 14 moves along the trajectory of the arc track 13, the position of the arc track 13 in the length direction of the water-cooled wall tube 10 is also equivalent to the position of the welding assembly 14 in the length direction of the water-cooled wall tube 10.

[0100] The third rangefinder 153 is connected to the center of the arc track 13 to obtain the third height information h3. The maximum arc center C1 of the arc track 13 refers to the center of the arc trajectory on the outermost surface of the arc track 13 (the surface furthest from the water-cooled wall tube 10).

[0101] Furthermore, such as Figure 8 As shown, in this embodiment, the pose feedback unit 15 further includes a linear motor module 154, a connector 155, and a camera 156. The connector 155 is T-shaped. The linear motor module 154 is mounted on the magnetic trolley body 12 and moves with the magnetic trolley body 12. The connector 155 is connected to the linear motor module 154 and can move back and forth along the length direction of the linear motor module 154. The length direction of the linear motor module 154 is perpendicular to the forward direction of the magnetic trolley body 12, and the line connecting the transmitting ends of the first rangefinder 151 and the second rangefinder 152 is parallel to the forward and backward movement direction of the magnetic trolley body 12. That is, the length direction of the linear motor module 154 is consistent with the Y direction, and the line connecting the transmitting ends of the first rangefinder 151 and the second rangefinder 152 is consistent with the X direction. The first rangefinder 151, the second rangefinder 152, and the first camera 156 are respectively connected to the connector 155. The first rangefinder 151, the second rangefinder 152, and the camera 156 can move back and forth along the length of the linear motor module 154 with the connector 155, thereby adjusting the position of the first rangefinder 151 and the second rangefinder 152 in the Y direction.

[0102] like Figure 9In the illustrated embodiment, the magnetic trolley body 12 has a positioning groove 120 at its bottom, and the linear motor module 154 can be fitted into the positioning groove 120 to be mounted on the magnetic trolley body 12. A wide-angle camera 123 is mounted at the front end of the bottom of the magnetic trolley body 12 for observing the position of the welding gun head of the welding assembly 14.

[0103] like Figure 10 As shown, when the first rangefinder 151 and the second rangefinder 152 respectively illuminate the fin 11, the first altitude information h1 is equal to the second altitude information h2. At this time, it is necessary to use the camera 156 (see...) Figure 8 The feedback image information is used to observe whether the illumination points 151a and 152a of the first rangefinder 151 and the second rangefinder 152 are located on the fin 11 or on the water-cooled wall tube 10. If the illumination points 151a and 152a of the first rangefinder 151 and the second rangefinder 152 are both located on the fin 11, then the position of the first rangefinder 151 and the second rangefinder 152 in the Y direction needs to be adjusted by the linear motor module 154 so that the illumination points of the first rangefinder 151 and the second rangefinder 152 illuminate the water-cooled wall tube 10. Furthermore, the length of the linear motor module 154 is greater than the width of the fin 11, which ensures that the first rangefinder 151 and the second rangefinder 152 can reach the water-cooled wall tube 10 from any position on the fin 11. Specifically, the linear motor module 154 includes a linear track, and the connector 155 is connected to the linear track and can move along the linear track. The length of the linear track is greater than the width of the fin 11.

[0104] like Figure 7 In the illustrated embodiment, the three-dimensional spatial position adjustment unit includes an X-axis adjustment component 4, a Y-axis adjustment component 5, and a Z-axis adjustment component 6. The X-axis adjustment component 4 is connected to the magnetic trolley body 12 and moves with it. The Y-axis adjustment component 5 is connected to the X-axis adjustment component 4 and can move in the X direction. That is, the Y-axis adjustment component 5 can move with the magnetic trolley body 12 via the X-axis adjustment component 4, and can move in the X direction by connecting to the X-axis adjustment component 4. The Z-axis adjustment component 6 is connected to the Y-axis adjustment component 5 and can move in both the X and Y directions. That is, the Z-axis adjustment component 6 can move with the magnetic trolley body 12 via the X-axis adjustment component 4, and can move in both the X and Y directions by connecting to the Y-axis adjustment component 5. The arc-shaped track 13 is connected to the Z-axis adjustment component 6 and can move in the X, Y, and Z directions. That is, by sequentially connecting the magnetic traction vehicle body 12, the X-axis adjustment component 4, the Y-axis adjustment component 5, the Z-axis adjustment component 6, and the arc-shaped track 13, the arc-shaped track 13 is given multiple degrees of freedom in multiple directions by the magnetic traction vehicle body 12, the X-axis adjustment component 4, the Y-axis adjustment component 5, and the Z-axis adjustment component 6, so that the arc-shaped track 13 can adjust its position in the X, Y, and Z directions respectively by the X-axis adjustment component 4, the Y-axis adjustment component 5, and the Z-axis adjustment component 6.

[0105] Or, such as Figure 11 In another embodiment shown, with Figure 7 The difference in the illustrated embodiment is that the positions of the Y-axis adjustment component 5 and the X-axis adjustment component 4 are reversed. Specifically, the Y-axis adjustment component 5 is connected to the magnetic traction vehicle body 12 and moves with the magnetic traction vehicle body 12. The X-axis adjustment component 4 is connected to the Y-axis adjustment component 5 and can move in the Y direction. The Z-axis adjustment component 6 is connected to the X-axis adjustment component 4 and can move in both the X and Y directions. The arc-shaped track 13 is connected to the Z-axis adjustment component 6 and can move in the X, Y, and Z directions.

[0106] like Figure 7 In the illustrated embodiment, a portion of the X-axis adjustment component 4 is disposed inside the magnetic traction vehicle body 12; as shown Figure 11 In another embodiment shown, the X-axis adjustment component 4, the Y-axis adjustment component 5, and the Z-axis adjustment component 6 are all disposed on the outside of the magnetic traction vehicle body 12, which can greatly reduce the volume of the magnetic traction vehicle body 12.

[0107] like Figure 12 and Figure 13 As shown, in this embodiment, the X-axis adjustment component 4 includes a second motor 41, a second driving gear 42, a third driven gear 43, a first lead screw 44, and a first transmission member 45. The output end of the second motor 41 is connected to the second driving gear 42, the third driven gear 43 meshes with the second driving gear 42, the first lead screw 44 is connected to the third driven gear 43, the first transmission member 45 is connected to the first lead screw 44, and the Y-axis adjustment component 5 or the Z-axis adjustment component 6 is connected to the first transmission member 45 and moves with the first transmission member 45. The torque output by the second motor 41 is sequentially transmitted to the second driving gear 42, the third driven gear 43, the first lead screw 44, and the first transmission component 45. The first transmission component 45 can move back and forth along the length direction of the first lead screw 44, where the length direction of the first lead screw 44 is consistent with the X direction. Therefore, the first transmission component 45 can move back and forth along the X direction. The Y-axis adjustment component 5 or the Z-axis adjustment component 6 connected to the first transmission component 45 moves back and forth in the X direction accordingly, ultimately driving the arc-shaped track 13 to move back and forth in the X direction, so that the arc-shaped track 13 can move along the length direction of the water-cooled wall tube 10, thereby reaching any position in the length direction of the water-cooled wall tube 10.

[0108] Furthermore, such as Figure 13 As shown, the first transmission component 45 and the first lead screw 44 are connected by a lead screw nut seat 46. The lead screw nut seat 46 is sleeved on the outer periphery of the first lead screw 44 and has two threaded holes. The bottom surface of the first transmission component 45 has two countersunk through holes, and the two countersunk through holes on the first transmission component 45 are respectively connected to the two threaded holes on the lead screw nut seat 46 by bolts. Figure 12 As shown, in this embodiment, a surrounding plate assembly is provided around the X-axis adjustment component 4, which encloses the X-axis adjustment component 4. The surrounding plate assembly includes a base plate 61, four side plates 62, and a cover 63, with each side plate 62 connected between the base plate 61 and the cover 63. One of the side plates 62, perpendicular to the length direction of the first lead screw 44, has an extension hole 620, through which the first transmission member 45 partially passes and connects to the Y-axis adjustment component 5 or the Z-axis adjustment component 6.

[0109] like Figure 14 As shown, in this embodiment, a limit contact 452 is connected to the surface of the first transmission member 45. Two limit switches 453 are respectively provided one in front of the other on the inner surface of one side plate 62 of the enclosure assembly along the length direction of the first lead screw 44. The limit contact 452 is located between the two limit switches 453 and is used to limit the travel of the first transmission member 45. Figure 12 In the illustrated embodiment, a square opening is provided on the edge of the base plate 61, and a mounting plate 66 extending in the Z direction is installed on the side edge of the square opening. A wide-angle camera 123 is fixed on the mounting plate 66. Figure 9 The wide-angle camera 123 in another embodiment shown has the same function. The lens of the wide-angle camera 123 is facing the welding assembly 14. The image captured by the wide-angle camera 123 can be transmitted back through signal transmission. The position of the welding assembly 14 in the length direction of the water-cooled wall tube 10 can be observed in real time. The position of the welding assembly 14 in the length direction of the water-cooled wall tube 10 can be adjusted by the X-axis adjustment assembly 4.

[0110] like Figure 7 or Figure 11 In the illustrated embodiment, similar to the X-axis adjustment assembly 4, the Y-axis adjustment assembly 5 may include a third motor 51, a third driving gear (not shown), a fourth driven gear (not shown), a second lead screw (not shown), and a second transmission member (not shown). The output end of the third motor 51 is connected to the third driving gear, the fourth driven gear meshes with the third driving gear, the second lead screw is connected to the fourth driven gear, and the second transmission member is connected to the second lead screw. The X-axis adjustment assembly 4 or the Z-axis adjustment assembly 6 is connected to the second transmission member and moves with it. The difference between the Y-axis adjustment assembly 5 and the X-axis adjustment assembly 4 is that the length direction of the second lead screw is consistent with the Y-axis. Other specific structures of the Y-axis adjustment assembly 5 can be referenced to those of the X-axis adjustment assembly 4, and will not be described in detail here.

[0111] like Figure 7In the illustrated embodiment, similar to the X-axis adjustment assembly 4, the Z-axis adjustment assembly 6 may include a fourth motor (not shown), a fourth driving gear (not shown), a fifth driven gear (not shown), a third lead screw (not shown), and a third transmission member (not shown). The output end of the fourth motor is connected to the fourth driving gear, the fifth driven gear meshes with the fourth driving gear, the third lead screw is connected to the fifth driven gear, and the third transmission member is connected to the third lead screw. The X-axis adjustment assembly 4 or the Y-axis adjustment assembly 5 is connected to the third transmission member and moves with it. The difference between the Z-axis adjustment assembly 6 and the X-axis adjustment assembly 4 is that the length direction of the third lead screw is consistent with the Z-axis. Other specific structures of the Z-axis adjustment assembly 5 can be referenced to those of the X-axis adjustment assembly 4 and will not be described further here.

[0112] Similarly, the specific structure of the linear motor module 154 used to adjust the position of the first rangefinder 151 and the second rangefinder 152 in the Y direction can also be set with reference to the X-direction adjustment component 4, the Y-direction adjustment component 5, or the Z-direction adjustment component 6.

[0113] like Figure 15 and Figure 16 As shown, in this embodiment, the arc-shaped track 13 includes an arc-shaped base 130, an arc-shaped rack 131 disposed on the arc-shaped base 130, and an arc-shaped groove 132. The arc-shaped rack 131 refers to the rack having an arc-shaped extension trajectory, and the teeth on the rack are straight teeth. The membrane water-cooled wall tube welding positioning device in this embodiment also includes a first rotary drive unit. The first rotary drive unit is used to drive the welding assembly 14 to move along the arc-shaped groove 132, thereby forming an arc-shaped weld on the water-cooled wall tube 10.

[0114] like Figure 15 and Figure 16 As shown, in some embodiments, the first rotary drive unit includes a housing 28, a roller 20, a first driven gear 21, a second driven gear 22, a first driving gear 23, a first motor 24, and a first transmission shaft 25. The first driven gear 21, the second driven gear 22, the first driving gear 23, the first motor 24, and the first transmission shaft 25 are all housed within the housing 28. The second rotary drive unit 38 is connected to the housing 28.

[0115] Roller 20 rolls into arc-shaped groove 132. First driven gear 21 meshes with arc-shaped rack 131. First driven gear 21 and second driven gear 22 are connected via first transmission shaft 25. Second driven gear 22 meshes with first driving gear 23. Output shaft of first motor 24 is connected to first driving gear 23. The central axes of first driving gear 23 and second driven gear 22 are perpendicular, and they form a pair of bevel gears that change the direction of transmission. When the first motor 24 is running, the torque is transmitted sequentially to the first driving gear 23, the second driven gear 22, the first transmission shaft 25, and the first driven gear 21, causing the first driven gear 21 to move relative to the arc-shaped rack 131. At the same time, the roller 20 moves along the arc-shaped groove 132, thereby causing the housing 28 to move in a circular motion along the arc-shaped groove 132. This, in turn, causes the second rotary drive unit 38 and the welding assembly 14 to move in a circular motion along the arc-shaped groove 132, ultimately enabling the welding assembly 14 to complete the weld along the circumferential direction of the water-cooled wall tube 10.

[0116] like Figure 16 In the illustrated embodiment, the housing 28 includes a motor housing 282, a gearbox 281, a first substrate 283, and a second substrate 284. The motor housing 282 is connected to the gearbox 281, and the first motor 24 is housed within the motor housing 282. The first substrate 283 and the second substrate 284 are respectively connected to two opposing surfaces of the gearbox 281. The first substrate 283 is closer to the arc-shaped track 13 than the second substrate 284. The second driven gear 22, the first driving gear 23, and the first drive shaft 25 are housed within the gearbox 281. One end of the first driven gear 21 is fixedly connected to the first substrate 283. The gearbox 281 has several through holes, and the first motor 24 passes through one of the through holes in the gearbox 281 and meshes with the second driven gear 22. The first drive shaft 25 is disposed between the first substrate 283 and the second substrate 284, and its two ends are fixed to the first substrate 283 and the second substrate 284 respectively by bearings.

[0117] Furthermore, such as Figure 16 In the illustrated embodiment, a limit switch 27 is provided on each of the opposite sides of the gearbox 281, and a limiting contact plate 26 is provided at each of the two edges (ends) along the arcuate trajectory of the arcuate base 130. The limit switches 27 are communicatively or electrically connected to the first motor 24. When the contact rod of the limit switch 27 is pressed down by the limiting contact plates 26 at both ends of the arcuate base 130, the first motor 24 stops running, thereby limiting the rotational stroke of the welding assembly 14.

[0118] Specifically, such as Figure 11In the illustrated embodiment, the membrane water-cooled wall tube welding positioning device further includes a second rotary drive unit 38. The welding assembly 14 is connected to the second rotary drive unit 38, which is connected to and moves with the first rotary drive unit, thereby enabling the welding assembly 14 to move along the trajectory of the arc-shaped groove 132 under the drive of the first rotary drive unit. The welding assembly 14 includes a welding torch 141 and a camera device 142 connected to each other. The second rotary drive unit 38 is used to drive the welding torch 141 to rotate along its own central axis, thereby causing the camera device 142 to rotate from one side of the welding torch 141 to the other side, avoiding physical positional interference between the camera device 142 and the water-cooled wall tube 10.

[0119] like Figure 17 As shown, the membrane water-cooled wall tube welding positioning device of the above embodiment also includes an arc pressure adjustment unit. The arc pressure of the welding assembly 14 during operation is related to the height of the welding assembly 14 relative to the water-cooled wall tube 10. Similar to the first rotary drive unit, this arc pressure adjustment unit includes a sixth driven gear 31, a seventh driven gear 32, a fifth driving gear 33, a fifth motor 34, and a second transmission shaft 35. The central axes of the seventh driven gear 32 and the fifth driving gear 33 are perpendicular, and the seventh driven gear 32 and the fifth driving gear 33 are a pair of bevel gears that change the transmission direction. Unlike the first rotary drive unit, this arc pressure adjustment unit also includes a linear rack 30 extending along the Z direction. The welding assembly 14 is indirectly and fixedly connected to the linear rack 30 through the second rotary drive unit 38, and moves with the linear rack 30. The linear rack 30 meshes with the sixth driven gear 31. The sixth driven gear 31 and the seventh driven gear 32 are connected by a second transmission shaft 35. The fifth driving gear 33 meshes with the seventh driven gear 32, and the output shaft of the fifth motor 34 is connected to the fifth driving gear 33. When the fifth motor 34 operates, the torque is transmitted sequentially to the fifth driving gear 33, the seventh driven gear 32, the second transmission shaft 35, and the sixth driven gear 31, causing the straight rack to move relative to the sixth driven gear 31 along the Z direction. This drives the welding assembly 14 to move along the Z direction, thereby adjusting the height of the welding assembly 14 relative to the water-cooled wall tube 10 and changing the arc voltage during the operation of the welding assembly 14. Of course, the aforementioned Z-axis adjustment component 6 can also indirectly adjust the height of the welding assembly 14 relative to the water-cooled wall tube 10 by adjusting the height position of the arc track 13. The addition of the arc voltage adjustment unit can further provide a height fine-tuning function for the welding assembly 14.

[0120] Furthermore, such as Figure 17In the embodiment shown, the second rotary drive unit 38 is also provided with two limit contact plates 36, one up and one down, along the length direction of the rack. The gearbox 281 is also provided with two limit switches 37. When the limit switch 37 touches the limit contact plate 36, the fifth motor 34 stops running, thereby achieving the purpose of limiting the up and down movement of the welding assembly 14.

[0121] like Figure 16 and Figure 17 As can be seen from the embodiment shown, the fifth motor 34 and the first motor 24 are enclosed in a motor housing 282, which is connected and fixed to a gearbox 281. The gear sets, transmission shafts, etc. of the first rotary drive unit and the arc voltage adjustment unit are housed in the same gearbox 281, resulting in a relatively compact structure.

[0122] It is understood that the above embodiments only illustrate preferred embodiments of the present invention, and their descriptions are relatively specific and detailed, but they should not be construed as limiting the scope of the present invention. It should be noted that those skilled in the art can freely combine the above technical features without departing from the concept of the present invention, and can also make several modifications and improvements, all of which fall within the protection scope of the present invention. Therefore, all equivalent transformations and modifications made with respect to the scope of the claims of the present invention should fall within the scope of the claims of the present invention.

Claims

1. A method of positioning a membrane water wall tube weld, comprising: Includes the following steps: S1. The magnetic trolley body (12) is attached to the membrane water-cooled wall; the first rangefinder (151), the second rangefinder (152), and the arc track (13) are respectively connected to the magnetic trolley body (12) and move with the magnetic trolley body (12); the line connecting the transmitting ends of the first rangefinder (151) and the second rangefinder (152) is parallel to the forward direction of the magnetic trolley body (12); the third rangefinder (153) is connected to the center of the arc track (13); S2. First height information h1 and second height information h2 are obtained by the first distance measuring instrument (151) and the second distance measuring instrument (152), respectively. The first height information h1 corresponds to the distance measured by the first distance measuring instrument (151) on the surface of the water-cooled wall tube (10) of the membrane water-cooled wall, and the second height information h2 corresponds to the distance measured by the second distance measuring instrument (152) on the surface of the water-cooled wall tube (10). S3. Determine whether the first altitude information h1 is equal to the second altitude information h2: If so, proceed to step S4; If not, control the magnetic vehicle body (12) to move and adjust its posture until the first height information h1 is equal to the second height information h2; S4. Obtain third height information h3 through the third distance measuring instrument (153), the third height information h3 corresponding to the distance measured by the third distance measuring instrument (153) on the water-cooled wall tube (10); S5. With the height position of the third rangefinder (153) remaining unchanged, determine whether the third height information h3 has reached its minimum value: If so, proceed to step S6; If not, adjust the horizontal position of the arc track (13) until the third height information h3 reaches the minimum value; S6. Determine whether the third height information h3 is equal to R1-R2-h4, where R1 is the maximum arc radius of the arc track (13), R2 is the radius of the water-cooled wall tube (10), and h4 is the maximum distance between the outermost surface of the arc track (13) at the trajectory center and the third distance measuring instrument (153). If so, then it is determined that the center C1 of the largest arc of the arc track (13) coincides with the center C2 of the water-cooled wall tube (10), and the welding positioning is successful; If not, adjust the height position of the arc track (13) until the third height information h3 equals R1-R2-h4.

2. The method for welding and positioning membrane water-cooled wall tubes according to claim 1, characterized in that, The first rangefinder (151) is closer to the rear of the magnetic vehicle body (12) than the second rangefinder (152); in step S3, controlling the magnetic vehicle body (12) to move and adjust its posture until the first height information h1 is equal to the second height information h2 includes: Continue to determine the size between the first height information h1 and the second height information h2. If the first height information h1 > the second height information h2, control the magnetic trolley body (12) to rotate to the left in its forward direction; if the first height information h1 < the second height information h2, control the magnetic trolley body (12) to rotate to the right in its forward direction until the first height information h1 equals the second height information h2.

3. The method for welding and positioning membrane water-cooled wall tubes according to claim 1, characterized in that, In step S5, adjusting the horizontal position of the arc-shaped track (13) until the third height information h3 reaches its minimum value includes: S51. Control the arc track (13) to move to the left or right along the forward direction of the magnetic vehicle body (12) for the first time, and record the change of the third height information h3 during the first movement. S52. Determine whether the third height information h3 gradually increases or gradually decreases; If it is determined that the third height information h3 gradually increases, the arc track (13) is controlled to move in the opposite direction, the minimum value of the third height information h3 during the reverse movement is recorded, and the arc track (13) is moved to the horizontal position corresponding to the minimum value of the third height information h3. If it is determined that the third height information h3 gradually decreases, the arc track (13) is controlled to continue moving forward, the minimum value of the third height information h3 during the forward movement is recorded, and the arc track (13) is moved to the horizontal position corresponding to the minimum value of the third height information h3. And / or, in step S6, adjusting the height position of the arc track (13) until the third height information h3 equals R1-R2-h4 includes: S61. Control the arc-shaped track (13) to move for the first time along the direction perpendicular to the fins (11) of the membrane water-cooled wall, and record the change of the preset value Q during the first movement. The preset value Q = h3 - (R1 - R2 - h4). S62. Determine whether the preset value Q gradually increases or gradually decreases; If it is determined that the preset value Q gradually increases, the arc track (13) is controlled to move in the opposite direction, the minimum value of the preset value Q is recorded during the reverse movement, and the arc track (13) is moved to the height position corresponding to the minimum value of the preset value Q. If it is determined that the preset value Q is gradually decreasing, the arc track (13) is controlled to continue moving forward, the minimum value of the preset value Q is recorded during the forward movement, and the arc track (13) is moved to the height position corresponding to the minimum value of the preset value Q.

4. A membrane-type water-cooled wall tube welding positioning device, characterized in that, It includes a magnetic traction vehicle body (12), a posture feedback unit (15), a three-dimensional spatial position adjustment unit, an arc track (13), and a third rangefinder (153) for acquiring third height information h3; The pose feedback unit (15) and the three-dimensional spatial position adjustment unit are respectively disposed on the magnetic trolley body (12) and move with the magnetic trolley body (12); the pose feedback unit (15) includes a first rangefinder (151) for acquiring first height information h1 and a second rangefinder (152) for acquiring first height information h2. The arc-shaped track (13) is set on the three-dimensional spatial position adjustment unit and can move in the X, Y and Z directions that are perpendicular to each other, with the three-dimensional spatial position adjustment unit, wherein the X direction is consistent with the forward and backward movement direction of the magnetic traction vehicle body (12). The third rangefinder (153) is connected to the center of the arc track (13).

5. The membrane water-cooled wall tube welding positioning device according to claim 4, characterized in that, The pose feedback unit (15) also includes a linear motor module (154), a connector (155), and a camera (156); The linear motor module (154) is mounted on the magnetic trolley body (12) and moves with the magnetic trolley body (12). The connector (155) is connected to the linear motor module (154) and can move back and forth along the length direction of the linear motor module (154). The first rangefinder (151), the second rangefinder (152) and the first camera (156) are respectively connected to the connector (155). The linear motor module (154) is perpendicular to the forward and backward movement direction of the magnetic trolley body (12), and the line connecting the transmitters of the first rangefinder (151) and the second rangefinder (152) is parallel to the forward and backward movement direction of the magnetic trolley body (12).

6. The membrane water-cooled wall tube welding positioning device according to claim 4, characterized in that, The arc-shaped track (13) includes an arc-shaped base (130), an arc-shaped rack (131) and an arc-shaped groove (132) disposed on the arc-shaped base (130); the membrane water-cooled wall tube welding positioning device also includes a first rotary drive unit; The first rotary drive unit includes a roller (20), a first driven gear (21), a second driven gear (22), a first driving gear (23), a first motor (24), and a first transmission shaft (25); the roller (20) rolls with the arc-shaped groove (132), the first driven gear (21) meshes with the arc-shaped rack (131), the first driven gear (21) and the second driven gear (22) are connected by transmission through the first transmission shaft (25), the second driven gear (22) meshes with the first driving gear (23), and the output shaft of the first motor (24) is connected by transmission to the first driving gear (23); The central axes of the first driving gear (23) and the second driven gear (22) are perpendicular.

7. The membrane water-cooled wall tube welding positioning device according to claim 4, characterized in that, The three-dimensional spatial position adjustment unit includes an X-axis adjustment component (4), a Y-axis adjustment component (5), and a Z-axis adjustment component (6); The X-axis adjustment component (4) is connected to the magnetic traction vehicle body (12) and moves with the magnetic traction vehicle body (12); the Y-axis adjustment component (5) is connected to the X-axis adjustment component (4) and can move in the X direction; the Z-axis adjustment component (6) is connected to the Y-axis adjustment component (5) and can move in both the X and Y directions; the arc-shaped track (13) is connected to the Z-axis adjustment component (6) and can move in the X, Y, and Z directions; Alternatively, the Y-axis adjustment component (5) is connected to the magnetic traction vehicle body (12) and moves with the magnetic traction vehicle body (12); the X-axis adjustment component (4) is connected to the Y-axis adjustment component (5) and can move in the Y direction; the Z-axis adjustment component (6) is connected to the X-axis adjustment component (4) and can move in both the X and Y directions; the arc-shaped track (13) is connected to the Z-axis adjustment component (6) and can move in the X, Y, and Z directions.

8. The membrane water-cooled wall tube welding positioning device according to claim 7, characterized in that, The X-axis adjustment component (4) includes a second motor (41), a second driving gear (42), a third driven gear (43), a first lead screw (44), and a first transmission component (45); the output end of the second motor (41) is connected to the second driving gear (42), the third driven gear (43) meshes with the second driving gear (42), the first lead screw (44) is connected to the third driven gear (43), the first transmission component (45) is connected to the first lead screw (44), and the Y-axis adjustment component (5) or the Z-axis adjustment component (6) is connected to the first transmission component (45) and moves with the first transmission component (45); The length direction of the first lead screw (44) is consistent with the X direction.

9. The membrane water-cooled wall tube welding positioning device according to claim 7, characterized in that, The Y-axis adjustment component (5) includes a third motor (51), a third driving gear, a fourth driven gear, a second lead screw, and a second transmission component; the output end of the third motor (51) is connected to the third driving gear, the fourth driven gear meshes with the third driving gear, the second lead screw is connected to the fourth driven gear, the second transmission component is connected to the second lead screw, the X-axis adjustment component (4) or the Z-axis adjustment component (6) is connected to the second transmission component and moves with the second transmission component; wherein, the length direction of the second lead screw is consistent with the Y-axis.

10. The membrane water-cooled wall tube welding positioning device according to claim 7, characterized in that, The Z-axis adjustment component (6) includes a fourth motor, a fourth driving gear, a fifth driven gear, a third lead screw, and a third transmission component; the output end of the fourth motor is connected to the fourth driving gear, the fifth driven gear meshes with the fourth driving gear, the third lead screw is connected to the fifth driven gear, the third transmission component is connected to the third lead screw, and the X-axis adjustment component (4) or the Y-axis adjustment component (5) is connected to the third transmission component and moves with the third transmission component; The length direction of the third lead screw is consistent with the Z direction.

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