An internal cavity support device for a semi-enclosed, slender, thin-walled cylindrical section with coordinated internal and external operation.

Abstract

This invention relates to the field of semi-enclosed slender thin-walled cylindrical section operation technology, specifically to an internal cavity support device for coordinated internal and external operation of a semi-enclosed slender thin-walled cylindrical section. The device includes a column, a crossbeam, a first internal cavity robot, a second internal cavity robot, a synchronous motion connecting device, and a positioning fixture. The column is installed on the ground. The first end of the crossbeam is rotatably mounted on the column in a horizontal direction. The first and second internal cavity robots are mounted on the crossbeam at arbitrary angles and are used to penetrate the internal cavity of the slender cylindrical section to achieve internal support. The first internal cavity robot is connected to the second internal cavity robot via the synchronous motion connecting device. The positioning fixture is used for positioning and installing the slender cylindrical section. The purpose of this internal cavity support device for coordinated internal and external operation of a semi-enclosed slender thin-walled cylindrical section is to solve the problems of low quality and low work efficiency in the external surface operation of semi-enclosed slender thin-walled cylindrical sections.

Description

Technical Field

[0001] This invention relates to the field of semi-enclosed slender thin-walled cylinder segment operation technology, specifically to an internal cavity support device for coordinated internal and external operation of a semi-enclosed slender thin-walled cylinder segment. Background Technology

[0002] Semi-enclosed, slender, thin-walled cylindrical structures are widely used in aircraft compartments, pipelines, and chemical containers. When working on the outer surface of these sections, the thin walls and poor rigidity make them prone to significant deformation under stress, making it difficult to control work quality. The forces generated during external work on the cylindrical sections are inevitable and difficult to adjust; only by providing internal support to counteract the adverse effects of these external forces can work quality be reliably guaranteed. Without effective internal support, poor work quality may even damage the product. Therefore, effective support must typically be provided within the cylindrical section's interior to meet work quality requirements.

[0003] When working on the outer surface of a cylindrical section, if the section is continuous and neither end is closed, a beam can penetrate the section. An internal support device can be installed on the beam to support the working area within the cavity, counteracting external forces and improving the stress state of the working area, thus enhancing work quality. However, because one end of a semi-enclosed cylindrical section is closed, a beam cannot penetrate the section, necessitating a cantilever beam. Due to the small diameter and large length-to-diameter ratio of the slender, thin-walled cylindrical section, and the slender structure of the cantilever beam, significant vertical deflection is likely. Furthermore, the cantilever beam itself has low stiffness; when the internal support device is in operation, it may deform due to the internal support force, causing changes in the positioning reference of the internal support device and reducing its effectiveness. Therefore, effective measures are needed to improve the support effect of the internal support device, enabling it to work in conjunction with external equipment to improve the quality of work outside the semi-enclosed, slender, thin-walled cylindrical section structure.

[0004] Therefore, the inventors have provided an internal cavity support device for a semi-enclosed, slender, thin-walled cylindrical section that allows for coordinated operation of the inside and outside. Summary of the Invention

[0005] (1) Technical problems to be solved

[0006] This invention provides an internal cavity support device for coordinated internal and external operations of a semi-enclosed, slender, thin-walled cylindrical section, solving the technical problems of low quality and low work efficiency in the external surface operations of the semi-enclosed, slender, thin-walled cylindrical section.

[0007] (2) Technical solution

[0008] This invention provides an internal cavity support device for a semi-enclosed, slender, thin-walled cylindrical section, comprising a column, a crossbeam, a first internal cavity robot, a second internal cavity robot, a synchronous motion connection device, and a positioning fixture. The column is installed on the ground, and the first end of the crossbeam is rotatably mounted on the column in a horizontal direction. The first and second internal cavity robots are mounted on the crossbeam at arbitrary angles and are used to penetrate the internal cavity of the slender cylindrical section to achieve internal support. The first internal cavity robot is connected to the second internal cavity robot through the synchronous motion connection device, and the positioning fixture is used to position and install the slender cylindrical section.

[0009] Furthermore, the column includes a column housing, a turntable, and a turntable drive system. The turntable is installed on the side of the column housing, and the turntable drive system is installed inside the column housing. The output end of the turntable drive system is equipped with a gear and fits with a gear ring installed on the outer circle of the turntable to drive the turntable to rotate.

[0010] Further, the crossbeam includes a crossbeam housing, a first motion guide rail, a first motion guide rail stop, a rack, a second motion guide rail, a second motion guide rail stop, a robot motion displacement grating ruler, and a robot motion displacement grating ruler pressure block; wherein, the first motion guide rail is installed on a first side of the crossbeam housing, and the first motion guide rail stop is installed at both ends of the first motion guide rail; the rack is installed on the surface of the crossbeam housing on the same side as the first motion guide rail, and the rack is used to drive the first internal cavity robot to move; the second motion guide rail is installed on a second side of the crossbeam housing, and the second motion guide rail stop is installed at both ends of the second motion guide rail; the robot motion displacement grating ruler is installed on the upper surface of the crossbeam housing, and the robot motion displacement grating ruler pressure block is installed on the upper surface of the crossbeam housing and is used to press down the two ends of the robot motion displacement grating ruler.

[0011] Furthermore, the crossbeam also includes a motion position proximity switch, a support electric cylinder, a crossbeam length gauge mounting bracket, and a crossbeam length gauge; wherein, the motion position proximity switch is used to limit the synchronous motion connection device; the support electric cylinder is installed on the end face of the crossbeam housing that extends into the slender cylindrical section, and the support electric cylinder is used to support the slender cylindrical section, and the reaction force of the support force applied to the slender cylindrical section acts on the crossbeam housing to cause the crossbeam housing to deform upward; the crossbeam length gauge mounting bracket is arranged in the support electric cylinder and connected to the crossbeam housing; the crossbeam length gauge is installed in the crossbeam length gauge mounting bracket, and the axis of the crossbeam length gauge is parallel to the axis of the support electric cylinder and both are located in a vertical plane parallel to the end face of the crossbeam housing.

[0012] Furthermore, the crossbeam also includes a cable chain bracket, a cable chain groove, a cable chain, a cable chain start-end connector, and a cable chain end connector; multiple cable chain brackets are installed on the bottom surface of the crossbeam housing and arranged sequentially to support the cable chain groove; the cables of the first inner cavity robot, the second inner cavity robot, and the synchronous motion connecting device are installed in the inner cavity of the cable chain; the cable chain groove is installed on the side of the crossbeam housing; the cable chain is installed in the cable chain groove; the two ends of the cable chain start-end connector are respectively connected to the cable chain and the first inner cavity robot; the two ends of the cable chain end connector are respectively connected to the cable chain and the cable chain groove; the cable chain curls or unfolds in the cable chain groove as the first inner cavity robot moves.

[0013] Furthermore, the first internal cavity robot includes a first slide, a first slide slider, a first support unit support, and a first support unit; the first slide slider is mounted on the first slide, two first slide sliders are coaxially mounted, and the two sets of first slide sliders respectively form a sliding pair with the first motion guide rail and are used to drive the first slide to move along the first motion guide rail; the first support unit support is mounted on the first slide, and the first support unit is mounted on the first support unit support and is used to achieve radial support along the slender cylindrical section.

[0014] Furthermore, the first internal cavity robot also includes a motion motor, a motion reducer, a motion reducer mounting base, a motion reducer mounting base adjustment device, and a motion drive gear; wherein, the output end of the motion motor is connected to the input end of the motion reducer, the output shaft of the motion motor is inserted into the input shaft hole of the motion reducer, and the key on the output shaft of the motion motor engages with the keyway in the input shaft hole of the motion reducer; the motion reducer is mounted on the motion reducer mounting base, and the motion reducer mounting base is mounted on the first slide; both ends of the motion reducer mounting base are equipped with the motion reducer mounting base adjustment device, the two motion reducer mounting base adjustment devices are mounted on the first slide and are used to adjust the position of the motion reducer mounting base, and the motion drive gear is mounted on the output shaft of the motion reducer and meshes with the rack.

[0015] Furthermore, the second internal cavity robot includes a second slide, a second slide slider, a second support unit support, and a second support unit; the second slide slider is connected to the second slide, two second slide sliders are coaxially mounted, and the two sets of second slide sliders respectively form a sliding pair with the second motion guide rail and are used to drive the second slide slider to move along the second motion guide rail; the second support unit support is mounted on the second slide, and the second support unit is mounted on the second support unit support and is used to achieve radial support along the slender cylindrical section.

[0016] Further, the second support unit includes a support module, a support base, a support roller assembly, a support unit length gauge mounting bracket, and a support unit length gauge; wherein, the support module is mounted on the second support unit support, and the support base is mounted on the movable slider of the support module; when the movable slider of the support module moves, it drives the support base to extend and retract along the length direction; the support roller assembly is mounted on the end of the support base; the support unit length gauge mounting bracket is mounted on the side of the support base and close to the roller of the support roller assembly; the support unit length gauge is mounted in the hole of the support unit length gauge mounting bracket.

[0017] Furthermore, the synchronous motion connection device includes a synchronous motion connection plate, a motion proximity switch sensing block, a motion grating ruler reading head mounting base, and a motion grating ruler reading head; wherein, the synchronous motion connection plate is respectively connected to the first inner cavity robot and the second inner cavity robot, so that the first inner cavity robot and the second inner cavity robot move to the same position on the crossbeam at the same speed; the motion proximity switch sensing block is fixed at both ends of the synchronous motion connection plate, and the motion grating ruler reading head mounting base is connected to the synchronous motion connection plate; the motion grating ruler reading head is mounted on the motion grating ruler reading head mounting base and forms a displacement measurement feedback system with the motion displacement grating ruler, and obtains the positions of the first inner cavity robot and the second inner cavity robot by measuring the position of the synchronous motion connection plate.

[0018] (3) Beneficial effects

[0019] In summary, this invention extends a crossbeam into the semi-enclosed, slender cylindrical section. Once the crossbeam moves to the work area, the first and second internal cavity robots support the inner cavity of the section, working in conjunction with external equipment. By balancing the forces inside and outside the section, the stress conditions in the work area are improved, thereby enhancing work quality. This internal cavity support device effectively compensates for the slender, thin-walled cylindrical section's tendency to deform under stress, improving work accuracy and efficiency. Attached Figure Description

[0020] To more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings used in the embodiments of the present invention will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0021] Figure 1 This is a first-view structural schematic diagram of an internal cavity support device for a semi-enclosed, slender, thin-walled cylindrical section that operates in a coordinated manner inside and outside, according to an embodiment of the present invention.

[0022] Figure 2 This is a second-view structural schematic diagram of an internal cavity support device for a semi-enclosed, slender, thin-walled cylindrical section that operates in a coordinated manner inside and outside, according to an embodiment of the present invention.

[0023] Figure 3 This is a third-view structural schematic diagram of an internal cavity support device for a semi-enclosed, slender, thin-walled cylindrical section that operates in a coordinated manner inside and outside, according to an embodiment of the present invention.

[0024] Figure 4 This is a schematic diagram of the column structure in an internal cavity support device for a semi-enclosed, slender, thin-walled cylindrical section that allows for coordinated internal and external operations, provided in an embodiment of the present invention.

[0025] Figure 5 This is a first-view structural diagram of the crossbeam in an internal cavity support device for a semi-enclosed, slender, thin-walled cylindrical section that allows for coordinated internal and external operations, provided in an embodiment of the present invention.

[0026] Figure 6 This is a second-view structural diagram of the crossbeam in an internal cavity support device for a semi-enclosed, slender, thin-walled cylindrical section that allows for coordinated internal and external operations, provided in an embodiment of the present invention.

[0027] Figure 7 This is a schematic diagram of the installation of a crossbeam and a positioning fixture in an internal cavity support device for coordinated internal and external operations of a semi-enclosed slender thin-walled cylindrical section provided in an embodiment of the present invention.

[0028] Figure 8 This is a schematic diagram of the forces acting on the crossbeam extending into the interior of a semi-enclosed, slender, thin-walled cylindrical section in an internal cavity support device for coordinated internal and external operations, provided in an embodiment of the present invention.

[0029] Figure 9 This is a schematic diagram of the force relationship between the crossbeam and the positioning fixture in an internal cavity support device for coordinated internal and external operation of a semi-enclosed slender thin-walled cylindrical section provided in an embodiment of the present invention.

[0030] Figure 10 This is a schematic diagram of the first working state of the electric cylinder supporting the inner wall of the slender cylindrical section in an internal cavity support device for coordinated internal and external operation of a semi-enclosed slender thin-walled cylindrical section provided in an embodiment of the present invention.

[0031] Figure 11 This is a schematic diagram of the second working state of the electric cylinder supporting the inner wall of the slender cylindrical section in an internal cavity support device for coordinated internal and external operation of a semi-enclosed slender thin-walled cylindrical section provided in an embodiment of the present invention.

[0032] Figure 12 This is a schematic diagram of the third working state of the electric cylinder supporting the inner wall of the slender cylindrical section in an internal cavity support device for coordinated internal and external operation of a semi-enclosed slender thin-walled cylindrical section provided in an embodiment of the present invention.

[0033] Figure 13 This is a schematic diagram of the fourth working state of the electric cylinder supporting the inner wall of the slender cylindrical section in an internal cavity support device for coordinated internal and external operation of a semi-enclosed slender thin-walled cylindrical section provided in an embodiment of the present invention.

[0034] Figure 14 This is a first-view structural diagram of the first internal cavity robot in an internal cavity support device for coordinated internal and external operation of a semi-enclosed slender thin-walled cylindrical section provided in an embodiment of the present invention;

[0035] Figure 15 This is a second-view structural diagram of the first internal cavity robot in an internal cavity support device for coordinated internal and external operation of a semi-enclosed slender thin-walled cylindrical section provided in an embodiment of the present invention;

[0036] Figure 16 This is a first-view structural diagram of the second internal cavity robot in an internal cavity support device for coordinated internal and external operation of a semi-enclosed slender thin-walled cylindrical section provided in an embodiment of the present invention;

[0037] Figure 17 This is a second-view structural diagram of the second internal cavity robot in an internal cavity support device for coordinated internal and external operation of a semi-enclosed slender thin-walled cylindrical section provided in an embodiment of the present invention;

[0038] Figure 18 This is a schematic diagram of the structure of the second support unit in an internal cavity support device for coordinated internal and external operation of a semi-enclosed slender thin-walled cylindrical section provided in an embodiment of the present invention;

[0039] Figure 19 This is a schematic diagram of the first working state of the second support unit in an internal cavity support device for coordinated internal and external operation of a semi-enclosed slender thin-walled cylindrical section provided in an embodiment of the present invention;

[0040] Figure 20 This is a schematic diagram of the second working state of the second support unit in an internal cavity support device for coordinated internal and external operation of a semi-enclosed slender thin-walled cylindrical section provided in an embodiment of the present invention;

[0041] Figure 21 This is a schematic diagram of the third working state of the second support unit in an internal cavity support device for coordinated internal and external operation of a semi-enclosed slender thin-walled cylindrical section provided in an embodiment of the present invention.

[0042] Figure 22 This is a schematic diagram of the synchronous motion connecting device in an internal cavity support device for a semi-enclosed, slender, thin-walled cylindrical section that operates both internally and externally, according to an embodiment of the present invention.

[0043] In the picture:

[0044] 1-Column; 11-Column housing; 12-Turntable; 13-Turntable drive system; 2-Crossbeam; 21-Crossbeam housing; 22-First motion guide rail; 23-First motion guide rail stop; 24-Rack; 25-Second motion guide rail; 26-Second motion guide rail stop; 27-Robot motion displacement grating ruler; 28-Robot motion displacement grating ruler pressure block; 29-Motion position proximity switch; 210-Support electric cylinder; 211-Crossbeam length gauge mounting bracket; 212-Crossbeam length gauge; 213-Drag chain bracket; 214-Drag chain groove; 215-Drag chain; 216-Drag chain starting end connector; 217-Drag chain ending end connector; 3-First internal cavity robot; 31-First slide; 32-First slide slider; 33-First support unit support; 34-The 1. Support unit; 35. Motion motor; 36. Motion reducer; 37. Motion reducer mounting base; 38. Motion reducer mounting base adjustment device; 39. Motion drive gear; 4. Second inner cavity robot; 41. Second slide table; 42. Second slide table slider; 43. Second support unit support; 44. Second support unit; 441. Support module; 442. Support base; 443. Support roller assembly; 444. Support unit length gauge mounting base; 445. Support unit length gauge; 5. Synchronous motion connection device; 51. Synchronous motion connection plate; 52. Motion proximity switch sensing block; 53. Motion grating ruler reading head mounting base; 54. Motion grating ruler reading head; 55. Motion grating ruler reading head chip removal device; 6. Slender cylindrical section; 7. Positioning fixture. Detailed Implementation

[0045] The embodiments of the present invention will be further described in detail below with reference to the accompanying drawings and examples. The following detailed description of the embodiments and the accompanying drawings are used to illustrate the principles of the present invention by way of example, but should not be used to limit the scope of the present invention. That is, the present invention is not limited to the described embodiments, and any modifications, substitutions and improvements to the parts, components and connection methods are covered without departing from the spirit of the present invention.

[0046] It should be noted that, unless otherwise specified, the embodiments and features described in this application can be combined with each other. This application will now be described in detail with reference to the accompanying drawings and embodiments.

[0047] In the description of this invention, it should be understood that the terms "upper," "lower," "front," "rear," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, or the orientation or positional relationship commonly used when the product of this invention is in use, or the orientation or positional relationship commonly understood by those skilled in the art. They are only used to facilitate the description of this invention and to simplify the description, and are not intended to indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this invention.

[0048] In the description of this invention, it should also be noted that, unless otherwise explicitly specified and limited, the terms "set" and "install" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a direct connection or an indirect connection through an intermediate medium. Those skilled in the art can understand the specific meaning of the above terms in this invention based on the specific circumstances.

[0049] Figure 1 This is a schematic diagram of the internal cavity support device for the coordinated operation of a semi-enclosed, slender, thin-walled cylindrical section provided in an embodiment of the present invention, as shown below. Figure 1-3 As shown, the system includes a column 1, a crossbeam 2, a first internal cavity robot 3, a second internal cavity robot 4, a synchronous motion connecting device 5, and a slender cylindrical section positioning fixture 7. The column 1 is vertically installed on the ground, providing a mounting foundation for the crossbeam. The crossbeam 2 is horizontally installed on a turntable on the side of the column 1. As the turntable rotates, the crossbeam 2 can provide support for the first internal cavity robot 3 and the second internal cavity robot 4 mounted on it at any angle, meeting the operational requirements across the entire circumference. Four evenly distributed support electric cylinders installed at the end of the crossbeam 2 also provide even support on the inner wall of the slender cylindrical section 6, eliminating deformation of the crossbeam 2 caused by gravity and other factors. This provides an all-around working range while eliminating crossbeam 2 deformation, improving the system's operational accuracy. The first internal cavity robot 3 and the second internal cavity robot 4 are respectively installed on both sides of the crossbeam 2. The first internal cavity robot 3 and the second internal cavity robot 4 are connected into a whole by the synchronous motion connecting device 5 to realize the synchronous movement of the first internal cavity robot 3 and the second internal cavity robot 4. The slender cylindrical section 6 is installed on the positioning fixture 7. The crossbeam 2 carries the first internal cavity robot 3, the second internal cavity robot 4 and the synchronous motion connecting device 5 into the interior of the slender cylindrical section 6 to realize the internal support function.

[0050] In the above embodiment, the inner cavity support device extending into the slender cylindrical section 6 is not statically supported at a fixed position, but can move along the entire axial direction of the slender cylindrical section 6, achieving dynamic support and coordinating with the external operating system to achieve coordinated internal and external operations. Furthermore, the connection of the two sets of inner cavity support devices in the slender cylindrical section 6 enables coordinated movement of the inner cavity support devices and simplifies the drive system. The forces are evenly distributed on both sides of the width direction within the slender cylindrical section 6, avoiding excessive force on one side and resulting in large deformation. Therefore, structures with large aspect ratios have poor stiffness in the width direction and are prone to bending under stress. By applying external forces to both sides of the structure, reaction forces are generated on both sides, canceling each other out and improving the stress condition of the structure, thus preventing large deformations. This inner cavity support device avoids the disadvantages of unstable quality and low efficiency associated with manual operations, reducing the potential dangers and product damage risks of manual operations; it also avoids the disadvantages of low cost-effectiveness associated with large gantry cranes, improving the quality and efficiency of coordinated internal and external operations in the semi-enclosed slender thin-walled cylindrical section.

[0051] The implementation process is described in detail below.

[0052] like Figure 4 As shown, the column 1 consists of a column housing 11, a turntable 12, and a turntable drive system 13. The column housing 11 is the main structure of the column 1, welded from steel plates, and has horizontal and vertical stiffening ribs inside for reinforcement. Before welding, the top of the column housing 11 is open; after welding, a cover plate is installed to form a closed structure, enhancing rigidity and strength. The turntable 12 is installed on the side of the column, with its rotation axis horizontal, allowing it to rotate around the horizontal axis. The turntable drive system 13 is installed inside the column housing 11, and a gear is installed at the output end of the turntable drive system 13, which fits with a gear ring installed on the outer circumference of the turntable 12, thereby driving the turntable 12 to rotate.

[0053] like Figure 5 and Figure 6 As shown, the crossbeam 2 is composed of a crossbeam box 21, a first motion guide rail 22, a first motion guide rail block 23, a rack 24, a second motion guide rail 25, a second motion guide rail block 26, a robot motion displacement grating ruler 27, a robot motion displacement grating ruler pressure block 28, a motion position proximity switch 29, a support electric cylinder 210, a crossbeam length gauge mounting bracket 211, a crossbeam length gauge 212, a cable chain bracket 213, a cable chain groove 214, a cable chain 215, a cable chain starting end connector 216, and a cable chain ending end connector 217.

[0054] The crossbeam box 21 is welded from steel plates. To enhance its rigidity and strength, it has internal transverse and longitudinal stiffening ribs. The crossbeam box 21 is the main structure of the cantilever beam. To avoid significant deflection, its cross-sectional shape is rectangular, with the long side perpendicular to the vertical. Since the crossbeam box 21 extends into the slender cylindrical section 6, its cross-section is relatively small. The first motion guide rail 22 is screwed onto a vertical side of the crossbeam box 21. First motion guide rail stops 23 are screwed onto both ends of the first motion guide rail 22 to prevent the first slide block 32, which mates with the first motion guide rail 22, from slipping. A rack 24 is screwed onto the surface of the crossbeam box 21 on the same side as the first motion guide rail 22. The rack 24 meshes with the motion drive gear 39, causing relative movement between the gear and the rack. Since the rack 24 is fixed, the motion drive gear 39 moves, thereby moving the first internal robot 3. The second motion guide rail 25 is screwed onto another vertical side of the crossbeam housing 21. Second motion guide rail blocks 26 are screwed onto both ends of the second motion guide rail 25 to prevent the second slide block 42, which mates with the second motion guide rail 25, from slipping. A robot motion displacement grating ruler 27 is mounted on the upper surface of the crossbeam housing 21. Two robot motion displacement grating ruler pressure blocks 28 are screwed onto the upper surface of the crossbeam housing 21, respectively pressing down on both ends of the robot motion displacement grating ruler 27 to prevent it from curling. The robot motion displacement grating ruler 27 and the motion grating ruler reading head 54 constitute a displacement feedback system, measuring the motion position of the synchronous motion connection device 5 to obtain the motion positions of the first inner cavity robot 3 and the second inner cavity robot 4 on the crossbeam housing 21, thereby determining the motion positions of the first support unit 34 and the second support unit 44 relative to the crossbeam housing 21. The motion position proximity switch 29 is installed at both ends of the upper surface of the crossbeam housing 21 by screws. When the distance between the motion proximity switch sensing block 52 and the motion position proximity switch 29 reaches a specified threshold, the synchronous motion connection device 5 stops moving. The motion position proximity switch 29 and the motion proximity switch sensing block 52 constitute the soft limit of the synchronous motion connection device 5. The support electric cylinder 210 is installed by screws on the end face of the crossbeam housing 21 that extends into the slender cylindrical section 6. The support rod of the support electric cylinder 210 is vertically downward. By supporting the slender cylindrical section 6, the reaction force of the supporting force applied to the slender cylindrical section 6 is applied to the crossbeam housing 21 through the support electric cylinder 210, causing the crossbeam housing 21 to deform upward, partially or completely offsetting the deflection of the crossbeam housing 21 caused by gravity.A beam length gauge mounting bracket 211 is arranged next to the supporting electric cylinder 210 and connected to the end face of the beam housing 21 by screws. A beam length gauge 212 is installed inside the mounting bracket 211. The axis of the beam length gauge 212 is parallel to the axis of the supporting electric cylinder 210, both located in a vertical plane parallel to the end face of the beam housing 21, and arranged adjacent to each other. Therefore, the measurement result of the beam length gauge 212 can characterize the position of the support rod of the supporting electric cylinder 210. The probe of the beam length gauge 212 extends beyond the end face of the support rod of the supporting electric cylinder 210, and is closer to the inner wall of the slender cylindrical section 6. After calibration, the accurate positional relationship between the initial position of the probe of the beam length gauge 212 and the end face of the support rod of the supporting electric cylinder 210 can be determined. When the support rod of the electric cylinder 210 extends, the probe of the beam length gauge 212 first contacts the inner wall of the slender cylindrical section 6, and then the support rod of the electric cylinder 210 contacts the inner wall of the slender cylindrical section 6. Since the initial position of the probe of the beam length gauge 212 and the positional relationship between them are known, the position of the support rod of the electric cylinder 210 can be determined based on the reading of the beam length gauge 212. When the support rod of the electric cylinder 210 advances and the reading of the beam length gauge 212 changes continuously, it indicates that the support rod of the electric cylinder 210 has not yet contacted the inner wall of the slender cylindrical section 6. When the electric cylinder 210 continues to advance and the reading of the beam length gauge 212 stops changing, it indicates that the electric cylinder 210 has just contacted the inner wall of the slender cylindrical section 6. Subsequently, according to process requirements, the support rod of the electric cylinder 210 can continue to advance, pressing the inner wall of the slender cylindrical section 6 with a given pre-clamping amount, generating deformation to counteract the deflection of the crossbeam box 21. Since the four electric cylinders 210 are evenly distributed on the circumference, with one electric cylinder 210 arranged at 90° intervals, the crossbeam 2 mounted on the turntable on the side of the column 1 rotates with the turntable, and the crossbeam 2 presents different angles within the slender cylindrical section 6. The first inner cavity robot 3 and the second inner cavity robot 4 mounted on the crossbeam 2 can operate at any position on the entire circumference, and the four electric cylinders 210 evenly distributed at the end of the crossbeam 2 can always provide uniform support for the crossbeam 2. The cable chain bracket 213 is installed on the bottom surface of the crossbeam box 21 and is arranged in sequence to support the cable chain groove 214. All the cables in the first inner cavity robot 3, the second inner cavity robot 4, and the synchronous motion connection device 5 are installed in the inner cavity of the cable chain 215. The starting end connector 216 of the cable chain 215 is connected to the first inner cavity robot 3, and the ending end connector 217 is connected to one end of the cable chain groove 214. The cable chain 215 curls or unwinds in the cable chain groove 214 as the first inner cavity robot 3 moves, protecting all the cables.

[0055] like Figure 7As shown, after the crossbeam 2 extends into the slender cylindrical section 6, it is supported by the electric support cylinder 210 connected to the end of the crossbeam 2, which provides an upward force on the crossbeam 2 to generate deformation and counteract the downward deflection of the crossbeam 2 due to gravity. Since the slender cylindrical section 6 is a thin-walled structure, it is prone to deformation under stress. Therefore, the electric support cylinder 210 and the positioning fixture 7 are supported in the same area on the inner and outer sides of the slender cylindrical section 6, respectively. This area bears two forces in opposite directions, which can cancel each other out and prevent deformation.

[0056] like Figure 8 As shown, when the crossbeam 2 extends into the slender cylindrical section 6, the end of the crossbeam 2 deflects significantly due to gravity, which is not conducive to collaborative operations.

[0057] like Figure 9 As shown in the figure, the dashed line represents the state of the crossbeam 2 when it is not supported after extending into the slender cylindrical section 6. The supporting electric cylinder 210 connected to the end of the crossbeam 2 supports the inner wall of the slender cylindrical section 6. The positioning fixture 7 is supported in the same area on the outer wall of the slender cylindrical section, indirectly bearing the supporting force of the supporting electric cylinder 210. It also provides an upward force F on the crossbeam 2 through the slender cylindrical section 6, causing the crossbeam 2 to deform vertically upward, offsetting the downward deflection of the crossbeam 2 caused by gravity, keeping the crossbeam 6 in a horizontal state. At the same time, it also ensures that the slender cylindrical section 6 will not deform or even be damaged due to excessive unidirectional force.

[0058] like Figure 10-13 As shown, the process of supporting the inner wall of the slender cylindrical section by the electric cylinder 210 is divided into four stages. The first stage is as follows: Figure 10 As shown, neither the support rod of the electric cylinder 210 mounted on the crossbeam 2 nor the probe of the crossbeam length gauge 212 mounted in the crossbeam length gauge mounting bracket 211 (mounted on the crossbeam 2) is in contact with the inner wall of the slender cylindrical section 6.

[0059] The second stage, as follows Figure 11 As shown, the probe of the beam length gauge 212, which is installed in the beam length gauge mounting bracket 211 (on the beam 2), extends continuously and stops after contacting the inner wall of the slender cylindrical section 6.

[0060] The third stage, as Figure 12 As shown, after the probe of the beam length gauge 212 contacts the inner wall of the slender cylindrical section 6, it measures the distance from the initial position of the probe to the inner wall of the slender cylindrical section 6, and calculates the amount of movement required for the electric cylinder 210 to support the inner wall of the slender cylindrical section 6. At this time, the probe of the beam length gauge 212 remains stationary, and the support rod of the electric cylinder 210 begins to extend, moving into place according to the calculated amount of movement.

[0061] The fourth stage, such as Figure 13As shown, the support rod of the electric cylinder 210 and the probe of the beam length gauge 212 move synchronously. The probe of the beam length gauge 212 measures the movement of the support rod of the electric cylinder 210. When the movement of the support rod of the electric cylinder 210 at this stage is equal to the deflection of the beam 2, it means that the support rod of the electric cylinder 210 has supported the beam 2 to a horizontal state.

[0062] It should be noted that the crossbeam 2 extending into the slender cylindrical section 6 is mounted on a turntable 12 on the side of the column 1. The rotation of the turntable 12 causes the crossbeam 2 to rotate 360°. The support unit mounted on the crossbeam 2 can move axially along the crossbeam. The rotational motion of the crossbeam 2 and the axial movement of the support unit cover the entire inner cavity of the cylindrical section, providing effective support for the operation of the entire outer surface of the slender cylindrical section 6. The crossbeam 2 extending into the slender cylindrical section 6 is relatively long and has a relatively thin structure, inevitably resulting in significant downward deflection at the end. Four electric support cylinders 210 are used at the end to support the inner wall of the slender cylindrical section, applying a supporting force to the inner wall. The inner wall of the slender cylindrical section generates a reaction force on the supporting force of the electric support cylinders 210, which causes the crossbeam 2 to deform vertically upward, thus counteracting the downward deflection of the crossbeam 2. To accurately grasp the support state of the inner wall of the slender cylindrical section, a crossbeam length gauge 212 is used to detect three states: unsupported, in contact, and tightly supported, eliminating the need for a force sensor to measure the force. The beam length gauge 212 is a commonly used displacement sensor that is easy to install, has high measurement accuracy, and truly reflects the relative positional relationship between the inner cavity support device and the inner wall of the slender cylindrical section, thus avoiding misjudgment.

[0063] like Figure 14 and Figure 15 As shown, the first internal cavity robot 3 consists of an internal cavity robot first slide 31, a first slide slider 32, a first support unit support 33, a first support unit 34, a motion motor 35, a motion reducer 36, a motion reducer mounting base 37, a motion reducer mounting base adjustment device 38, and a motion drive gear 39.

[0064] The first slide block 32 is mounted on the first slide 31 with screws. The four first slide blocks 32 are divided into two groups, with two slide blocks 32 in each group coaxially mounted. The two groups of first slide blocks 32 form sliding pairs with the first motion guide rail 22, driving the first slide 31 to move smoothly along the first motion guide rail 22. The first support unit support 33 is mounted on the first slide 31 with screws, and the first support unit 34 is mounted on the first support unit support 33 with screws. The support rod of the first support unit 34 can extend to provide radial support along the slender cylindrical section. The output end of the motion motor 35 is connected to the input end of the motion reducer 36 with screws. The output shaft of the motion motor 35 is inserted into the input shaft hole of the internal robot motion reducer 36. The key on the output shaft of the internal robot motion motor 35 engages with the keyway in the input shaft hole of the motion reducer 36, transmitting the output torque of the motion motor 35 to the motion reducer 36. The motion reducer 36 increases the torque transmitted by the motion motor 35 by reducing its rotational speed. The motion reducer 36 is connected to the motion reducer mounting base 37 by screws, and the motion reducer mounting base 37 is connected to the first slide 31 by screws. The motion drive gear 39 is mounted on the output shaft of the motion reducer 36. The motion motor 35, motion reducer 36, motion reducer mounting base 37, and motion drive gear 39 constitute the drive device of the first slide 31. The motion reducer mounting base 37 directly or indirectly connects the motion motor 35, motion reducer 36, and motion drive gear 39 to the first slide 31. The motion drive gear 39 meshes with the rack 24 in the crossbeam 2. When the motion reducer 36 rotates, it drives the motion drive gear 39 to rotate. When it moves along the fixed rack 24 by rotation, it drives the first slide 31 to move. In order to achieve precise and smooth motion, the relative positional relationship between the motion drive gear 39 and the rack 24 must be precisely controlled. Because the position of the rack 24 is fixed, the position of the motion drive gear 39 needs to be precisely adjusted. Since the motion drive gear 39 is mounted on the output shaft of the motion reducer 36, the problem becomes adjusting the mounting position of the motion reducer 36. A set of motion reducer mounting adjustment devices 38 are arranged at both ends of the motion reducer mounting base 37. The motion reducer mounting adjustment devices 38 are mounted on the first slide 31 by screws. Each motion reducer mounting adjustment device 38 has a through hole and a threaded hole. A screw connects to the end face of the motion reducer mounting base 37 through the through hole. Rotating the screw pulls the motion reducer mounting base 37 towards the motion reducer mounting adjustment device 38. A screw is installed in the threaded hole of the motion reducer mounting adjustment device 38, with the end of the screw shank contacting the end face of the motion reducer mounting base 37. Rotating the screw pushes the motion reducer mounting base 37 away from the motion reducer mounting adjustment device 38.The "pull and push" action of the two screws can adjust the movement of the motion reducer mounting bracket adjustment device 38 in two opposite directions.

[0065] like Figure 16 and Figure 17 As shown, the second internal cavity robot 4 consists of a second slide 41, a second slide slider 42, a second support unit support 43, and a second support unit 44. The second slide slider 42 is connected to the second slide 41 by screws. The four second slide sliders 42 are divided into two groups, with two second slide sliders 42 in each group coaxially mounted. The two groups of second slide sliders 42 respectively form a sliding pair with the second motion guide rail 25, driving the second slide slider 42 to move smoothly along the second motion guide rail 25. The second support unit support 43 is mounted on the second slide 41, and the second support unit 44 is mounted on the second support unit support 43 by screws. The support rod of the second support unit 44 can extend to achieve radial support along the slender cylindrical section.

[0066] like Figure 18As shown, the second support unit 44 consists of a support module 441, a support base 442, a support roller assembly 443, a support unit length gauge mounting bracket 444, and a support unit length gauge 445. The support module 441 is connected to the second support unit bracket 43 by screws. The support base 442 is mounted on the moving slider of the support module 441. When the moving slider of the support module 441 moves, it drives the support base 442 to extend and retract along the length direction. The support roller assembly 443 is mounted at the end of the support base 442. The shape of the rollers in the support roller assembly 443 is the same as the shape of the inner wall of the slender cylindrical section 6 that is pressed. The support roller assembly 443 and the slender cylindrical section 6 have surface contact, which improves the stress condition of the pressed area on the inner wall of the slender cylindrical section 6 and avoids large deformation of the pressed area on the inner wall of the slender cylindrical section 6 due to line contact caused by shape mismatch. The rollers of the support roller assembly 443 can rotate around their own axis. When the inner support roller assembly 443 extends and presses against the inner wall of the slender cylindrical section 6, the rollers of the support roller assembly 443 can roll on the inner wall of the slender cylindrical section 6, allowing them to move in coordination with the working system outside the slender cylindrical section 6 to complete collaborative operations. The support unit length gauge mounting bracket 444 is mounted on the side of the support base 442 by screws, close to the rollers of the support roller assembly 443. The support unit length gauge 445 is installed in the hole of the support unit length gauge mounting bracket 444, and is pressed with screws to fix the positional relationship between the support unit length gauge 445 and the support unit length gauge mounting bracket 444. The centerline of the support unit length gauge 445 is at the same height as the center plane of the rollers of the support roller assembly 443, and they are arranged adjacent to each other. The measurement results of the support unit length gauge 445 can characterize the position of the rollers of the support roller assembly 443. The probe of the support unit length gauge 445 extends beyond the outer contour of the rollers in the support roller assembly 443, getting closer to the inner wall of the slender cylindrical section 6. After calibration, the accurate positional relationship between the initial position of the probe of the support unit length gauge 445 and the outer contour of the rollers in the support roller assembly 443 can be determined. When the support base 442 extends, the support unit length gauge 445 first contacts the inner wall of the slender cylindrical section 6, and then the rollers of the support roller assembly 443 contact the inner wall of the slender cylindrical section 6. Since the positional relationship between the initial position of the probe of the support unit length gauge 445 and the outer contour of the rollers in the support roller assembly 443 is known, the position of the rollers in the support roller assembly 443 can be determined based on the reading of the support unit length gauge 445. When the support roller assembly 443 moves forward and the reading of the support unit length gauge 445 changes continuously, it indicates that the support roller assembly 443 has not yet contacted the inner wall of the slender cylindrical section 6. The moment the support roller assembly 443 continues to advance and the reading of the support unit length gauge 445 stops changing, it indicates that the support roller assembly 443 has just contacted the inner wall of the elongated cylindrical section 6. Thereafter, according to process requirements, the support roller assembly 443 can continue to advance, pressing the inner wall of the elongated cylindrical section 6 with a given pre-clamping amount.

[0067] like Figure 19-21 As shown, the working process of the second support unit 44 is divided into three stages. The first stage is as follows: Figure 19 As shown, the support base 442, carrying the support roller assembly 443 and the support unit length gauge mounting bracket 444, extends towards the inner wall of the elongated cylindrical section 6. Since the support unit length gauge 445 is installed in the support unit length gauge mounting bracket 444, the support unit length gauge 445 also extends towards the inner wall of the elongated cylindrical section 6 together with the support base 442 until the probe of the support unit length gauge 445 contacts the inner wall of the elongated cylindrical section 6.

[0068] The second stage, as follows Figure 20 As shown, since the probe of the support unit length gauge 445 extends beyond the initial position of the support rod of the support roller assembly 443, when the support base 442, carrying the support roller assembly 443 and the support unit length gauge mounting bracket 444, extends towards the inner wall of the elongated cylindrical section 6, the probe of the support unit length gauge 445 first contacts the inner wall of the elongated cylindrical section 6. Based on the positional relationship between the initial position of the support rod of the support roller assembly 443 and the probe of the support unit length gauge 445, the amount of movement required for the support rod of the support roller assembly 443 to support the inner wall of the elongated cylindrical section 6 is calculated.

[0069] The third stage, as Figure 21 As shown, the support base 442, carrying the support roller assembly 443 and the support unit length gauge mounting bracket 444, extends further toward the inner wall of the slender cylindrical section 6 until the support roller assembly 443 contacts the inner wall of the slender cylindrical section 6. It can continue to extend as needed to press against the inner wall of the slender cylindrical section 6. The amount of movement of the support roller assembly 443 pressing against the inner wall of the slender cylindrical section 6 can be determined by the reading of the support unit length gauge 445, thus achieving the expected support effect.

[0070] like Figure 22As shown, the synchronous motion connection device 5 consists of a synchronous motion connection plate 51, a motion proximity switch sensing block 52, a motion grating ruler reading head mounting base 53, a motion grating ruler reading head 54, and a motion grating ruler reading head chip removal device 55. The synchronous motion connection plate 51 connects the first inner cavity robot 3 and the second inner cavity robot 4 via screws, linking the two inner cavity robots into a single unit. This allows the screw-connected first inner cavity robot 3 and the second inner cavity robot 4 to move to the same position on the crossbeam 2 at the same speed. When the first inner cavity robot 3 and the second inner cavity robot 4 respectively press against the inner walls of the slender cylindrical section 6, the forces exerted on the crossbeam 2 by the inner walls of the slender cylindrical section 6 through the first inner cavity robot 3 and the second inner cavity robot 4 can cancel each other out, improving the stress condition of the crossbeam 2. Since the crossbeam 2 extends into the slender cylindrical section 6, the thickness of the crossbeam 2 is very thin, resulting in low stiffness in the thickness direction. Therefore, canceling the forces acting on the crossbeam 2 is crucial for improving its working condition. Two motion proximity switch sensing blocks 52 are fixed to both ends of the synchronous motion connecting plate 51 by screws. Each motion proximity switch sensing block 52 has an elongated hole for adjusting the relative position of the motion proximity switch sensing block 52 and the motion position proximity switch 29, ensuring reliable operation of the proximity switches. When the distance between the motion proximity switch sensing block 52 and the motion position proximity switch 29 reaches a threshold, the synchronous motion connecting plate 51 stops moving, achieving soft-limiting of the first internal cavity robot 3 and the second internal cavity robot 4. A motion grating ruler reading head mounting base 53 is connected to the synchronous motion connecting plate 51 by screws. A motion grating ruler reading head 54 is mounted on the motion grating ruler reading head mounting base 53 by screws. The motion grating ruler reading head 54 and the robot motion displacement grating ruler 27 constitute a displacement measurement feedback system, obtaining the positions of the first internal cavity robot 3 and the second internal cavity robot 4 by measuring the position of the synchronous motion connecting plate 51. To prevent dust, chips, and other debris from accumulating on the surface of the robot motion displacement grating ruler 27, a chip removal device 55 for the motion grating ruler reading head is installed on the synchronous motion connection plate 51. Compressed air is used to blow away debris from the surface of the robot motion displacement grating ruler 27, ensuring the normal operation of the grating ruler.

[0071] It should be noted that the various embodiments in this specification are described in a progressive manner, and the same or similar parts between the various embodiments can be referred to mutually. Each embodiment focuses on describing the differences from other embodiments. The present invention is not limited to the specific steps and structures described above and shown in the figures. Furthermore, for the sake of brevity, detailed descriptions of known methods and techniques are omitted here.

[0072] The above are merely embodiments of this application and are not intended to limit the scope of this application. Various modifications and variations can be made to this application by those skilled in the art without departing from the scope of the invention. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principle of this application should be included within the scope of the claims of this application.

Claims

1. An internal cavity support device for a semi-enclosed, slender, thin-walled cylindrical section with coordinated internal and external operations, characterized in that, The device includes a column (1), a crossbeam (2), a first internal cavity robot (3), a second internal cavity robot (4), a synchronous motion connecting device (5), and a positioning fixture (7). The column (1) is used to be installed on the ground. The first end of the crossbeam (2) is rotated and installed on the column (1) in a horizontal direction. The first internal cavity robot (3) and the second internal cavity robot (4) are installed on the crossbeam (2) at any angle and are used to penetrate the inner cavity of the slender cylindrical section (6) to achieve internal support. The first internal cavity robot (3) is connected to the second internal cavity robot (4) through the synchronous motion connecting device (5). The positioning fixture (7) is used to position and install the slender cylindrical section (6). The crossbeam (2) includes a crossbeam box (21), a first motion guide rail (22), a first motion guide rail block (23), a rack (24), a second motion guide rail (25), a second motion guide rail block (26), a robot motion displacement grating ruler (27), and a robot motion displacement grating ruler pressure block (28); The first intracavitary robot (3) includes a first slide (31), a first slide slider (32), a first support unit support (33), and a first support unit (34); The first slide block (32) is mounted on the first slide (31), and the two first slide blocks (32) are coaxially mounted. The two sets of first slide blocks (32) respectively form a sliding pair with the first motion guide rail (22) and are used to drive the first slide (31) to move along the first motion guide rail (22). The first support unit support (33) is mounted on the first slide (31), and the first support unit (34) is mounted on the first support unit support (33) and is used to realize radial support along the slender cylindrical section (6).

2. The internal cavity support device for the coordinated operation of a semi-enclosed, slender, thin-walled cylindrical section according to claim 1, characterized in that, The column (1) includes a column housing (11), a turntable (12) and a turntable drive system (13). The turntable (12) is installed on the side of the column housing (11), and the turntable drive system (13) is installed inside the column housing (11). The output end of the turntable drive system (13) is equipped with a gear and fits with a gear ring installed on the outer circle of the turntable (12) to drive the turntable (12) to rotate.

3. The internal cavity support device for the coordinated operation of a semi-enclosed, slender, thin-walled cylindrical section according to claim 1, characterized in that, The first motion guide rail (22) is installed on the first side of the crossbeam box (21), and the first motion guide rail block (23) is installed at both ends of the first motion guide rail (22); the rack (24) is installed on the surface of the crossbeam box (21) on the same side as the first motion guide rail (22), and the rack (24) is used to drive the first internal cavity robot (3) to move; the second motion guide rail (25) is installed on the second side of the crossbeam box (21), and the second motion guide rail block (26) is installed at both ends of the second motion guide rail (25); The robot motion displacement grating ruler (27) is installed on the upper surface of the crossbeam box (21), and the robot motion displacement grating ruler pressure block (28) is installed on the upper surface of the crossbeam box (21) and is used to press down the two ends of the robot motion displacement grating ruler (27).

4. The internal cavity support device for the coordinated operation of the semi-enclosed slender thin-walled cylindrical section according to claim 3, characterized in that, The crossbeam (2) also includes a motion position proximity switch (29), a supporting electric cylinder (210), a crossbeam length gauge mounting bracket (211), and a crossbeam length gauge (212); wherein, The motion position proximity switch (29) is used to limit the synchronous motion connection device (5). The support electric cylinder (210) is installed on the end face of the beam box (21) that extends into the slender cylindrical section (6). The support electric cylinder (210) is used to support the slender cylindrical section (6), and the reaction force of the support force applied to the slender cylindrical section (6) acts on the beam box (21) to cause the beam box (21) to deform upward. The beam length gauge mounting bracket (211) is arranged on the support electric cylinder (210) and connected to the beam box (21). The beam length gauge (212) is installed in the beam length gauge mounting bracket (211). The axis of the beam length gauge (212) is parallel to the axis of the supporting electric cylinder (210) and both are located in a vertical plane parallel to the end face of the beam box (21).

5. The internal cavity support device for the coordinated operation of a semi-enclosed, slender, thin-walled cylindrical section according to claim 3, characterized in that, The crossbeam (2) also includes a cable chain bracket (213), a cable chain groove (214), a cable chain (215), a cable chain start end connector (216), and a cable chain end connector (217); multiple cable chain brackets (213) are installed on the bottom surface of the crossbeam housing (21) and arranged sequentially to support the cable chain groove (214); the cables of the first inner cavity robot (3), the second inner cavity robot (4), and the synchronous motion connection device (5) are installed in the inner cavity of the cable chain (215); the cable chain groove ( 214) is installed on the side of the crossbeam box (21), the drag chain (215) is installed in the drag chain groove (214), the two ends of the drag chain starting end connector (216) are respectively connected to the drag chain (215) and the first inner cavity robot (3), the two ends of the drag chain end connector (217) are respectively connected to the drag chain (215) and the drag chain groove (214), and the drag chain (215) curls or stretches in the drag chain groove (214) as the first inner cavity robot (3) moves.

6. The internal cavity support device for the coordinated operation of a semi-enclosed, slender, thin-walled cylindrical section according to claim 1, characterized in that, The first internal cavity robot (3) further includes a motion motor (35), a motion reducer (36), a motion reducer mounting base (37), a motion reducer mounting base adjustment device (38), and a motion drive gear (39); wherein, The output end of the motion motor (35) is connected to the input end of the motion reducer (36). The output shaft of the motion motor (35) is inserted into the input shaft hole of the motion reducer (36). The key on the output shaft of the motion motor (35) is engaged with the keyway in the input shaft hole of the motion reducer (36). The motion reducer (36) is mounted on the motion reducer mounting base (37), and the motion reducer mounting base (37) is mounted on the first slide (31). Both ends of the motion reducer mounting base (37) are equipped with motion reducer mounting base adjustment devices (38). The two motion reducer mounting base adjustment devices (38) are installed on the first slide (31) and are used to adjust the position of the motion reducer mounting base (37). The motion drive gear (39) is installed on the output shaft of the motion reducer (36) and meshes with the rack (24).

7. The internal cavity support device for the coordinated operation of the semi-enclosed slender thin-walled cylindrical section according to claim 1, characterized in that, The second intracavitary robot (4) includes a second slide (41), a second slide slider (42), a second support unit support (43), and a second support unit (44); The second slide block (42) is connected to the second slide (41). The two second slide blocks (42) are coaxially mounted. The two sets of second slide blocks (42) form a sliding pair with the second motion guide rail (25) and are used to drive the second slide block (42) to move along the second motion guide rail (25). The second support unit support (43) is mounted on the second slide (41). The second support unit (44) is mounted on the second support unit support (43) and is used to realize radial support along the slender cylindrical section (6).

8. The internal cavity support device for the coordinated operation of the inner and outer parts of a semi-enclosed slender thin-walled cylindrical section according to claim 7, characterized in that, The second support unit (44) includes a support module (441), a support base (442), a support roller assembly (443), a support unit length gauge mounting bracket (444), and a support unit length gauge (445); wherein, The support module (441) is mounted on the second support unit support (43), and the support seat (442) is mounted on the motion slider of the support module (441). When the motion slider of the support module (441) moves, it drives the support seat (442) to extend and retract along the length direction. The support roller assembly (443) is mounted on the end of the support seat (442). The support unit length gauge mounting bracket (444) is mounted on the side of the support seat (442) and close to the roller of the support roller assembly (443). The support unit length gauge (445) is mounted in the hole of the support unit length gauge mounting bracket (444).

9. The internal cavity support device for the coordinated operation of a semi-enclosed, slender, thin-walled cylindrical section according to claim 3, characterized in that, The synchronous motion connection device (5) includes a synchronous motion connection plate (51), a motion proximity switch sensing block (52), a motion grating ruler reading head mounting base (53), and a motion grating ruler reading head (54); wherein, The synchronous motion connecting plate (51) connects the first inner cavity robot (3) and the second inner cavity robot (4) respectively, so that the first inner cavity robot (3) and the second inner cavity robot (4) move to the same position on the crossbeam (2) at the same speed; the motion proximity switch sensing block (52) is fixed at both ends of the synchronous motion connecting plate (51), and the motion grating ruler reading head mounting seat (53) is connected to the synchronous motion connecting plate (51); The motion grating ruler reading head (54) is mounted on the motion grating ruler reading head mounting base (53) and together with the motion displacement grating ruler (27) constitutes a displacement measurement feedback system. The positions of the first internal cavity robot (3) and the second internal cavity robot (4) are obtained by measuring the position of the synchronous motion connecting plate (51).

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