Elastic joint annular inner supporting mechanism and supporting method

Abstract

The invention discloses an elastic joint annular inner support mechanism, which relates to the technical field of welding fixtures, and comprises a head part, a body part and a tail part which are sequentially connected in series through elastic joints, the relative pose relation among all parts of the elastic joint annular inner supporting mechanism is adjusted and changed by adjusting the driving amount of the elastic joints to conduct cooperative movement, and adjustment of the supporting shape, the supporting force and the compliance of the elastic joint annular inner supporting mechanism is achieved. The invention further discloses a supporting method using the elastic joint annular inner supporting mechanism. The supporting method comprises the following steps of entering a hole to form a ring, adjusting the inner supporting force and transferring the inner supporting force out of the hole. Tediousness of the manual dismounting process can be avoided, the operation efficiency and operability are greatly improved, internal extrusion and scratching are reduced, the device is suitable for storage boxes with different diameters, and different controllable internal supporting force is provided.

Description

Technical Field

[0001] The present invention relates to the technical field of welding jigs, and particularly to an elastic joint annular inner support mechanism and a support method thereof. Background Art

[0002] With the increasing demand for space launches, the size of launch vehicles has gradually increased, so the related manufacturing processes also need to change with the times. The current welding process for large-sized rocket tanks mainly uses friction stir welding. When this process is carried out, it will generate a huge force on the rocket tank body, causing obvious deformation of the thin wall of the tank and affecting the processing results. In order to eliminate the stress influence of friction welding, the existing inner support mechanism is used for the circumferential seam welding of the tank barrel section. An internal external support force is formed to achieve balance. The existing inner support mechanisms usually use hydraulics for automatic stretching support or manually assembled rod systems for support. The hydraulic automatic stretching support mechanism is generally applied in the initial ring section welding stage of the tank, and is composed of a disc platform, a central axis mechanism, a radial hydraulic mechanism, petal-shaped inner support blocks, manual wedge blocks, etc. The manually assembled rod system support mechanism is applied to the final ring section encapsulation welding of the tank, and is composed of a central axis, various rod system structures, petal inner support blocks, etc. During the sealing welding of the rear ring section, the rod system support mechanism can only be transported into the tank piece by piece by artificial through the manhole of the tank cover for assembly into a whole for support. After welding, it is disassembled from the manhole by artificial again. Due to the relatively limited space, the whole process is difficult and inefficient.

[0003] Among the newly emerged technologies in recent years, there is a serpentine inner support device for circumferential seam welding of large-diameter tank barrel sections, which is composed of a serpentine section, a snake head part, a snake tail part, a connection module between serpentine sections and a self-locking module, so as to control the motion posture of the serpentine inner support device. With the assistance of a lifting device, it can quickly enter through the manhole to form a structure, and can drill out of the manhole by itself after welding. However, this support device has extremely strict requirements for manufacturing processes, the roundness cannot be guaranteed, and it cannot adapt to the inner support during the welding operation of tank ring sections of different sizes. Therefore, there is an urgent need for an automatic support mechanism that can freely drill out of the manhole after welding to solve the problems of difficult manual disassembly and low efficiency faced during the welding of the last ring section of the tank, and can adapt to different rocket sizes. Summary of the Invention

[0004] In view of the above-mentioned defects of the prior art, the technical problem to be solved by the present invention is how to reduce the working difficulty of the inner support mechanism for circumferential seam welding of large-diameter tank barrel sections, improve its efficiency, increase its compliance, and adapt to different rocket sizes.

[0005] To achieve the above object, the present invention provides an elastic joint annular inner support mechanism, which includes a head, a body part, and a tail sequentially connected in series through elastic joints. The elastic joints have three driving degrees of freedom. By adjusting the driving amount of the elastic joints, the relative pose relationship between the various parts of the elastic joint annular inner support mechanism is adjusted and changed to perform coordinated movement, so as to realize the adjustment of the support shape, support force, and compliance of the elastic joint annular inner support mechanism.

[0006] Further, the elastic joint includes an upper joint arranged above, a lower joint arranged below, and a side joint arranged on the side; the upper joint includes an upper joint driving part, an upper joint joint part driven by the upper joint driving part, and an upper joint base for fixing the upper joint driving part; the lower joint includes a lower joint driving part, a lower joint joint part driven by the lower joint driving part, and a lower joint base for fixing the lower joint driving part; the side joint includes a side joint driving part, a side joint joint part driven by the side joint driving part, and a side joint base for fixing the side joint driving part; the upper joint driving part, the lower joint driving part, and the side joint driving part all include a motor and a guide rail driven by the motor. The motor is a linear motor, the guide rail is a linear guide rail, and the linear guide rail includes a base, a ball screw arranged on the base, and a slide table driven by the ball screw; the upper joint joint part, the lower joint joint part, and the side joint joint part are all elastic plates.

[0007] Further, the body part includes at least two body segments. Each body segment is a frame structure. The body segments are connected to each other through the elastic joints. When making a circular motion, the body segments are assisted in positioning and bearing pressure through wedge-shaped pads. The body segment also includes a housing arranged on the body segment.

[0008] Further, between the body segments of the body part, the upper joint driving part, the lower joint driving part, and the side joint driving part are respectively fixedly arranged at the upper, lower, and side parts inside one end of the housing of the same body segment through joint bases; one end of the upper joint joint part, one end of the lower joint joint part, and one end of the side joint joint part are respectively connected and arranged through slide table rotating pairs with the upper joint guide rail slide table, the lower joint guide rail slide table, and the side joint guide rail slide table; the other ends of the upper joint joint part, the lower joint joint part, and the side joint joint part are respectively arranged at the upper, lower, and side parts inside one end of the adjacent same body segment housing through housing rotating pairs.

[0009] Furthermore, the head is of a frame structure. The head includes a housing disposed on the head. In the connection between the head and its adjacent body segment, the upper joint driving part, the lower joint driving part, and the side joint driving part of the elastic joint are respectively fixedly arranged at the upper, lower, and side parts inside one end of the head housing through joint bases; one end of the upper joint part, one end of the lower joint part, and one end of the side joint part of the elastic joint are respectively connected to the upper joint guide rail slide, the lower joint guide rail slide, and the side joint guide rail slide through slide rotary pairs; the other ends of the upper joint part, the lower joint part, and the side joint part of the elastic joint are respectively arranged at the upper, lower, and side parts inside one end of the adjacent body segment housing through housing rotary pairs; when making a circular motion, one end of the head is in extrusion contact with one end of the tail through a wedge-shaped pad, and auxiliary positioning and pressure bearing are carried out between the other end of the head and one end of the adjacent body segment through a wedge-shaped pad.

[0010] Furthermore, the tail is of a frame structure. The tail includes a housing disposed on the tail. In the connection between the tail and its adjacent body segment, one end of the upper joint part, one end of the lower joint part, and one end of the side joint part of the elastic joint are respectively arranged at the upper, lower, and side parts inside one end of the tail housing through housing rotary pairs; the other ends of the upper joint part, the lower joint part, and the side joint part of the elastic joint are respectively connected to the upper joint guide rail slide, the lower joint guide rail slide, and the side joint guide rail slide through slide rotary pairs; the upper joint driving part, the lower joint driving part, and the side joint driving part of the elastic joint are respectively fixedly arranged at the upper, lower, and side parts inside one end of the adjacent body segment housing through joint bases; when making a circular motion, one end of the tail is in extrusion contact with one end of the head through a wedge-shaped pad, and auxiliary positioning and pressure bearing are carried out between the other end of the tail and one end of the adjacent body segment through a wedge-shaped pad.

[0011] Furthermore, the wedge-shaped pad is made of a soft material, the soft material is rubber, and the contact surface of the wedge-shaped pad for the extrusion contact between the head and the tail is provided with a guiding structure and an engaging structure.

[0012] Furthermore, both the slide rotary pair and the housing rotary pair include a rotating shaft, a flange disposed at the upper end of the rotating shaft, and a bearing sleeved on the rotating shaft. The axis of the rotating shaft of the rotary pair is perpendicular to the maximum surface of the elastic plate. The bearing is a high-strength bearing, and the flange is a large-area flange.

[0013] Furthermore, the above elastic joint annular inner support mechanism is used for the inner hole support of the circumferential seam welding process of large storage tank barrel segments.

[0014] Furthermore, the present invention also provides a support method using the above elastic joint annular inner support mechanism, including the following steps:

[0015] Step 1: Forming a Ring in the Manhole

[0016] After the elastic joint annular inner support mechanism is hoisted into the large storage tank cylinder section through the manhole, a complete ring is formed by the elastic joints to reach the inner support state;

[0017] Step 2: Adjusting the Inner Support Force

[0018] During the circumferential seam welding process of the elastic joint annular inner support mechanism after forming a ring, in order to balance the external force brought by friction welding, the elastic joints are driven to deform to adjust the inner support force;

[0019] Step 3: Transferring out of the Manhole

[0020] After processing, the entire elastic joint annular inner support mechanism releases the inner support force and bends as a whole to leave through the manhole.

[0021] Compared with the prior art, the present invention has the following advantages: it speeds up the support arrangement process, can avoid the cumbersome manual disassembly and assembly process, and greatly improves the operation efficiency and operability; the increase in compliance ensures less internal extrusion and scratching during the arrangement process; it can adapt to storage tanks of different diameters and provide different controllable inner support forces.

[0022] The following will further illustrate the concept, specific structure and technical effects of the present invention in conjunction with the drawings to fully understand the purpose, features and effects of the present invention. Brief Description of the Drawings

[0023] Figure 1 Schematic diagram of the arrangement of the elastic joint annular inner support mechanism for a preferred embodiment of the present invention;

[0024] Figure 2 Schematic diagram of the assembly of the elastic joints of the annular inner support mechanism for a preferred embodiment of the present invention;

[0025] Figure 3 Schematic diagram of the circular motion of the elastic joints of the annular inner support mechanism for a preferred embodiment of the present invention;

[0026] Figure 4 Schematic diagram of the elastic joints of the annular inner support mechanism applying inner support force for a preferred embodiment of the present invention;

[0027] Figure 5 Schematic diagram of the bending of the elastic joints of the annular inner support mechanism during the out-of-hole movement for a preferred embodiment of the present invention.

[0028] Wherein: 1 - inner wall of the large storage tank cylinder section, 2 - manhole, 3 - head, 4 - body part, 5 - tail, 6 - outer shell, 7 - upper joint base, 8 - positioning groove, 9 - wedge-shaped pad, 10 - lower joint motor, 11 - lower joint ball screw, 12 - lower joint guide rail slide, 13 - lower joint slide rotating pair, 14 - lower joint elastic plate, 15 - upper joint outer shell rotating pair, 16 - side joint, 17 - upper joint, 18 - lower joint, 19 - relatively fixed end, 20 - relatively moving end. Specific embodiments

[0029] The preferred embodiments of the present invention are described below with reference to the accompanying drawings of the specification to make its technical content clearer and easier to understand. The present invention can be embodied in many different forms of embodiments, and the protection scope of the present invention is not limited to the embodiments mentioned in the text.

[0030] In the drawings, components with the same structure are denoted by the same numeral labels, and components with similar structures or functions everywhere are denoted by similar numeral labels. The size and thickness of each component shown in the drawings are arbitrarily shown, and the present invention does not limit the size and thickness of each component. To make the drawings clearer, the thickness of some parts in the drawings is appropriately exaggerated.

[0031] As Figure 1 shown, the present invention discloses an elastic joint annular inner support mechanism (hereinafter referred to as the inner support mechanism), which includes a head 3, a body part 4 and a tail 5 sequentially connected in series through elastic joints, and the elastic joints have three driving degrees of freedom. During use, the head 3 and the tail 5 are in extrusion contact connection. The inner support mechanism controls its pose change through the elastic joints, and at the same time increases its compliance when squeezed inside the large storage tank cylinder section through the elasticity of the elastic joints, so that the inner support mechanism can form a ring more smoothly, and after the ring shape is stable, the elastic plate is synchronously squeezed to generate a controllable support force to offset the welding force.

[0032] As Figures 2 - 3As shown, the elastic joint includes an upper joint 17 mounted above, a lower joint 18 mounted below, and a side joint 16 mounted on the side. The upper joint 17 includes an upper joint driving part, an upper joint articulating part driven by the upper joint driving part, and an upper joint base 7 for fixing the upper joint driving part. The lower joint 18 includes a lower joint driving part, a lower joint articulating part driven by the lower joint driving part, and a lower joint base for fixing the lower joint driving part. The side joint 16 includes a side joint driving part, a side joint articulating part driven by the side joint driving part, and a side joint base for fixing the side joint driving part. The upper joint driving part, the lower joint driving part, and the side joint driving part all include a motor and a guide rail driven by the motor. The motor is a linear motor, and the guide rail is a linear guide rail. The linear guide rail includes a base, a ball screw mounted on the base, and a slide table driven by the ball screw. The upper joint articulating part, the lower joint articulating part, and the side joint articulating part are all elastic plates. Driving the articulating part through the elastic joint driving part can achieve elastic deformation of the elastic joint within a large range.

[0033] The body part 4 includes at least two body segments. The body segments are of a frame structure and include a housing 6. The body segments of the body part are connected to each other through elastic joints. In the connection between the body segments of the body part, the upper joint driving part, the lower joint driving part, and the side joint driving part of the body segment are respectively fixedly installed on the upper, lower, and side parts inside one end of the housing 6 of the same body segment through the joint base. One end of the upper joint articulating part of the body segment, one end of the lower joint articulating part, and one end of the side joint articulating part are respectively connected to the upper joint guide rail slide table, the lower joint guide rail slide table 12, and the side joint guide rail slide table of the body segment through a slide table rotating pair, so that while the elastic plate is fixed to the guide rail slide table, there is a rotation freedom without resistance for coordinated movement. The other end of the upper joint articulating part of the body segment, the other end of the lower joint articulating part, and the other end of the side joint articulating part are respectively installed on the upper, lower, and side parts inside one end of the adjacent same body segment housing 6 through a housing rotating pair, so that while the elastic plate is fixed thereto, there is a rotation freedom without resistance for coordinated movement. During use, translational and rotational movements of the body part are generated through the coordinated control of three motors and the passive adaptive elastic deformation of three elastic plates. When the relative movement between the body segments approaches, auxiliary positioning and bearing are carried out through the wedge-shaped pad 9.

[0034] The head 3 is of a frame structure. The head 3 includes a housing 6. One end of the head 3 is in extrusion contact with one end of the tail 5 through a wedge-shaped pad 9, and the other end of the head 3 is connected to an adjacent body segment through an elastic joint. In the connection between the head 3 and the body segment, the upper joint driving part, the lower joint driving part, and the side joint driving part of the elastic joint are respectively fixedly installed in the upper, lower, and side parts inside one end of the head housing through joint bases. One end of the upper joint joint part, one end of the lower joint joint part, and one end of the side joint joint part of the elastic joint are respectively connected to the upper joint guide rail slide, the lower joint guide rail slide 12, and the side joint guide rail slide through slide rotary pairs. The other ends of the upper joint joint part, the lower joint joint part, and the side joint joint part of the elastic joint are respectively installed in the upper, lower, and side parts inside one end of the adjacent body segment housing through housing rotary pairs.

[0035] The tail 5 is of a frame structure. The tail 5 includes a housing 6. One end of the tail 5 is in extrusion contact with one end of the head 3 through a wedge-shaped pad, and the other end of the tail 5 is connected to an adjacent body segment through an elastic joint. In the connection between the tail 5 and the body segment, one end of the upper joint joint part, one end of the lower joint joint part, and one end of the side joint joint part of the elastic joint are respectively installed in the upper, lower, and side parts inside one end of the tail housing through housing rotary pairs. The other ends of the upper joint joint part, the lower joint joint part, and the side joint joint part of the elastic joint are respectively connected to the upper joint guide rail slide, the lower joint guide rail slide 12, and the side joint guide rail slide through slide rotary pairs. The upper joint driving part, the lower joint driving part, and the side joint driving part of the elastic joint are respectively fixedly installed in the upper, lower, and side parts inside one end of the adjacent body segment housing through joint bases.

[0036] The material of the wedge-shaped pad 9 used in the extrusion contact between the head 3 and the tail 5, the connection between the head 3 and the adjacent body segment, the connection between the tail 5 and the adjacent body segment, and the connection between adjacent body segments is a soft material such as rubber, which can improve the fitting accuracy of the head and the tail and is used to provide circularity accuracy and buffering. In addition, a guiding structure and an engaging structure are designed on the contact surface of the wedge-shaped pad 9 for the extrusion contact between the head and the tail, which can maintain the overall circularity accuracy.

[0037] Both the above-mentioned slide rotary pair and the housing rotary pair include a rotating shaft, a flange, and a bearing. The axis of the rotating shaft of the rotary pair is perpendicular to the maximum surface of the elastic plate. The connection between the flange and the rotating shaft uses a bearing with a relatively large strength and a flange with a relatively large area to disperse the force exerted on the inner support mechanism when the elastic plate deforms during the movement of the inner support mechanism.

[0038] As Figure 5 shown, during the movement of the inner support mechanism, whether it is each body segment of the body part 4, or the head 3 and the tail 5, the end installed with the driving part is called the relatively fixed end 19, and the end connected to the joint part through the rotary pair is called the relatively moving end 20.

[0039] During use, the inner support mechanism of the present invention can perform a movement similar to a snake-like movement through the elastic plate with three driving degrees of freedom: entering the hole to form a ring movement, inner support force adjustment movement, and transferring out of the hole movement (as Figures 3 - 5 shown). The entering the hole to form a ring movement is that after the inner support mechanism is hoisted into the cylinder section through the manhole, a complete ring is formed through the elastic joints to reach the inner support state. The inner support force adjustment movement is that during the processing after the inner support mechanism forms a ring, in order to balance the external force generated by friction welding, the elastic plate of the inner support mechanism is driven to generate deformation to adjust the inner support force. The transferring out of the hole movement is that after the processing is completed, the entire inner support mechanism releases the inner support force and bends as a whole to leave through the manhole.

[0040] In production, according to the size and processing conditions of the large storage tank cylinder section, the inner hole of the large storage tank cylinder section to be subjected to circumferential seam welding is supported and the support shape, support force, and compliance are adjusted through the movement of the above inner support mechanism. The specific steps are as follows:

[0041] The first step: Entering the hole to form a ring

[0042] As Figure 3 shown, during use, after the inner support mechanism is hoisted into the large storage tank cylinder section through the manhole, first, the upper joint driving part and the lower joint driving part are used to drive and adjust the movements of the upper joint 17 and the lower joint 18 respectively, so that the upper and lower surfaces of the relative moving end 20 and the relative fixed end 19 are in a parallel state. During this process, the side joint 16 makes a passive movement relying on the passive deformation of the elastic plate and the two rotating pairs connected by the elastic plate. After the upper joint 17 and the lower joint 18 adjust the two adjacent inner support mechanism body segments in place, the side joint 16, the upper joint 17, and the lower joint 18 perform synchronous active movements, and with the assistance of the wedge-shaped pad 9, the three elastic plates are straightened, so that the body segments are closely attached to form an arc. After completion, the next inner support mechanism body segment is adjusted until all the body segments of the inner support structure, between the head 3 and the tail 5, between the head 3 and the body segment, and between the tail 5 and the body segment are closely attached to form a complete ring continuum.

[0043] During the process of entering the hole to form a ring, for the head 3 of the inner support mechanism, the basic principle and process are the same as above. The head of the inner support mechanism is regarded as the relative fixed end 19 for adjustment, and the relative moving end 20 of the inner support mechanism body segment moves towards the head. During the process of entering the hole to form a ring, for the tail 5 of the inner support mechanism, the basic principle and process are the same as above. The tail 5 of the inner support mechanism is regarded as the relative moving end 20 for adjustment, and the tail 5 moves towards the relative fixed end 19 of the inner support mechanism body segment.

[0044] When the inner support mechanism is in the support state, the head 3, the tail 5, and the body segments of the inner support mechanism are distributed in a ring shape, the elastic joints are self-locked, the head 3 and the tail 5 are in extrusion contact through the wedge-shaped pad 9, and the outer ring of the inner support mechanism realizes the inner surface support of the cylinder section.

[0045] Step 2: Inner Support Force Adjustment

[0046] As Figure 4 shown, after the entire ring is formed, first adjust the upper joint 17, the lower joint 18, and the side joint 16 according to the radius of the cylinder section, so that the entire ring adapts to the radius of the cylinder section to be welded and makes complete supporting contact. On the basis that the head 3, the tail 5 of the inner support mechanism and the outer support surfaces of each body section are in contact with the cylinder section, adjust the upper joint 17, the lower joint 18, and the side joint 16 at the same time. At this time, there is no change in the relative positions of the body sections of the inner support mechanism, and the elastic plates of the elastic joints produce adaptive bending, thus generating a separation tendency between the two body sections, extruding and deforming outward, converting the deformation force into a supporting force, and adjusting the magnitude of the supporting force by controlling the degree of deformation and bending of the elastic plates. After adjusting the supporting force, perform circumferential seam welding.

[0047] Step 3: Transfer out of the Hole

[0048] As Figure 5 shown, after the processing is completed, when the inner support mechanism is ready to be withdrawn from the manhole, by controlling the relative movement of the upper joint 17 and the lower joint 18, the relative moving end 20 of the inner support mechanism forms a rotational movement relative to the relatively fixed end 19, driving the entire inner support mechanism to move along the axial direction of the cylinder section, so that the head of the inner support mechanism is closer to the manhole axially. Fix the upper joint 17 and the lower joint 18, control the side joint 16, form a relative rotational movement of the relative moving end 20 of the inner support mechanism relative to the relatively fixed end 19 in another direction, drive the entire inner support mechanism to approach the manhole in the radial direction of the cylinder section. After the inner support mechanism leaves the ring-forming part during the withdrawal process, control the upper joint 17, the lower joint 18, and the side joint 16 to form a linear movement of the relative moving end 20 of the inner support mechanism relative to the relatively fixed end 19, so that the inner support mechanism elongates and the whole approaches the manhole. Combining the above three elastic joint motion control methods and cooperating with the deformation of the elastic plate to generate controllable relative motion, the entire inner support mechanism is withdrawn from the manhole.

[0049] When the inner support mechanism is in the retracted state, the elastic joints adjust the relative pose relationship between the body sections of the inner support mechanism by adjusting the driving amount, making it easy to switch from the annular state to the strip state to enter and exit the manhole.

[0050] The elastic joint annular inner support mechanism for the circumferential seam welding of large storage tank barrel sections provided by the present invention can automatically withdraw from the manhole of the storage tank after welding, which speeds up the support arrangement process, avoids the cumbersome process of manual disassembly and assembly, and greatly improves the operation efficiency and operability; the increased compliance ensures less extrusion and scratching inside the arrangement process; the support of the elastic plate in the inner support mechanism can adapt to storage tanks of different diameters and provide different controllable inner support forces, solving the deficiencies of the existing inner support mechanism in meeting the inner support requirements for the circumferential section welding of storage tanks of different sizes and different welding forces.

[0051] The preferred specific embodiments of the present invention have been described in detail above. It should be understood that those of ordinary skill in the art can make many modifications and variations according to the concept of the present invention without creative labor. Therefore, all technical solutions that can be obtained by those skilled in the art in the technical field based on the concept of the present invention through logical analysis, reasoning or limited experiments on the basis of the prior art should fall within the protection scope determined by the claims.

Claims

1. An elastic joint annular inner support mechanism, characterized in that: It includes a head, a body and a tail which are connected in series in sequence through elastic joints. The elastic joints have three driving degrees of freedom. The relative posture relationship between the parts of the elastic joint annular inner support mechanism is adjusted by adjusting the driving amount of the elastic joint to achieve coordinated movement, thereby realizing the adjustment of the support shape, support force and compliance of the elastic joint annular inner support mechanism.

2. The elastic joint annular inner support mechanism according to claim 1, characterized in that: The elastic joint includes an upper joint arranged on the upper side, a lower joint arranged on the lower side, and a side joint arranged on the side; the upper joint includes an upper joint driving part, an upper joint joint part driven by the upper joint driving part, and an upper joint base for fixing the upper joint driving part; the lower joint includes a lower joint driving part, a lower joint joint part driven by the lower joint driving part, and a lower joint base for fixing the lower joint driving part; the side joint includes a side joint driving part, a side joint joint part driven by the side joint driving part, and a side joint base for fixing the side joint driving part; the upper joint driving part, the lower joint driving part and the side joint driving part all include a motor and a guide rail driven by the motor, the motor is a linear motor, the guide rail is a linear guide rail, the linear guide rail includes a base, a ball screw arranged on the base and a slide driven by the ball screw; the upper joint joint part, the lower joint joint part and the side joint joint part are all elastic plates.

3. The elastic joint annular inner support mechanism as claimed in claim 2, characterized in that: The body part includes at least two body segments, each of which is a frame structure. The body segments are connected by the elastic joints. When performing circular motion, wedge-shaped pads are used to assist in positioning and bearing pressure between the body segments. The body segments also include a shell arranged on the body segments.

4. The elastic joint annular inner support mechanism as claimed in claim 3, characterized in that: Between the body segments of the body, the upper joint driving part, the lower joint driving part and the side joint driving part are respectively fixedly arranged at the upper, lower and side parts of one end of the shell of the same body segment through a joint base; one end of the upper joint joint part, one end of the lower joint joint part and one end of the side joint joint part are respectively connected with the upper joint guide slide, the lower joint guide slide and the side joint guide slide through a slide rotation pair; the other end of the upper joint joint part, the other end of the lower joint joint part and the other end of the side joint joint part are respectively arranged at the upper, lower and side parts of one end of the shell of the adjacent same body segment through a shell rotation pair.

5. The elastic joint annular inner support mechanism as claimed in claim 4, characterized in that: The head is a frame structure, and the head includes a shell arranged on the head. In the connection between the head and its adjacent body segment, the upper joint driving part, the lower joint driving part and the side joint driving part of the elastic joint are respectively fixedly arranged in the upper, lower and side parts of one end of the head shell through a joint base; one end of the upper joint joint part, one end of the lower joint joint part and one end of the side joint joint part of the elastic joint are respectively connected with the upper joint guide slide, the lower joint guide slide and the side joint guide slide through a slide rotation pair; the other end of the upper joint joint part, the other end of the lower joint joint part and the other end of the side joint joint part of the elastic joint are respectively arranged in the upper, lower and side parts of one end of the shell of the adjacent body segment through a shell rotation pair; when making a circular motion, one end of the head is squeezed and contacted with one end of the tail through a wedge pad, and the other end of the head and one end of the adjacent body segment are assisted in positioning and bearing pressure through a wedge pad.

6. The elastic joint annular inner support mechanism as claimed in claim 5, characterized in that: The tail is a frame structure, and the tail includes a shell arranged on the tail. In the connection between the tail and its adjacent body segment, one end of the upper joint joint part, one end of the lower joint joint part and one end of the side joint joint part of the elastic joint are respectively arranged at the upper part, lower part and side part of one end of the tail shell through a shell rotation pair; the other end of the upper joint joint part, the other end of the lower joint joint part and the other end of the side joint joint part of the elastic joint are respectively connected with the upper joint guide slide, the lower joint guide slide and the side joint guide slide through a slide rotation pair; the upper joint driving part, the lower joint driving part and the side joint driving part of the elastic joint are respectively fixedly arranged at the upper part, lower part and side part of one end of the shell of the adjacent body segment through a joint base; when making a circular motion, one end of the tail is squeezed and contacted with one end of the head through a wedge pad, and the other end of the tail and one end of the adjacent body segment are assisted in positioning and bearing pressure through a wedge pad.

7. The elastic joint annular inner support mechanism as claimed in claim 6, characterized in that: The wedge-shaped pad is made of soft material, which is rubber. The contact surface of the wedge-shaped pad used for the head and tail to be in compression contact is provided with a guiding structure and an engaging structure.

8. The elastic joint annular inner support mechanism as claimed in claim 7, characterized in that: The slide rotating pair and the housing rotating pair both include a rotating shaft, a flange arranged at the upper end of the rotating shaft and a bearing sleeved on the rotating shaft. The axis of the rotating shaft of the rotating pair is arranged perpendicular to the maximum surface of the elastic plate, the bearing is a high-strength bearing, and the flange is a large-area flange.

9. The elastic joint annular inner support mechanism according to any one of claims 1 to 8, characterized in that: Used for inner hole support in the circumferential welding process of large tank sections.

10. A supporting method using the elastic joint annular inner supporting mechanism according to any one of claims 1 to 8, characterized in that: The steps include: Step 1: Hole-into-ring After the elastic joint annular inner support mechanism is hoisted from the manhole into the large tank barrel section, a complete ring is formed through the elastic joint to achieve an inner support state; Step 2: Adjust the internal support force During the annular seam welding process after the elastic joint annular inner support mechanism is formed into a ring, in order to balance the external force caused by friction welding, the elastic joint is driven to deform and adjust the internal support force; Step 3: Transfer the hole After the processing is completed, the entire elastic joint annular inner supporting mechanism releases the inner supporting force and bends as a whole to leave the manhole.

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