A device and method for calibrating the coaxiality of circumferential welds on a shell.

Abstract

This invention discloses a coaxiality calibration device and method for circumferential welded shells, used for assembling shells before welding. During assembly, the device ensures that both sides of the shell are coaxial with the main shaft. The device includes: a frame; a main shaft passing through the inner hole of the shell; a clamping and rotating device for driving the main shaft to rotate; a supporting device including a variable-pitch roller assembly, a lifting assembly, and a traveling assembly; a coaxiality detection device for detecting the actual height position of the outer circumferential surface of the shell; and a control system configured to compare the detected data with theoretical data and control the lifting assembly to make compensatory fine adjustments based on the height deviation value until the inner hole of the shell is coaxial with the main shaft. The coaxiality detection device is also configured to move the detection section profile axially to determine the axial position of the circumferential weld to be welded, and drive the traveling assembly to align the annular clearance groove of the roller with the position of the circumferential weld. Through closed-loop control, high-precision coaxiality assembly of the shell and the main shaft is achieved, and automatic alignment of the roller clearance groove with the weld is realized.

Description

Technical Field

[0001] This invention relates to the field of welding equipment technology, and in particular to a device and method for calibrating the coaxiality of circumferential welded shells. Background Technology

[0002] In the circumferential welding process of shells, the coaxiality control between multiple shells is directly related to the welding quality and the uniformity of the height of the inner and outer welds. Any slight deviation may lead to serious consequences such as insufficient weld strength, reduced sealing performance, or structural failure. Traditional operation mode relies heavily on manual adjustment. Operators need to use simple tools such as jacks or wedges to repeatedly fine-tune the position of the shell. This process faces multiple challenges: the shell itself is large in size and heavy, making it difficult to achieve precise positioning by manual operation, resulting in coaxiality errors that are difficult to control within the allowable range; insufficient adjustment precision further causes fluctuations in weld height after welding, making it impossible to guarantee product consistency; with the continuous expansion of industrial production scale, the problem of low efficiency of manual adjustment has become increasingly prominent, which not only seriously restricts the increase in production capacity, but also makes it difficult for the stability of circumferential weld quality to meet modern manufacturing standards. In addition, the grinding of the inner weld in the shell circumferential welding process is particularly prominent. Workers must perform high-intensity work in a harsh environment with high temperature, confinement, and metal fumes. The narrow space makes operation difficult, greatly increases labor intensity, and long-term exposure to harmful environments poses a significant threat to health. Although mechanical automation technology has made progress in many industrial fields, there is still a lack of dedicated automated equipment for calibrating the coaxiality of circumferential welded shells. Existing technologies cannot effectively solve the accuracy defects and operational risks caused by manual adjustments. The industry urgently needs a solution that can achieve high-precision automatic detection and closed-loop calibration of coaxiality. Summary of the Invention

[0003] This invention provides a coaxiality calibration device and method for circumferential welded shells, which has the advantages of achieving high-precision automatic coaxiality adjustment through a closed-loop control system, effectively solving the problems of insufficient precision, low efficiency and health risks of manual adjustment, and improving welding quality and production efficiency.

[0004] To solve the above-mentioned technical problems, the present invention provides the following technical solution: a shell circumferential weld coaxiality alignment device for assembling multiple shells for coaxiality alignment, comprising: frame; The clamping and rotating device is mounted on the frame and is used to position and clamp the housing and drive the housing to rotate synchronously via the spindle. Supporting devices for supporting the housing include a variable pitch roller assembly, a lifting assembly, and a traveling assembly; The variable pitch roller assembly is used to carry and support the housing; The variable pitch roller assembly is disposed on the lifting assembly, which is used to drive the variable pitch roller assembly and the housing it carries to move in the vertical direction to adjust the height of the housing. The walking assembly is mounted on the frame and is used to drive the lifting assembly and its synchronously mounted variable pitch roller assembly to move along the axial direction of the main shaft. The coaxiality detection device is used to detect the actual height position data of the outer circumference of the housing after the lifting assembly pushes the housing to a preset height; The control system is electrically connected to both the lifting assembly and the coaxiality detection device, and the control system is configured as follows: Receive the actual height position data detected by the coaxiality detection device; The actual height position data is compared with the preset theoretical height data to obtain the height deviation value; Based on the height deviation value, a fine-tuning command is generated and sent to the lifting component, which drives the lifting component to make compensatory fine-tuning of the height of the variable pitch roller component until the actual height position data conforms to the preset theoretical height range.

[0005] By adopting the above technical solution and configuring a clamping and rotating device, a supporting device, a coaxiality detection device, and a control system, the coaxiality alignment and correction of multiple shells is realized. The equipment can automatically detect the actual height position data of the outer circumference of the shell and perform closed-loop compensatory fine-tuning based on the data deviation. This effectively solves the problems of high adjustment difficulty, low accuracy, poor welding quality and weld height control that exist in traditional manual coaxiality adjustment. The equipment improves the automation level and welding quality of shell ring welding and reduces the dependence on manual operation and labor intensity.

[0006] The present invention is further configured such that the walking component includes: Guide rails are laid on the frame along the axial direction of the main shaft; The slider is slidably connected to the guide rail; A skateboard is fixedly connected to the slider, and the lifting assembly is fixedly installed on the skateboard; The first actuator, connected to the skateboard, is used to drive the skateboard to move along the guide rail; The control system is electrically connected to the first driver and is configured such that when the coaxiality detection device performs detection or the lifting component performs compensatory fine-tuning, the control system locks the first driver, restricting the movement of the walking component along the guide rail.

[0007] By adopting the above technical solution, at the critical moment when the coaxiality detection device performs detection or the lifting component performs compensatory fine-tuning, the control system can apply a locking state to the first drive, thereby effectively restricting the movement of the traveling component along the guide rail. This locking mechanism ensures that the axial position of the supporting device remains fixed when detecting the actual height position data of the outer circumference of the housing, avoiding measurement errors introduced by the unexpected movement of the traveling component, thus improving the accuracy of coaxiality detection. At the same time, during the process of the lifting component performing compensatory fine-tuning of the height of the variable pitch roller assembly, the fixed state of the traveling component ensures the purity of the fine-tuning action, that is, the height adjustment is only performed in the vertical direction, without being affected by changes in axial position, thereby significantly improving the accuracy and stability of the coaxiality closed-loop control. This enables the equipment to obtain more reliable detection results and more accurate alignment effects when assembling multiple housings for coaxiality, ensuring welding quality.

[0008] The present invention is further configured such that the lifting assembly includes: A lifting base plate is connected to the walking assembly; A lifting roof panel, wherein the variable pitch roller assembly is mounted on the lifting roof panel; The guide rod is vertically fixed to the lifting top plate; A linear bearing is slidably sleeved on the guide rod and fixedly connected to the lifting base plate; The second driver is connected to the lifting top plate drive and is used to drive the lifting top plate to move vertically along the guide rod.

[0009] By adopting the above technical solution, the structure of the lifting assembly has been significantly optimized, and its vertical movement stability, accuracy, and load-bearing capacity have been greatly improved. The lifting base plate provides a stable bottom support for the entire lifting mechanism, while the ingenious cooperation between the guide rod and the linear bearing constitutes a high-precision linear guide system. This system can effectively suppress the lateral swaying and tilting of the lifting top plate during movement. Even when carrying a heavy shell, it can ensure that the variable pitch roller assembly and the shell it carries can smoothly and accurately adjust the height along the preset vertical path. The introduction of the second drive further ensures the precise control and response speed of the lifting action. This structural improvement provides a reliable basis for the coaxiality detection device to obtain accurate actual height position data, and ensures that the lifting assembly can accurately perform compensatory fine-tuning after the control system generates fine-tuning commands. This achieves the accuracy and reliability of the coaxiality closed-loop control between the shell and the main shaft, effectively solving the technical problems of unstable movement and insufficient accuracy of the lifting assembly under heavy load conditions.

[0010] The present invention is further configured such that: the first driver includes a first geared servo motor, a first gear connected to the output end of the first geared servo motor, and a first rack meshing with the first gear, wherein the first rack is arranged parallel to the guide rail; The second driver includes a second geared servo motor, a second gear connected to the output end of the second geared servo motor, and a second rack meshing with the second gear. The first rack and the second rack are arranged perpendicularly in their length directions, and the second rack is arranged in a vertical direction.

[0011] By adopting the above technical solution, using a first and second reduction servo motor as the drive source, and combining the transmission structure of the first gear, the first rack, the second gear, and the second rack, a high-precision and high-rigidity driving capability is provided for the walking and lifting components. In particular, both the first and second gears are helical gears, and both the first and second racks are helical racks, which effectively solves the problems of impact, vibration, and large transmission clearance that may exist in traditional spur gear transmission. The inherent smooth meshing characteristics of helical gear transmission significantly reduce transmission noise, reduce vibration during movement, and greatly improve transmission accuracy and positioning accuracy. This allows the walking component to position the housing to the target horizontal position more smoothly and accurately when moving along the guide rail. At the same time, when the lifting component drives the variable pitch roller component for vertical lifting and compensatory fine adjustment, it can achieve more precise and stable height control. Therefore, the equipment of this application can respond more accurately to the fine adjustment command of the control system, ensuring that the housing achieves higher precision requirements during coaxiality detection and calibration, thereby effectively improving the overall performance and calibration quality of the housing circumferential weld coaxiality calibration equipment.

[0012] The present invention is further configured such that the variable pitch roller assembly includes: At least two adjusting plates are detachably connected to the lifting top plate, and the installation position of the adjusting plates on the lifting top plate is adjustable to accommodate shells of different diameters; Rollers are rotatably mounted on each adjustment plate for rolling contact with the outer wall of the housing, and an annular clearance groove is provided in the middle of each roller.

[0013] By adopting the above technical solution, the detachable connection design between the adjusting plate and the lifting top plate greatly improves the convenience of installation, maintenance and replacement of the variable pitch roller assembly. The adjustable installation of at least two adjusting plates on the lifting top plate allows the variable pitch roller assembly to flexibly and quickly adapt to shells of different diameters without replacing the entire support structure, significantly improving the equipment's versatility and production efficiency. The annular clearance groove in the middle of the roller provides stable rolling support while effectively avoiding interference with related equipment during welding or testing, ensuring smooth process operation.

[0014] The present invention is further configured such that: the supporting device is provided in multiple sets and spaced apart along the axial direction of the main shaft; the multiple sets of the traveling components share one or more guide rails; and the gears of the first drivers of the multiple sets of the traveling components mesh with the same first rack extending along the axial direction.

[0015] By adopting the above technical solution, the equipment is equipped with multiple sets of support devices spaced apart along the main shaft axis. These support devices can provide multi-point and uniform support for long or heavy shells, effectively suppressing the deflection deformation of the shell during the coaxiality correction process, and significantly improving the correction accuracy and stability. At the same time, the traveling components of multiple support devices share one or more guide rails, and the gears of their first drives all mesh with the same first rack extending along the axis. This greatly simplifies the mechanical structure and transmission system of the equipment, reduces manufacturing costs and maintenance difficulty. More importantly, this shared transmission mechanism ensures the precise synchronization of multiple traveling components during axial movement, avoiding the cumulative errors that may be generated by independent transmission systems. This makes the axial positioning and adjustment of long shells more accurate and efficient, providing solid and reliable support and positioning guarantee for the coaxiality assembly before the shell circumferential weld.

[0016] The present invention is further configured such that the coaxiality detection device is also configured to move along the axial direction of the main shaft and detect the cross-sectional profile of the mating area between the housings; The control system is further configured to: determine the actual axial position of the circumferential seam to be welded of the shell based on the axial position change between the shell and the weld position reflected in the cross-sectional profile; and calculate the axial deviation value between the current axial position of the annular clearance groove of the roller and the actual axial position of the circumferential seam to be welded. Based on the axial deviation value, a horizontal adjustment command is sent to the traveling assembly, driving the traveling assembly to move the variable pitch roller assembly axially until the annular clearance groove of the roller is aligned axially with the position of the circumferential seam to be welded.

[0017] By adopting the above technical solution, this application, based on achieving closed-loop control of shell height coaxiality, further solves the problem of precise alignment between the roller clearance groove and the axial position of the circumferential seam to be welded before circumferential seam welding. The coaxiality detection device is not only used for height detection, but also extends its function by moving axially along the main shaft to detect the cross-sectional profile of the shell mating area, thereby providing the control system with accurate axial position data of the circumferential seam. Based on this data, the control system can intelligently determine the actual axial position of the circumferential seam to be welded and compare it with the current position of the roller's annular clearance groove to calculate the axial deviation. Subsequently, the control system... Based on this deviation value, a horizontal adjustment command is automatically sent to the traveling component, driving the variable pitch roller assembly to make precise axial movements until the annular clearance groove of the roller is precisely aligned with the weld seam in the axial direction. This closed-loop axial positioning mechanism avoids the tediousness and uncertainty of manual adjustment, significantly improving the automation and accuracy of welding preparation. It ensures that the clearance groove of the roller remains consistent with the weld seam area during the welding process, effectively preventing potential interference between the roller and the welding torch, thereby guaranteeing welding quality, improving production efficiency, and reducing operational difficulty and potential equipment damage risks.

[0018] The present invention is further configured such that the coaxiality detection device includes: Test bracket; A displacement sensor for contacting the upper generatrix of the housing and / or the upper generatrix of the spindle; A linear drive assembly, wherein the displacement sensor is mounted on the linear drive assembly, and the linear drive assembly is used to drive the displacement sensor to move closer to or away from the housing in a horizontal direction perpendicular to the axis of the main shaft; A translation drive assembly is mounted on the detection bracket. The linear drive assembly is installed on the translation drive assembly. The translation drive assembly is used to drive the linear drive assembly and the displacement sensor that is synchronously set with it to reciprocate along a direction parallel to the axis of the main shaft.

[0019] By adopting the above technical solution, the coaxiality detection device is endowed with a precise mechanical structure, which can effectively solve the problems of displacement sensors being unable to accurately and stably contact the shell surface and achieve precise multi-directional movement during the detection process. Specifically, the detection bracket provides a stable base for the entire detection system, ensuring the basic accuracy of the measurement. The displacement sensor can directly and accurately contact the upper generatrix of the shell or the upper generatrix of the main shaft to obtain reliable displacement data. The linear drive component enables the displacement sensor to accurately approach or move away from the shell in a horizontal direction perpendicular to the main shaft axis, thereby flexibly adapting to shells of different diameters and ensuring that the optimal contact or measurement distance is always maintained during measurement, greatly improving the adaptability and accuracy of the detection. The translation drive component further ensures that the displacement sensor can make precise reciprocating movements along the main shaft axis, thereby realizing a comprehensive and continuous scan of the actual height position data of the outer circumference of the shell and the cross-sectional profile of the docking area between shells. This structured design gives the coaxiality detection device a significant advantage in obtaining high-precision and high-reliability detection data, providing a solid data foundation for the subsequent control system to perform coaxiality closed-loop control and axial position alignment of the ring gap, significantly improving the overall detection accuracy and automation level of the equipment.

[0020] The present invention is further configured such that the control system includes: The data receiving module is electrically connected to the coaxiality detection device and is used to receive the actual height position data; The comparison calculation module is pre-stored with the theoretical height data. The comparison calculation module is connected to the data receiving module and is used to compare the actual height position data with the theoretical height data and calculate the height deviation value. The instruction generation module is connected to the comparison calculation module and the lifting component respectively, and is used to generate the fine-tuning instruction based on the height deviation value and send the fine-tuning instruction to the lifting component.

[0021] By adopting the above technical solution, the control system is subdivided into a data receiving module, a comparison and calculation module, and an instruction generation module. This clarifies and modularizes the coaxiality closed-loop control process. The data receiving module focuses on accurately and in real-time acquiring the actual height position data detected by the coaxiality detection device, ensuring the reliability of the data input. The comparison and calculation module focuses on accurately comparing the actual data with the preset theoretical data and calculating the height deviation value, providing an accurate basis for subsequent adjustments. The instruction generation module focuses on efficiently generating and sending fine-tuning instructions to the lifting component based on the deviation value, ensuring the timeliness and accuracy of compensatory actions. This modular design makes the functional responsibilities of the control system clear, and the coupling between modules is low, greatly simplifying the development, debugging, and maintenance of the system. When it is necessary to upgrade or replace the detection algorithm, control strategy, or actuator, only the corresponding module needs to be modified, without changing the entire control system. This significantly improves the flexibility, maintainability, and upgradeability of the equipment, ensuring the accuracy and efficiency of the shell coaxiality calibration process, enabling the equipment to stably and reliably complete the coaxiality alignment task of multiple shells.

[0022] The present invention is further configured as follows: a method for correcting the coaxiality of the circumferential weld of a housing, comprising the following steps: S1 Loading Step: Place multiple housings to be welded on the variable pitch roller assembly, and use the traveling assembly and lifting assembly to fit the housings onto the main shaft; S2 Axial Initial Inspection and Positioning Steps: The coaxiality detection device moves along the axial direction of the main shaft to detect the cross-sectional profile of the docking area between the housings; The control system determines the actual axial position of the circumferential seam to be welded on the shell based on the axial position change between the shells reflected in the cross-sectional profile; the control system sends a horizontal adjustment command to the walking assembly, driving the walking assembly to move the variable pitch roller assembly axially until the annular clearance groove of the roller of the variable pitch roller assembly is aligned axially with the position of the circumferential seam to be welded. S3 coarse adjustment step: The lifting component rises according to the preset program, lifting the housing to the preset height; S4 Height Detection Step: The coaxiality detection device detects the actual height position data of the outer circumferential surface of the housing after it is lifted by the lifting assembly, and sends the actual height position data to the control system; S5 Closed-loop fine-tuning steps: The control system compares the actual height position data with the preset theoretical height data, calculates the height deviation value, and controls the lifting component to perform compensatory lifting actions according to the height deviation value until the height deviation value falls within the preset accuracy range. S6 Follow-up Support Step: After the coaxiality meets the requirements, the clamping and rotating device drives the main shaft to rotate, and the main shaft drives the housing to rotate synchronously; the rollers of the variable pitch roller assembly rotate together with the housing, and the rollers provide synchronous support for the housing.

[0023] By adopting the above technical solution, this application proposes a method for coaxiality correction of shell circumferential welding. Through a systematic approach, it effectively solves the problems of high-precision alignment and stable support for multiple shells before circumferential welding. First, the shell is efficiently placed on the equipment through a load-bearing step. Then, the axial preliminary inspection and positioning step uses a coaxiality detection device to accurately identify the axial position of the circumferential weld, and drives the traveling assembly to precisely align the annular clearance groove of the rollers of the variable pitch roller assembly to the circumferential weld. This innovative step ensures that the support rollers do not interfere with the welding operation during the welding process, while continuously providing stable support, greatly improving the operability and quality of the welding. Next, through a coarse adjustment step and a height detection step, an initial positioning is provided for the height adjustment of the shell. Based on position and real-time data feedback, the closed-loop fine-tuning step compares and compensates for the actual height position data with the theoretical height data in real time through the control system. This achieves high-precision coaxiality closed-loop control between the shell and the spindle. This automated and high-precision adjustment method significantly reduces manual intervention and improves alignment efficiency and accuracy. Finally, the follow-up support step ensures that after the coaxiality meets the standard, when the clamping and rotating device drives the shell to rotate synchronously for welding, the rollers of the variable pitch roller assembly can provide stable and frictionless follow-up support, ensuring the smooth progress of the welding process and the welding quality. Overall, this method provides a comprehensive, efficient, and high-precision solution for multi-shell circumferential welding through precise axial and radial alignment and stable follow-up support.

[0024] The present invention has significant technical effects due to the adoption of the above technical solutions: The coaxiality correction equipment and method for circumferential welded shell provided in this application automatically detects the actual height position data of the outer circumferential surface of the shell through a closed-loop control system, compares it with the theoretical height data, and generates a fine adjustment command to drive the lifting component to perform compensatory adjustment until coaxiality closed-loop control is achieved. This solves the problems of insufficient accuracy, low efficiency and health risks of traditional manual adjustment, and has the advantages of achieving high-precision automatic coaxiality control, improving welding quality and production efficiency. Attached Figure Description

[0025] Figure 1 This is a schematic diagram of the overall structure of a shell circumferential weld coaxiality correction device; Figure 2 This is a schematic diagram showing the state of the support device supporting the housing; Figure 3 yes Figure 1 A magnified view of a section at point A in the middle; Figure 4 This is a structural schematic diagram of the support device.

[0026] The parts referred to by the numbers in the above attached figures are as follows: 1. Frame; 2. Clamping and rotating device; 3. Supporting device; 4. Coaxiality detection device; 5. Housing; 21. Rotating assembly; 22. Spindle; 23. Clamping assembly; 24. Limiting component; 31. Variable pitch roller assembly; 32. Lifting assembly; 33. Traveling assembly; 311. Adjusting plate; 312. Roller; 313. Clearance groove; 321. Lifting base plate; 322. Guide rod; 323. Straight line 324. Bearing; 325. Lifting top plate; 326. Second driver; 3251. Second geared servo motor; 3252. Second gear; 3253. Second rack; 331. Guide rail; 332. Slider; 333. Slide plate; 334. First driver; 3341. First geared servo motor; 3342. First gear; 3343. First rack; 41. Detection bracket; 42. Displacement sensor; 43. Linear drive assembly; 44. Translation drive assembly. Detailed Implementation

[0027] The present invention will now be described in further detail with reference to the accompanying drawings and embodiments.

[0028] Example: This application proposes a coaxiality calibration device for circumferential welding of shell 5. The device is mainly used to align and calibrate the coaxiality of shell 5 before circumferential welding to ensure welding quality. The device includes a frame 1, a clamping and rotating device 2, a supporting device 3, a coaxiality detection device 4, and a control system.

[0029] See Figures 1 to 4The clamping and rotating device 2 is mounted on the frame 1 and includes a rotating assembly 21, a main shaft 22 controlled by the rotating assembly 21, a clamping assembly 23, and a limiting member 24 for restricting the movement of the housing 5 along the axial direction of the main shaft 22. The clamping and rotating device 2 is responsible for positioning and clamping multiple housings 5 ​​to be welded, and drives the housings 5 ​​to rotate synchronously through the main shaft 22 for subsequent inspection and shaping operations. The main shaft 22 is used to accommodate multiple housings 5, and the clamping assembly 23 is used to clamp the housings 5 ​​on the main shaft 22. The clamping assembly 23 can be synchronously slidably mounted on the guide rail 331 of the traveling assembly 33 described below. 23 is also equipped with the following walking component 33 and uses a tail pin to position the end of the main shaft 22 away from the rotating component 21. When the main shaft 22 rotates, the clamping component 23 is rotatably connected to one end of the main shaft 22 for positioning and clamping the housing 5 and driving the housing 5 to rotate synchronously through the main shaft 22, ensuring that the housing 5 maintains a stable axial position during rotation. The clamping component 23 can be designed to be manually adjusted in position on the guide rail 331 to accommodate housings 5 ​​of different lengths. At the end of the main shaft 22 away from the rotating component 21, a simple tail pin structure can be used to support and position the main shaft 22.

[0030] See Figure 4 The supporting device 3 is used to support the housing 5, including a variable pitch roller assembly 312 31, a lifting assembly 32, and a traveling assembly 33. The variable pitch roller assembly 312 31 is used to carry and support the housing 5 and can adapt to housings 5 ​​of different diameters. The variable pitch roller assembly 312 31 is disposed on the lifting assembly 32. The lifting assembly 32 is used to drive the variable pitch roller assembly 312 31 and the housing 5 it carries to move in the vertical direction to adjust the height of the housing 5. The traveling assembly 33 is disposed on the frame 1 and is used to drive the lifting assembly 32 and the synchronously disposed variable pitch roller assembly 312 31 to move along the axial direction of the main shaft 22. The coaxiality detection device 4 is used to detect the actual height position data of the outer circumferential surface of the housing 5 after the lifting assembly 32 pushes the housing 5 to a preset height.

[0031] The control system, as the core of the equipment, is responsible for receiving detection data, comparing data, calculating deviations, generating instructions, and driving relevant actuators to make adjustments, ultimately achieving closed-loop control of the coaxiality of the housing 5. It is electrically connected to the lifting assembly 32, the traveling assembly 33, and the coaxiality detection device 4. The control system is configured to: receive the actual height position data detected by the coaxiality detection device 4; compare the actual height position data with preset theoretical height data and obtain a height deviation value; generate a fine-tuning instruction based on the height deviation value and send it to the lifting assembly 32, driving the lifting assembly 32 to perform compensatory fine-tuning of the height of the variable-pitch roller assembly 312 until the actual height position data conforms to the preset theoretical height range, thus achieving closed-loop control of the coaxiality between the housing 5 and the main shaft 22. Coaxiality closed-loop control refers to forming a continuous, automated control loop through real-time detection, data feedback, calculation adjustment, and actuator actions, ensuring that the coaxiality of the housing 5 is continuously maintained within a preset accuracy range.

[0032] See Figure 3 and Figure 4 The variable pitch roller assembly 312 includes at least two adjusting plates 311, which are detachably connected to the lifting top plate 324. The lifting top plate 324 serves as the mounting base for the variable pitch roller assembly 312, providing a stable mounting platform for the rollers 312 and the adjusting plates 311. The detachable connection design between the roller assembly 312 and the lifting top plate 324, such as through bolt connections, snap-fit ​​connections, or quick-locking mechanisms, makes the installation, disassembly, maintenance, or replacement of the variable pitch roller assembly 312 extremely convenient, thereby significantly improving the versatility of the equipment. To improve maintenance efficiency, these adjusting plates 311 are positioned relative to each other and mounted on the lifting top plate 324. The mounting position of the adjusting plates 311 on the lifting top plate 324 is adjustable. Their core function is to accommodate housings 5 ​​of different diameters. By adjusting the relative position of these adjusting plates 311 on the lifting top plate 324, for example through sliding grooves and bolt fastening, screw drive, or gear rack mechanism, the distance between the rollers 312 can be changed, thereby precisely supporting housings 5 ​​of different diameters without having to replace the entire support assembly for each diameter of housing 5.

[0033] Each adjusting plate 311 is rotatably mounted with at least one roller 312. The central axis of the roller 312 is parallel to the central axis of the main shaft 22. These rollers 312 are used to make rolling contact with the outer wall of the housing 5, providing smooth support. The rollers 312 are typically rotatably mounted via bearings to ensure low friction and high reliability. To avoid interference with welding torches or inspection probes during circumferential welding of the housing 5, each roller 312 is provided with an annular clearance groove 313 in the middle. The design of the clearance groove 313 ensures that the welding or inspection process... The smooth progress of the process improves the convenience and safety of operation. In order to further ensure the accuracy and repeatability of the installation of the variable pitch roller 312 assembly 31, both the lifting top plate 324 and the adjusting plate 311 are provided with corresponding positioning holes. After these positioning holes are aligned, positioning pins are set. The introduction of positioning pins, such as cylindrical pins or tapered pins, can eliminate positional deviations during the installation process and ensure the relative positional accuracy between the variable pitch roller 312 assembly 31 and the lifting top plate 324, thereby providing a stable foundation for subsequent coaxiality testing and calibration.

[0034] The walking assembly 33 includes a guide rail 331 laid on the frame 1 along the axial direction of the main shaft 22, a slider 332 slidably connected to the guide rail 331, a slide plate 333 fixedly connected to the slider 332, and a first driver 334 connected to the slide plate 333. The lifting assembly 32 is fixedly mounted on the slide plate 333. The first driver 334 is used to drive the slide plate 333 to move along the guide rail 331. The control system is electrically connected to the first driver 334 and configured such that when the coaxiality detection device 4 performs detection or the lifting assembly 32 performs compensatory fine adjustment, the control system locks the first driver 334, restricting the walking assembly 33 from moving along the guide rail 331. The first driver 334 includes a first reduction servo motor 3341, a first gear 3342 connected to the output end of the first reduction servo motor 3341, and a first gear 3342 connected to the output end of the first reduction servo motor 3341. A first rack 3343 meshes with a gear 3342 and is arranged parallel to the guide rail 331. The main function of the first driver 334 is to achieve precise position adjustment of the walking component 33 in the axial direction of the main shaft 22. When the coaxiality detection device 4 performs detection or the lifting component 32 performs compensatory fine adjustment, the control system locks the first driver 334, restricting the movement of the walking component 33 along the guide rail 331. The locking state means that under specific conditions, the control system controls the first driver 334 to stop its movement and maintain its current position, preventing any accidental movement. This can be achieved by keeping the servo motor energized or activating the brake function. This locking mechanism ensures that the position of the walking component 33 remains fixed during critical operations, thereby avoiding errors introduced by accidental movement.

[0035] The lifting assembly 32 includes a lifting base plate 321, a guide rod 322, a linear bearing 323, a lifting top plate 324, and a second driver 325. The lifting base plate 321 is connected to the walking assembly 33. The guide rod 322 is vertically fixed on the lifting top plate 324. The linear bearing 323 is slidably sleeved on the guide rod 322. The lifting base plate 321 is fixedly connected to the linear bearing 323, and the variable pitch roller assembly 312 is mounted on the lifting top plate 324. The second driver 325 is drivenly connected to the lifting top plate 324 and is used to drive the lifting top plate 324 to move vertically along the guide rod 322. The second driver 325 includes a second reduction servo motor 3251. The system includes a second gear 3252 connected to the output end of the second reduction servo motor 3251, and a second rack 3253 meshing with the second gear 3252. The first rack 3343 and the second rack 3253 are arranged perpendicularly in the length direction, and the second rack 3253 is arranged in the vertical direction. Both the first gear 3342 and the second gear 3252 are helical gears, and both the first rack 3343 and the second rack 3253 are helical racks. The main function of the second driver 325 is to precisely drive the lifting top plate 324 to move vertically along the guide rod 322 according to the instructions of the control system, thereby realizing the fine adjustment of the height of the housing 5.

[0036] The first reduction servo motor 3341 and the second reduction servo motor 3251 serve as drive sources, enabling the equipment to accurately respond to control commands and reduce positioning errors during precise horizontal movement and vertical lifting. The first gear 3342 meshes with the first rack 3343 to convert the rotational motion of the first reduction servo motor 3341 into the linear movement of the walking component 33, achieving horizontal positioning of the housing 5. The first rack 3343 is arranged parallel to the guide rail 331, ensuring that the walking component 33 moves smoothly along a predetermined path. The second gear 3252 meshes with the second rack 3253 to drive the second... The rotational motion of the geared servo motor 3251 is converted into the linear motion of the lifting top plate 324, realizing the vertical lifting of the variable pitch roller 312 assembly 31. The second rack 3253 is set in the vertical direction, and the length directions of the first rack 3343 and the second rack 3253 are perpendicular to each other. This ensures the independence and orthogonality of horizontal and vertical motion. Compared with spur gears and racks, the tooth lines of helical gears and racks are at a certain angle to the axis, so that the gears gradually contact each other when meshing, thereby greatly improving the transmission accuracy. This is crucial for coaxiality calibration equipment that requires high-precision positioning and fine adjustment.

[0037] Multiple support devices 3 are arranged along the axial direction of the main shaft 22. These support devices 3 are distributed at certain intervals to provide multi-point support for long or heavy shells 5. By increasing the number of support points, the self-weight of the shell 5 and the stress generated during the straightening process can be effectively distributed, thereby significantly improving the overall stiffness and stability of the shell 5 during the straightening process, preventing deformation of the shell 5 due to deflection, and ensuring the accuracy of coaxiality straightening. In actual implementation, the number and spacing of the support devices 3 can be flexibly configured according to parameters such as the length, diameter, and weight of the shell 5 to be straightened, and multiple sets of traveling... The components 33 share one or more guide rails 331, instead of laying guide rails 331 independently. Instead, they share the same or multiple long guide rails 331 laid on the frame 1. This shared guide rail 331 design can greatly simplify the mechanical structure of the equipment, reduce the workload of installing and aligning the guide rails 331, and reduce manufacturing costs. Since all the walking components 33 move on the same reference guide rail 331, it helps to improve the synchronization and positioning accuracy of multiple support devices 3 when moving axially, and provides a stable foundation for subsequent coaxiality testing and calibration operations.

[0038] The coaxiality detection device 4 is also configured to move axially along the main shaft 22 and detect the cross-sectional profile of the mating area between the housing 5 and the housing 5; the control system is also configured to determine the actual axial position of the circumferential joint to be welded of the housing 5 based on the axial position change between the welding positions of the housing 5 and the housing 5 reflected in the cross-sectional profile; calculate the axial deviation value between the current axial position of the annular clearance groove 313 of the roller 312 and the actual axial position of the circumferential joint to be welded; and send a horizontal adjustment command to the traveling assembly 33 based on the axial deviation value, driving the traveling assembly 33 to drive the variable pitch roller 312 assembly 31 to move axially until the annular clearance groove 313 of the roller 312 is aligned axially with the position of the circumferential joint to be welded.

[0039] After completing the detection and adjustment of the height of the housing 5, the coaxiality detection device 4 has its function expanded. The device is designed to move along the axial direction of the main shaft 22. During this movement, it scans and detects the cross-sectional profile of the mating area between the housings 5. This axial movement can be achieved by the translation drive component equipped on the coaxiality detection device 4 itself, or by mounting it on a platform that can move along the axial direction of the main shaft 22. By detecting the cross-sectional profile, information such as the geometry, gap, and misalignment of the mating area of ​​the housings 5 ​​can be obtained, thereby accurately identifying the start and end positions of the circumferential seam to be welded, as well as its specific coordinates in the axial direction, in order to obtain high-precision cross-sectional data.

[0040] After receiving the cross-sectional profile data from the coaxiality detection device 4, the control system performs intelligent analysis. Through preset algorithms, such as edge detection and feature recognition, the control system can accurately identify the axial change characteristics between the welding positions of the housing 5 and the housing 5 from the cross-sectional profile data, thereby determining the actual position of the welded circumferential seam on the main shaft 22. At the same time, the control system will acquire the current axial position information of the annular clearance groove 313 of the roller 312 on the variable pitch roller 312 assembly 31 in real time. This information can usually be obtained through the encoder feedback of the first driver 334 of the walking assembly 33. Subsequently, the control system compares the actual axial position of the welded circumferential seam with the current axial position of the annular clearance groove 313 of the roller 312 and calculates the axial deviation value between the two.

[0041] Once the axial deviation value is calculated, the control system generates and sends a corresponding horizontal adjustment command to the traveling assembly 33 based on the magnitude and direction of the deviation value. This command drives the first driver 334 of the traveling assembly 33, causing it to move the slide plate 333 precisely along the guide rail 331. Since the lifting assembly 32 and the variable pitch roller assembly 312 are both fixedly mounted on the slide plate 333, they will move synchronously with the slide plate 333 along the axial direction of the main shaft 22. This axial movement process continues until the annular clearance groove 313 of the roller 312 is precisely aligned with the actual position of the welded annular seam in the axial direction. The whole process is automated, ensuring the precise matching of the roller 312 clearance groove 313 with the welded annular seam, providing accurate support conditions for subsequent welding operations.

[0042] The coaxiality detection device 4 includes a detection bracket 41, a displacement sensor 42, a linear drive assembly 43, and a translation drive assembly. The displacement sensor 42 is used to contact the upper generatrix of the housing 5 and / or the upper generatrix of the spindle 22. The linear drive assembly 43 drives the displacement sensor 42 to move closer to or away from the housing 5 in a horizontal direction perpendicular to the axis of the spindle 22. The translation drive assembly is mounted on the detection bracket 41 and drives the linear drive assembly 43 and the synchronously mounted displacement sensor 42 to reciprocate in a direction parallel to the axis of the spindle 22. The displacement sensor 42 directly contacts the upper generatrix of the housing 5 and / or the upper generatrix of the spindle 22 to obtain accurate displacement data. This sensor can be contact type, such as a high-precision probe, a linear variable differential transformer, a dial indicator, or a micrometer, or it can be non-contact type, such as a laser displacement sensor 42 or an eddy current sensor. Considering the need to contact the upper generatrix of the housing 5, a contact sensor is usually selected because it has the characteristics of high measurement accuracy, good repeatability, and can directly reflect the actual height or contour changes of the surface of the housing 5. The physical displacement is converted into an electrical signal for processing by the control system. The linear drive assembly 43 is used to drive the displacement sensor 42 to move closer to or away from the housing 5 in a horizontal direction perpendicular to the axis of the main shaft 22. This allows the displacement sensor 42 to flexibly adapt to housings 5 ​​of different diameters and ensures stable contact or appropriate measurement distance with the surface of the housing 5 during measurement. The linear drive assembly 43 can be driven by a stepper motor or servo motor, etc., and works with the linear guide rail 331 to achieve smooth and accurate horizontal reciprocating motion. The translation drive assembly is set on the detection bracket 41 and is used to drive the linear drive assembly 43 and the displacement sensor 42 set synchronously with it to reciprocate in a direction parallel to the axis of the main shaft 22. This allows the coaxiality detection device 4 to scan along the axis of the housing 5 to detect the coaxiality or cross-sectional profile at different positions. The translation drive assembly can be composed of a linear motor, a gear and rack mechanism, or a synchronous belt drive system, and works with the linear guide rail 331 to achieve long-stroke, high-precision axial movement. Its function is to achieve full-coverage scanning of the detection device along the length of the housing 5.

[0043] The control system includes: The data receiving module is electrically connected to the coaxiality detection device 4 and is used to receive actual height position data. The comparison and calculation module has pre-stored theoretical height data. It is connected to the data receiving module and is used to compare the actual height position data with the theoretical height data and calculate the height deviation value. The instruction generation module is connected to the comparison calculation module and the lifting component 32 respectively. It is used to generate fine-tuning instructions based on the height deviation value and send the fine-tuning instructions to the lifting component 32.

[0044] The data receiving module is the interface between the control system and the coaxiality detection device 4. Its main function is to accurately and in real time acquire the actual height position data of the outer circumference of the housing 5 detected by the coaxiality detection device 4. This module can be configured to include the necessary hardware interface circuits, generally using an analog-to-digital converter to process analog signals. At the same time, this module also includes corresponding software drivers and data parsing logic to ensure that the received raw data can be correctly formatted, verified and converted into a data structure that can be processed by the control system, providing a reliable data source for subsequent comparison calculations.

[0045] The comparison calculation module is one of the core processing units of the control system. Its main responsibility is to perform data analysis and deviation calculation. This module has pre-stored theoretical height data of the shell 5 at different axial positions or different diameters. This data can be stored in non-volatile memory or loaded into random access memory when the system starts. When the data receiving module provides the actual height position data, the comparison calculation module will retrieve the corresponding theoretical height data from the pre-stored data according to the current state of the shell 5. Subsequently, the module will accurately compare the actual height position data with the theoretical height data and calculate the height deviation value between the two through subtraction or other algorithms. In order to improve the calculation accuracy and system stability, this module can also integrate algorithms such as data filtering and smoothing to eliminate the influence of detection noise or instantaneous fluctuations on the deviation calculation.

[0046] The instruction generation module is responsible for converting the height deviation value output by the comparison and calculation module into specific control instructions to drive the lifting assembly 32 to perform compensatory fine-tuning. This module integrates control algorithms, such as PID control algorithms, fuzzy control algorithms, or other advanced feedback control strategies. These algorithms calculate the precise actions that the lifting assembly 32 needs to perform based on the magnitude, direction, and trend of the height deviation value, such as the rotation direction, speed, step amount, or displacement of the lifting motor. Subsequently, the instruction generation module encodes these calculated control quantities into electrical signals or communication protocols that can be recognized by the lifting assembly 32 driver and sends them to the lifting assembly 32 through the corresponding communication interface, thereby realizing precise compensatory fine-tuning of the height of the variable pitch roller 312 assembly 31.

[0047] This application further proposes a method for correcting the coaxiality of the 5-ring weld of the shell, the steps of which include: S1 Loading Step: This step aims to complete the initial loading and coarse positioning of the housing 5 to be welded. Specifically, the operator or automated machinery places multiple housings 5 ​​to be welded one by one on the variable pitch roller assembly 312 31. The variable pitch roller assembly 312 31 can be adjusted according to the diameter of the housing 5 to provide stable initial support. Subsequently, through the coordinated action of the traveling assembly 33 and the lifting assembly 32, these housings 5 ​​are precisely fitted onto the main shaft 22. This process ensures that the housings 5 ​​are basically in place before subsequent shaping and welding.

[0048] S2 Axial Initial Inspection and Positioning Step: This step is used to achieve precise axial alignment between the housing 5 and the support roller 312 to avoid interference from the support roller 312 during welding. Specifically, the coaxiality detection device 4 moves axially along the main shaft 22 to scan or detect the cross-sectional profile of the docking area between the housing 5 and the housing 5. The control system receives and analyzes these cross-sectional profile data to identify the axial changes between the welding positions of the housing 5 and the housing 5, thereby accurately determining the actual axial position of the circumferential seam to be welded. Based on this, the control system calculates the axial deviation value between the current axial position of the annular clearance groove 313 of the roller 312 of the variable pitch roller 312 assembly 31 and the actual axial position of the circumferential seam to be welded. Subsequently, the control system sends a horizontal adjustment command to the traveling assembly 33, driving the traveling assembly 33 to move the variable pitch roller 312 assembly 31 along the axial direction of the main shaft 22 until the annular clearance groove 313 of the roller 312 of the variable pitch roller 312 assembly 31 is precisely aligned axially with the position of the circumferential seam to be welded.

[0049] S3 Coarse Adjustment Step: This step aims to raise the housing 5 to a preset position close to the target coaxial height. The lifting component 32 drives the variable pitch roller 312 component 31 and the housing 5 it carries to rise in the vertical direction according to the preset program or parameters. This preset height is usually calculated based on the nominal diameter of the housing 5 and the center height of the main shaft 22, providing a good starting point for subsequent precise adjustments.

[0050] S4 Height Detection Step: This step is used to obtain the actual vertical position data of the housing 5 after coarse adjustment. After the lifting assembly 32 lifts the housing 5 to the preset height, the coaxiality detection device 4 detects the actual height position data of the outer circumference of the housing 5. The detected data is then sent to the control system as input for subsequent closed-loop fine adjustment.

[0051] S5 Closed-Loop Fine-Tuning Step: This step is the core of achieving high-precision coaxiality adjustment of the housing 5. After receiving the actual height position data, the control system accurately compares it with the preset theoretical height data and calculates the height deviation between the two. Based on this height deviation, the control system generates a fine-tuning command and sends it to the lifting assembly 32. After receiving the command, the lifting assembly 32 drives the variable pitch roller 312 assembly 31 to perform a compensatory lifting action to eliminate the height deviation. This process forms a closed-loop control through continuous detection, comparison, calculation and adjustment until the actual height position data completely meets the preset theoretical height range, thereby ensuring that the housing 5 and the main shaft 22 achieve extremely high coaxiality requirements.

[0052] S6 Follow-up Support Step: After the coaxiality of the housing 5 is adjusted to meet the requirements, this step ensures that the housing 5 can rotate stably and synchronously during the welding process. The clamping and rotating device 2 drives the main shaft 22 to rotate. The main shaft 22 drives the housing 5 sleeved on the main shaft 22 to rotate synchronously through the clamping assembly 23 on it. At the same time, the rollers 312 of the variable pitch roller assembly 312 maintain rolling contact with the outer wall of the housing 5 and rotate together with the housing 5, providing continuous and frictionless synchronous support for the housing 5, ensuring the stability and accuracy of the welding process.

Claims

1. A shell circumferential weld coaxiality alignment device, used for coaxiality alignment of multiple shells, characterized in that, include: frame; The clamping and rotating device is mounted on the frame and is used to position and clamp the housing and drive the housing to rotate synchronously via the spindle. Supporting devices for supporting the housing include a variable pitch roller assembly, a lifting assembly, and a traveling assembly; The variable pitch roller assembly is used to carry and support the housing; The variable pitch roller assembly is disposed on the lifting assembly, which is used to drive the variable pitch roller assembly and the housing it carries to move in the vertical direction to adjust the height of the housing. The walking assembly is mounted on the frame and is used to drive the lifting assembly and its synchronously mounted variable pitch roller assembly to move along the axial direction of the main shaft. The coaxiality detection device is used to detect the actual height position data of the outer circumference of the housing after the lifting assembly pushes the housing to a preset height; The control system is electrically connected to both the lifting assembly and the coaxiality detection device, and the control system is configured as follows: Receive the actual height position data detected by the coaxiality detection device; The actual height position data is compared with the preset theoretical height data to obtain the height deviation value; Based on the height deviation value, a fine-tuning command is generated and sent to the lifting component, which drives the lifting component to make compensatory fine-tuning of the height of the variable pitch roller component until the actual height position data conforms to the preset theoretical height range.

2. The shell circumferential weld coaxiality correction device according to claim 1, characterized in that, The walking component includes: Guide rails are laid on the frame along the axial direction of the main shaft; The slider is slidably connected to the guide rail; A skateboard is fixedly connected to the slider, and the lifting assembly is fixedly installed on the skateboard; The first actuator, connected to the skateboard, is used to drive the skateboard to move along the guide rail; The control system is electrically connected to the first driver and is configured such that when the coaxiality detection device performs detection or the lifting component performs compensatory fine-tuning, the control system locks the first driver, restricting the movement of the walking component along the guide rail.

3. The shell circumferential weld coaxiality correction device according to claim 2, characterized in that, The lifting assembly includes: A lifting base plate is connected to the walking assembly; A lifting roof panel, wherein the variable pitch roller assembly is mounted on the lifting roof panel; The guide rod is vertically fixed to the lifting top plate; A linear bearing is slidably sleeved on the guide rod and fixedly connected to the lifting base plate; The second driver is connected to the lifting top plate drive and is used to drive the lifting top plate to move vertically along the guide rod.

4. The shell circumferential weld coaxiality correction device according to claim 3, characterized in that, The first driver includes a first geared servo motor, a first gear connected to the output end of the first geared servo motor, and a first rack meshing with the first gear, wherein the first rack is arranged parallel to the guide rail; The second driver includes a second geared servo motor, a second gear connected to the output end of the second geared servo motor, and a second rack meshing with the second gear. The first rack and the second rack are arranged perpendicularly in their length directions, and the second rack is arranged in a vertical direction.

5. The shell circumferential weld coaxiality correction device according to claim 4, characterized in that, The variable pitch roller assembly includes: At least two adjusting plates are detachably connected to the lifting top plate, and the installation position of the adjusting plates on the lifting top plate is adjustable to accommodate shells of different diameters; Rollers are rotatably mounted on each adjustment plate for rolling contact with the outer wall of the housing, and an annular clearance groove is provided in the middle of each roller.

6. The shell circumferential weld coaxiality correction device according to claim 5, characterized in that, The supporting device is provided in multiple sets and is spaced apart along the axial direction of the main shaft. The multiple sets of the traveling components share one or more guide rails, and the gears of the first drivers of the multiple sets of the traveling components mesh with the same first rack extending along the axial direction.

7. The shell circumferential weld coaxiality correction device according to claim 6, characterized in that, The coaxiality detection device is further configured to move along the axial direction of the main shaft and detect the cross-sectional profile of the mating area between the housings. The control system is further configured to: determine the actual axial position of the circumferential seam to be welded of the shell based on the axial position change between the shell and the weld position reflected in the cross-sectional profile; and calculate the axial deviation value between the current axial position of the annular clearance groove of the roller and the actual axial position of the circumferential seam to be welded. Based on the axial deviation value, a horizontal adjustment command is sent to the traveling assembly, driving the traveling assembly to move the variable pitch roller assembly axially until the annular clearance groove of the roller is aligned axially with the position of the circumferential seam to be welded.

8. The shell circumferential weld coaxiality correction device according to claim 6, characterized in that, The coaxiality detection device includes: Test bracket; A displacement sensor for contacting the upper generatrix of the housing and / or the upper generatrix of the spindle; A linear drive assembly, wherein the displacement sensor is mounted on the linear drive assembly, and the linear drive assembly is used to drive the displacement sensor to move closer to or away from the housing in a horizontal direction perpendicular to the axis of the main shaft; A translation drive assembly is mounted on the detection bracket. The linear drive assembly is installed on the translation drive assembly. The translation drive assembly is used to drive the linear drive assembly and the displacement sensor that is synchronously set with it to reciprocate along a direction parallel to the axis of the main shaft.

9. The shell circumferential weld coaxiality correction device according to claim 1, characterized in that, The control system includes: The data receiving module is electrically connected to the coaxiality detection device and is used to receive the actual height position data; The comparison calculation module is pre-stored with the theoretical height data. The comparison calculation module is connected to the data receiving module and is used to compare the actual height position data with the theoretical height data and calculate the height deviation value. The instruction generation module is connected to the comparison calculation module and the lifting component respectively, and is used to generate the fine-tuning instruction based on the height deviation value and send the fine-tuning instruction to the lifting component.

10. A method for correcting the coaxiality of the circumferential weld of the housing of the device according to any one of claims 1 to 9, characterized in that, Includes the following steps: S1 Loading Step: Place multiple housings to be welded on the variable pitch roller assembly, and use the traveling assembly and lifting assembly to fit the housings onto the main shaft; S2 Axial Initial Inspection and Positioning Steps: The coaxiality detection device moves along the axial direction of the main shaft to detect the cross-sectional profile of the docking area between the housings; The control system determines the actual axial position of the circumferential seam to be welded on the shell based on the axial position change between the shells reflected in the cross-sectional profile; the control system sends a horizontal adjustment command to the walking assembly, driving the walking assembly to move the variable pitch roller assembly axially until the annular clearance groove of the roller of the variable pitch roller assembly is aligned axially with the position of the circumferential seam to be welded. S3 coarse adjustment step: The lifting component rises according to the preset program, lifting the housing to the preset height; S4 Height Detection Step: The coaxiality detection device detects the actual height position data of the outer circumferential surface of the housing after it is lifted by the lifting assembly, and sends the actual height position data to the control system; S5 Closed-loop fine-tuning steps: The control system compares the actual height position data with the preset theoretical height data, calculates the height deviation value, and controls the lifting component to perform compensatory lifting actions according to the height deviation value until the height deviation value falls within the preset accuracy range. S6 Follow-up Support Step: After the coaxiality meets the requirements, the clamping and rotating device drives the main shaft to rotate, and the main shaft drives the housing to rotate synchronously; the rollers of the variable pitch roller assembly rotate together with the housing, and the rollers provide synchronous support for the housing.

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