An automated welding system and method for the interior walls of pressure vessels

Abstract

The present application relates to pressure vessel welding equipment technical field, specifically to a kind of pressure vessel inner wall automatic welding system and method, the base outside is provided with multiple support mechanisms, support mechanism is driven to support wheel to the pressure vessel inner wall by parallelogram link structure and is unfolded, and support state is detected by pressure sensor, so that the base keeps stable support in the pressure vessel inside;It is simultaneously provided with laser ranging mechanism and lighting camera mechanism, for obtaining welding area position information and assisting adjustment welding position.The present application is combined by multi-degree-of-freedom adjusting structure, inner wall self-adapting support structure and visual auxiliary positioning structure, realizes automatic positioning, stable support and multi-angle welding in the pressure vessel inner wall welding process, improves welding precision, equipment adaptability and operation stability.

Description

Technical Field

[0001] This invention relates to the field of pressure vessel manufacturing and welding automation technology, and in particular to an automated welding system and method capable of extending into the interior of a pressure vessel and performing multi-degree-of-freedom adjustable welding on the weld seams of the inner wall of the pressure vessel. Background Technology

[0002] Pressure vessels, as special equipment used to carry gaseous or liquid media, are widely used in petrochemical, energy storage, pharmaceutical, food processing, and industrial production fields. Because pressure vessels typically need to withstand certain pressures for extended periods, the manufacturing quality of their cylindrical structure and connecting welds directly affects the safety and reliability of the equipment during operation. Therefore, the manufacturing process of pressure vessels places high demands on the processing quality, welding precision, and welding stability of their inner wall welds.

[0003] Currently, the welding methods for pressure vessels mainly include manual welding and automated welding. For pressure vessels that are small in size or have a simple structure, manual welding can meet certain processing requirements. However, because the internal space of pressure vessels is usually quite narrow, welders face challenges such as limited operating space, difficulty in adjusting welding posture, high labor intensity, and the susceptibility of welding quality to human factors.

[0004] With the development of automated welding technology, automated equipment that uses mechanical actuators to replace manual welding has gradually emerged in existing technologies. Current automated welding equipment typically uses a moving platform, robotic arm, or rotating mechanism to move the welding torch, thereby achieving the welding operation. However, due to the enclosed structure and special space constraints of pressure vessels, ordinary automated welding equipment still has certain shortcomings in application. For example, some equipment is mainly suitable for welding the outer walls of pressure vessels and cannot effectively access internal weld seams; while some extension-type welding equipment can send the welding mechanism into the pressure vessel, because the welding mechanism usually uses a single-end cantilever support, when the extension distance is long, it is easily affected by its own weight and vibrations during the welding process, causing the welding torch position to shift and reducing welding accuracy.

[0005] Furthermore, the weld seams on the inner wall of pressure vessels are typically not concentrated in a single location, but may be distributed across different circumferential, axial, and height regions. Therefore, welding equipment needs to have multi-directional adjustment capabilities to achieve precise adjustment of the welding mechanism relative to the position of the weld seams on the inner wall. However, the welding torch adjustment structures in existing equipment usually have limited degrees of freedom, making it difficult to simultaneously meet multiple motion requirements such as axial movement, circumferential rotation, radial approach, and angle adjustment. Consequently, the equipment has poor adaptability when dealing with pressure vessels of different specifications and sizes.

[0006] Therefore, existing pressure vessel inner wall welding equipment still suffers from problems such as difficulty in internal positioning, insufficient stability of the welding mechanism, weak adaptability to pressure vessels of different specifications, and difficulty in guaranteeing welding accuracy. There is an urgent need for an automated welding system and method that can enter the interior of the pressure vessel, make multi-directional adjustments to the welding mechanism, and improve the internal support stability and welding positioning accuracy. Summary of the Invention

[0007] The purpose of this invention is to overcome the shortcomings of the existing technology and provide an automated welding system and method for the inner wall of pressure vessels.

[0008] The objective of this invention is achieved as follows: an automated welding system for the inner wall of a pressure vessel includes a base, on which an adjustment system is provided. A telescopic mechanism is fixedly provided at the upper end of the adjustment system. The adjustment system is used to drive the telescopic mechanism to adjust its position in the horizontal, longitudinal, and vertical directions, so as to achieve the initial positioning of the welding execution part relative to the opening of the pressure vessel.

[0009] Furthermore, the telescopic mechanism is provided with a base at its front end. The telescopic mechanism can drive the base to move back and forth along the axial direction of the pressure vessel, so that the base can extend into or out of the pressure vessel and adjust the axial position of the base inside the pressure vessel according to the position requirements of the area to be welded.

[0010] Furthermore, a turntable mechanism is rotatably provided at the front end of the base, and a self-adjusting mechanism is provided on the turntable mechanism. The turntable mechanism is used to drive the self-adjusting mechanism to rotate around the central axis of the base to adjust the position of the welding execution part in the circumferential direction inside the pressure vessel. A telescopic mechanism two is fixedly provided on the self-adjusting mechanism, and the self-adjusting mechanism is used to drive the telescopic mechanism two to make fine adjustments in the horizontal and vertical directions to achieve precise positioning of the welding execution part relative to the welding area on the inner wall of the pressure vessel.

[0011] Furthermore, the output end of the telescopic mechanism is provided with a rotating mechanism, and a welding mechanism is provided on the rotating mechanism. The rotating mechanism is used to drive the welding mechanism to rotate and adjust, so that the welding mechanism can adjust the welding angle and welding posture according to different welding process requirements, thereby adapting to the processing needs of different positions and different forms of welds on the inner wall of the pressure vessel.

[0012] Furthermore, multiple support mechanisms are provided on the outer side of the base, which are used to abut against the inner wall of the pressure vessel to improve the stability of the base inside the pressure vessel; pressure detection components are provided on the support mechanisms; a laser ranging mechanism and an illumination camera mechanism are provided near the welding mechanism; the laser ranging mechanism is used to obtain distance information between the welding mechanism and the inner wall of the pressure vessel, and the illumination camera mechanism is used to obtain image information of the welding area; the system also includes a controller, which is connected to the adjustment system, the support mechanism, the welding mechanism, the laser ranging mechanism, and the illumination camera mechanism respectively.

[0013] Beneficial effects: The present invention has the following technical effects when used: 1. This invention, through the inclusion of an adjustment system, a telescopic mechanism, and a base structure, enables the welding execution unit to be adjusted in multiple dimensions—up and down, left and right, front and back, and axially—according to the size of the pressure vessel and the welding position requirements. This allows the welding mechanism to smoothly enter pressure vessels of different specifications and adapt to welding operations at varying depths. Compared to traditional fixed welding equipment, this invention reduces the problem of insufficient equipment applicability due to differences in pressure vessel size, and improves the welding system's adaptability to different types of pressure vessels. 2. The telescopic mechanism of this invention employs a guide rod, a telescopic rod, and a lead screw transmission structure. The drive mechanism rotates the lead screw, causing the telescopic rod to move stably along the guide rod, thereby achieving precise movement of the base and welding execution part along the axial direction of the pressure vessel. Compared to a simple push-pull telescopic structure, this structure features stable movement and high position control accuracy, reducing positional deviations caused by changes in the telescopic distance during welding. 3. This invention, by setting a turntable mechanism, a self-adjusting mechanism, and a telescopic mechanism at the front end of the base, enables the welding mechanism to simultaneously possess circumferential rotation adjustment, vertical adjustment, horizontal adjustment, and radial approach adjustment capabilities. During actual welding, based on the position of the weld seam inside the pressure vessel, the independent actions or combined linkages of multiple mechanisms can achieve continuous adjustment of the welding mechanism's position relative to the weld seam on the inner wall, thereby meeting the processing requirements of weld seams in different directions, areas, and shapes. 4. By setting up a rotating mechanism and utilizing the meshing transmission relationship between the drive mechanism, the driving gear, and the driven gear, the welding mechanism set in the rotating box can be angled, thereby changing the welding posture of the welding mechanism relative to the inner wall of the pressure vessel, so that the welding torch can maintain a more suitable welding angle, improving the stability of the welding process and the quality of weld formation. 5. This invention, by incorporating a laser ranging mechanism and an illumination camera mechanism, enables the device to assist in identifying the target welding area when operating inside a pressure vessel. The laser ranging mechanism acquires distance information between the welding mechanism and the inner wall of the pressure vessel, while the illumination camera mechanism improves the brightness of the internal environment and captures image information of the welding area. The combined use of these two mechanisms helps determine the welding position, allowing the welding mechanism to move more accurately to the preset welding area and improving welding positioning accuracy. 6. This invention, by setting multiple support mechanisms on the outside of the base and utilizing connecting rod one, connecting rod two, the support plate, and the base to form a parallelogram linkage structure, enables the support mechanism to drive the support plate to move stably along the radial direction of the pressure vessel during deployment, thus establishing a supporting relationship between the multiple support rollers on the support roller plate and the inner wall of the pressure vessel. This structure can effectively reduce cantilever vibration and positional displacement caused by the large extension length of the telescopic mechanism, and improve the stability of the welding mechanism during operation. 7. This invention incorporates a pressure sensor in the support mechanism to detect changes in force between the support roller and the support plate, thereby achieving feedback control of the support status. When the support roller contacts the inner wall of the pressure vessel and reaches a preset pressure, the control system can stop the telescopic electric cylinder, thus avoiding insufficient support or excessive compression of the inner wall of the pressure vessel, improving equipment operating safety and automation control level. 8. The various motion mechanisms in this invention are coordinated and controlled by a controller. The adjustment system, telescopic mechanism one, turntable mechanism, self-adjusting mechanism, telescopic mechanism two, rotation mechanism and support mechanism can perform individual actions or linkage coordination according to actual welding requirements. This enables the equipment to not only complete fixed position welding, but also adapt to the automated processing of continuous welds, complex trajectory welds and welds in different spatial positions, thereby improving the overall flexibility and application range of the system. 9. This invention combines multi-degree-of-freedom motion adjustment, internal stabilizing support, and vision-assisted positioning to enable the welding mechanism to form a relatively stable working state inside the pressure vessel. While ensuring the accuracy of the welding position, it improves the continuous welding capability of the equipment, reduces the need for manual entry into the pressure vessel for welding operations, and improves the automation level and operational safety in the pressure vessel manufacturing process. Attached Figure Description

[0014] Figure 1 This is a schematic diagram of the structure of the present invention.

[0015] Figure 2 This is a partial exploded view of the adjustment system of the present invention.

[0016] Figure 3 This is a partial structural diagram of the adjustment system of the present invention.

[0017] Figure 4 This is a schematic diagram of the internal structure of the fixed cylinder of the present invention.

[0018] Figure 5 This is a schematic diagram of the telescopic mechanism of the present invention.

[0019] Figure 6 For the present invention Figure 1 Schematic diagram of the structure on the right.

[0020] Figure 7 This is a schematic diagram of the support mechanism structure of the present invention.

[0021] Figure 8 This is a schematic diagram of the support plate and roller structure in the support mechanism of the present invention.

[0022] Figure 9 This is a partial structural diagram of the support mechanism of the present invention.

[0023] Figure 10 This is a schematic diagram of the self-adjusting mechanism of the present invention.

[0024] Figure 11 This is a schematic diagram of the rotating mechanism of the present invention.

[0025] Figure 12 This is a flowchart of an automated welding method for the inner wall of a pressure vessel according to the present invention.

[0026] Explanation of reference numerals in the attached figures: 1. Base, 2. Horizontal moving plate, 3. Vertical moving plate, 4. Fixed cylinder, 5. Lifting cylinder, 6. Drive mechanism one, 7. Guide rod, 8. Guide rod one, 9. Connecting block one, 10. Connecting block two, 11. Telescopic electric cylinder one, 12. Telescopic electric cylinder two, 13. Connecting block three, 14. Guide rod two, 15. Telescopic electric cylinder three, 16. Lead screw, 17. Telescopic rod, 18. Base, 19. Turntable, 20. Fixed plate, 21. Welding mechanism, 22. Drive mechanism two, 23. Telescopic electric cylinder four, 24. Limiting mechanism 25. Rod, 26. Fixing block, 27. Support plate, 28. Support roller, 29. Telescopic electric cylinder five, 30. Push rod, 31. Support rod one, 32. Connecting rod two, 33. Fixing plate, 34. Telescopic electric cylinder six, 35. Laser ranging mechanism, 36. Lighting camera mechanism, 37. Rotating box, 38. Adjusting plate one, 39. Adjusting plate two, 40. Drive mechanism three, 41. Placement slot, 42. Telescopic electric cylinder seven, 43. Drive gear, 44. Driven gear, 45. Pressure sensor, 46. Support roller plate. Detailed Implementation

[0027] Example 1, such as Figures 1-11As shown, the objective of this invention is achieved as follows: an automated welding system for the inner wall of a pressure vessel includes a base 1, on which an adjustment system is provided. A telescopic mechanism is fixedly provided at the upper end of the adjustment system. The adjustment system is used to drive the telescopic mechanism to adjust its position in the horizontal, longitudinal, and vertical directions, so as to achieve the initial positioning of the welding execution part relative to the opening of the pressure vessel.

[0028] The telescopic mechanism has a base 18 at its front end. The telescopic mechanism can drive the base 18 to move back and forth along the axial direction of the pressure vessel, so that the base 18 can extend into or out of the pressure vessel and adjust the axial position of the base 18 inside the pressure vessel according to the position requirements of the area to be welded.

[0029] A turntable mechanism is rotatably mounted on the front end of the base 18. The turntable mechanism is equipped with a self-adjusting mechanism. The turntable mechanism is used to drive the self-adjusting mechanism to rotate around the central axis of the base 18 to adjust the position of the welding execution part in the circumferential direction inside the pressure vessel. A telescopic mechanism II is fixedly mounted on the self-adjusting mechanism. The self-adjusting mechanism is used to drive the telescopic mechanism II to make fine adjustments in the horizontal and vertical directions to achieve precise positioning of the welding execution part relative to the welding area on the inner wall of the pressure vessel.

[0030] The output end of the telescopic mechanism is provided with a rotating mechanism, and a welding mechanism 21 is provided on the rotating mechanism. The rotating mechanism is used to drive the welding mechanism 21 to rotate and adjust, so that the welding mechanism 21 can adjust the welding angle and welding posture according to different welding process requirements, thereby adapting to the processing needs of different positions and different forms of welds on the inner wall of the pressure vessel.

[0031] By coordinating the adjustment system, telescopic mechanism one, turntable mechanism, self-adjusting mechanism, telescopic mechanism two, and rotation mechanism, the welding mechanism 21 can achieve multi-directional and multi-angle position adjustment inside the pressure vessel, thereby improving the adaptability of the welding system to welding operations inside pressure vessels of different specifications.

[0032] The adjustment system includes a horizontal moving plate 2, a vertical moving plate 3, and a lifting adjustment structure. The horizontal moving plate 2 is mounted on the base 1 and can move relative to the base 1 in the left-right direction. The vertical moving plate 3 is mounted on the horizontal moving plate 2 and can move relative to the horizontal moving plate 2 in the front-back direction.

[0033] Specifically, please refer to Figure 2The base 1 is fixedly equipped with multiple guide rods 8, and multiple connecting blocks 10 are slidably mounted on the guide rods 8. The connecting blocks 10 are fixedly connected to the transverse moving plate 2, enabling the transverse moving plate 2 to move stably along the guide rods 8. The base 1 is fixedly equipped with a telescopic electric cylinder 11, and a connecting block 9 is fixedly mounted on the output end of the telescopic electric cylinder 11. The connecting block 9 is fixedly connected to the transverse moving plate 2. The telescopic movement of the telescopic electric cylinder 11 drives the connecting block 9 to move, thereby driving the transverse moving plate 2 to move left and right along the direction of the guide rods 8.

[0034] Specifically, please refer to Figure 3 Multiple guide rods 14 are fixedly mounted on the transverse moving plate 2. Multiple connecting blocks 13 are slidably mounted on each guide rod 14. The connecting blocks 13 are fixedly connected to the longitudinal moving plate 3, allowing the longitudinal moving plate 3 to move stably along the guide rods 14. A telescopic electric cylinder 12 is fixedly mounted on the transverse moving plate 2. The output end of the telescopic electric cylinder 12 is fixedly connected to the longitudinal moving plate 3. The action of the telescopic electric cylinder 12 drives the longitudinal moving plate 3 to move back and forth relative to the transverse moving plate 2.

[0035] Specifically, please refer to Figure 4 Furthermore, the adjustment system also includes a fixed cylinder 4, which is fixedly mounted on the upper surface of the longitudinal moving plate 3. A telescopic electric cylinder 3 15 is installed inside the fixed cylinder 4, and a lifting cylinder 5 is fixedly mounted at the output end of the telescopic electric cylinder 3 15. By actuating the telescopic electric cylinder 3 15, the lifting cylinder 5 can be moved up and down along the direction of the fixed cylinder 4, thereby adjusting the height position of the telescopic mechanism 1 mounted on the lifting cylinder 5.

[0036] Through the combined movement of the transverse moving plate 2, the longitudinal moving plate 3, and the lifting cylinder 5, the telescopic mechanism can achieve position adjustment in three-dimensional space, enabling the welding mechanism 21 to make adaptive adjustments according to the actual installation position and size differences of the pressure vessel.

[0037] Specifically, please refer to Figure 5 The telescopic mechanism includes a guide rod 7, a telescopic rod 17, a lead screw 16, and a drive mechanism 6. The guide rod 7 is fixedly mounted on the lifting cylinder 5. The telescopic rod 17 is movably mounted inside the guide rod 7. The lead screw 16 is rotatably mounted inside the guide rod 7. The lead screw 16 and the telescopic rod 17 are connected by a thread.

[0038] A drive mechanism 6 is fixedly installed at the rear end of the guide rod 7. The output end of the drive mechanism 6 is connected to the lead screw 16 and is used to drive the lead screw 16 to rotate. When the drive mechanism 6 drives the lead screw 16 to rotate, the threaded transmission relationship between the lead screw 16 and the telescopic rod 17 causes the telescopic rod 17 to extend or retract along the axial direction of the guide rod 7, thereby driving the base 18 fixedly installed at the front end of the telescopic rod 17 to enter or exit the pressure vessel.

[0039] The use of lead screw 16 transmission can improve the stability and positioning accuracy of the base 18 during movement, enabling the welding mechanism 21 to stay at any axial position inside the pressure vessel according to the welding position requirements.

[0040] Specifically, please refer to Figure 6 , Figure 10 , Figure 11 The turntable mechanism includes a turntable 19 and a drive mechanism 40. The turntable 19 is rotatably disposed at the front end of the base 18. The drive mechanism 40 is fixedly disposed inside the base 18. The output end of the drive mechanism 40 is connected to the turntable 19.

[0041] By driving the third mechanism 40, the turntable 19 can be rotated relative to the base 18, so that the self-adjusting mechanism, the telescopic mechanism 2 and the welding mechanism 21 set on the turntable 19 can rotate synchronously, thereby realizing the position adjustment of the welding mechanism 21 in the circumferential direction inside the pressure vessel.

[0042] The self-adjusting mechanism includes an adjustment plate 38 and an adjustment plate 39. The adjustment plate 39 is disposed on the turntable 19 and can move relative to the turntable 19 in the left-right direction. The adjustment plate 38 is disposed on the adjustment plate 39 and can move relative to the adjustment plate 39 in the up-down direction.

[0043] A telescopic electric cylinder 6 34 is fixedly installed on the turntable 19. The output end of the telescopic electric cylinder 6 34 is connected to the adjusting plate 2 39 and is used to drive the adjusting plate 2 39 to move left and right relative to the turntable 19. A telescopic electric cylinder 7 42 is fixedly installed on the adjusting plate 2 39. The output end of the telescopic electric cylinder 7 42 is connected to the adjusting plate 1 38 and is used to drive the adjusting plate 1 38 to move up and down relative to the adjusting plate 2 39.

[0044] The welding mechanism 21 can be adjusted in a wide range of circumferential directions by a turntable mechanism and can be precisely corrected in a small range by a self-adjusting mechanism, thereby improving the accuracy of welding position adjustment.

[0045] The telescopic mechanism 2 includes a fixed block 25, a telescopic electric cylinder 4 23, a fixed plate 20, and a limiting rod 24. The fixed block 25 is fixedly installed at the middle of the outer end of the adjusting plate 1 38. The telescopic electric cylinder 4 23 is installed on the fixed block 25, and the fixed plate 20 is fixedly installed at the output end of the telescopic electric cylinder 4 23.

[0046] Guide blocks are fixedly installed on the upper and lower sides of the fixed block 25, and a limit rod 24 is movably installed through the guide block. One end of the limit rod 24 is connected to the fixed plate 20.

[0047] By actuating the telescopic electric cylinder 23, the fixed plate 20 can be moved along the direction of the limiting rod 24, so that the rotating mechanism and welding mechanism 21 set on the fixed plate 20 can move closer to or further away from the inner wall of the pressure vessel, thereby adjusting the welding distance.

[0048] The rotating mechanism includes a rotating box 37, a second driving mechanism 22, a driving gear 43, and a driven gear 44. The rotating box 37 is rotatably disposed inside the fixed disk 20. The driven gear 44 is fixedly disposed in the middle of the inner end of the rotating box 37. The second driving mechanism 22 is fixedly disposed on the fixed disk 20. The driving gear 43 is disposed at the output end of the second driving mechanism 22. The driving gear 43 and the driven gear 44 mesh with each other.

[0049] The action of the drive mechanism 22 causes the drive gear 43 to drive the driven gear 44 to rotate, thereby driving the rotating box 37 to rotate relative to the fixed plate 20, thus realizing the adjustment of the welding angle of the welding mechanism 21.

[0050] The rotating box 37 is equipped with a welding mechanism 21 inside, a laser ranging mechanism 35 is provided at the middle of the outer end of the rotating box 37, and an illumination camera mechanism 36 is fixedly provided at the outer end of the rotating box 37.

[0051] Among them, the laser ranging mechanism 35 is used to detect the distance information between the welding area and the welding mechanism 21, and the lighting camera mechanism 36 is used to illuminate the internal environment of the pressure vessel and collect image information of the welding area. The two work together to achieve auxiliary positioning of the welding area and improve the accuracy of the welding position.

[0052] Specifically, please refer to Figures 6-9 Multiple support mechanisms are evenly arranged circumferentially on the outer side of the base 18. Each support mechanism includes a first connecting rod 31, a second connecting rod 32, and a support plate 26. The inner ends of the first connecting rod 31 and the second connecting rod 32 are rotatably connected to the base 18, and the outer ends of the first connecting rod 31 and the second connecting rod 32 are rotatably connected to the support plate 26, so that the first connecting rod 31, the second connecting rod 32, the support plate 26, and the base 18 form a parallelogram structure.

[0053] A support roller plate 46 is provided on the outer end face of the support plate 26, and a pressure sensor 45 is provided between the support roller plate 46 and the support plate 26. Multiple support rollers 27 are rotatably provided in the middle of the support roller plate 46.

[0054] A telescopic electric cylinder 28 is fixedly installed on the connecting rod 31. A push rod 29 is fixedly installed at the output end of the telescopic electric cylinder 28. A support rod 30 is rotatably installed on the push rod 29. The other end of the support rod 30 is rotatably connected to the connecting rod 32. A placement groove 41 is provided on the connecting rod 32. The support rod 30 can be rotatably installed inside the placement groove 41.

[0055] When the telescopic electric cylinder 28 is activated, it drives the support rod 30 to move through the push rod 29, causing the connecting rod 32 to rotate relative to the base 18, thereby driving the connecting rod 31 to move synchronously, so that the pallet 26 can be extended or retracted in the radial direction of the pressure vessel.

[0056] Because the connecting rod 31, connecting rod 32 and support plate 26 form a parallelogram structure, the support plate 26 can maintain a stable posture during the unfolding process, so that the support roller 27 can reliably fit against the inner wall of the pressure vessel.

[0057] When the support roller 27 contacts the inner wall of the pressure vessel, the pressure sensor 45 detects the support pressure and feeds the detection signal back to the control system to control the telescopic electric cylinder 28 to stop moving, so that multiple support mechanisms maintain a stable support state.

[0058] By working together with multiple support mechanisms, the stability of the base 18 when it is located inside the pressure vessel can be improved, and vibration or displacement caused by excessive extension of the telescopic mechanism can be reduced. At the same time, since the support roller 27 can rotate relative to the support roller plate 46, the support roller 27 can roll synchronously when the base 18 moves along the axial direction of the pressure vessel, so that the base 18 can move continuously while maintaining a stable support state.

[0059] In practical application, this invention can automate welding operations on different areas of the inner wall of a circular pressure vessel by employing different combinations of mechanisms, depending on the vessel's dimensions, internal weld locations, welding paths, and welding process requirements. Since the adjustment system, telescopic mechanism one, turntable mechanism, self-adjusting mechanism, telescopic mechanism two, rotating mechanism, and support mechanism are all electrically connected to the controller, each mechanism can operate sequentially according to a preset program or be adjusted in conjunction with the actual welding requirements to meet the adaptability requirements of welding the inner walls of different types of pressure vessels. The controller can generate a position deviation signal based on preset coordinate information, distance detection values, and image recognition results, and control the corresponding actuators based on this deviation signal.

[0060] In one embodiment, the base 1 is first fixedly installed in the predetermined working position, and the circular pressure vessel to be welded is positioned in front of the system, so that the central axis of the pressure vessel roughly corresponds to the moving direction of the telescopic mechanism 1. After the equipment is started, the operator can input the pressure vessel size parameters or the target welding position parameters through the controller, and the controller controls and adjusts the system actions according to the preset program.

[0061] In this system, the horizontal moving plate 2, the vertical moving plate 3, and the lifting mechanism can move under the action of their respective drive mechanisms, enabling the telescopic mechanism 1, installed above the adjustment system, to adjust its position in multiple directions within a spatial range. Specifically, by controlling the action of the telescopic electric cylinder 11, the horizontal moving plate 2 can be moved left and right relative to the base 1; by controlling the action of the telescopic electric cylinder 12, the vertical moving plate 3 can be moved forward and backward relative to the horizontal moving plate 2; and by controlling the action of the telescopic electric cylinder 15, the lifting cylinder 5 can be moved vertically.

[0062] By combining the above-mentioned movements in multiple directions, the base 18 at the front end of the telescopic mechanism can be quickly adjusted to a position corresponding to the central area of ​​the pressure vessel, thereby avoiding the problem that the subsequent welding mechanism 21 cannot accurately enter due to deviations in the installation position or size differences of the pressure vessel.

[0063] After the telescopic mechanism completes its initial position adjustment, the controller can further control the drive mechanism 6 within the telescopic mechanism to rotate the lead screw 16. Since the lead screw 16 and the telescopic rod 17 are connected by a threaded transmission, the lead screw 16 can push the telescopic rod 17 to extend or retract stably along the axial direction of the guide rod 7 during rotation, thereby allowing the base 18 located at the front end of the telescopic rod 17 to enter or exit the pressure vessel.

[0064] In this process, the telescopic mechanism can not only control the depth of the welding execution part entering the pressure vessel, but also continuously adjust the position of the base 18 relative to the axial direction of the pressure vessel according to the position changes of different welding areas, so that the welding mechanism 21 can cover the welding areas at different axial positions inside the pressure vessel.

[0065] Once the base 18 enters the pressure vessel, it can be positioned first or the welding position can be determined based on actual needs. For example, if the pressure vessel has a large internal space and the base 18 extends only a short distance, the welding position can be adjusted directly using the adjustment system, telescopic mechanism, and turntable mechanism. However, if the pressure vessel is long, the base 18 extends a large distance, or the welding precision requirements are high, the support mechanism can be activated first to establish a stable support relationship between the base 18 and the inner wall of the pressure vessel.

[0066] Specifically, please refer to Figures 6-9 When it is necessary to improve the operational stability of the base 18, the controller controls multiple support mechanisms to deploy synchronously. When the telescopic electric cylinder 28 retracts, it drives the push rod 29 to move along a preset direction, and pushes the connecting rod 32 to rotate and deploy via the support rod 30. Because the connecting rod 31, connecting rod 32, support plate 26 and base 18 form a parallelogram structure, the connecting rod 31 can synchronously change its angle during the movement of the connecting rod 32, so that the support plate 26 always maintains a relatively stable posture and gradually approaches the inner wall along the radial direction of the pressure vessel. Because the connecting rod 31, connecting rod 32 and support plate 26 adopt a parallelogram structure, the support plate 26 will not tilt significantly during deployment, so that the support roller 27 can fit against the inner wall of the pressure vessel in a more stable posture, improving the reliability of the support.

[0067] As the support mechanism continues to unfold, the roller plate 46 located on the outside of the support plate 26 gradually approaches the inner wall of the pressure vessel until multiple rollers 27 simultaneously contact the inner wall of the pressure vessel. When the pressure sensor 45 located between the roller plate 46 and the support plate 26 detects the preset support force value, the pressure sensor 45 sends a feedback signal to the controller. The controller then controls the telescopic electric cylinder 28 to stop operating based on the feedback signal, keeping the multiple support mechanisms in a stable unfolded state. Traditional inner wall support structures typically use a rigid contact method, requiring the support to be released when the equipment needs axial movement. However, this invention, by setting the rollers 27, allows the base 18 to continue moving axially while maintaining radial limitation, achieving compatibility between the support and movement states.

[0068] Through the above-mentioned support method, the base 18 can form a stable limiting relationship with the inner wall of the pressure vessel by means of support forces in multiple directions, thereby reducing structural deflection or vibration caused by the long extension length of the telescopic mechanism and improving the positional stability of the welding mechanism 21 during the welding process.

[0069] Specifically, please refer to Figure 7 After the base 18 is stably supported, the welding area can be identified through the illumination camera mechanism 36 and the laser ranging mechanism 35. The laser ranging mechanism 35 emits a detection beam towards the target area on the inner wall of the pressure vessel and detects the distance between the laser emission point and the inner wall surface in real time. The illumination camera mechanism 36 is used to enhance the brightness of the internal environment of the pressure vessel, while simultaneously acquiring image information of the inner wall of the pressure vessel and identifying the actual position of the laser spot on the inner wall. Both the laser ranging mechanism 35 and the illumination camera mechanism 36 are fixedly installed at the outer end of the rotating box 37, and they maintain a preset spatial positional relationship with the welding mechanism 21, so that the detection position of the laser ranging mechanism 35 and the action position of the welding mechanism 21 correspond to each other.

[0070] The controller determines the current position of the welding mechanism 21 based on the distance data fed back by the laser ranging mechanism 35 and the image data acquired by the illumination camera mechanism 36. When there is a deviation between the detected position and the preset welding position, the controller can simultaneously adjust the adjustment system, the telescopic mechanism, and the self-adjusting mechanism to gradually move the welding mechanism 21 to the target welding area.

[0071] Specifically, please refer to Figure 5 , Figure 6 In another embodiment, when there are multiple circumferentially distributed welding positions inside the pressure vessel, circumferential adjustment can be achieved by controlling the turntable mechanism. After the drive mechanism 3 40 is started, it drives the turntable 19 to rotate relative to the base 18, so that the self-adjusting mechanism and the welding mechanism 21 set on the turntable 19 rotate synchronously around the axis of the pressure vessel. Thus, the position switching of the welding mechanism 21 in the circumferential direction can be achieved without moving the base 18 as a whole, thereby improving welding efficiency.

[0072] Meanwhile, to improve the accuracy of welding position adjustment, a self-adjusting mechanism can be used for local fine-tuning. Specifically, when the telescopic electric cylinder 6 34 is activated, it can move the adjusting plate 2 39 relative to the turntable 19 in the left-right direction; when the telescopic electric cylinder 7 42 is activated, it can move the adjusting plate 1 38 relative to the adjusting plate 2 39 in the up-down direction. Through the large-range circumferential adjustment provided by the turntable mechanism and the small-range position correction provided by the self-adjusting mechanism, the welding mechanism 21 can be adapted to welding needs at different angles, heights, and areas on the inner wall of pressure vessels.

[0073] During the welding distance adjustment process, the controller can control the movement of the telescopic mechanism 2, causing the telescopic electric cylinder 4 23 to push the fixed plate 20 and the rotating mechanism closer to the inner wall of the pressure vessel, so that the welding mechanism 21 maintains a suitable welding distance. At the same time, since there is a fixed spatial correspondence between the detection reference position of the laser ranging mechanism 35 and the welding mechanism 21, the controller can adjust the position of the welding mechanism 21 in real time according to the laser ranging result, so that the welding torch maintains a stable distance from the area to be welded.

[0074] Furthermore, during the welding process, the rotating mechanism can also drive the welding mechanism 21 to rotate and adjust according to the welding trajectory requirements, so that the welding mechanism 21 maintains a suitable welding angle. When continuous welding of circumferential welds is required, the welding mechanism 21 can be moved along the circumference of the pressure vessel by the turntable mechanism; when welding of local areas or complex welds is required, the turntable mechanism, the self-adjusting mechanism and the telescopic mechanism can be combined to achieve continuous changes in the welding position.

[0075] Specifically, please refer to Figure 7 , Figure 8Furthermore, during equipment movement, the multiple rollers 27 in the support mechanism can roll relative to the inner wall of the pressure vessel, allowing the base 18 to move along the axial direction of the pressure vessel while maintaining a stable support state. Therefore, when it is necessary to change the welding depth or switch between different axial welding areas, the base 18 can be moved by the telescopic mechanism while the support mechanism remains in the extended state, thereby improving the continuous operation capability of the equipment.

[0076] The functional mechanisms in this invention are not simply combined, but rather form a coordinated operational relationship through a controller. Specifically, the adjustment system enables large-scale spatial positioning of the welding mechanism 21; the first telescopic mechanism enables the welding mechanism 21 to enter and adjust its position along the axial direction of the pressure vessel; the support mechanism improves the stability of the base 18 during welding; the turntable mechanism enables circumferential switching of the welding area; the self-adjusting mechanism enables precise small-range correction of the welding position; the second telescopic mechanism adjusts the distance between the welding mechanism 21 and the inner wall of the pressure vessel; and the rotation mechanism adjusts the welding posture of the welding mechanism 21.

[0077] In actual welding processes, the aforementioned mechanisms can operate individually or simultaneously as required by the welding task. For example, when welding long-distance inner walls, the support mechanism can stabilize the base 18 while controlling the telescopic mechanism to move the base 18 axially and adjusting its circumferential position in conjunction with the turntable mechanism. When welding complex welds, the turntable mechanism, self-adjusting mechanism, and rotation mechanism can work together to adjust the position and orientation of the welding mechanism 21. When performing high-precision welding positioning, the laser ranging mechanism 35 and the illumination camera mechanism 36 can be used to acquire welding area information in real time, and the controller can adjust the relevant actuators to ensure that the welding mechanism 21 maintains an accurate correspondence with the target weld.

[0078] Therefore, the present invention can achieve coordinated adjustment of multiple mechanisms according to the structural characteristics of different pressure vessels and welding requirements. Compared with traditional welding equipment that moves in one direction, it has higher position adaptability and welding accuracy.

[0079] In summary, this invention is not limited to a single welding action mode. Instead, it can automate the welding of welds in different positions, directions, and forms inside pressure vessels by adjusting the system, telescopic mechanism one, turntable mechanism, self-adjusting mechanism, telescopic mechanism two, rotating mechanism, and support mechanism, either individually or in combination, based on the structural characteristics of the pressure vessel and actual welding requirements. By combining multi-degree-of-freedom adjustment, vision-assisted positioning, and adaptive stabilizing support, the equipment's adaptability, positioning accuracy, and operational stability for welding work inside pressure vessels of different specifications are improved.

[0080] It should be noted that the driving mechanism, telescopic mechanism, and detection mechanism in this invention are not limited to the specific structural forms described above. For example, the telescopic mechanism can be implemented using an electric cylinder, hydraulic cylinder, pneumatic cylinder, or a lead screw and slide structure; the driving mechanism can be implemented using a motor, geared motor, or other rotary driving structure; and the detection mechanism can be implemented using a laser rangefinder, vision inspection module, distance sensor, or other components capable of position detection.

[0081] Meanwhile, the number of support mechanisms can be adjusted according to the size of the pressure vessel and stability requirements. They can be set to two, three, four or more, and evenly distributed along the 18 circumference of the base to meet the internal support requirements of pressure vessels of different specifications.

[0082] The welding mechanism 21 can select different types of welding equipment according to the actual welding process requirements, including but not limited to electric arc welding equipment, laser welding equipment, gas shielded welding equipment, etc.

[0083] It should be noted that the functional modules and actuators in this invention are not limited to the specific structural forms described in the above embodiments. Without affecting the overall technical effect of this invention, those skilled in the art can make equivalent substitutions or adaptive adjustments to some structural forms according to the actual application environment, equipment processing requirements, and control precision requirements. For example, the adjustment system is used to realize the spatial position adjustment of the welding mechanism 21. Its specific driving method is not limited to the telescopic electric cylinder structure, but can also adopt a hydraulic drive mechanism, a pneumatic drive mechanism, a motor screw transmission mechanism, a linear module, or other drive structures that can realize linear displacement adjustment; the drive mechanism 1 6, drive mechanism 22, and drive mechanism 3 40 can be implemented by servo motors, stepper motors, geared motors, or other rotary drive devices according to actual load requirements.

[0084] Furthermore, the telescopic mechanism is used to realize the axial movement of the welding execution part relative to the inside of the pressure vessel. Its telescopic transmission form is not limited to the screw 16 thread transmission structure, but can also adopt gear and rack transmission, linear guide transmission, hydraulic telescopic structure or other structural forms that can realize telescopic movement and position holding. The number, installation position and movement direction of the turntable mechanism, self-adjusting mechanism and rotating mechanism can be adjusted according to the size and specifications of the pressure vessel to be processed, the internal weld distribution form and welding process requirements.

[0085] The laser ranging mechanism 35 and the illumination camera mechanism 36 are used to assist in determining the position of the welding mechanism 21 and adjusting the welding distance. The specific detection method is not limited to laser ranging and image acquisition. Visual inspection sensors, distance sensors, three-dimensional scanning modules, position detection modules or other detection structures that can obtain welding area position information can also be used.

[0086] Furthermore, the number, distribution, and deployment method of the support mechanisms can be adjusted according to the internal space dimensions of the pressure vessel and the required support strength. They can be set to three, four, or more, and can be evenly distributed along the circumference of the base 18 or non-uniformly arranged according to actual support requirements. The parallelogram connection structure in the support mechanism is used to maintain the stable posture of the pallet 26 during deployment, but the specific number of links and connection method are not limited to the above structure, as long as it enables the support member to deploy and retract relative to the base 18 and form stable support with the inner wall of the pressure vessel.

[0087] Furthermore, the controller in this invention can be implemented using an independent control module, an industrial controller, a programmable logic controller, or other control units with data acquisition, signal processing, and execution control functions. The controller can individually or collaboratively control the adjustment system, telescopic mechanism, turntable mechanism, self-adjusting mechanism, and support mechanism based on preset welding paths, pressure vessel size parameters, distance detection information, image recognition information, and pressure feedback information, thereby achieving position adjustment of the welding mechanism 21, welding posture adjustment, and stable equipment support.

[0088] Therefore, this invention is not limited to a specific mechanical structure, driving method, or control method. Any structural changes, functional substitutions, or equivalent transformations made by those skilled in the art based on the disclosure of this invention without departing from the core technical concept of this invention should be included within the protection scope of this invention.

[0089] The welding mechanism 21 in this invention is located inside the rotating box 37 of the rotating mechanism and is used to perform welding processing on the inner wall of the pressure vessel according to the control signal output by the control system. The welding mechanism 21 can adopt welding execution components suitable for pressure vessel welding according to actual processing requirements. Its specific structural form can be selected according to the material type, wall thickness, weld type, and welding process requirements of the pressure vessel to be processed. This invention does not limit the specific welding form of the welding mechanism 21; while satisfying the function of welding the inner wall of the pressure vessel, various welding execution methods suitable for industrial welding in the prior art can be adopted.

[0090] In one embodiment, the welding mechanism 21 may include a welding execution end, a welding energy supply component, and auxiliary welding components. The welding execution end is positioned close to the area to be welded on the inner wall of the pressure vessel and outputs welding energy to form a weld. The welding energy supply component provides the energy required for welding to the welding execution end. The auxiliary welding components can be used to provide wire feeding, shielding gas supply, welding status detection, or other auxiliary functions according to actual welding process requirements. Through the coordination of these structures, the welding mechanism 21 can adjust its welding posture under the drive of a rotating mechanism and cooperate with other moving mechanisms to complete welding operations in different areas inside the pressure vessel.

[0091] The welding mechanism 21 in this invention is not limited to a specific welding method. In practical applications, it can be adapted to the material of the pressure vessel, welding strength requirements, and production process conditions. For example, gas shielded welding, arc welding, laser welding, or other welding methods capable of material joining can be used. Since the welding execution component structures differ for different welding methods, this invention only limits the positional and control relationships between the welding mechanism 21, the rotating mechanism, and the control system, without limiting the specific internal structure of the welding execution end.

[0092] The present invention also includes a control system, which establishes signal connections with the adjustment system, the first telescopic mechanism, the turntable mechanism, the self-adjusting mechanism, the second telescopic mechanism, the rotating mechanism, the support mechanism, and the welding mechanism 21, respectively, to achieve coordinated control among the various actuators. The control system receives information from the detection mechanism and generates corresponding control commands based on a preset control program or control parameters input by the operator, thereby controlling each actuator to complete the welding process of the pressure vessel's inner wall according to the set actions.

[0093] In one embodiment, the control system may include a controller, a signal acquisition module, a drive control module, and a human-machine interface module. The controller processes data from various sensors and detection mechanisms and outputs control signals to the corresponding actuators. The signal acquisition module acquires information from the laser ranging mechanism 35, pressure sensor 45, and other detection elements. The drive control module controls the telescopic cylinders, drive mechanisms, and welding mechanism 21 to perform corresponding actions. The human-machine interface module enables welding parameter input, equipment status display, and operation process control.

[0094] It should be noted that the control system in this invention is not limited to a specific control device or control program. In practical applications, an appropriate control method can be selected based on the equipment scale, degree of automation, and operating environment. For example, an industrial controller, programmable controller, embedded control module, industrial computer, or other control device with signal processing and motion control functions can be used. Those skilled in the art can adjust the software program, control logic, and parameter settings of the control system according to actual needs without affecting the implementation of the overall technical solution of this invention.

[0095] During the operation of this invention, each actuator can perform independent actions or be linked together according to actual welding requirements. For example, when it is necessary to adjust the position of the welding mechanism 21 inside the pressure vessel, the control system can control the telescopic electric cylinder 11, telescopic electric cylinder 12, and telescopic electric cylinder 15 in the adjustment system to move the telescopic mechanism 1 to the predetermined position; then, the drive mechanism 6 is controlled to drive the lead screw 16 to rotate, so that the telescopic rod 17 moves along the guide rod 7, thereby driving the base 18 into the pressure vessel.

[0096] Once the welding mechanism 21 enters the pressure vessel, the control system can control the support mechanism's movement based on the welding area position. This causes the telescopic electric cylinder 28 to drive the connecting rods 31 and 32, as well as the support plate 26, to unfold, bringing the support rollers 27 into contact with the inner wall of the pressure vessel. This improves the stability of the base 18 inside the pressure vessel. Simultaneously, the pressure sensor 45 detects the force state during the support process and feeds the detection results back to the control system, allowing the control system to adjust the support mechanism's movement based on the feedback information.

[0097] During the welding position adjustment process, the control system can determine the current position of the welding mechanism 21 based on the distance information detected by the laser ranging mechanism 35 and the image information collected by the illumination camera mechanism 36. When a positional deviation between the welding mechanism 21 and the target welding area is detected, the control system can control the adjustment system, the telescopic mechanism one, the turntable mechanism, the self-adjusting mechanism, and the telescopic mechanism two to coordinate their actions, so that the welding mechanism 21 gradually moves to the preset welding position.

[0098] The laser ranging mechanism 35 and the welding mechanism 21 maintain a preset spatial correspondence. Therefore, the distance data obtained by the laser ranging mechanism 35 can help determine the relative position between the welding mechanism 21 and the inner wall of the pressure vessel. The lighting camera mechanism 36 can improve the visibility of the internal environment of the pressure vessel and help obtain image information of the welding area, thereby improving the accuracy of the welding positioning process.

[0099] During the welding process, the control system can control different actuators to perform combined movements according to the preset welding path. For example, when welding a circumferential weld, the turntable mechanism can be controlled to move the welding mechanism 21 along the circumferential direction of the pressure vessel; when welding an axial weld, the telescopic mechanism can be used to move the base 18 along the axial direction of the pressure vessel; when it is necessary to adjust the welding distance and welding angle, the position and posture of the welding mechanism 21 can be further adjusted through the telescopic mechanism and the rotating mechanism.

[0100] Furthermore, the various mechanisms in this invention are not limited to a fixed sequence of actions and can be combined in different ways depending on the size of the pressure vessel, the location of the welding area, and the welding process requirements. For example, the support mechanism can be used to improve equipment stability before welding, or the support mechanism can be partially extended during equipment movement, and the base 18 can move axially through the rolling engagement between the rollers 27 and the inner wall of the pressure vessel. Therefore, this invention can achieve automated welding of the inner wall of the pressure vessel using various control methods according to different usage environments.

[0101] Example 2, please refer to Figure 1-12 , Figure 12 An automated welding method for the inner wall of a pressure vessel, provided in this application embodiment, is implemented as follows: Step S1: Based on the illumination camera mechanism 36, a video stream of the pressure vessel's inner wall is acquired. The distance is then measured by the laser ranging mechanism 35 and converted into a radial distance in the equipment coordinate system. The controller extracts the weld image coordinates from the video stream and performs spatial coordinate mapping based on the radial distance to generate an initial coordinate matrix of the target weld. Based on this matrix and the spatial point set of the adjacent inner wall region, the curvature of the inner wall surface and the weld inclination angle are determined. The initial coordinate matrix of the target weld refers to the weld spatial trajectory obtained by mapping the weld image coordinates with the radial distance, without support or cantilever deformation compensation.

[0102] The ranging value refers to the distance between the emission point of the ranging beam and the projection point on the inner wall of the pressure vessel; the radial distance refers to the radial position information of the inner wall point relative to the equipment reference position obtained after the ranging value is installed, calibrated, and transformed. During the positioning stage, the radial distance is used to assist in converting the weld image coordinates into spatial coordinates; during the welding stage, the radial distance is used to determine whether the working distance between the end of the welding mechanism 21 and the inner wall of the pressure vessel has shifted.

[0103] Once the equipment extends into the pressure vessel through the opening, the lighting camera mechanism 36 begins capturing video streams from the inner wall of the pressure vessel. The interior of a pressure vessel typically suffers from insufficient lighting, glare from the inner wall, floating smoke and dust, shadows from welding slag, oil contamination, and localized surface deformation, making the weld edges easily blurred in the original images.

[0104] The controller performs brightness equalization, local contrast enhancement, and noise suppression on the video stream to create a more stable grayscale difference between the weld edge, bevel line, or weld reinforcement boundary and the surrounding base material. This processing does not change the weld geometry; it only improves the recognizability of the weld edge.

[0105] The controller identifies the weld image coordinates in the enhanced image. For bevel welds, the controller extracts the two edges of the bevel and generates the center line; for circumferential welds, the controller extracts a continuous linear boundary along the circumference; for longitudinal welds, the controller extracts a continuous linear boundary along the axial direction; for localized repair weld areas, the controller extracts the defect edges or the boundary of the grinding area.

[0106] The laser ranging mechanism 35 collects the ranging value formed by the ranging beam projected onto the inner wall area adjacent to the weld. Based on the installation position relationship of the laser ranging mechanism 35 and the calibration parameters of the equipment coordinate system, the ranging value is converted into the radial distance in the equipment coordinate system. The radial distance is used to map the weld image coordinates to the spatial coordinates.

[0107] When the laser ranging mechanism 35 is a multi-point laser ranging mechanism, the controller fits the current local inner wall surface according to multiple radial distances and maps the weld image coordinates onto the local geometric model to obtain the initial coordinate point matrix of the target weld.

[0108] When the laser ranging mechanism 35 is a single-point laser ranging mechanism, the controller uses the radial distance obtained in a single operation as a local inner wall surface position constraint. Through the axial advancement of the telescopic mechanism 1, the circumferential rotation of the turntable mechanism, or the attitude adjustment of the welding mechanism 21, the single-point laser ranging mechanism sequentially measures the distance at multiple preset sampling positions to form a local sampling point set. The controller establishes a local inner wall surface model based on the local sampling point set and maps the weld image coordinates onto the local inner wall surface model to obtain the initial coordinate point matrix of the target weld.

[0109] The inner wall surface curvature is used to determine the target support force value of the support mechanism, and the weld inclination angle is used to subsequently determine the attitude adjustment angle of the welding mechanism 21. When the inner wall surface curvature changes significantly, the contact pressure between the support end and the inner wall is more easily concentrated, so the target support force value needs to be reduced; when the inner wall surface curvature is relatively gentle, the contact between the support end and the inner wall is more uniform, and a conventional support setting can be used. After the controller generates the initial coordinate point matrix of the target weld, it determines the inner wall surface curvature by combining it with the spatial point set of the adjacent inner wall region, and determines the weld inclination angle according to the spatial extension direction of the initial coordinate point matrix of the target weld.

[0110] The process of obtaining the curvature of the inner wall surface is as follows: When the lighting camera mechanism 36 acquires weld seam image information, it simultaneously acquires images of the inner wall region within a preset range on both sides of the weld seam. For example, the region is expanded to both sides of a preset width based on the weld seam centerline. The laser ranging mechanism 35 acquires radial distances at multiple locations within this region according to preset sampling positions. The acquired radial distances are spatially mapped with the corresponding image coordinates to obtain a three-dimensional spatial point set containing the weld seam region and its adjacent inner wall region. The controller establishes a local inner wall spatial model corresponding to the current welding area based on the three-dimensional spatial point set.

[0111] In one implementation, the controller divides the system into multiple local computational regions along the weld extension direction. Within each local region, multiple continuously sampled inner wall spatial points are selected, and local surface fitting is performed based on the positional relationship of these spatial points in the spatial coordinate system. When the inner wall of the pressure vessel is close to a regular cylindrical surface, the controller uses a cylindrical surface fitting method for the local spatial points to obtain the radius of the fitted cylinder corresponding to that region. When there are local processing errors, corrosion depressions, or welding deformations on the inner wall of the pressure vessel, the controller performs local corrections to the fitting model based on the degree to which the local spatial points deviate from the standard cylindrical surface, in order to obtain surface parameters that better match the actual shape of the inner wall.

[0112] Specifically, the controller determines a local fitting curve or fitting arc based on the positional relationship of multiple consecutive inner wall spatial points, and determines the inner wall surface curvature of the current welding area based on the fitted radius of curvature. The inner wall surface curvature is used to represent the degree of bending of the pressure vessel's inner wall within the current welding area and serves as data input for calculating the target value of the support force. For example, after acquiring a set of inner wall spatial points within a certain welding area, the controller selects multiple inner wall points distributed along the circumference of the vessel for local arc fitting. When the difference between the fitted arc radius and the design inner radius of the pressure vessel is within a preset radius tolerance range, it indicates that the area is close to a standard cylindrical surface; when the difference exceeds the preset radius tolerance range, it indicates that there is a local curvature change in the area, and the controller generates the corresponding inner wall surface curvature based on the actual fitted radius.

[0113] The process of obtaining the weld inclination angle is as follows: After obtaining the weld space matrix, the controller determines the weld space direction based on the positional changes of the weld matrix along the extension direction. When the weld is located in the axial direction of the inner wall of the pressure vessel, the weld inclination angle is close to the attitude angle corresponding to the axial reference direction; when the weld deflects relative to the axial direction, the space matrix will show a corresponding directional change. The controller determines the weld inclination angle based on the spatial extension direction of the weld space matrix and uses this angle as the input parameter for adjusting the attitude angle of the welding mechanism 21 by the rotation mechanism, so that the welding torch can weld in an attitude suitable for the current weld direction. The controller calculates the attitude adjustment angle of the welding mechanism 21 based on the weld inclination angle, so that the welding mechanism 21 can adapt to the inclination state of the bevel direction, circumferential weld direction, longitudinal weld direction, or local repair welding area.

[0114] Step S2: Based on the axial depth value of the initial coordinate matrix of the target weld, control the telescopic mechanism to drive the base 18 to advance along the pressure vessel axis to the designated axial working area, and trigger an axial positioning completion signal upon arrival. The axial depth value refers to the distance of the starting point, center point, or current segmented working area in the initial coordinate matrix of the target weld relative to the container inlet direction. For example, if the distance from the center region of the target weld to the container inlet is identified as 1800mm, then the axial depth value of this region is 1800mm.

[0115] Step S3: Based on the positioning completion signal, determine the target support force value according to the inner wall surface curvature and its local abrupt change rate and the preset upper limit of support force. Control the support mechanism to extend towards the inner wall of the pressure vessel. Collect the contact support force value between the support roller 27 and the inner wall of the pressure vessel through the pressure sensor 45. When the contact support force value enters the preset tolerance range corresponding to the target support force value, and the support force fluctuation remains within the preset support force fluctuation threshold, the current force state is determined as the support stable state. Determine the stable support force value based on the collected values ​​of multiple pressure sensors 45. The support force fluctuation threshold refers to the change range of the support force value collected by the same pressure sensor within a preset time period.

[0116] The controller determines the local abrupt change rate based on the ratio of the change in curvature of the inner wall surface of adjacent local calculation regions to the corresponding spatial distance.

[0117] The determination of the target support force value based on the inner wall surface curvature, the local abrupt change rate of the inner wall surface curvature, and a preset upper limit of support force includes: when the local abrupt change rate of the inner wall surface curvature is greater than a preset curvature abrupt change rate threshold, the controller sets the target support force value to 40% to 60% of the preset upper limit of support force; when the local abrupt change rate is less than or equal to the preset curvature abrupt change rate threshold, the controller sets the target support force value to 60% to 80% of the preset upper limit of support force. Within the corresponding range, the controller determines the target support force value based on the ratio of the local abrupt change rate to the preset curvature abrupt change rate threshold; the larger the local abrupt change rate, the closer the target support force value is to the lower limit of the range. The controller determines whether there are local protrusions, depressions, or deformations in the current support area based on the local abrupt change rate.

[0118] During the deployment of the support mechanism, the controller employs intermittent telescopic control with step sizes ranging from 2mm to 5mm. After each step, it maintains the position for a preset duration and reads the support force value until the support force value enters the preset tolerance range corresponding to the target support force value. When the average support force collected by multiple pressure sensors 45 enters the preset tolerance range corresponding to the target support force value, and the fluctuation amplitude of the values ​​collected by each pressure sensor 45 remains within the preset support force fluctuation threshold, the current state is determined to be a stable support state.

[0119] The step of determining the stable support force value based on the collected values ​​of multiple pressure sensors 45 includes: real-time reading of the collected values ​​of pressure sensors 45 distributed on the support branches around the base 18; calculating the deviation between the collected value of each pressure sensor 45 and the average support force value; when any deviation value is greater than a preset deviation threshold, controlling the support branch with the lowest support force value to extend slightly along its extension direction until the range of support force values ​​of each support branch is less than a preset range threshold; and taking the average value of the collected values ​​of multiple pressure sensors 45 at this time as the stable support force value. The deviation threshold is the difference between the collected value of a single pressure sensor and the average support force value. The range threshold is the difference between the maximum and minimum values ​​among the collected values ​​of multiple pressure sensors.

[0120] The stable value of the support force is the average value of the values ​​collected by multiple pressure sensors 45 under the stable support state. The range between each pressure sensor 45 is used to determine whether the support force is balanced.

[0121] Step S4 involves using the stable value of the support force, the current extension length of the telescopic mechanism, and the current attitude angle of the welding mechanism 21 as input parameters. Interpolation calculations are performed in a preset compensation table to output the cantilever correction. Based on the cantilever correction and the spatial coordinates of each trajectory point in the initial coordinate matrix of the target weld, an actual weld coordinate matrix is ​​generated. The actual weld coordinate matrix is ​​the welding execution trajectory after compensation for the support state and the cantilever correction.

[0122] The process of establishing the preset compensation table includes: during the calibration stage, collecting at least 3 sets of different extension lengths, at least 3 sets of different support force stability values, and at least 3 sets of different attitude angles of the telescopic mechanism 1, and forming a combined working condition matrix based on the above parameter combinations.

[0123] Under various working conditions, the actual deformation offset of the end of the welding mechanism 21 relative to the preset calibration position in the radial, vertical and circumferential degrees of freedom is measured by an external three-dimensional laser tracker; a multi-dimensional numerical mapping matrix is ​​established with the extension length, support force stability value and attitude angle as inputs and the radial offset, vertical offset and circumferential offset as outputs, as a preset compensation table.

[0124] For the establishment and use of the compensation table, during equipment shipment or on-site commissioning, the welding device is placed in a standard cylinder or calibration fixture. Different extension lengths of the telescopic mechanism are set, such as 800mm, 1200mm, 1600mm, and 2000mm; different stable support force values ​​are collected, such as 80N, 120N, and 160N; different welding mechanism 21 attitude angles are set, such as 0°, 10°, and 20°. Under each set of working conditions, the actual offset of the welding torch tip relative to the preset calibration position is measured using a laser tracker, displacement sensor, and a standard test block on the inner wall of the container. For example, under the calibration working condition with an extension length of 1600mm, a stable support force value of 120N, and a welding mechanism 21 attitude angle of 10°, the measured offset of the welding torch tip relative to the preset calibration position is 1.5mm downward, 0.6mm inward, and 0.3mm circumferentially. The controller records this set of inputs and outputs in the compensation table.

[0125] In actual welding, if the current extension length is 1600mm, the stable support force is close to 120N, and the welding mechanism 21 attitude angle is close to 10°, the controller can directly call this record to obtain the corresponding cantilever correction. If the current extension length is 1500mm, the stable support force is 110N, and the welding mechanism 21 attitude angle is 8°, and it does not fall completely on a certain calibration record, the controller can call several adjacent calibration records for interpolation to obtain the cantilever correction under the current working condition. Interpolation calculation can be achieved using linear interpolation, trilinear interpolation, or piecewise interpolation. The cantilever correction is a spatial correction vector containing radial, vertical, and circumferential correction components.

[0126] The generation of the actual weld coordinate matrix includes: calculating the relative physical distance between each trajectory point in the initial coordinate matrix of the target weld and the support mechanism in the axial coordinate direction; determining the segmented correction weight coefficient based on the relative physical distance, wherein the segmented correction weight coefficient corresponding to the trajectory point closer to the support mechanism is smaller, and the segmented correction weight coefficient corresponding to the trajectory point farther from the support mechanism is larger. The cantilever correction amount is multiplied by the segmented correction weight coefficient of the corresponding trajectory point to obtain the segmented correction amount, which is then superimposed point by point into the initial coordinate matrix of the target weld to obtain the actual weld coordinate matrix. The segmented correction weight coefficient can be determined according to the ratio of the axial relative distance between the trajectory point and the support mechanism to the current maximum cantilever length. For example, when the axial relative distance between a trajectory point and the support mechanism is d, and the current maximum cantilever length is L, the controller can use d / L as the basic segmented correction weight coefficient for that trajectory point, and limit it to the range of 0 to 1.

[0127] Step S5: Calculate multi-axis control commands based on the actual weld coordinate matrix and weld tilt angle, and drive the multi-degree-of-freedom adjustment structure composed of turntable mechanism, self-adjusting mechanism, telescopic mechanism II and rotation mechanism to work together, so that the end of welding mechanism 21 welds along the actual weld coordinate matrix.

[0128] The process of welding the end of welding mechanism 21 along the actual weld seam coordinate matrix includes: analyzing the starting point coordinates of the actual weld seam coordinate matrix; calculating the target circumferential angle of the turntable mechanism, the target vertical and lateral displacements of the self-adjusting mechanism, the target radial displacement of the telescopic mechanism II, and the target attitude angle of the rotating mechanism; obtaining the response delay time and maximum acceleration parameters of the turntable mechanism, the self-adjusting mechanism, the telescopic mechanism II, and the rotating mechanism; determining the start-up timestamp and pulse frequency change curve of the drive motor of each mechanism, using the constraint that the motion endpoints of each mechanism simultaneously reach the weld seam starting point within a preset synchronization error range; generating multi-axis linkage control commands; and driving each mechanism to operate synchronously according to the multi-axis linkage control commands. The multi-axis linkage control commands include at least one of pulse sequences, speed control curves, or position control curves.

[0129] For generating multi-axis linkage control commands, taking the movement of welding mechanism 21 from its current position to the weld start point as an example, the controller determines the following based on the actual weld coordinate matrix: the turntable mechanism needs to deflect by 8°, the self-adjusting mechanism needs to move upward by 2mm and to the left by 1mm, the telescopic mechanism 2 needs to move inward by 5mm, and the rotating mechanism needs to adjust the attitude angle of welding mechanism 21 by 12°. If the actions are performed sequentially in the traditional way, the turntable mechanism may arrive first, the telescopic mechanism 2 may arrive later, and the welding torch end may deviate from the weld area midway. To avoid this problem, the controller generates pulse frequency and start time according to the unit pulse displacement, allowable speed, and response time of each mechanism. For example, if the turntable mechanism has a longer action time, the controller starts the turntable mechanism first; if the self-adjusting mechanism responds quickly, it starts later; the telescopic mechanism 2 and the rotating mechanism adjust the pulse frequency according to the time when the target arrives together. Finally, each mechanism arrives at the weld start point within the preset synchronization time error range, so that the end of welding mechanism 21 does not significantly deviate from the weld area during the transition movement.

[0130] During the welding process, when the support force fluctuation collected by the pressure sensor 45 is within the preset support force fluctuation threshold, the distance deviation collected by the laser ranging mechanism 35 drives the telescopic mechanism 2 to perform telescopic compensation in real time. When the support force fluctuation exceeds the preset support force fluctuation threshold, the controller controls the welding mechanism 21 to pause the trajectory movement and maintain the current position of the end, while pausing the real-time compensation action of the telescopic mechanism 2. Then, the controller controls the support mechanism to make fine adjustments until the support force returns to stability, and re-collects the radial distance to update the actual weld coordinate matrix, converting the remaining distance deviation into the compensation displacement of the telescopic mechanism 2.

[0131] The remaining distance deviation refers to the distance deviation that still exists between the end of the welding mechanism 21 and the inner wall of the pressure vessel after the support mechanism has completed fine-tuning and re-measured the distance, and after deducting the overall positional change caused by the fine-tuning of the support mechanism.

[0132] Example 1: For circumferential welding of a long cylindrical pressure vessel, taking a pressure vessel with an inner diameter of approximately 1200 mm and a cylindrical length of approximately 3000 mm as an example, the area to be welded is an inner circumferential weld located approximately 1800 mm from the vessel opening. The welding device extends into the interior from the vessel opening, and the telescopic mechanism 1 drives the base 18 to advance axially.

[0133] The lighting camera mechanism 36 acquires a video stream near the circumferential seam. After the controller performs brightness equalization and noise suppression on the video stream, it identifies the coordinates of the circumferential seam image. The laser ranging mechanism 35 acquires the ranging value of the inner wall area in front of the welding torch. For example, if the ranging value is measured to be 85mm, the controller determines the radial position information of the corresponding inner wall point based on the ranging value and the installation calibration parameters. It converts the circumferential seam line in the image into the initial coordinate point matrix of the target weld and obtains the inner wall surface curvature and weld tilt angle of the circumferential seam area.

[0134] The controller calculates the advancing distance of the telescopic mechanism 1 based on the axial depth value of the initial coordinate matrix of the target weld, bringing the base 18 to the designated axial working area approximately 1800mm from the container opening. Once in position, the controller determines the target support force value based on the curvature of the inner wall surface, its local abrupt change rate, and the preset upper limit of the support force. For example, if the preset upper limit of the support force for this container is 180N, and the current inner wall curvature is relatively gentle, the controller sets the target support force value to 120N. The support mechanism begins to deploy, with multiple support ends abutting against the inner wall of the pressure vessel. Each pressure sensor 45 continuously collects support force values. When the support force values ​​at multiple support points stabilize around 118N, 121N, 120N, and 119N respectively, and do not continuously rise or fall within a preset time period, the controller calculates the average value of the support force values ​​at these multiple support points and records the average value of approximately 119.5N as the stable support force value.

[0135] For example, the extension length of the telescopic mechanism 1 is currently 1800mm, the current attitude angle of the welding mechanism 21 is 12°, and the stable support force is approximately 119.5N. The controller uses the extension length of 1800mm, the stable support force of approximately 119.5N, and the attitude angle of the welding mechanism 21 of 12° as combined inputs, calls the preset compensation table, and obtains the cantilever correction amount under the current working condition. For example, the preset compensation table outputs: the welding torch tip needs to be corrected upward by 1.6mm in the vertical direction, outward by 0.8mm in the radial direction, and circumferentially by 0.4mm.

[0136] The controller corrects the initial coordinate matrix of the target weld seam based on the cantilever correction amount to obtain the actual weld seam coordinate matrix. The circumferential weld seam matrix generated by vision and laser, after being corrected by the cantilever correction amount calculated with the support force stability value, serves as the welding trajectory. The controller generates the linkage control parameters of the turntable mechanism, self-adjusting mechanism, telescopic mechanism II, and rotation mechanism based on the actual weld seam coordinate matrix, so that the end of the welding mechanism 21 reaches the circumferential weld initiation point.

[0137] During circumferential welding, the turntable mechanism drives the welding mechanism 21 to interpolate along the circumferential direction; the telescopic mechanism 2 moves forward and backward slightly according to the remaining distance deviation collected by the laser ranging mechanism 35; the rotation mechanism maintains the posture angle of the welding mechanism 21 to adapt to the weld inclination angle. If the pressure sensor 45 shows that the support force is still within a stable range, for example, the four support points fluctuate slightly around 120N, the controller directly drives the telescopic mechanism 2 to perform telescopic compensation based on the laser distance deviation. This ensures that the working distance between the welding torch and the inner wall remains stable during circumferential welding.

[0138] For the circumferential seam inside the long cylinder, the stable value of the support force is used in the calculation of the cantilever correction amount, and the circumferential seam lattice is corrected by the cantilever correction amount, which solves the problem of welding gun position deviation caused by the cantilever sagging after the telescopic mechanism extends a long distance.

[0139] Example 2: For segmented welding of longitudinal seams inside a pressure vessel, taking a pressure vessel with an inner diameter of approximately 1000mm and a cylinder length of 2500mm as an example, the area to be welded is a longitudinal seam extending axially along the inner wall. Due to the length of the longitudinal seam, it is not suitable to weld it completely in one go, so it is divided into multiple axial operation segments. Specifically, the lighting camera mechanism 36 acquires the video stream of the area where the longitudinal seam is located and identifies the image coordinates of the longitudinal seam. The laser ranging mechanism 35 acquires the ranging value within the current field of view, converts the ranging value into a radial distance in the equipment coordinate system, and the controller combines the radial distance to map the longitudinal seam image coordinates into a spatial dot matrix. The spatial dot matrix is ​​divided into multiple segments according to the axial position. For example, the first segment is 600mm to 1100mm from the container opening, the second segment is 1100mm to 1600mm, and the third segment is 1600mm to 2100mm.

[0140] During the first stage of operation, the telescopic mechanism pushes the base 18 to the corresponding position of the first stage. After the support mechanism is deployed, the pressure sensor 45 collects the support force data of the first stage and calculates the stable value of the support force of the first stage. The controller calls the preset compensation table according to the extension length of the first stage, the stable value of the support force of the first stage and the attitude angle of the welding mechanism 21 to obtain the cantilever correction amount of the first stage, corrects the initial coordinate point matrix of the target weld of the first stage, and generates the actual weld coordinate point matrix of the first stage. When the welding of the first stage is completed, the support mechanism depressurizes or retracts to the avoidance state, and the telescopic mechanism continues to advance to the second stage operation area, and re-deploys the support mechanism in the second stage to form a stable support state.

[0141] As the extension length increases, the degree of cantilever sag changes. Therefore, the controller re-determines the corresponding cantilever correction amount in different segmented work areas. Upon reaching the second segment, the support mechanism re-deploys, and pressure sensor 45 collects the support force data for the second segment and calculates the stable value of the support force. The controller then calls back the preset compensation table to obtain the cantilever correction amount for the second segment. After being corrected by the new cantilever correction amount, the initial coordinate matrix of the target weld in the second segment forms the actual weld coordinate matrix of the second segment. Subsequently, the multi-degree-of-freedom adjustment structure performs welding according to the actual weld coordinate matrix of the second segment. The operation for the third segment is the same as that for the second segment.

[0142] For longitudinal seam welding, this invention re-acquires the stable value of the support force after each segment is supported and regenerates the actual weld coordinate matrix of the corresponding segment, which can avoid the cumulative deviation caused by the gradual increase of the extension length in long-distance longitudinal seam welding.

[0143] It should be noted that the welding mechanism, control system, and connection and control methods between the various actuators involved in this invention are only used to illustrate one implementation of the technical solution of this invention to achieve automated welding of the inner wall of a pressure vessel, and do not constitute a limitation on the scope of protection of this invention. Based on the disclosure of this invention, those skilled in the art can make adaptive adjustments to the form of the welding actuators, the composition of the control system, and the specific control program according to different pressure vessel structures, welding process requirements, and automation control needs. These adjustments do not affect the overall technical effect of this invention and are within the reasonable range of variations of the technical solution of this invention.

Claims

1. An automated welding system for the inner wall of a pressure vessel, comprising a base, characterized in that: The base is provided with an adjustment system, and the adjustment system is provided with a telescopic mechanism. The adjustment system is used to drive the telescopic mechanism to adjust its position along the horizontal, vertical and other directions. The telescopic mechanism is provided with a base at its front end. The telescopic mechanism is used to drive the base to telescopically move along the axial direction of the pressure vessel so that the base can enter or exit the interior of the pressure vessel. The base is rotatably provided with a turntable mechanism at its front end, and the turntable mechanism is provided with a self-adjusting mechanism. The turntable mechanism is used to drive the self-adjusting mechanism to rotate circumferentially. The self-adjusting mechanism is provided with a telescopic mechanism two, which is used to drive the telescopic mechanism two to adjust its position in the horizontal and vertical directions. The telescopic mechanism is equipped with a rotating mechanism at its output end, and a welding mechanism is provided on the rotating mechanism. The rotating mechanism is used to drive the welding mechanism to adjust the angle so as to achieve welding of welds at different positions on the inner wall of the pressure vessel. Multiple support mechanisms are provided on the outer side of the base. These support mechanisms are used to abut against the inner wall of the pressure vessel to improve the stability of the base inside the pressure vessel. Pressure detection components are provided on the support mechanisms. A laser ranging mechanism and an illumination camera mechanism are arranged near the welding mechanism; the laser ranging mechanism is used to obtain distance information between the welding mechanism and the inner wall of the pressure vessel, and the illumination camera mechanism is used to obtain image information of the welding area. The system also includes a controller, which is connected to the adjustment system, the support mechanism, the welding mechanism, the laser ranging mechanism, and the lighting camera mechanism.

2. The automated welding system for the inner wall of a pressure vessel according to claim 1, characterized in that: The adjustment system includes a horizontal moving plate and a vertical moving plate. The horizontal moving plate is mounted on the base and can move left and right relative to the base. The vertical moving plate is mounted on the horizontal moving plate and can move back and forth relative to the horizontal moving plate.

3. The automated welding system for the inner wall of a pressure vessel according to claim 2, characterized in that: Multiple guide rods are fixedly installed on the base. Multiple connecting blocks are slidably installed on the guide rods. The connecting blocks are fixedly connected to the transverse moving plate. A telescopic electric cylinder is fixedly installed on the base. A connecting block is fixedly installed at the output end of the telescopic electric cylinder. The connecting block is fixedly connected to the transverse moving plate.

4. The automated welding system for the inner wall of a pressure vessel according to claim 3, characterized in that: Multiple guide rods 2 are fixedly installed on the transverse moving plate. Multiple connecting blocks 3 are slidably installed on the guide rods 2. The connecting blocks 3 are fixedly connected to the longitudinal moving plate. A telescopic electric cylinder 2 is fixedly installed on the transverse moving plate. The output end of the telescopic electric cylinder 2 is fixedly connected to the longitudinal moving plate.

5. The automated welding system for the inner wall of a pressure vessel according to claim 4, characterized in that: The adjustment system also includes a fixed cylinder, which is fixed to the upper surface of the longitudinal moving plate. A telescopic electric cylinder is installed inside the fixed cylinder, and a lifting cylinder is fixedly installed at the output end of the telescopic electric cylinder. The telescopic electric cylinder drives the lifting cylinder to move up and down.

6. The automated welding system for the inner wall of a pressure vessel according to claim 5, characterized in that: The telescopic mechanism includes a guide rod fixed to the lifting cylinder. A telescopic rod is movable back and forth inside the guide rod. A lead screw is rotatably installed inside the guide rod. The lead screw and the telescopic rod are connected by a thread. A drive mechanism is fixedly installed at the rear end of the guide rod. The drive mechanism drives the lead screw to rotate. A base is fixedly installed at the front end of the telescopic rod.

7. The automated welding system for the inner wall of a pressure vessel according to claim 6, characterized in that: The turntable mechanism includes a turntable, which is rotatably mounted on a base. A drive mechanism three is installed inside the base, and the output end of the drive mechanism three drives the turntable to rotate.

8. The automated welding system for the inner wall of a pressure vessel according to claim 7, characterized in that: The self-adjusting mechanism includes an adjusting plate 1 and an adjusting plate 2. The adjusting plate 2 is mounted on a turntable and can move left and right relative to the turntable. The adjusting plate 1 is mounted on the adjusting plate 2 and can move up and down relative to the adjusting plate 2. A telescopic electric cylinder 6 is fixedly mounted on the turntable and drives the adjusting plate 2 to move left and right relative to the turntable. A telescopic electric cylinder 7 is fixedly mounted on the adjusting plate 2 and drives the adjusting plate 1 to move up and down.

9. The automated welding system for the inner wall of a pressure vessel according to claim 8, characterized in that: The telescopic mechanism 2 includes a fixed block. A fixed block is fixedly installed at the middle of the outer end of the adjusting plate 1. A telescopic electric cylinder 4 is installed on the fixed block. A fixed plate is fixedly installed at the output end of the telescopic electric cylinder 4. Guide blocks are fixedly installed on the upper and lower sides of the fixed block respectively. A limit rod is installed through the guide block that can move left and right. The left end of the limit rod is connected to the fixed plate. The output end of the telescopic electric cylinder 4 drives the rotating mechanism to move left and right.

10. An automated welding method for the inner wall of a pressure vessel, used to implement the system according to any one of claims 1-9, characterized in that: The pressure vessel inner wall video stream is acquired by a lighting camera mechanism, and the distance measurement value is acquired by a laser ranging mechanism. The distance measurement value is converted into radial distance in the equipment coordinate system. The controller extracts the weld image coordinates from the video stream, performs spatial coordinate mapping by combining the radial distance, and generates the initial coordinate point matrix of the target weld. Based on the point matrix and the spatial point set of the adjacent inner wall area, the curvature of the inner wall surface and the weld tilt angle are determined. Based on the axial depth value of the initial coordinate point matrix of the target weld, the telescopic mechanism is controlled to drive the base structure to advance along the pressure vessel axis to the designated axial working area, and triggers the axial positioning completion signal upon arrival. Based on the positioning completion signal, the target value of the support force is determined according to the curvature of the inner wall surface and its local abrupt change rate and the preset upper limit value of the support force. The support mechanism is controlled to extend towards the inner wall of the pressure vessel. The contact support force value between the support roller and the inner wall of the pressure vessel is collected by the pressure sensor. When the contact support force value enters the preset tolerance range corresponding to the target value of the support force and the support force fluctuation remains within the preset support force fluctuation threshold, the current force state is determined as the support stable state. The stable value of the support force is determined according to the collected values ​​of multiple pressure sensors. The stable value of the support force, the current extension length of the telescopic mechanism, and the current attitude angle of the welding mechanism are used as input parameters. Interpolation calculations are performed in the preset compensation table to output the cantilever correction amount. Based on the cantilever correction amount and the spatial coordinates of each trajectory point in the initial coordinate matrix of the target weld, the actual weld coordinate matrix is ​​generated. Based on the calculation of multi-axis control commands using the actual weld coordinate matrix and weld tilt angle, the multi-degree-of-freedom adjustment structure, consisting of a turntable mechanism, a self-adjusting mechanism, a telescopic mechanism, and a rotation mechanism, is driven to work together to enable the welding mechanism to weld along the actual weld coordinate matrix at its end.

Images