A pressure vessel weld grinding and cleaning device

Abstract

The present application relates to the technical field of weld polishing, and discloses a pressure vessel weld polishing and cleaning device, which comprises a main guide rail, a sliding seat, a roller frame, a lifting adjusting assembly and a polishing execution head. The rotary motor of the bottom roller frame is configured in a torque control mode, and outputs a basic bias torque which is slightly smaller than the static friction torque of the container; the top polishing execution head is provided with a deflection angle control motor, which generates a tangential driving force component by changing the yaw angle of the grinding wheel; the tangential force breaks the critical balance of the bottom and drives the container to rotate, when encountering a high convex weld, the tangential driving force instantaneously decreases, the container automatically slows down the rotating speed, adaptive synchronous feeding is realized, at the same time, the lifting assembly adopts a pyramid-shaped gas telescopic rod to provide a constant normal back pressure, effectively absorbs radial runout to prevent overcutting, and greatly improves the polishing precision of complex welds.

Description

Technical Field

[0001] This invention relates to the field of weld grinding technology, specifically to a pressure vessel weld grinding and cleaning device. Background Technology

[0002] The quality of grinding and cleaning the weld seams of pressure vessels directly affects the sealing performance and service life of the vessels, thus placing high demands on the precision and adjustability of the weld seam grinding equipment. Existing pressure vessel weld seam grinding equipment typically employs a dual-motor independent drive system (i.e., the bottom roller motor forces the vessel to rotate, while the top grinding motor is responsible for normal cutting).

[0003] Large pressure vessels have rotational inertia and rolling friction. When the grinding wheel encounters a sudden change in weld reinforcement (i.e., irregular bulges in the weld), the grinding resistance increases dramatically.

[0004] If the bottom drive system continues to rotate at the set speed, it is very easy for the grinding head to cut through the base material instantly, causing the expensive pressure vessel to be scrapped; or it may cause violent high-frequency vibration, resulting in wavy patterns on the grinding surface. Summary of the Invention

[0005] This invention provides a pressure vessel weld grinding and cleaning device, which solves the problems mentioned in the background art.

[0006] This invention provides the following technical solution: a pressure vessel weld grinding and cleaning device, comprising a main guide rail, a sliding seat slidably sleeved on the top of the main guide rail; a middle support beam and an end support beam fixedly mounted on the middle and end of the sliding seat respectively; a movable slide plate slidably sleeved on the top inner wall of the middle support beam and the end support beam; roller frames for supporting the pressure vessel fixedly mounted on the top of both sides of the sliding seat; a lifting adjustment assembly mounted on the movable slide plate, and a grinding execution head fixedly mounted on the bottom end of the lifting adjustment assembly; wherein, the roller frame is provided with an active roller and a rotary motor driving its rotation, the rotary motor being configured in torque control mode to output a basic bias torque; the grinding execution head is provided with a yaw angle control motor, the yaw angle control motor being configured to adjust the yaw angle of the grinding working wheel so that the cutting force of the grinding working wheel generates a tangential component force to drive the pressure vessel to rotate.

[0007] As a preferred embodiment of the present invention: the roller frame includes a rocker arm, one end of which is rotatably connected to a telescopic push rod, and the other end of which is rotatably connected to a first hinge seat; the ends of the telescopic push rod and the first hinge seat away from the rocker arm are both fixedly assembled to the top of the sliding seat; the two ends of the rocker arm away from the sliding seat are respectively rotatably connected to a driven roller and the driving roller, and the rotary motor is fixedly assembled to the middle outer wall of the rocker arm.

[0008] As a preferred technical solution of the present invention: the rocker arm, the first hinge seat and the telescopic push rod constitute a crank rocker mechanism, which is configured to drive the rocker arm to swing around the first hinge seat through the extension and retraction of the telescopic push rod, so as to adaptively adjust the contact position and support angle of the active roller and the driven roller with the pressure vessel.

[0009] As a preferred embodiment of the present invention: the grinding execution head includes two sets of symmetrically arranged execution supports, each with a power motor and a grinding wheel at its two ends; a connecting ring plate is fixedly mounted on the outer wall of the two sets of execution supports, the connecting ring plate has mounting ring grooves at both ends, and a transmission gear plate is fixedly mounted on the middle outer wall; a rotating hanger is rotatably connected to the inner wall of the mounting ring groove; the deflection angle control motor is fixedly mounted on the inner wall of the rotating hanger, and its output end meshes with the transmission gear plate through a gear.

[0010] As a preferred technical solution of the present invention: the top end of the rotating hanger is fixedly assembled with the bottom end of the lifting adjustment component; configured to drive the transmission gear disk to rotate by the deflection angle control motor, thereby causing the connecting ring plate and the execution bracket to swing around the rotating hanger, thereby changing the angle between the grinding wheel and the pressure vessel generatrix direction.

[0011] As a preferred embodiment of the present invention: the lifting adjustment assembly is composed of at least 4 sets of gas telescopic rods in a pyramid shape; the top of the cylinder of the gas telescopic rod is rotatably connected to the movable sliding plate, and the bottom of the piston rod is rotatably connected to the grinding execution head; the gas telescopic rod is configured to utilize the compressibility of gas to provide a constant normal back pressure to absorb radial runout and high-frequency flutter caused by the deformation of the pressure vessel.

[0012] As a preferred technical solution of the present invention: the basic bias torque output by the rotary motor is calibrated to be less than the static friction resistance torque of the pressure vessel on the drive roller, so that the pressure vessel is in a critical equilibrium state of rotation; the tangential component force generated by the yaw angle is configured to compensate for the power that breaks the critical equilibrium state, and when the weld reinforcement increases and the tangential component force decreases, the pressure vessel's rotation speed is physically slowed down, thereby achieving adaptive synchronous feed.

[0013] As a preferred embodiment of the present invention: the lifting adjustment assembly and the polishing device are respectively fixedly mounted on both ends of the movable sliding plate; a guide frame is also fixedly mounted on the top of the sliding seat, and the guide frame is configured to guide the pressure vessel to move to the top of the roller frame.

[0014] The present invention has the following beneficial effects: This pressure vessel weld grinding and cleaning device, by setting up a grinding execution head including an angle control motor and a transmission gear plate, uses the angle control motor to drive the gear to mesh with the transmission gear plate, thereby driving the execution bracket and the grinding wheel to rotate around the rotating hanger in the mounting ring groove, thus achieving precise control of the angle between the grinding wheel and the pressure vessel weld. Specifically, the deflection control motor outputs corresponding torque according to the preset deflection signal, drives the transmission gear plate to rotate through gear transmission, thereby driving the connecting ring plate and the execution bracket to deflect as a whole, thus adjusting the grinding wheel to an angle that matches the weld surface. This process requires no manual intervention and achieves automated and customizable adjustment of the grinding head angle, overcoming the shortcomings of existing technologies where the grinding head angle is fixed and cannot adapt to irregular welds, thus significantly improving grinding accuracy and cleaning effect. Meanwhile, with the help of the lifting and adjusting components, the position of the grinding head can be further fine-tuned to ensure the precise alignment of the grinding wheel with the weld, thereby comprehensively improving the adaptability of the device and the grinding quality. By configuring the bottom rotary motor to torque control mode to output basic bias torque, and using the yaw angle control motor to customize the yaw angle of the grinding wheel to generate tangential driving force, the container is driven to rotate by grinding force. When encountering a weld with a large excess height, the grinding resistance increases dramatically, causing the tangential driving force component to decrease sharply. The container speed slows down automatically and purely physically in an instant, extending the grinding time. After grinding, the speed automatically recovers. Attached Figure Description

[0015] Figure 1 This is a three-dimensional structural diagram of the present invention; Figure 2 This is a three-dimensional structural schematic diagram of the present invention from another perspective; Figure 3 This is a schematic diagram of the grinding execution head structure of the present invention; Figure 4 This is a schematic diagram of the polishing equipment of the present invention; Figure 5 This is a schematic diagram of the sliding seat structure of the present invention; Figure 6 This is a schematic diagram of the guide frame structure of the present invention; Figure 7 This is a schematic diagram of the roller frame structure of the present invention.

[0016] In the diagram: 1. Main guide rail; 2. Sliding seat; 3. Guide frame; 4. Roller frame; 5. Middle support beam; 6. Moving slide plate; 7. Lifting and adjusting assembly; 8. Polishing equipment; 9. Grinding actuator head; 10. End support beam; 401. Rocker arm; 402. First hinge seat; 403. Telescopic push rod; 404. Driven roller; 405. Driven roller; 406. Rotary motor; 901. Actuating bracket; 902. Power motor; 903. Grinding wheel; 904. Connecting ring plate; 905. Mounting ring groove; 906. Transmission gear plate; 907. Rotary hanger; 908. Angle control motor. Detailed Implementation

[0017] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0018] It should be noted that the terms "first," "second," etc., used in the specification and claims of this application are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such terms can be used interchangeably where appropriate. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover non-exclusive inclusion; for example, a process, method, system, product, or apparatus that comprises a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to such processes, methods, products, or apparatus.

[0019] Furthermore, directional terms used in this application, such as "top," "bottom," and "inner wall," are defined based on the orientation of the device shown in the accompanying drawings. It is understood that these directional terms are only used to more clearly describe the positional relationships of the structures and do not constitute a limitation on the scope of protection of this application.

[0020] This application provides a pressure vessel weld grinding and cleaning device, which includes a main guide rail 1, with a sliding seat 2 slidably sleeved on the top of the main guide rail 1. A guide frame 3 is fixedly mounted on the top of the sliding seat 2, and roller frames 4 are fixedly mounted on the top of both sides of the sliding seat 2. A middle support beam 5 and an end support beam 10 are fixedly mounted on the middle and end of the sliding seat 2, respectively.

[0021] The top inner walls of the middle support beam 5 and the end support beam 10 are slidably fitted with movable sliding plates 6.

[0022] The two ends of the movable slide plate 6 are respectively fixedly equipped with a lifting adjustment component 7 and a polishing device 8, and the bottom end of the lifting adjustment component 7 is fixedly equipped with a polishing execution head 9.

[0023] According to this embodiment, the pressure vessel weld grinding and cleaning device provides basic support and guidance through the main guide rail 1, so that the sliding seat 2 can carry all the components on it and move precisely along the length direction of the main guide rail 1 to adapt to pressure vessels of different lengths or different weld positions.

[0024] The pressure vessel to be ground and cleaned is supported on the roller frame 4 and driven by the roller frame 4 to rotate around its own axis.

[0025] The movable slide plate 6 can move laterally on the middle support beam 5 and the end support beam 10 to position the grinding execution head 9 above the weld.

[0026] The lifting and adjusting component 7 controls the up and down position of the grinding execution head 9, so that the grinding wheel 903 contacts the weld. At the same time, the polishing equipment 8 also moves with the movable slide plate 6 for polishing operations after the weld seam is ground.

[0027] The functions of large-scale movement, load positioning, and fine grinding and adjustment are decomposed into different modules, which collaboratively solves the technical problem of the variable spatial position of weld seams in large pressure vessels and the need for all-round adjustment of grinding tools.

[0028] In practical applications, the overall operation of this pressure vessel weld grinding and cleaning device is as follows: First, the operator or external handling equipment rolls the pressure vessel along the guide surface of the guide frame 3, so that it sits smoothly on the roller frames 4 on both sides. Subsequently, based on the axial position of the weld, the sliding block 2 is driven to move along the main guide rail 1 to the designated position; Next, the drive slide plate 6 moves laterally along the middle support beam 5 and the end support beam 10, so that the grinding execution head 9 and the polishing device 8 are located directly above the weld. The lifting and adjusting component 7 drives the grinding execution head 9 to move downwards, close to the weld seam.

[0029] During the grinding process, the roller frame 4 outputs a fixed basic bias torque. ,Should The static friction resistance torque on the active roller 405 of the pressure vessel is calibrated to be less than that of the pressure vessel, so that the large pressure vessel is in a "critical equilibrium state". At the same time, the deflection angle control motor 908 rotates, which drives the actuator bracket 901 to deflect as a whole through the transmission gear plate 906, changing the angle between the grinding wheel 903 and the generatrix of the pressure vessel, and grinding the weld.

[0030] Once the weld seam in one area has been ground, the grinding head 9 and polishing equipment 8 can move laterally under the drive of the moving slide plate 6 to clean and polish the weld seam, or move to the next weld seam position.

[0031] The following is an illustrative example of the roller frame 4 mentioned above.

[0032] like Figure 6 and Figure 7 As shown, the roller frame 4 includes a rocker arm 401, one end of which is rotatably connected to a telescopic push rod 403, and the other end is rotatably connected to a first hinge seat 402.

[0033] The ends of the telescopic push rod 403 and the first hinge seat 402 away from the rocker arm 401 are both fixedly assembled to the top of the sliding seat 2.

[0034] The rocker arm 401 has a driven roller 404 and a driving roller 405 rotatably connected to its two ends on the side away from the sliding seat 2, and a rotary motor 406 is fixedly mounted on the outer wall of the middle part of the rocker arm 401.

[0035] The rotary motor 406 is driven by the drive structure and the drive roller 405.

[0036] Furthermore, based on the above structure, it can be seen that the rocker arm 401, the first hinge seat 402, and the telescopic push rod 403 form a crank-rocker mechanism.

[0037] Among them, the rocker arm 401 serves as a crank, the sliding seat 2 as a whole serves as a frame, and the telescopic push rod 403 serves as a rocker block with variable length.

[0038] When the telescopic push rod 403 extends or retracts, its length changes, driving the rocker arm 401 to swing around the hinge point of the first hinge seat 402.

[0039] The swing motion can adjust the support angle and relative position of the driven roller 404 and the driving roller 405 on the rocker arm 401.

[0040] In this way, the contact point with the pressure vessel can be flexibly changed to accommodate pressure vessels of different diameters, ensuring that the driving roller 405 can provide effective friction to drive the pressure vessel to rotate, while the driven roller 404 provides stable auxiliary support.

[0041] In this embodiment, the surface of the active roller 405 is preferably coated with an elastic polyurethane coating to increase friction.

[0042] The rotary motor 406 is preferably a servo motor and is electrically connected to the electrical control system, configured to operate in torque control mode.

[0043] In automatic grinding mode, the motor does not target a set speed, but instead acts as a "constant torque friction compensation drive," outputting a fixed base bias torque. ,Should The torque is calibrated to be just slightly smaller than the static frictional resistance torque of the pressure vessel on the drive roller 405, so that the large pressure vessel is in a "critical equilibrium state".

[0044] This structure allows for adaptive adjustment of the support posture, ensuring stable support and reliable drive for pressure vessels of different specifications, and expanding the applicability of the device.

[0045] In one embodiment, see continue to see Figure 1 The lifting and adjusting assembly 7 consists of at least four sets of gas telescopic rods arranged in a pyramid shape.

[0046] The top of the cylinder of the gas telescopic rod is rotatably connected to the movable slide plate 6, and the bottom of its piston rod is rotatably connected to the rotating hanger 907 of the grinding execution head 9.

[0047] By synchronously controlling the extension and retraction of four sets of gas telescopic rods distributed in a pyramid shape, not only can the grinding execution head 9 be raised and lowered as a whole in the vertical direction (Z-axis), but the grinding execution head 9 can also be tilted around the X-axis or Y-axis within a small angle range.

[0048] During the grinding process, the pressure vessel presses on the bottom rubber-coated active roller 405, causing radial runout due to deformation. The gas telescopic rod uses the compressibility of gas to provide a constant normal back pressure and uses gas damping to absorb the above-mentioned runout and high-frequency chatter during grinding, thereby reducing the overcutting of the base material by the grinding wheel 903.

[0049] This ensures that even if the pressure vessel has a slight axial offset or deformation on the roller frame 4, the grinding wheel 903 can be precisely fitted onto the weld surface, thereby improving the consistency and precision of grinding.

[0050] like Figure 3 As shown, the polishing execution head 9 includes two sets of symmetrically arranged execution supports 901; The two ends of the actuator 901 are respectively equipped with a power motor 902 and a grinding wheel 903; The power motor 902 is fixedly assembled with the execution bracket 901, and the output end of the power motor 902 is driven to be connected to the execution bracket 901 through a transmission structure to drive the grinding wheel 903 to rotate. The outer walls of the two sets of actuators 901 are fixedly fitted with connecting ring plates 904, and the two ends of the connecting ring plates 904 are provided with mounting ring grooves 905; A transmission gear plate 906 is fixedly assembled on the outer wall of the middle part of the connecting ring plate 904; The inner wall of the mounting groove 905 is rotatably connected to a rotating hanger 907; An angle control motor 908 is fixedly mounted on the inner wall of the top of the rotating hanger 907; The output gear of the yaw angle control motor 908 meshes with the transmission gear disk 906; The top end of the rotating hanger 907 is connected to the bottom end of the gas telescopic rod 71 of the lifting adjustment assembly 7; Based on the above specific structure, when it is necessary to adjust the weld angle, the control system sends a command to the angle control motor 908. The yaw control motor 908 rotates, and through the gear at its output end, it drives the transmission gear disk 906 that meshes with it to rotate. Since the transmission gear plate 906 is fixedly connected to the connecting ring plate 904, and the connecting ring plate 904 is fixed to the execution bracket 901 on which the grinding wheel 903 is installed, the entire execution bracket 901 and the grinding wheel 903 on it will rotate relative to the rotating hanger 907.

[0051] Specifically, the rotating hanger 907 acts as a stator, and its top ring structure forms a rotating pair with the mounting ring grooves 905 at both ends of the connecting ring plate 904.

[0052] When the deflection angle control motor 908 is driven, the connecting ring plate 904 causes the actuator bracket 901 to swing around the axis of the annular structure of the rotating hanger 907, thereby changing the angle between the grinding wheel 903 and the pressure vessel weld. This achieves independent, precise, and automated control of the grinding wheel deflection angle, eliminating the tedious process of manually loosening, adjusting, and tightening, and significantly improving the grinding accuracy and efficiency for irregular and complex welds.

[0053] Based on the above specific structure, the yaw angle control motor 908 rotates, which drives the actuator bracket 901 to deflect as a whole through the transmission gear plate 906, changing the angle (yaw angle) between the grinding wheel 903 and the generatrix of the pressure vessel. ).

[0054] The working mechanism is as follows: 1. Complete background driving torque After calibration, start the rotary motor 406 to output constant torque, at which time the container remains stationary or moves very slowly. 2. Start the power motor 902 to drive the grinding wheel 903 to rotate, and press down on the contact weld seam through the lifting adjustment component 7; 3. The yaw angle control motor 908 adjusts the grinding wheel 903 to the predetermined yaw angle. (Preferred) At this time, the cutting force generated by the grinding wheel 903 Decomposed into normal components and tangential component ; 4. Tangential component Acting along the circumference of the container, it breaks the critical equilibrium at the bottom, causing the container to rotate around its own axis at a stable speed; 5. When the grinding wheel 903 encounters a high-convex weld, the cutting resistance increases dramatically, and a large amount of the kinetic energy of the power motor 902 is consumed in the normal cutting direction and converted into tangential driving force. The energy decreased dramatically in an instant.

[0055] Because the bottom rotary motor 406 maintains a constant torque and does not increase its output, the total driving force is instantly less than the frictional force. The container's rotation speed immediately and automatically slows down or even stops, until the raised weld seam is ground flat, and the tangential force... Once restored, the container rotation speed automatically resumes.

[0056] Achieve sensorless adaptive synchronous feeding.

[0057] Furthermore, in some optional embodiments, to meet the grinding requirements of pressure vessels of different lengths, several sets of sliding seats 2 can be provided and arranged at intervals along the length direction of the main guide rail 1. Each sliding seat 2 is equipped with a roller frame 4, which together support the pressure vessel; Meanwhile, the movable slide plate 6 can move along the length of the top of the central support beam 5. Its driving structure can be a lead screw and nut pair or a gear and rack mechanism. Those skilled in the art can make conventional choices based on cost and precision requirements. The telescopic push rod 403 can be a hydraulic cylinder, a pneumatic cylinder, or an electric push rod; The drive structure between the rotary motor 406 and the drive roller 405 can be a chain drive or a belt drive. Polishing equipment 8 can be selected as a polishing wheel or a belt sander as needed; These alternatives are all conventional choices in the field and should be included within the scope of protection of this application.

[0058] The above description is merely a preferred embodiment of this application and is not intended to limit this application. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application should be included within the protection scope of this application.

[0059] It should be noted that, in this document, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such process, method, article, or apparatus.

[0060] Although embodiments of the invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the appended technical solutions and their equivalents.

Claims

1. A pressure vessel weld grinding and cleaning device, comprising a main guide rail (1), wherein a sliding seat (2) is slidably sleeved on the top of the main guide rail (1); a middle support beam (5) and an end support beam (10) are respectively fixedly assembled at the middle and end of the sliding seat (2); a movable sliding plate (6) is slidably sleeved on the inner top of the middle support beam (5) and the end support beam (10), characterized in that: The top of both sides of the sliding seat (2) is fixedly equipped with roller frames (4) for supporting the pressure vessel; the movable slide plate (6) is equipped with a lifting adjustment assembly (7), and the bottom end of the lifting adjustment assembly (7) is fixedly equipped with a grinding execution head (9). The roller frame (4) is provided with an active roller (405) and a rotary motor (406) that drives it to rotate. The rotary motor (406) is configured in torque control mode to output a basic bias torque. The grinding execution head (9) is equipped with a yaw angle control motor (908), which is configured to adjust the yaw angle of the grinding working wheel (903) so that the cutting force of the grinding working wheel (903) generates a tangential component force to drive the pressure vessel to rotate. The lifting adjustment assembly (7) is composed of at least 4 sets of gas telescopic rods in a pyramid shape; the top of the cylinder of the gas telescopic rod is rotatably connected to the movable slide plate (6), and the bottom of the piston rod is rotatably connected to the grinding execution head (9); the gas telescopic rod is configured to use the compressibility of gas to provide a constant normal back pressure to absorb the radial runout and high-frequency flutter caused by the deformation of the pressure vessel.

2. The pressure vessel weld grinding and cleaning device according to claim 1, characterized in that: The roller frame (4) includes a rocker arm (401), one end of which is rotatably connected to a telescopic push rod (403), and the other end is rotatably connected to a first hinge seat (402). The telescopic push rod (403) and the first hinge seat (402) are both fixedly assembled to the top of the sliding seat (2) at the ends away from the rocker arm (401); the driven roller (404) and the driving roller (405) are respectively rotatably connected to the two ends of the side of the rocker arm (401) away from the sliding seat (2); the rotary motor (406) is fixedly assembled to the middle outer wall of the rocker arm (401).

3. The pressure vessel weld grinding and cleaning device according to claim 2, characterized in that: The rocker arm (401), the first hinge seat (402), and the telescopic push rod (403) constitute a crank rocker mechanism, configured to drive the rocker arm (401) to swing around the first hinge seat (402) by the telescopic push rod (403) to adaptively adjust the contact position and support angle of the active roller (405) and the driven roller (404) with the pressure vessel.

4. The pressure vessel weld grinding and cleaning device according to claim 1, characterized in that: The grinding execution head (9) includes two sets of symmetrically arranged execution brackets (901), and the two ends of the execution brackets (901) are respectively provided with a power motor (902) and the grinding working wheel (903). Two sets of actuator brackets (901) are fixedly fitted with connecting ring plates (904) on their outer walls. The connecting ring plates (904) have mounting ring grooves (905) at both ends and a transmission gear plate (906) fixedly fitted on their middle outer walls. A rotating hanger (907) is rotatably connected to the inner wall of the mounting ring grooves (905). The deflection control motor (908) is fixedly fitted to the inner wall of the rotating hanger (907), and its output end meshes with the transmission gear plate (906) through a gear.

5. The pressure vessel weld grinding and cleaning device according to claim 4, characterized in that: The top end of the rotating hanger (907) is fixedly assembled with the bottom end of the lifting adjustment assembly (7); it is configured to drive the transmission gear plate (906) to rotate by the deflection control motor (908), thereby causing the connecting ring plate (904) and the execution bracket (901) to swing around the rotating hanger (907), thereby changing the angle between the grinding working wheel (903) and the pressure vessel generatrix direction.

6. The pressure vessel weld grinding and cleaning device according to claim 1, characterized in that: The basic bias torque output by the rotary motor (406) is calibrated to be less than the static frictional resistance torque of the pressure vessel on the drive roller (405), so that the pressure vessel is in a critical equilibrium state of rotation; the tangential component force generated by the yaw angle is configured to compensate for the power that breaks the critical equilibrium state. When the weld reinforcement increases and the tangential component force decreases, the pressure vessel's rotation speed is physically slowed down to achieve adaptive synchronous feed.

7. The pressure vessel weld grinding and cleaning device according to claim 1, characterized in that: The lifting adjustment assembly (7) and the polishing device (8) are fixedly mounted on both sides of the movable slide plate (6); a guide frame (3) is also fixedly mounted on the top of the sliding seat (2), and the guide frame (3) is configured to guide the pressure vessel to move to the top of the roller frame (4).

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