Storage tank body welding device

Abstract

The invention discloses a storage tank body welding device which comprises a welding frame, and a mounting plate is horizontally and fixedly connected to the welding frame; the number of the positioning clamping mechanisms is two, the two positioning clamping mechanisms are correspondingly arranged, each positioning clamping mechanism comprises a supporting seat and a positioning assembly, and the supporting seat is slidably connected to the top face of the mounting plate through a linear displacement assembly; the welding mechanism comprises a welding assembly and a first linear motor; the welding seam polishing frame is arranged on one side of the welding frame; the moving mechanism comprises a second linear motor and a moving frame, the second linear motor is installed on the weld joint polishing frame, and a lifting assembly is installed on the moving frame; the grinding mechanism is mounted on the side, away from the welding frame, of the weld joint grinding frame; and the visual guiding system is installed on the welding assembly. According to the automatic welding device, the curled plate can be welded in a full-automatic mode, human intervention is not needed, and the welding efficiency and the welding effect are improved.

Description

Technical Field

[0001] The invention relates to the technical field of metal welding equipment, in particular to a storage tank body welding device. Background Art

[0002] Pressure vessel storage tanks, such as storage tanks for storing refrigerants. Since refrigerants are easily vaporized, their storage tanks are usually required to be able to withstand a certain pressure. In the prior art, there are two main methods for preparing the body of a pressure vessel storage tank. One is to adopt an integrated extrusion molding method, and the other is to adopt plate curling welding. Since extrusion molding requires a specific mold, the current mainstream method is still plate bending welding. The current welding device needs to set welding points before welding, preliminarily fix the butt joints, and then fill and weld. The process is relatively complicated and prone to deviations. Based on this, the present invention provides a tank body welding device. Summary of the invention

[0003] The purpose of the present invention is to provide a tank body welding device to solve the problems existing in the prior art.

[0004] To achieve the above object, the present invention provides the following solution: The present invention provides a tank body welding device, comprising:

[0005] A welding frame, to which a mounting plate is horizontally fixedly connected;

[0006] A positioning and clamping mechanism, wherein the positioning and clamping mechanism is provided with two groups, and the two groups of the positioning and clamping mechanisms are provided correspondingly, and the positioning and clamping mechanism comprises a support seat and a positioning assembly, wherein the support seat is slidably connected to the top surface of the mounting plate through a linear displacement assembly, and the positioning assembly is fixedly connected to the top surface of the support seat;

[0007] The welding mechanism comprises a welding assembly and a first linear motor, wherein the first linear motor is mounted on the top of the welding frame, and the welding assembly is mounted on the first linear motor;

[0008] A weld grinding frame, the weld grinding frame is arranged on one side of the welding frame;

[0009] A moving mechanism, the moving mechanism comprising a second linear motor and a moving frame, the second linear motor is mounted on the weld grinding frame, the moving frame is mounted on the second linear motor, and a lifting assembly is mounted on the moving frame;

[0010] A grinding mechanism, which is installed on a side of the weld grinding frame away from the welding frame and is arranged corresponding to the lifting assembly;

[0011] A vision guidance system is mounted on the welding assembly.

[0012] According to the tank body welding device provided by the present invention, the positioning assembly includes a mounting bearing fixedly connected to the support seat, and a rotation drive assembly and a positioning assembly are installed on the mounting bearing. The rotation drive assembly includes an outer gear ring fixedly connected to the inner ring of the mounting bearing, and the outer wall of the outer ring of the mounting bearing is fixedly connected to a drive motor, and the output shaft of the drive motor is fixedly connected to a drive gear, which is meshed with the drive gear and the outer gear ring, and the positioning assembly is installed on the other side of the inner ring of the mounting bearing.

[0013] According to the storage tank body welding device provided by the present invention, the positioning assembly includes a mounting ring fixedly connected to the inner ring of the mounting bearing, the inner wall of the mounting ring is fixedly connected with mounting bosses at equal circumferential intervals, a through hole is opened on the mounting boss, the axis of the through hole is colinear with the radius line of the mounting ring, a threaded rod is inserted in the through hole, one end of the threaded rod is fixedly connected with an arc-shaped positioning plate, four groups of the arc-shaped positioning plates are all located in the mounting ring, the other end of the threaded rod is fixedly connected with a fixing head, an adjusting nut is rotatably connected to the mounting boss, the adjusting nut is threadedly connected to the threaded rod, an electric slip ring is installed on the mounting boss, and the electric slip ring rotor is fixedly connected to the outer wall of the adjusting nut.

[0014] According to the storage tank body welding device provided by the present invention, the welding assembly includes a mounting frame installed on the first linear motor, an electric-controlled telescopic rod is vertically installed on the mounting frame, a welding gun is installed at the bottom end of the electric-controlled telescopic rod, and the visual guidance system is installed on the mounting frame.

[0015] According to the tank body welding device provided by the present invention, the lifting assembly includes a lifting plate rotatably connected to the top of the movable frame, the cross-sectional shape of the lifting plate is a V-shaped structure, and a lifting hydraulic cylinder is hinged on the movable frame, and the top of the lifting hydraulic cylinder is hinged to the bottom surface of the lifting plate.

[0016] According to the storage tank body welding device provided by the present invention, the grinding mechanism includes a mounting seat rotatably connected to one end of the top surface of the weld grinding frame, the top surface of the mounting seat is fixedly connected to a mounting arm, the end of the mounting arm is rotatably connected to a grinding wheel via a rotating shaft, a driven pulley is fixedly connected to the rotating shaft, a grinding motor is fixedly connected to the mounting seat, the output shaft of the grinding motor is fixedly connected to a driving pulley, the driving pulley and the driven pulley are matched through belt transmission, and an angle adjustment component is installed on the weld grinding frame, and the angle adjustment component is fixedly connected to the bottom surface of the mounting seat.

[0017] According to the tank body welding device provided by the present invention, the angle adjustment assembly includes a lifting hydraulic cylinder fixedly connected to the weld grinding frame, the weld grinding frame is rotatably connected to a rotating arm, the rotating arm is an L-shaped structure, a long hole is opened on the rotating arm, the bottom surface of the mounting seat is fixedly connected to a connecting arm, the end of the connecting arm is rotatably connected to a pull rod, and one end of the pull rod is slidably connected in the long hole.

[0018] According to the storage tank body welding device provided by the present invention, the visual guidance system includes a multi-dimensional capture camera, the multi-dimensional capture camera is installed on the mounting frame, the multi-dimensional capture camera is electrically connected to a controller, and the controller is electrically connected to the electrically controlled telescopic rod.

[0019] According to the storage tank body welding device provided by the present invention, a buffer frame is fixedly connected to the top of one side of the weld grinding frame, the buffer frame is arranged corresponding to the lifting plate, and an angle is set between the buffer frame and the top surface of the weld grinding frame.

[0020] The present invention discloses the following technical effects:

[0021] When the present invention is working, the plate is curled to form a can body with a cylindrical structure, and one of the positioning and clamping mechanisms is used to clamp the middle position of the can body to keep the cylindrical structure unchanged. Then, the first linear motor cooperates with the welding assembly to perform spot welding. After the spot welding is completed, the two groups of positioning and clamping mechanisms respectively fix the two ends of the can body, and the visual guidance system and the first linear motor cooperate with the welding assembly to weld the weld part. After the welding is completed, the linear displacement assembly drives the positioning and clamping mechanism to transfer the can body to the lifting assembly, and the second linear motor cooperates with the moving frame to move linearly, and the weld part of the inner wall of the can body is polished by the grinding mechanism. Then, the lifting assembly unloads the material, and the outer wall of the can body is polished and anti-corrosion treated.

[0022] The present invention can fully automatically weld the curled plate without human intervention, thereby improving welding efficiency and welding effect. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0024] Figure 1 It is a structural schematic diagram of the tank body welding device of the present invention;

[0025] Figure 2 It is a structural schematic diagram of the grinding mechanism of the present invention;

[0026] Figure 3 for Figure 1 The enlarged view of point A in the middle;

[0027] Figure 4 for Figure 2 The enlarged view of point B in the middle;

[0028] Figure 5 for Figure 2 Enlarged view of point C in the middle.

[0029] Among them, 1. welding frame; 2. mounting plate; 3. support seat; 4. weld grinding frame; 5. moving frame; 6. mounting bearing; 7. outer gear ring; 8. driving gear; 9. driving motor; 10. mounting ring; 11. mounting boss; 12. threaded rod; 13. arc positioning plate; 14. fixed head; 15. adjusting nut; 16. mounting frame; 17. electric control telescopic rod; 18. welding gun; 19. lifting plate; 20. lifting hydraulic cylinder; 21. mounting seat; 22. mounting arm; 23. grinding wheel; 24. grinding motor; 25. lifting hydraulic cylinder; 26. rotating arm; 27. connecting arm; 28. pull rod; 29. ​​buffer frame. DETAILED DESCRIPTION

[0030] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0031] In order to make the above-mentioned objects, features and advantages of the present invention more obvious and easy to understand, the present invention is further described in detail below with reference to the accompanying drawings and specific embodiments.

[0032] Reference Figure 1-5 The present invention provides a tank body welding device, comprising:

[0033] A welding frame 1, to which a mounting plate 2 is horizontally fixedly connected;

[0034] The positioning and clamping mechanism is provided with two groups, and the two groups of positioning and clamping mechanisms are provided correspondingly. The positioning and clamping mechanism comprises a support seat 3 and a positioning assembly. The support seat 3 is slidably connected to the top surface of the mounting plate 2 through a linear displacement assembly, and the positioning assembly is fixedly connected to the top surface of the support seat 3; the linear displacement assembly adopts existing technology, such as a lead screw slide, etc.;

[0035] The welding mechanism comprises a welding assembly and a first linear motor, wherein the first linear motor is mounted on the top of the welding frame 1, and the welding assembly is mounted on the first linear motor;

[0036] A weld grinding frame 4, which is arranged on one side of the welding frame 1;

[0037] The moving mechanism includes a second linear motor and a moving frame 5. The second linear motor is mounted on the weld grinding frame 4. The moving frame 5 is mounted on the second linear motor. A lifting assembly is mounted on the moving frame 5.

[0038] A grinding mechanism, which is installed on a side of the weld grinding frame 4 away from the welding frame 1 and is arranged corresponding to the lifting assembly;

[0039] Vision guidance system,The vision guidance system is installed on the welding assembly.

[0040] When the present invention is working, the plate is curled to form a can body with a cylindrical structure, and one of the positioning and clamping mechanisms is used to clamp the middle position of the can body to keep the cylindrical structure unchanged. Then, the first linear motor is used in conjunction with the welding assembly to perform spot welding. After the spot welding is completed, the two groups of positioning and clamping mechanisms respectively fix the two ends of the can body, and the visual guidance system and the first linear motor cooperate with the welding assembly to weld the weld part. After the welding is completed, the linear displacement assembly drives the positioning and clamping mechanism to transfer the can body to the lifting assembly, and the second linear motor cooperates with the moving frame 5 to move linearly, and the weld part of the inner wall of the can body is polished by the grinding mechanism. Then, the lifting assembly unloads the material, and the outer wall of the can body is polished and anti-corrosive treated.

[0041] The present invention can fully automatically weld the curled plate without human intervention, thereby improving welding efficiency and welding effect.

[0042] A further optimized solution is that the positioning assembly includes a mounting bearing 6 fixedly connected to the support seat 3, on which a rotation drive assembly and a positioning assembly are installed, the rotation drive assembly includes an outer gear ring 7 fixedly connected to the inner ring of the mounting bearing 6, the outer wall of the outer ring of the mounting bearing 6 is fixedly connected to a drive motor 9, the output shaft of the drive motor 9 is fixedly connected to a drive gear 8, the drive gear 8 is meshed with the outer gear ring 7, and the positioning assembly is installed on the other side of the inner ring of the mounting bearing 6.

[0043] A further optimized solution is provided, wherein the positioning assembly comprises a mounting ring 10 fixedly connected to the inner ring of the mounting bearing 6, the inner wall of the mounting ring 10 is fixedly connected with mounting bosses 11 at equal intervals in the circumferential direction, a through hole is opened on the mounting boss 11, the axis of the through hole is colinear with the radius line of the mounting ring 10, a threaded rod 12 is inserted in the through hole, one end of the threaded rod 12 is fixedly connected with an arc-shaped positioning plate 13, four groups of arc-shaped positioning plates 13 are all located in the mounting ring 10, the other end of the threaded rod 12 is fixedly connected with a fixing head 14, an adjusting nut 15 is rotatably connected to the mounting boss 11, the adjusting nut 15 is threadedly connected to the threaded rod 12, an electric slip ring is installed on the mounting boss 11, and the electric slip ring rotor is fixedly connected to the outer wall of the adjusting nut 15.

[0044] In this embodiment, two groups of positioning and clamping mechanisms respectively clamp the can body and one of the upper and lower end covers, and the driving motor 9 controls the driving gear 8 to rotate, and the driving gear 8 drives the outer gear ring 7 to rotate, so that the mounting ring 10 rotates following the inner ring of the mounting bearing 6, and the welding gun 18 performs annular welding on the can body and the end cover. At the same time, a visual inspection module needs to be set on the mounting plate 2 to detect the quality of the weld. When welding the can body, one group of positioning and clamping mechanisms clamps the curled plate, and the welding gun 18 spot welds the end point part. Then, the two groups of positioning and clamping mechanisms cooperate to clamp the two ends of the can body, and the linear displacement component controls the linear movement of the positioning and clamping mechanisms. The welding gun 18 welds the weld, and the electric slip ring drives the adjusting nut 15 to rotate. The adjusting nut 15 controls the threaded rod 12 to slide along the radial line direction of the mounting ring 10, pushing the arc plate to abut against the can body. The four groups of arc plates cooperate to position the can body without human intervention.

[0045] The threaded rod 12 and the through hole can only maintain relative sliding without relative rotation. It is necessary to set a limiting component in the through hole for limiting, such as the cooperation of a limiting block and a limiting groove, which is not specifically limited in this embodiment.

[0046] According to a further optimized solution, the welding assembly includes a mounting frame 16 mounted on the first linear motor, an electrically controlled telescopic rod 17 is vertically mounted on the mounting frame 16 , a welding gun 18 is mounted on the bottom end of the electrically controlled telescopic rod 17 , and a visual guidance system is mounted on the mounting frame 16 .

[0047] The first linear motor controls the mounting frame 16 to move in a straight line, and the mounting frame 16 drives the electrically controlled telescopic rod 17 to move, and the electrically controlled telescopic rod 17 controls the welding gun 18 to move up and down, so as to realize welding of the weld part.

[0048] A further optimized solution is that the lifting assembly includes a lifting plate 19 rotatably connected to the top of the mobile frame 5, the cross-sectional shape of the lifting plate 19 is a V-shaped structure, and a lifting hydraulic cylinder 20 is hinged on the mobile frame 5, and the top of the lifting hydraulic cylinder 20 is hinged to the bottom surface of the lifting plate 19.

[0049] The lifting plate 19 is pushed to deflect by the lifting hydraulic cylinder 20 to achieve material dropping. At the same time, the top surface of the lifting plate 19 is provided with an anti-slip layer and a heat insulation layer.

[0050] A further optimized solution is provided, wherein the grinding mechanism includes a mounting seat 21 rotatably connected to one end of the top surface of the weld grinding frame 4, a mounting arm 22 is fixedly connected to the top surface of the mounting seat 21, a grinding wheel 23 is rotatably connected to the end of the mounting arm 22 via a rotating shaft, a driven pulley is fixedly connected to the rotating shaft, a grinding motor 24 is fixedly connected to the mounting seat 21, an output shaft of the grinding motor 24 is fixedly connected to a driving pulley, the driving pulley and the driven pulley are matched via a belt drive, an angle adjustment assembly is installed on the weld grinding frame 4, and the angle adjustment assembly is fixedly connected to the bottom surface of the mounting seat 21.

[0051] A further optimized solution is that the angle adjustment assembly includes a lifting hydraulic cylinder 25 fixedly connected to the weld grinding frame 4, and a rotating arm 26 is rotatably connected to the weld grinding frame 4. The rotating arm 26 is an L-shaped structure, and a long hole is opened on the rotating arm 26. A connecting arm 27 is fixedly connected to the bottom surface of the mounting seat 21, and a pull rod 28 is rotatably connected to the end of the connecting arm 27, and one end of the pull rod 28 is slidably connected in the long hole.

[0052] In this embodiment, the swivel arm 26 is pushed to rotate by the lifting hydraulic cylinder 25, and the swivel arm 26 pulls the connecting arm 27 through the pull rod 28. The connecting arm 27 pushes the mounting seat 21 to change a certain angle, so that the device can be suitable for cans of different thicknesses and diameters. An arc-shaped protective cover is provided at the end of the mounting arm 22. The setting of the protective cover can prevent the grinding debris from splashing. The grinding motor 24 controls the rotation of the driving pulley, and the driving pulley drives the driven pulley to rotate. The welding part is polished by the grinding wheel 23 to ensure flatness.

[0053] According to a further optimization scheme, the visual guidance system includes a multi-dimensional capture camera, which is mounted on a mounting frame 16 . The multi-dimensional capture camera is electrically connected to a controller, and the controller is electrically connected to an electrically controlled telescopic rod 17 .

[0054] In this embodiment, the weld is scanned by a multi-dimensional capture camera before welding, and a laser ranging component needs to be installed on the mounting frame 16. Laser ranging is performed by the laser ranging component. The welding depth curve of the welding gun 18 is simulated by laser ranging in conjunction with the multi-dimensional capture camera, and the curve is imported into the controller. The controller controls the electrically controlled telescopic rod 17 according to the welding curve, so that the weld portion can change along with the change of the material, so that the thickness of the weld remains consistent, which can greatly avoid stress dispersion in some positions, resulting in the weld position being unable to withstand higher pressure.

[0055] The controller can be set according to the specific use environment, for example, it can be a single-chip microcomputer or controlled by PLC, ARM (Advanced RISC Machine), FPGA (Field-Programmable Gate Array) and other methods, which are not specifically limited in this embodiment.

[0056] To further optimize the solution, a buffer frame 29 is fixedly connected to the top of one side of the weld grinding frame 4, the buffer frame 29 is arranged corresponding to the lifting plate 19, and an angle is set between the buffer frame 29 and the top surface of the weld grinding frame 4.

[0057] In this embodiment, the lifting plate 19 is pushed to deflect by the lifting hydraulic cylinder 20, so that the can body on the lifting plate 19 after grinding is completed can be pushed down, so that it falls through the buffer frame 29, and then the box body is recovered for subsequent outer surface grinding and spraying.

[0058] In the description of the present invention, it should be understood that the terms "longitudinal", "lateral", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside" and "outside" etc., indicating orientations or positional relationships, are based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the present invention.

[0059] The embodiments described above are only descriptions of the preferred modes of the present invention, and are not intended to limit the scope of the present invention. Without departing from the design spirit of the present invention, various modifications and improvements made to the technical solutions of the present invention by ordinary technicians in this field should all fall within the protection scope determined by the claims of the present invention.

Claims

1. A tank body welding device, characterized in that: include: A welding frame (1), wherein a mounting plate (2) is horizontally fixedly connected to the welding frame (1); A positioning clamping mechanism, wherein the positioning clamping mechanism is provided in two groups, and the two groups of the positioning clamping mechanism are provided correspondingly, and the positioning clamping mechanism comprises a support seat (3) and a positioning assembly, the support seat (3) is slidably connected to the top surface of the mounting plate (2) via a linear displacement assembly, and the positioning assembly is fixedly connected to the top surface of the support seat (3); A welding mechanism, comprising a welding assembly and a first linear motor, wherein the first linear motor is mounted on the top of the welding frame (1), and the welding assembly is mounted on the first linear motor; A weld grinding frame (4), wherein the weld grinding frame (4) is arranged on one side of the welding frame (1); A moving mechanism, the moving mechanism comprising a second linear motor and a moving frame (5), the second linear motor being mounted on the weld grinding frame (4), the moving frame (5) being mounted on the second linear motor, and a lifting assembly being mounted on the moving frame (5); A grinding mechanism, the grinding mechanism being mounted on a side of the weld grinding frame (4) away from the welding frame (1) and being arranged corresponding to the lifting assembly; A vision guidance system is mounted on the welding assembly.

2. A tank body welding device according to claim 1, characterized in that: The positioning assembly comprises a mounting bearing (6) fixedly connected to the support seat (3), a rotation drive assembly and a positioning assembly being mounted on the mounting bearing (6), the rotation drive assembly comprising an outer gear ring (7) fixedly connected to the inner ring of the mounting bearing (6), a drive motor (9) being fixedly connected to the outer wall of the outer ring of the mounting bearing (6), an output shaft of the drive motor (9) being fixedly connected to a drive gear (8), the drive gear (8) being meshed with the outer gear ring (7), and the positioning assembly being mounted on the other side of the inner ring of the mounting bearing (6).

3. A tank body welding device according to claim 2, characterized in that: The positioning assembly comprises a mounting ring (10) fixedly connected to the inner ring of the mounting bearing (6); the inner wall of the mounting ring (10) is fixedly connected with mounting bosses (11) at equal intervals in the circumferential direction; a through hole is provided on the mounting boss (11); the axis of the through hole is colinear with the radius line of the mounting ring (10); a threaded rod (12) is inserted into the through hole; one end of the threaded rod (12) is fixedly connected with an arc-shaped positioning plate (13); four groups of the arc-shaped positioning plates (13) are all located in the mounting ring (10); the other end of the threaded rod (12) is fixedly connected with a fixing head (14); an adjusting nut (15) is rotatably connected to the mounting boss (11); the adjusting nut (15) is threadedly connected to the threaded rod (12); an electric slip ring is installed on the mounting boss (11); the electric slip ring rotor is fixedly connected to the outer wall of the adjusting nut (15).

4. A tank body welding device according to claim 1, characterized in that: The welding assembly comprises a mounting frame (16) mounted on the first linear motor, an electrically controlled telescopic rod (17) is vertically mounted on the mounting frame (16), a welding gun (18) is mounted at the bottom end of the electrically controlled telescopic rod (17), and the visual guidance system is mounted on the mounting frame (16).

5. A tank body welding device according to claim 1, characterized in that: The lifting assembly comprises a lifting plate (19) rotatably connected to the top of the moving frame (5); the cross-sectional shape of the lifting plate (19) is a V-shaped structure; a lifting hydraulic cylinder (20) is hingedly connected to the moving frame (5); the top of the lifting hydraulic cylinder (20) is hingedly connected to the bottom surface of the lifting plate (19).

6. A tank body welding device according to claim 1, characterized in that: The grinding mechanism comprises a mounting seat (21) rotatably connected to one end of the top surface of the weld grinding frame (4); a mounting arm (22) is fixedly connected to the top surface of the mounting seat (21); an end of the mounting arm (22) is rotatably connected to a grinding wheel (23) via a rotating shaft; a driven pulley is fixedly connected to the rotating shaft; a grinding motor (24) is fixedly connected to the mounting seat (21); an output shaft of the grinding motor (24) is fixedly connected to a driving pulley; the driving pulley and the driven pulley are matched via a belt transmission; an angle adjustment component is installed on the weld grinding frame (4); the angle adjustment component is fixedly connected to the bottom surface of the mounting seat (21).

7. A tank body welding device according to claim 6, characterized in that: The angle adjustment assembly comprises a lifting hydraulic cylinder (25) fixedly connected to the weld grinding frame (4); a rotating arm (26) is rotatably connected to the weld grinding frame (4); the rotating arm (26) is an L-shaped structure; a long hole is provided on the rotating arm (26); a connecting arm (27) is fixedly connected to the bottom surface of the mounting seat (21); a pull rod (28) is rotatably connected to the end of the connecting arm (27); one end of the pull rod (28) is slidably connected in the long hole.

8. A tank body welding device according to claim 4, characterized in that: The visual guidance system comprises a multi-dimensional capture camera, which is mounted on the mounting frame (16). The multi-dimensional capture camera is electrically connected to a controller, and the controller is electrically connected to the electrically controlled telescopic rod (17).

9. A tank body welding device according to claim 5, characterized in that: A buffer frame (29) is fixedly connected to the top of one side of the weld grinding frame (4); the buffer frame (29) is arranged corresponding to the lifting plate (19); and an angle is arranged between the buffer frame (29) and the top surface of the weld grinding frame (4).

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