An adaptive weld cleaning device and method for ultra-thick plate multi-layer multi-pass welding

Abstract

This invention discloses an adaptive weld cleaning device for ultra-thick plate multi-layer multi-pass welding, comprising: two sets of cleaning systems symmetrically arranged in the thickness direction of the plate to be welded; each cleaning system includes: a moving mechanism, placed on the surface of the plate to be welded, arranged along the weld bead extension direction, and fixedly connected to a tensioning mechanism; a grinding mechanism, slidably connected to the moving mechanism, moving along the weld bead, the grinding mechanism including a grinding wheel mechanism, a grinding translation mechanism that drives the grinding wheel mechanism to translate perpendicularly to the weld bead, and a grinding lifting mechanism that drives the grinding wheel mechanism to rise and fall on the weld bead surface; the grinding mechanism also includes a weld bead identification module and a slag suction and dust removal mechanism; and a heat preservation mechanism, slidably connected to the moving mechanism, movable along the weld bead, and used to keep it warm. This invention achieves adaptive grinding at the weld bead position, enables cleaning of welds with complex morphologies, monitors weld bead temperature in real time, slows down weld bead cooling rate through heat preservation, improves weld joint quality, automatically suctions slag and removes dust, and improves the welding working environment.

Description

Technical Field

[0001] This invention relates to the field of weld cleaning technology, and in particular to an adaptive weld cleaning device and method for ultra-thick plate multi-layer multi-pass welds. Background Technology

[0002] Welding technology for ultra-thick plates is widely used in heavy industry, especially in marine equipment. Currently, manual arc welding is commonly used for ultra-thick plate welding, involving multiple layers and multiple passes. Manual arc welding leaves slag on the surface after welding, which must be removed before the next pass. However, for ultra-thick plates, the bevel size is large, and the weld width increases sequentially in the longitudinal direction of the bevel. The initial weld pass is narrow and difficult to clean manually, requiring a large number of weld passes to fill the bevel. Furthermore, ultra-thick plates require simultaneous welding on both sides to reduce strain during welding. The large number of weld passes and post-weld slag removal increase labor and time costs, and the working environment is relatively harsh. In addition, welding ultra-thick plates requires controlling the interpass temperature, slowing down the weld cooling rate, and promoting the release of hydrogen and other gases from the weld metal to improve the quality of the weld joint.

[0003] To address the aforementioned issues, an automated weld cleaning and slag removal device capable of adapting to the bevel position is needed. This device would enable simultaneous cleaning of both bevels on ultra-thick plates, ensuring interpass welding temperature, reducing workload, improving work efficiency, and enhancing weld joint quality. Summary of the Invention

[0004] Purpose of the invention: In order to overcome the shortcomings of the prior art, the first objective of this invention is to disclose an adaptive weld cleaning device for multi-layer and multi-pass welding of ultra-thick plates.

[0005] The second objective is to disclose the weld cleaning method using the aforementioned adaptive weld cleaning device for multi-layer, multi-pass welding of ultra-thick plates.

[0006] It can perform adaptive grinding of weld seam position, clean weld seams with complex shapes, monitor weld seam temperature in real time, keep the weld seam warm to slow down the cooling rate, improve the quality of welded joints, automatically remove slag and dust, and improve the welding working environment.

[0007] Summary of the Invention: The present invention discloses an adaptive weld cleaning device for ultra-thick plate multi-layer multi-pass welding, comprising: two sets of cleaning systems symmetrically arranged in the thickness direction of the plate to be welded, the two sets of cleaning systems being fixed by a tensioning mechanism;

[0008] Each group of cleaning systems includes:

[0009] A moving mechanism is placed on the surface of the plate to be welded, arranged along the extension direction of the weld bead, and fixedly connected to the tensioning mechanism.

[0010] A grinding mechanism is slidably connected to a moving mechanism and can move along the weld bead. The grinding mechanism includes a grinding wheel mechanism, a grinding translation mechanism that drives the grinding wheel mechanism to translate perpendicularly to the weld bead, and a grinding lifting mechanism that drives the grinding wheel mechanism to rise and fall on the surface of the weld bead. The grinding mechanism is also equipped with a weld bead recognition module and a slag suction and dust removal mechanism.

[0011] A heat preservation mechanism is slidably connected to a moving mechanism and can move along the weld bead to keep it warm.

[0012] The tensioning mechanism includes an upper tensioning bracket and a lower tensioning bracket, which are respectively fixed to the moving mechanisms in the two sets of cleaning systems. The two are connected by a pin passing through them in sequence. The upper tensioning bracket has a slot for the pin to move. The pin passes through the side of the lower tensioning bracket and has an upward-facing ball head groove at its end. The upper tensioning bracket has a web on its side. The upper tensioning bracket is fixed to the ball head groove by ball head screws passing through the web, thereby achieving the fastening of the upper and lower tensioning brackets.

[0013] Furthermore, multiple tensioning mechanisms are spaced apart between the two sets of cleaning systems.

[0014] Furthermore, the moving mechanism includes a moving platform fixed to the plate to be welded by a tensioning mechanism. The moving platform has a built-in screw and is connected by a bearing seat. The end of the screw is provided with a moving platform motor. The moving platform has a sliding block embedded inside, which is fitted onto the screw and the two are threadedly matched. The sliding block slides along the moving platform by rotating the screw.

[0015] Furthermore, both the grinding mechanism and the heat preservation mechanism are fixed to the sliding block.

[0016] Furthermore, in the polishing mechanism:

[0017] The grinding translation mechanism includes a grinding optical axis bracket slidably connected to the moving mechanism. The grinding optical axis bracket is fixed with a grinding translation optical axis and a grinding translation rack perpendicular to it. A grinding translation slide is provided on the grinding translation optical axis. A grinding translation motor is fixed on the grinding translation slide. Its driving end meshes with the grinding translation rack through a grinding translation gear. The slide moves on the grinding translation optical axis by driving the grinding translation motor.

[0018] The grinding lifting mechanism includes a grinding lifting motor fixed on a grinding translation slide, a grinding lifting fixed frame fixed on the grinding lifting motor, a lifting groove in the lifting direction on the grinding lifting fixed frame, a grinding lifting movable frame on one side of the grinding lifting fixed frame, a lifting slide rail embedded in the lifting groove on the side of the grinding lifting movable frame, a lifting gear connected to the drive end of the grinding lifting motor located inside the grinding lifting fixed frame, and a lifting rack parallel to the lifting slide rail and meshing with the lifting gear on the side of the grinding lifting movable frame. Driving the grinding lifting motor controls the lifting movement of the grinding lifting movable frame.

[0019] The grinding wheel mechanism includes a grinding wheel located at the bottom of the grinding lifting and moving frame and fixed by a grinding wheel gear shaft. The grinding lifting and moving frame is equipped with a grinding wheel motor, which is driven by a transmission gear set located inside the grinding lifting and moving frame.

[0020] Furthermore, in the polishing mechanism:

[0021] The slag suction and dust removal mechanism includes a slag suction and dust removal chamber located on the side of the grinding wheel mechanism and connected to a dust suction pipe.

[0022] Furthermore, in the polishing mechanism:

[0023] The weld identification module includes an ultrasonic sensor and a temperature sensor mounted on the slag suction and dust removal mechanism.

[0024] Furthermore, the heat preservation mechanism includes a heat preservation optical shaft bracket that is slidably connected to the moving mechanism. A heat preservation optical shaft is fixed on the heat preservation optical shaft bracket. A sliding sleeve is fitted on the heat preservation optical shaft. A flexible heating belt is hinged to the heating belt bracket through the sliding sleeve. Multiple ball grooves are provided at intervals at the front and rear ends of the heating belt, and balls are embedded in the grooves.

[0025] A push rod housing fixing bracket is fixed on the heat preservation optical axis. A push rod housing is provided on the push rod housing fixing bracket. A push rod is provided at the bottom of the push rod housing. Driven by the heat preservation mechanism motor, an elastic plate bracket is hinged to the bottom of the push rod. An elastic plate is connected to the elastic plate bracket through a torsion spring shaft. The elastic plate presses the heating band onto the bevel of the weld.

[0026] The cleaning method for weld seam cleaning using the aforementioned adaptive weld seam cleaning device for ultra-thick plates with multi-layer and multi-pass welding includes the following steps:

[0027] S1. Install the moving mechanism on the plate to be welded, and adjust the tensioning mechanism according to the thickness of the plate to be welded so that the moving mechanism is fastened to the plate to be welded.

[0028] S2. The grinding mechanism and the heat preservation mechanism are reset to their initial positions, and the first welding process begins.

[0029] S3. The depth of the weld in the vertical direction is detected by the weld bead recognition module, and the position with the highest temperature in the horizontal direction is determined as the welding position, thereby adjusting the position of the grinding wheel mechanism.

[0030] S4. The slag suction and dust removal mechanism is started, the grinding mechanism and the heat preservation mechanism move along the weld and grind continuously, and the heat preservation mechanism heats the weld bevel.

[0031] S5. Grinding is complete. The grinding mechanism and the heat preservation mechanism are reset. Wait for the weld to reach the set temperature before proceeding to the next weld.

[0032] S6. Repeat S2-S5 until all welds are completed and ground.

[0033] Beneficial effects: Compared with the prior art, the advantages of the present invention are:

[0034] (1) The grinding mechanism detects the vertical depth of the weld bead by using an ultrasonic sensor and the center position of the weld bead by using a temperature sensor to detect the position with the highest horizontal temperature. It adaptively adjusts the horizontal and vertical positions of the grinding wheel to clean the weld bead, thus achieving automated cleaning.

[0035] (2) A symmetrical cleaning mechanism is set on both sides of the bevel of the plate to be welded to achieve simultaneous cleaning on both sides and improve cleaning efficiency;

[0036] (3) The grinding wheel protective cover is equipped with a dust suction device to effectively absorb the waste residue and dust generated during grinding, reduce environmental pollution, and ensure the safety of manual production.

[0037] (4) A flexible heating belt is used to adapt to the bevel morphology by applying an external flexible force, so that the heating belt fits the bevel morphology better, thereby providing real-time continuous heat preservation for the weld, reducing the cooling rate of the weld, and improving the quality of the welded joint. Attached Figure Description

[0038] Figure 1 This is a schematic diagram of the invention installed on the plate to be welded;

[0039] Figure 2 This is a structural diagram of the present invention;

[0040] Figure 3 This is a structural diagram of the tensioning mechanism of the present invention;

[0041] Figure 4 This is a structural diagram of the moving mechanism of the present invention;

[0042] Figure 5 This is an overall structural diagram of the grinding mechanism of the present invention;

[0043] Figure 6 This is a diagram showing the internal structure of the grinding mechanism of the present invention;

[0044] Figure 7 This is a bottom view of the interior of the grinding mechanism of the present invention;

[0045] Figure 8 This is an overall structural diagram of the insulation mechanism of the present invention;

[0046] Figure 9 This is a diagram of the elastic plate connection structure of the present invention. Detailed Implementation

[0047] The technical solution of the present invention will be further described below with reference to the accompanying drawings and embodiments.

[0048] like Figure 1 and Figure 2 The ultra-thick plate multi-layer multi-pass welding adaptive weld cleaning device shown includes: two sets of cleaning systems symmetrically arranged in the thickness direction of the plate to be welded 01, and the two sets of cleaning systems are fixed by a tensioning mechanism 1.

[0049] like Figure 3 As shown, the tensioning mechanism 1 includes an upper tensioning bracket 101 and a lower tensioning bracket 102, which are respectively fixed to the moving mechanisms 2 in the two sets of cleaning systems. The two are connected by a pin 103 passing through them in sequence. The upper tensioning bracket 101 has a slot 104 for the pin 103 to move. The pin 103 passes through the side of the lower tensioning bracket 102 and has an upward-facing ball head groove 105 at its end. The upper tensioning bracket 101 has a web plate 106 on its side. Ball head screws 107 pass through the web plate 106 and are fixed to the ball head groove 105 to achieve the fastening of the upper and lower tensioning brackets. Multiple tensioning mechanisms 1 are arranged at intervals between the two sets of cleaning systems.

[0050] like Figure 2 As shown, each cleaning system includes: a moving mechanism 2, a grinding mechanism 3, and a heat preservation mechanism 5.

[0051] like Figure 4 The movable mechanism 2 shown is placed on the surface of the plate 01 to be welded, arranged along the weld bead extension direction, and fixedly connected to the tensioning mechanism 1. The movable mechanism 2 includes a movable platform 201 fixed to the plate 01 to be welded by the tensioning mechanism 1. Two movable platforms 201 are arranged in parallel. Each movable platform 201 has a built-in screw 202 connected by a bearing seat. The end of the screw 202 is provided with a movable platform motor 203. A sliding block 204 is embedded in the movable platform 201 and can slide inside. The sliding block 204 is sleeved on the screw 202, and the two are threadedly matched. The sliding block 204 slides along the movable platform 201 by rotating the screw 202.

[0052] like Figure 5-7The grinding mechanism 3 shown is slidably connected to the moving mechanism 2 and can move along the weld bead. The grinding mechanism 3 includes a grinding wheel mechanism, a grinding translation mechanism that drives the grinding wheel mechanism to translate perpendicularly to the weld bead, and a grinding lifting mechanism that drives the grinding wheel mechanism to rise and fall on the surface of the weld bead.

[0053] In the polishing mechanism 3:

[0054] The grinding translation mechanism includes a grinding optical axis bracket 301 fixedly connected to the sliding block 204. The grinding optical axis bracket 301 is fixed with a grinding translation optical axis 302 and a grinding translation rack 303 perpendicular to it. A grinding translation slide 304 is provided on the grinding translation optical axis 302. A grinding translation motor 305 is fixed on the grinding translation slide 304. Its driving end meshes with the grinding translation rack 303 through a grinding translation gear 306. The grinding translation slide 304 is translated on the grinding translation optical axis 302 by driving the grinding translation motor 305.

[0055] The grinding lifting mechanism includes a grinding lifting motor 316 fixed on a grinding translation slide 304. A grinding lifting fixed frame 307 is fixed on the grinding lifting motor 316. The grinding lifting fixed frame 307 is provided with a lifting groove 308 in the lifting direction. A grinding lifting movable frame 309 is provided on one side of the grinding lifting fixed frame 307. A lifting slide rail 310 embedded in the lifting groove 308 is provided on the side of the grinding lifting movable frame 309. The driving end of the grinding lifting motor 316 is connected to a lifting gear 311 located inside the grinding lifting fixed frame 307. A lifting rack 312 parallel to the lifting slide rail 310 and meshing with the lifting gear 311 is provided on the side of the grinding lifting movable frame 309. Driving the grinding lifting motor 316 controls the lifting movement of the grinding lifting movable frame 309.

[0056] The grinding wheel mechanism includes a grinding wheel 313 located at the bottom of the grinding lifting and moving frame 309 and fixed by a grinding wheel gear shaft 314. A grinding wheel motor 315 is provided on the grinding lifting and moving frame 309. The grinding wheel motor 315 is driven by the grinding wheel gear shaft 314 through a transmission gear set located in the grinding lifting and moving frame 309.

[0057] The grinding mechanism 3 is also equipped with a weld identification module and a slag suction and dust removal mechanism 4.

[0058] The dust collection and removal mechanism 4 includes a dust collection and removal chamber 401 located on the side of the grinding wheel mechanism and connected to a dust collection pipe 402 to collect smoke and dust.

[0059] The weld identification module includes an ultrasonic sensor 403 and a temperature sensor 404 mounted on the slag suction and dust removal mechanism 4. The ultrasonic sensor detects the depth of the weld in the vertical direction, and the temperature sensor determines that the position with the highest temperature in the horizontal direction is the position where welding is performed.

[0060] like Figure 8 and 9 The heat preservation mechanism 5 shown is slidably connected to the moving mechanism 2 and can move along the weld bead to keep it warm.

[0061] The heat preservation mechanism 5 includes a heat preservation optical axis bracket 501 fixedly connected to the sliding block 204. A heat preservation optical axis 513 is fixed on the heat preservation optical axis bracket 501. A sliding sleeve 502 is sleeved on the heat preservation optical axis 513. A flexible heating belt 504 is hinged to the heating belt bracket 503 through the sliding sleeve 502. Multiple ball grooves 505 are provided at intervals at the front and rear ends of the heating belt 504, and balls 506 are embedded in the grooves.

[0062] A push rod housing fixing bracket 507 is fixed on the heat-insulating optical axis 513. A push rod housing 508 is provided on the push rod housing fixing bracket 507. A push rod 509 is provided at the bottom of the push rod housing 508. The push rod 509 is driven by the heat-insulating mechanism motor 510. An elastic plate bracket 511 is hinged to the bottom of the push rod 509. An elastic plate bracket 511 is connected to an elastic plate 512 through a torsion spring shaft. The elastic plate 512 presses the heating band 504 at the bevel 02 of the weld. The elastic plate 512 adapts to the shape of the bevel 02. The ball bearings 506 on it fit the wall of the bevel 02 and follow the shape of the bevel 02 to keep it warm.

[0063] This device is equipped with a processor module that receives information from the weld bead recognition module and controls the operation of the entire device to achieve automated and adaptive operation.

[0064] Taking the butt welding of ultra-thick racks on a jack-up offshore drilling platform as an example, the rack thickness is 254mm, with symmetrical V-grooves on both sides at a 45° angle and a single-sided groove depth of 125mm. Multi-layer, multi-pass welding is employed, with the welding torch remaining stationary. The base material is E690 high-strength steel with a carbon equivalent (Ceq) of ≤0.84%, higher than the conventional E690 (Ceq ≤0.67%), exhibiting a severe tendency to crack. Therefore, post-weld heat treatment and slow cooling are necessary to promote hydrogen escape and reduce the risk of hydrogen embrittlement in the weld. Furthermore, the maximum permissible interpass temperature is 250℃, requiring the weld to cool below this temperature before proceeding to the next pass.

[0065] The operation method of the apparatus for cleaning weld beads in multi-layer, multi-pass welding of this welding embodiment includes:

[0066] Step 1: Install the moving mechanism 2 on the plate to be welded 01. Adjust the ball head screw 107 in the tensioning mechanism 1 according to the thickness of the plate to be welded, so that the moving mechanism 2 is fixed on the plate to be welded 01.

[0067] Step 2: The grinding mechanism 3 and the heat preservation mechanism 5 are reset to their initial positions, and the first welding process begins.

[0068] Step 3: The ultrasonic sensor 403 installed on the slag suction and dust removal chamber 401 detects the vertical depth of the weld seam, and the temperature sensor 404 determines the position of the highest temperature in the horizontal direction, which is the position of the weld seam to be welded. The grinding wheel is adjusted to the center position in the horizontal direction by the grinding lifting motor 316 and the grinding translation motor 305, and then lowered 122mm in the vertical direction to reach the center position of the weld seam to be welded.

[0069] Step 4: The push rod 509 of the heat preservation mechanism 5 pushes the elastic plate bracket 511, and the elastic plate 512 presses the heating band 504 to fit the bevel 02 until the ball 506 contacts the inner wall of the bevel 02. At this time, the heating band 504 is almost adapted to the shape of the bevel 02. Heating begins according to the temperature sensor data. Considering the heat transfer efficiency, the preset temperature is 300℃.

[0070] Step 5: The dust removal mechanism 4 is started, and at the same time the grinding wheel starts to rotate under the drive of the grinding wheel motor. The grinding mechanism and the heat preservation mechanism move along the moving mechanism and grind continuously.

[0071] Step Six: After grinding is complete, the grinding wheel is reset, the grinding mechanism and the heat preservation mechanism are reset, and the temperature sensor is waited for the weld temperature to reach about 250°C before proceeding to the next welding step.

[0072] Step 7: Repeat steps 2 through 6.

[0073] Step 8: Repeat this process until all welds have been applied and ground.

Claims

1. A self-adaptive weld seam cleaning device for ultra-thick plates with multi-layer and multi-pass welding, characterized in that, include: Two sets of cleaning systems are symmetrically arranged in the thickness direction of the plate to be welded (01), and the two sets of cleaning systems are fixed by a tensioning mechanism (1); Each group of cleaning systems includes: The moving mechanism (2) is placed on the surface of the plate to be welded (01), arranged along the extension direction of the weld bead, and fixedly connected to the tensioning mechanism (1); The grinding mechanism (3) is slidably connected to the moving mechanism (2) and can move along the weld bead. The grinding mechanism (3) includes a grinding wheel mechanism, a grinding translation mechanism that drives the grinding wheel mechanism to move perpendicularly to the weld bead, and a grinding lifting mechanism that drives the grinding wheel mechanism to rise and fall on the surface of the weld bead. The grinding mechanism (3) is also provided with a weld bead identification module and a slag suction and dust removal mechanism (4). The heat preservation mechanism (5) is slidably connected to the moving mechanism (2) and can move along the weld bead to keep it warm; The tensioning mechanism (1) includes an upper tensioning bracket (101) and a lower tensioning bracket (102) that are respectively fixed to the moving mechanisms (2) in the two sets of cleaning systems. The two are connected by a pin (103) passing through them in sequence. The upper tensioning bracket (101) has a slot (104) for the pin (103) to move. The pin (103) passes through the side of the lower tensioning bracket (102) and has an upward-facing ball head groove (105) at its end. The upper tensioning bracket (101) has a web plate (106) on its side. The upper and lower tensioning brackets are fixed by a ball head screw (107) passing through the web plate (106) and the ball head groove (105). In the polishing mechanism (3): The grinding translation mechanism includes a grinding optical axis bracket (301) slidably connected to the moving mechanism (2). The grinding optical axis bracket (301) is fixed with a grinding translation optical axis (302) perpendicular to it and a grinding translation rack (303). A grinding translation slide (304) is provided on the grinding translation optical axis (302). A grinding translation motor (305) is fixed on the grinding translation slide (304). Its driving end meshes with the grinding translation rack (303) through a grinding translation gear (306). The grinding translation slide (304) is translated on the grinding translation optical axis (302) by driving the grinding translation motor (305). The grinding lifting mechanism includes a grinding lifting motor (316) fixed on a grinding translation slide (304), a grinding lifting fixed frame (307) fixed on the grinding lifting motor (316), a lifting groove (308) in the lifting direction on the grinding lifting fixed frame (307), a grinding lifting moving frame (309) on one side of the grinding lifting fixed frame (307), a lifting slide rail (310) embedded in the lifting groove (308) on the side of the grinding lifting moving frame (309), a lifting gear (311) connected to the driving end of the grinding lifting motor (316) located in the grinding lifting fixed frame (307), and a lifting rack (312) parallel to the lifting slide rail (310) and meshing with the lifting gear (311) on the side of the grinding lifting moving frame (309). Driving the grinding lifting motor (316) controls the lifting movement of the grinding lifting moving frame (309). The grinding wheel mechanism includes a grinding wheel (313) located at the bottom of the grinding lifting and moving frame (309) and fixed by a grinding wheel gear shaft (314). A grinding wheel motor (315) is provided on the grinding lifting and moving frame (309), and the grinding wheel motor (315) is driven by meshing with the grinding wheel gear shaft (314) through a transmission gear set located in the grinding lifting and moving frame (309).

2. The adaptive weld cleaning device for ultra-thick plate multi-layer multi-pass welding according to claim 1, characterized in that: Multiple tensioning mechanisms (1) are spaced apart between the two sets of cleaning systems.

3. The adaptive weld cleaning device for ultra-thick plate multi-layer multi-pass welding according to claim 1, characterized in that: The moving mechanism (2) includes a moving platform (201) fixed to the plate to be welded (01) by a tensioning mechanism (1). The moving platform (201) has a built-in screw (202) and is connected by a bearing seat. The end of the screw (202) is provided with a moving platform motor (203). The moving platform (201) has a sliding block (204) that can slide inside. The sliding block (204) is sleeved on the screw (202) and the two are threadedly matched. The sliding block (204) slides along the moving platform (201) by rotating the screw (202).

4. The adaptive weld cleaning device for ultra-thick plate multi-layer multi-pass welding according to claim 3, characterized in that: Both the grinding mechanism (3) and the heat preservation mechanism (5) are fixed to the sliding block (204).

5. The adaptive weld cleaning device for multi-layer, multi-pass welding of ultra-thick plates according to claim 1, characterized in that, In the polishing mechanism (3): The dust removal mechanism (4) includes a dust removal chamber (401) located on the side of the grinding wheel mechanism and connected to a dust removal pipe (402).

6. The adaptive weld cleaning device for multi-layer, multi-pass welding of ultra-thick plates according to claim 1, characterized in that, In the polishing mechanism (3): The weld identification module includes an ultrasonic sensor (403) and a temperature sensor (404) mounted on the slag suction and dust removal mechanism (4).

7. The adaptive weld cleaning device for ultra-thick plate multi-layer multi-pass welding according to claim 1, characterized in that: The heat preservation mechanism (5) includes a heat preservation optical axis bracket (501) slidably connected to the moving mechanism (2). A heat preservation optical axis (513) is fixed on the heat preservation optical axis bracket (501). A sliding sleeve (502) is sleeved on the heat preservation optical axis (513). A flexible heating belt (504) is hinged to the heating belt bracket (503) through the sliding sleeve (502). Multiple ball grooves (505) are provided at intervals at the front and rear ends of the heating belt (504), and balls (506) are embedded in the grooves. A push rod housing fixing bracket (507) is fixed on the heat-insulating optical axis (513). A push rod housing (508) is provided on the push rod housing fixing bracket (507). A push rod (509) is provided at the bottom of the push rod housing (508). The push rod is driven by the heat-insulating mechanism motor (510). An elastic plate bracket (511) is hinged to the bottom of the push rod (509). An elastic plate (512) is connected to the elastic plate bracket (511) through a torsion spring shaft. The elastic plate (512) presses the heating band (504) onto the bevel (02) of the weld.

8. The cleaning method of the adaptive weld seam cleaning device for ultra-thick plate multi-layer multi-pass welding as described in claim 1, characterized in that, Includes the following steps: S1. Install the moving mechanism (2) on the plate to be welded (01), and adjust the tensioning mechanism (1) according to the thickness of the plate to be welded (01) so that the moving mechanism (2) is fastened to the plate to be welded (01); S2. The grinding mechanism (3) and the heat preservation mechanism (5) are reset to their initial positions, and the first welding process begins; S3. The depth of the weld in the vertical direction is detected by the weld bead recognition module, and the position with the highest temperature in the horizontal direction is determined as the welding position, thereby adjusting the position of the grinding wheel mechanism. S4. The slag suction and dust removal mechanism (4) is started, the grinding mechanism (3) and the heat preservation mechanism (5) move along the weld and grind continuously, and the heat preservation mechanism (5) heats the weld at the bevel (02). S5. Grinding is completed. The grinding mechanism (3) and the heat preservation mechanism (5) are reset. After the weld reaches the set temperature, the next weld is carried out. S6. Repeat S2-S5 until all welds are completed and ground.

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