Aluminum alloy powder tank car body girth weld welding apparatus and welding method

Abstract

The present application relates to a kind of aluminum alloy powder tank truck tank ring weld welding device and welding method, including fixed seat, base, moving seat and gyro wheel frame mechanism, fixed seat and moving seat are rotated respectively by rotary motor and rotary support driving cylinder section end clamp and head end clamp, the bottom of moving seat is cooperated with installation horizontal movement mechanism, moving seat is made linear motion by horizontal movement mechanism close to or away from fixed seat, the top of base is cooperated with installation welding mechanical arm, welding mechanical arm is provided with rotary mechanical arm, the working end of rotary mechanical arm is sequentially cooperated with installation plasma welding unit, polishing unit and argon arc welding unit from top to bottom.The welding device is set, manual operation is replaced by full-automatic production mode, so that welding does not need to rely on the technical level of operator, so that production efficiency can be effectively improved, and labor cost is reduced;Meanwhile, the welding method of the present application can effectively improve welding precision, guarantee welding quality, and the product after welding is consistent.

Description

Technical Field

[0001] This invention relates to the field of aluminum alloy tank truck production equipment technology, and in particular to a welding device and welding method for the circumferential weld seam of an aluminum alloy powder tank truck. Background Technology

[0002] Aluminum alloy powder tank trucks are vehicles used to transport powdered materials. The aluminum alloy tanks used in these trucks are lightweight and have a low residual rate, making them promising for widespread application. During the production of aluminum alloy tank trucks, welding the tank heads and cylindrical sections, as well as the circumferential welds between sections, is a necessary process.

[0003] Existing technologies employ manual welding for circumferential welds on tank bodies, involving two steps: root pass welding and top pass welding. First, two operators simultaneously perform root pass welding on the circumferential weld from both the inside and outside of the tank using argon arc welding torches. Then, a specialized welding machine is used to finish the outer surface of the circumferential weld. This manual method is inefficient, time-consuming, and physically demanding for operators. Furthermore, the weld quality is highly dependent on the operator's skill level, making it impossible to guarantee consistent weld quality. Summary of the Invention

[0004] To address the shortcomings of existing production technologies, the applicant provides a welding device and method for circumferential welds on aluminum alloy powder tank truck bodies. By incorporating plasma welding, grinding, and argon arc welding units, the circumferential welds on the powder tank truck bodies can be automatically completed in one pass. This effectively reduces the labor intensity of operators, improves production efficiency, and saves production time. Furthermore, the welds produced are highly consistent, smooth, and robust, effectively reducing reliance on the operator's skill level and ensuring production quality.

[0005] The technical solution adopted in this invention is as follows:

[0006] A welding device for the circumferential weld seam of an aluminum alloy powder tanker truck includes a fixed base, a base, a movable base, and a roller frame mechanism. A rotary motor is fixed inside both the fixed base and the movable base. The output end of a single rotary motor is connected to a slewing bearing via a gear. One slewing bearing is mounted on the outer wall of the fixed base, and a cylindrical end clamp is fitted on its end face. The other slewing bearing is mounted on the outer wall of the movable base, and a head end clamp is fitted on its end face. A lateral movement mechanism is installed at the bottom of the movable base, allowing the movable base to move linearly towards or away from the fixed base, thereby clamping tank assemblies of various lengths. A liftable roller frame mechanism is installed beside the lateral movement mechanism. A welding robotic arm is mounted on the top of the base. The welding robotic arm has a rotating arm that can rotate around a mounting center. Plasma welding units are sequentially installed from top to bottom on the working end of the rotating robotic arm. The system comprises a grinding unit and an argon arc welding unit. The plasma welding unit performs root pass welding on the circumferential welds on the sidewalls of the tank assembly. The grinding unit grinds the circumferential welds on the sidewalls of the tank assembly after plasma welding. The argon arc welding unit welds the circumferential welds on the sidewalls of the tank assembly. A first adjusting motor is installed on the cylindrical end clamp, driving the cylindrical end clamp to move vertically upwards or downwards. Rollers for supporting the tank assembly are also installed on the cylindrical end clamp. A second adjusting motor is installed on the end cap clamp, driving the end cap clamp to move vertically upwards or downwards. During operation, the cylindrical end clamp and the end cap clamp simultaneously hold the tank assembly, and the tank assembly rotates via a rotary motor and a rotary bearing, thereby enabling the welding robot arm to weld multiple circumferential welds on the sidewalls of the tank assembly.

[0007] As a further improvement to the above technical solution:

[0008] The welding robotic arm has the following structure: a rotating robotic arm, a first wire feeder mounted on the top of the rotating robotic arm, and a mounting frame mounted on the working end of the rotating robotic arm. The front of the mounting frame has a first mounting bracket, a second mounting bracket, and a third mounting bracket installed sequentially from top to bottom. An inclined mounting seat is mounted on the end of the first mounting bracket, and a plasma welding unit is mounted at an angle on the end of the first mounting bracket via the inclined mounting seat. A grinding unit is mounted on the top of the second mounting bracket, and an argon arc welding unit is mounted on the top of the third mounting bracket. A second wire feeder is mounted on the back of the mounting frame. The plasma welding... The unit's structure includes: a first slide fixed to the inclined surface of a sloping mounting base; the first slide mates with a first guide block; a second slide perpendicular to the first slide is mounted on the top of the first guide block; the second slide mates with the second guide block; a first mounting base is mounted on the top of the second guide block; a third slide perpendicular to the inclined surface of the sloping mounting base is mounted on the top of the first mounting base; the third slide mates with the third guide block; a plasma welding torch is mounted on the top of the third guide block; the plasma welding torch is connected to a first wire feeder via a first wire feeding tube; and a laser tracking device is also mounted on the top of the first mounting base. The system includes a laser tracking sensor and a first monitoring camera, both located directly above the plasma welding torch head. A first slide table drives a first guide block, which in turn drives a second slide table to reciprocate linearly along the length of the inclined surface of the inclined mounting base. The second slide table drives a second guide block, which in turn drives the first mounting base to reciprocate linearly along a direction perpendicular to the length of the inclined surface. A third slide table drives a third guide block, which in turn drives the plasma welding torch to reciprocate linearly along a direction perpendicular to the inclined surface of the inclined mounting base. This allows the plasma welding torch to weld the circumferential weld seam on the side wall of the tank assembly. The grinding unit consists of a first X-axis slide table fixed to the top of a second mounting bracket. The first X-axis slide is installed in conjunction with the first X-axis guide block. A first Y-axis slide, arranged perpendicularly to the first X-axis slide, is installed on the top of the first X-axis guide block. The first Y-axis slide is installed in conjunction with the first Y-axis guide block. A grinding head for grinding circumferential welds is installed on the top of the first Y-axis slide via a second mounting base. The first X-axis slide drives the first X-axis guide block to move the first Y-axis slide in a reciprocating linear motion along the length direction perpendicular to the second mounting bracket. The first Y-axis slide, through the first Y-axis guide block, drives the grinding head to move in a reciprocating linear motion along the length direction of the second mounting bracket, thereby enabling the grinding head to grind the circumferential welds on the side wall of the tank assembly.The structure of the argon arc welding unit is as follows: it includes a second X-axis slide fixed to the top of a third mounting bracket; the second X-axis slide is fitted with a second X-axis guide block; a second Y-axis slide, perpendicular to the second X-axis slide, is fitted to the top of the second X-axis guide block; the second Y-axis slide is fitted with the second Y-axis guide block; a third mounting base is fitted to the top of the second Y-axis guide block; an argon arc welding torch and a second monitoring camera are fitted to the top of the third mounting base; the second monitoring camera is located directly above the torch head; the argon arc welding torch is connected to a second wire feeder via a second wire feeding tube; the second X-axis slide drives the second X-axis guide block to move the second Y-axis slide in a reciprocating linear motion along the length direction perpendicular to the third mounting bracket; the second Y-axis slide, through the second Y-axis guide block, drives the argon arc welding torch in a reciprocating linear motion along the length direction of the third mounting bracket, thereby enabling the argon arc welding torch to cover the circumferential weld seam on the side wall of the tank assembly.

[0009] The structure of the cylindrical end clamp is as follows: It includes a first connecting plate that mates with a slewing bearing mounted on a fixed base. Several first adjusting sliders are mounted on the front of the first connecting plate. Each first adjusting slider mates with several first adjusting slide rails arranged parallel to the back of a first connecting frame. A first adjusting motor is fixed to the top of the first connecting plate. The output end of the first adjusting motor is connected to a first lead screw. A first connecting seat is mounted on the outer circumference of the first lead screw. The first connecting seat is fixed to the first connecting frame. The first adjusting motor drives the first connecting seat to move linearly along the first lead screw, thereby causing the first connecting frame to move linearly along the first adjusting slide rails. A first disc is fixed to the front of the first connecting frame. Several expanding block slide rails are evenly mounted along the circumference of the disc. Each expanding block slide rail is mounted with an expanding block base via several expanding block sliders. The expanding block sliders are mounted at the bottom of the expanding block base. An inner expansion block assembly is installed on the top of the expansion block base. A second disk is concentrically arranged on the front of the first disk. Several first arc-shaped grooves are opened in the middle of the second disk. A cylinder mounting seat is installed in a single first arc-shaped groove. A rotary cylinder is installed in each cylinder mounting seat. The output end of each rotary cylinder is connected to the second disk. Several second arc-shaped grooves are evenly arranged along the circumference of the second disk. A fixed shaft is installed in a single second arc-shaped groove. A single fixed shaft is installed corresponding to a single expansion block base. The rotary cylinder drives the second disk to rotate through the first arc-shaped groove, thereby causing the fixed shaft to slide in the second arc-shaped groove, which in turn converts into the expansion block assembly moving linearly along the radial direction of the first disk. Several stop blocks are evenly installed along the circumference of the first disk. The stop blocks extend radially to the outside of the first disk. Symmetrically arranged brackets are installed on the circular surface of the first disk. Rollers are rotatably installed in a single bracket. Two rollers are used to rotate and support the tank sub-assembly.

[0010] The structure of a single expansion block assembly is as follows: it includes a U-shaped seat, which is installed in conjunction with the expansion block base via a flat key. Several threaded holes are provided in the middle of the U-shaped seat, and a pin is installed in a single threaded hole. The pin locks the U-shaped seat to the top of the expansion block base. A first expansion block group and a second expansion block group are symmetrically installed on the outer wall of the U-shaped seat. The shape of the first expansion block group and the second expansion block group corresponds to the inner side wall of the tank sub-assembly section. The volume of the tank sub-assembly tightened by the first expansion block group is greater than the volume of the tank sub-assembly tightened by the second expansion block group.

[0011] The structure of the end cap clamp is as follows: It includes a second connecting plate that mates with a slewing bearing mounted on a movable base. A second connecting frame is fixedly mounted on the front of the second connecting plate. A second adjusting motor is fixed to the bottom of the second connecting frame. The output end of the second adjusting motor is connected to a second lead screw. A second connecting seat is mounted on the outer circumference of the second lead screw. The second connecting seat is fixed to the clamp mounting base. Several parallel second adjusting slide rails are fitted onto the front of the second connecting frame. A second adjusting slider is fitted onto each second adjusting slide rail. The second adjusting slider is fixedly mounted on the back of the clamp mounting base. The second adjusting motor drives the second connecting seat to move linearly along the axial direction of the second lead screw via the second lead screw, thereby causing the clamp mounting base to move linearly along the second adjusting slide rails. Symmetrically arranged contour mounting frames are fitted onto the front of the clamp mounting base. Each single contour mounting bracket has symmetrically arranged contour blocks installed at both ends. The working surfaces of the four contour blocks correspond to the shape of the outer wall of the tank assembly head. The single contour mounting bracket is installed in conjunction with the clamping mounting base via clamping slide rails and clamping sliders. The clamping slide rails are symmetrically installed on the outer wall of the clamping mounting base, and the clamping sliders are installed on the contour mounting bracket. A clamping motor is fixed in the middle of the clamping mounting base. The output end of the clamping motor is connected to symmetrically arranged clamping screws. A third connecting seat is installed on the outer circumference of a single clamping screw. Each third connecting seat is connected to a corresponding single contour mounting bracket. The clamping motor drives the two third connecting seats to move in opposite or opposite directions in a linear motion via the two clamping screws, thereby causing the two contour mounting brackets to move in opposite or opposite directions in a linear motion along the clamping slide rail, thus causing the contour blocks to clamp or release the tank assembly head.

[0012] The structure of the transverse movement mechanism is as follows: it includes a transverse movement base, several transverse movement slide rails are arranged in parallel on the top of the transverse movement base, several transverse movement sliders are installed on each transverse movement slide rail, a moving seat is installed on the top of the transverse movement slider, a transverse movement motor is fixed on the moving seat, the output end of the transverse movement motor is connected to a transverse movement gear, the transverse movement gear is meshed with a transverse movement rack, the transverse movement rack is installed on the top of the transverse movement base and located between the transverse movement slide rails, and the transverse movement motor drives the moving seat to move linearly along the transverse movement slide rails through the transverse movement gear and the transverse movement rack.

[0013] The roller frame mechanism comprises a support base, a lifting motor fixedly mounted on the top of the support base, a steering gear connected to the output end of the lifting motor, and two lifting platforms connected to each other via symmetrically arranged drive shafts. A lifting connecting seat is mounted on the top of each individual lifting platform, and guide columns are symmetrically mounted on both sides of each platform. The lifting motor drives the two drive shafts to rotate simultaneously via the steering gear, thereby causing the two lifting connecting seats to move upwards or downwards in a straight line simultaneously via the two lifting platforms. Roller mounting plates are mounted on the top of both lifting connecting seats, and symmetrically arranged roller mounting seats are mounted on the top of each roller mounting plate. A roller motor is fixed to the outside of each roller mounting seat, and the output end of the roller motor passes through the side wall of the roller mounting seat and connects to a support roller installed inside the roller mounting seat. The roller motor drives the support roller to rotate, thereby causing the tank assembly between the two support rollers to rotate.

[0014] An operating table, a laser tracking control cabinet, and a plasma generating mechanism are installed on one side of the base.

[0015] A method for welding the circumferential weld seam of an aluminum alloy powder tanker truck includes the following steps:

[0016] S1. Place the tank assembly onto the roller frame mechanism and rollers;

[0017] S2. The moving seat drives the end clamp to approach the end of the tank assembly via the transverse movement mechanism;

[0018] S3. After the head end clamp moves into place, it clamps the head of the tank assembly. Then the cylindrical section end clamp tightens the cylindrical section end of the tank assembly, thereby clamping the tank assembly.

[0019] S4. The welding robot arm approaches the tank sub-assembly and points to the circumferential weld between the end cap and the upper cylinder section of the tank sub-assembly. Then the roller frame mechanism descends, and two rotary motors drive the cylinder end clamp and the end cap end clamp to rotate through two rotary bearings, thereby driving the tank sub-assembly to rotate. The welding robot arm welds the circumferential weld between the end cap and the upper cylinder section of the tank sub-assembly.

[0020] After the first circumferential weld is completed, the first adjusting motor drives the cylinder end clamp to descend vertically, and at the same time, the second adjusting motor drives the head end clamp to descend vertically, so that the center of the circumferential weld between the upper and lower cylinder sections of the tank sub-assembly coincides with the rotation center of the cylinder end clamp and the head end clamp.

[0021] The welding robot arm approaches the circumferential weld between the upper and lower cylindrical sections of the tank sub-assembly. The cylindrical section end clamp and the end cap end clamp drive the tank sub-assembly to rotate, and the welding robot arm welds the circumferential weld between the upper and lower cylindrical sections of the tank sub-assembly.

[0022] S5. After welding is completed, the welding robot arm returns to its original position, the cylinder end clamp and the end cap clamp rotate back to the original position, and the roller frame mechanism rises to support the tank sub-assembly.

[0023] S6. The tank assembly is then transported to the next process.

[0024] When the welding robotic arm welds a circumferential weld on a tank sub-assembly, the following steps are included:

[0025] S4.1. The rotating robotic arm drives the plasma welding unit, grinding unit, and argon arc welding unit to the target position;

[0026] S4.2. Adjust the plasma welding unit to reach the arc initiation point;

[0027] S4.3. Plasma welding is performed on the tank assembly by a plasma welding unit, and the plasma welding unit delays for a specified time at each working point to penetrate the circumferential weld of the tank assembly.

[0028] S4.4 The grinding unit is always in close contact with the circumferential weld of the tank assembly. When the circumferential weld of the plasma welding reaches the specified weld length, the grinding unit grinds the circumferential weld of the tank assembly.

[0029] S4.5. The plasma welding unit terminates the arc and fills the crater, thus completing the plasma welding process;

[0030] S4.6. The grinding unit then stops grinding;

[0031] S4.7. Before plasma welding is completed, adjust the argon arc welding unit into position. After plasma welding is completed, the argon arc welding unit will start welding.

[0032] S4.8. After the argon arc welding unit covers the circumferential weld seam welded by the plasma welding unit for one lap, and overlaps with the starting point of the argon arc welding unit by 10mm, the cylinder end clamp and the head end clamp stop rotating, the argon arc welding unit stops the arc and fills the arc crater, and the welding is completed.

[0033] The beneficial effects of this invention are as follows:

[0034] This invention features a compact and reasonable structure, and is easy to operate. By setting up a welding device, it adopts a fully automated production method to replace manual labor, so that welding does not depend on the operator's technical level, thereby effectively improving production efficiency, saving production time, and reducing labor costs. At the same time, it provides a welding method that is easy to operate and has a tracking feedback function, thereby effectively improving welding accuracy, ensuring welding quality, and producing consistent high-quality welded products.

[0035] The present invention also has the following advantages:

[0036] (1) In this invention, by setting up a welding robotic arm, automatic welding of circumferential welds can be realized. The plasma welding unit performs the welding root pass, the grinding unit removes the oxides on the surface of the circumferential weld after plasma welding, and the argon arc welding unit performs the welding cover pass, which can ensure that the weld is flat and firm.

[0037] (2) In this invention, by setting the cylindrical end clamp and the end clamp, the tank body sub-assembly can be rotated. At the same time, the cylindrical end clamp and the end clamp have lifting function, which can ensure that the rotation center of different circumferential welds on the side wall of the tank body sub-assembly is always consistent with the rotation center of the clamp, thereby ensuring the welding quality.

[0038] (3) By setting up a quick-disassembly and replacement expansion block assembly and a transverse movement mechanism, the welding device can be applied to tank sub-assemblies of various specifications, thereby improving the product adaptability of the welding device.

[0039] (4) In this invention, by setting up a monitoring camera and a laser tracking sensor, the working position of the welding gun and the grinding head is tracked and fed back, so as to ensure welding accuracy and improve welding quality.

[0040] (5) The welding device in this invention has a compact structure, reasonable layout, small footprint, and low requirements for installation environment.

[0041] (6) The welding method in this invention is reasonably set up and simple to operate. By adopting a welding method that combines plasma welding and argon arc welding, the welding quality can be effectively improved and the connection reliability of the aluminum alloy powder tanker can be guaranteed. At the same time, the grinding head grinds the oxide on the surface of the plasma weld, further improving the welding quality and ensuring that the weld is flat and firm. Attached Figure Description

[0042] Figure 1 This is a schematic diagram of the structure of the present invention.

[0043] Figure 2 for Figure 1 Top view.

[0044] Figure 3 This is a schematic diagram of the welding station in this invention.

[0045] Figure 4 This is a schematic diagram of the structure of the plasma welding unit of the present invention.

[0046] Figure 5 This is an exploded view of the plasma welding unit of the present invention.

[0047] Figure 6 This is a schematic diagram of the grinding unit and the argon arc welding unit in this invention.

[0048] Figure 7This is a front view of the fixed clamping station in this invention.

[0049] Figure 8 This is a schematic diagram of the structure of the cylinder end clamp in this invention.

[0050] Figure 9 for Figure 8 A magnified view of a portion of point A in the middle.

[0051] Figure 10 for Figure 8 Exploded view.

[0052] Figure 11 This is a front view of the movable clamping station in this invention.

[0053] Figure 12 This is a side view of the movable clamping station in this invention.

[0054] Figure 13 This is a schematic diagram of the end cap clamp in this invention.

[0055] Figure 14 for Figure 13 Exploded view.

[0056] Figure 15 This is a schematic diagram of the roller frame mechanism in this invention.

[0057] Figure 16 This is a schematic diagram of the present invention in operation.

[0058] The components include: 1. Fixed base; 2. Cylindrical section end clamp; 3. Welding robotic arm; 4. Base; 5. Moving base; 6. Head end clamp; 7. Slewing bearing; 8. Slewing motor; 9. Transverse movement mechanism; 10. Operating table; 11. Laser tracking control cabinet; 12. Roller frame mechanism; 13. Plasma generation mechanism; 14. Tank sub-assembly.

[0059] 201. First connecting plate; 202. First adjusting slider; 203. First adjusting slide rail; 204. First connecting frame; 205. First adjusting motor; 206. First connecting seat; 207. First disc; 208. Second disc; 209. Expanding block slide rail; 210. Expanding block slider; 211. Expanding block base; 212. Expanding block assembly; 213. First expanding block group; 214. Second expanding block group; 215. U-shaped seat; 216. Flat key; 217. Pin; 218. First arc groove; 219. Rotary cylinder; 220. Stop block; 221. Bracket; 222. Roller; 223. Second arc groove; 224. Fixed shaft;

[0060] 301. Rotary robotic arm; 302. Mounting frame; 303. First mounting bracket; 304. Second mounting bracket; 305. Third mounting bracket; 306. First mounting base; 307. First slide; 308. Second slide; 309. Third slide; 310. First guide block; 311. Second guide block; 312. Third guide block; 313. Plasma welding torch; 314. First wire feed tube; 315. Laser tracking sensor; 316. First monitoring camera; 317. ... 318. First X-axis slide; 319. First X-axis guide block; 320. First Y-axis guide block; 321. Second mounting base; 322. Grinding head; 323. Second X-axis slide; 324. Second Y-axis slide; 325. Second X-axis guide block; 326. Second Y-axis guide block; 327. Third mounting base; 328. Argon arc welding torch; 329. Second wire feed tube; 330. Second monitoring camera; 331. First wire feeder; 332. Second wire feeder;

[0061] 601. Second connecting plate; 602. Second adjusting slider; 603. Second adjusting slide rail; 604. Second connecting frame; 605. Second adjusting motor; 606. Second connecting seat; 607. Fixture mounting seat; 608. Clamping slide rail; 609. Clamping slider; 610. Clamping motor; 611. Third connecting seat; 612. Copying mounting frame; 613. Copying block;

[0062] 901. Horizontal movement base; 902. Horizontal movement motor; 903. Horizontal movement slide rail; 904. Horizontal movement slider; 905. Horizontal movement gear; 906. Horizontal movement rack;

[0063] 1201, Support base; 1202, Lifting motor; 1203, Drive shaft; 1204, Lifting platform; 1205, Guide column; 1206, Lifting connection seat; 1207, Roller mounting plate; 1208, Roller motor; 1209, Support roller; 1210, Roller mounting base;

[0064] 1301. Plasma power supply; 1302. Plasma water chiller; 1303. Plasma generator. Detailed Implementation

[0065] The specific embodiments of the present invention will now be described with reference to the accompanying drawings.

[0066] Example 1:

[0067] The structure and function of this embodiment are as follows:

[0068] like Figures 1-16As shown, the aluminum alloy powder tank truck tank body circumferential weld welding device of this embodiment includes a fixed base 1, a base 4, a movable base 5, and a roller frame mechanism 12. A rotary motor 8 is fixed inside both the fixed base 1 and the movable base 5. The output end of a single rotary motor 8 is installed in conjunction with a rotary bearing 7 via gears. One rotary bearing 7 is installed on the outer wall of the fixed base 1, and a cylindrical end clamp 2 is installed on its end face. The other rotary bearing 7 is installed on the outer wall of the movable base 5, and a head end clamp 6 is installed on its end face. A transverse movement mechanism 9 is installed at the bottom of the movable base 5. The movable base 5 moves linearly towards or away from the fixed base 1 via the transverse movement mechanism 9, thereby clamping tank body sub-assemblies 14 of various lengths. A liftable roller frame mechanism 12 is installed beside the transverse movement mechanism 9. A welding robotic arm 3 is installed on the top of the base 4. The welding robotic arm 3 is equipped with a rotating robotic arm 301 that can rotate around the installation center. Plasma welding elements are sequentially installed at the working end of the rotating robotic arm 301 from top to bottom. The system comprises a grinding unit, an argon arc welding unit, and a plasma welding unit. The plasma welding unit performs root pass welding on the circumferential welds on the side walls of the tank sub-assembly 14. The grinding unit grinds the circumferential welds on the side walls of the tank sub-assembly 14 after plasma welding. The argon arc welding unit performs capping welding on the circumferential welds on the side walls of the tank sub-assembly 14. A first adjusting motor 205 is installed on the cylinder end clamp 2, which drives the cylinder end clamp 2 to move vertically upwards or downwards in a linear motion. The end clamp 2 is also equipped with rollers 222 for supporting the tank sub-assembly 14; the end clamp 6 is equipped with a second adjusting motor 605, which drives the end clamp 6 to move vertically upward or downward in a straight line; during operation, the end clamp 2 and the end clamp 6 simultaneously clamp the tank sub-assembly 14, and drive the tank sub-assembly 14 to rotate through the rotary motor 8 and the rotary bearing 7, so that the welding robot arm 3 welds multiple circumferential welds on the side wall of the tank sub-assembly 14. By setting fixed and movable clamping positions, the tank sub-assembly 14 is clamped and rotated. The position of the welding robot arm 3 is relatively fixed, so that a circumferential weld on the side wall of the tank sub-assembly 14 rotates around the rotation center of the cylinder end clamp 2 and the end cap clamp 6, thus completing one rotation to complete the welding of a circumferential weld. The roller frame mechanism 12 and rollers 222 are used to support the upper and lower parts of the tank sub-assembly 14: when the part is being loaded, the roller frame mechanism 12 rises, contacts the tank sub-assembly 14 and drives it to rotate to adjust the workpiece angle; when the welding work begins, the roller frame mechanism 12 descends and separates from the tank sub-assembly 14, thus ensuring that the tank sub-assembly 14 does not interfere with the roller frame mechanism 12 during the rotation driven by the clamps.

[0069] The fixed clamping station includes a fixed base 1, a cylindrical end clamp 2, a slewing bearing 7, and a slewing motor 8, which are used to clamp the cylindrical end of the tank sub-assembly 14; the movable clamping station includes a movable base 5, a head end clamp 6, a slewing bearing 7, a slewing motor 8, and a transverse movement mechanism 9, which are used to clamp the head end of the tank sub-assembly 14. At the same time, the movable base 5 can make horizontal linear movement through the transverse movement mechanism 9, thereby matching tank sub-assemblies 14 of various lengths.

[0070] The welding robotic arm 3 has the following structure: it includes a rotary robotic arm 301, a first wire feeder 331 is mounted on the top of the rotary robotic arm 301, and a mounting frame 302 is mounted on the working end of the rotary robotic arm 301. A first mounting bracket 303, a second mounting bracket 304, and a third mounting bracket 305 are sequentially mounted on the front of the mounting frame 302 from top to bottom. An inclined mounting seat with a slanted surface is mounted on the end of the first mounting bracket 303. A plasma welding unit is mounted at an angle on the end of the first mounting bracket 303 via the inclined mounting seat. A grinding unit is mounted on the top of the second mounting bracket 304, and an argon arc welding unit is mounted on the top of the third mounting bracket 305. A second wire feeder 332 is mounted on the back of the mounting frame 302. The welding robotic arm 3 is used for circumferential weld welding. The plasma welding unit is used for the root pass welding, the grinding unit removes oxides from the surface of the circumferential weld after plasma welding, and the argon arc welding unit is used for the cap pass welding.

[0071] The plasma welding unit has the following structure: a first slide 307 fixed on the inclined surface of the inclined mounting base; the first slide 307 is fitted with a first guide block 310; a second slide 308, perpendicular to the first slide 307, is fitted on the top of the first guide block 310; the second slide 308 is fitted with a second guide block 311; a first mounting base 306 is fitted on the top of the second guide block 311; a third slide 309, perpendicular to the inclined surface of the inclined mounting base, is fitted on the top of the first mounting base 306; the third slide 309 is fitted with a third guide block 312; a plasma welding torch 313 is fitted on the top of the third guide block 312; and the plasma welding torch 313 is connected to a first wire feeder 331 via a first wire feeding tube 314. Next, a laser tracking sensor 315 and a first monitoring camera 316 are also installed on the top of the first mounting base 306, located directly above the head of the plasma welding torch 313. The first slide 307 drives the first guide block 310 to move the second slide 308 in a reciprocating linear motion along the length of the inclined surface of the mounting base. The second slide 308 drives the second guide block 311 to move the first mounting base 306 in a reciprocating linear motion perpendicular to the length of the inclined surface. The third slide 309 drives the third guide block 312 to move the plasma welding torch 313 in a reciprocating linear motion perpendicular to the inclined surface of the mounting base, thereby enabling the plasma welding torch 313 to weld the circumferential weld on the side wall of the tank assembly 14. During the welding process, the laser tracking sensor 315 automatically tracks the circumferential weld, transmitting the horizontal and vertical deviation values ​​to the slides in each direction to automatically compensate for the deviation between the plasma welding torch 313 and the circumferential weld.

[0072] The grinding unit has the following structure: it includes a first X-axis slide 317 fixed to the top of the second mounting bracket 304, the first X-axis slide 317 is installed in conjunction with the first X-axis guide block 319, the top of the first X-axis guide block 319 is installed with a first Y-axis slide 318 arranged perpendicularly to the first X-axis slide 317, the first Y-axis slide 318 is installed in conjunction with the first Y-axis guide block 320, and the top of the first Y-axis slide 318 is installed with a grinding head 322 for grinding the circumferential weld seam via the second mounting seat 321; the first X-axis slide 317 drives the first X-axis guide block 319 to drive the first Y-axis slide 318 to reciprocate linearly along the length direction perpendicular to the second mounting bracket 304, and the first Y-axis slide 318 drives the grinding head 322 to reciprocate linearly along the length direction of the second mounting bracket 304 via the first Y-axis guide block 320, thereby causing the grinding head 322 to grind the circumferential weld seam on the side wall of the tank body sub-assembly 14. The grinding head 322 is installed in conjunction with the second mounting base 321 via a floating mounting mechanism. The floating mounting mechanism consists of a floating seat that is installed in conjunction with the second mounting base 321 via a spring plunger. The grinding head 322 is mounted on the floating seat. A floating slide rail and a floating slider are also provided between the floating seat and the second mounting base 321, which allows the grinding head 322 to compensate for the surface shape error of the circumferential weld. The surface of the grinding head 322 is provided with a wire brush. During operation, the wire brush needs to be in close contact with the circumferential weld. The grinding head 322 is connected to an external air source, which drives the wire brush on its surface to rotate and grind the circumferential weld. During the operation of the grinding head 322, the first X-axis slide 317 acquires the displacement parameters of the first slide 307 after a delay, so that the grinding head 322 can always grind the circumferential weld.

[0073] The structure of the argon arc welding unit is as follows: It includes a second X-axis slide 323 fixed to the top of a third mounting bracket 305; the second X-axis slide 323 is fitted with a second X-axis guide block 325; a second Y-axis slide 324, perpendicular to the second X-axis slide 323, is fitted to the top of the second X-axis guide block 325; the second Y-axis slide 324 is fitted with a second Y-axis guide block 326; a third mounting base 327 is fitted to the top of the second Y-axis guide block 326; and an argon arc welding torch 328 and a second monitoring camera 330 are fitted to the top of the third mounting base 327. The monitoring camera 330 is located directly above the head of the argon arc welding torch 328. The argon arc welding torch 328 is connected to the second wire feeder 332 via the second wire feed tube 329. The second X-axis slide 323 drives the second X-axis guide block 325 to move the second Y-axis slide 324 in a reciprocating linear motion along the length direction perpendicular to the third mounting bracket 305. The second Y-axis slide 324, through the second Y-axis guide block 326, drives the argon arc welding torch 328 in a reciprocating linear motion along the length direction of the third mounting bracket 305, thereby enabling the argon arc welding torch 328 to cover the circumferential weld on the side wall of the tank sub-assembly 14. During operation, the second X-axis slide 323 acquires the displacement parameters of the first slide 307 through a delay, thereby achieving automatic compensation for the deviation between the argon arc welding torch 328 and the circumferential weld in the X direction. The height direction of the argon arc welding torch 328 and the circumferential weld is automatically adjusted through arc voltage tracking.

[0074] The length directions of the second mounting bracket 304 and the third mounting bracket 305 are parallel to the radial direction of the tank sub-assembly 14 and perpendicular to the axial direction of the tank sub-assembly 14.

[0075] The structure of the cylindrical end clamp 2 is as follows: it includes a first connecting plate 201 that is fitted to a slewing bearing 7 mounted on a fixed base 1. Several first adjusting sliders 202 are fitted to the front of the first connecting plate 201. The first adjusting sliders 202 are fitted to several first adjusting slide rails 203 arranged parallel to the back of the first connecting frame 204. A first adjusting motor 205 is fixed to the top of the first connecting plate 201. The output end of the first adjusting motor 205 is connected to a first lead screw. A first connecting seat 206 is fitted to the outer circumference of the first lead screw. The first connecting seat 206 is connected to the first connecting... The frame 204 is fixed. The first adjusting motor 205 drives the first connecting seat 206 to move linearly along the first lead screw through the first lead screw, thereby driving the first connecting frame 204 to move linearly along the first adjusting slide rail 203. The front of the first connecting frame 204 is fixedly mounted with a first disc 207. Several expansion block slide rails 209 are evenly installed along the circumference on the circular surface of the first disc 207. Each expansion block slide rail 209 is installed in cooperation with an expansion block base 211 through several expansion block sliders 210. The expansion block sliders 210 are installed at the bottom of the expansion block base 211, and the top of each expansion block base 211 is fitted with... The device includes an internal expansion block assembly 212. A second disk 208 is concentrically positioned on the front of the first disk 207. Several first arc-shaped grooves 218 are formed in the center of the second disk 208. A cylinder mounting seat is installed within each first arc-shaped groove 218. Each cylinder mounting seat is fitted with a rotary cylinder 219. The output end of each rotary cylinder 219 is connected to the second disk 208. Several second arc-shaped grooves 223 are evenly arranged along the circumference of the second disk 208. A fixed shaft 224 is installed within each second arc-shaped groove 223. Each fixed shaft 224 is correspondingly installed with a single expansion block base 211. The device rotates... The cylinder 219 drives the second disk 208 to rotate through the first arc groove 218, thereby causing the fixed shaft 224 to slide in the second arc groove 223, which in turn converts into the expansion block assembly 212 moving linearly along the radial direction of the first disk 207; several stop blocks 220 are evenly installed on the circular surface of the first disk 207 along the circumference, and the stop blocks 220 extend radially to the outside of the first disk 207; symmetrically arranged brackets 221 are installed on the circular surface of the first disk 207, and rollers 222 are rotatably installed in a single bracket 221, and two rollers 222 are used to rotate and support the tank sub-assembly 14. The cylindrical end clamp 2 uses an internal expansion block to clamp the workpiece. The second disc 208 is pushed by the rotating cylinder 219, which drives the expansion block assembly 212 to extend or retract. Due to the irregular shape of the tank sub-assembly 14, the rotation centers of the two circumferential welds on its side wall are not on the same axis. When welding the circumferential welds, it is necessary to make the circumferential welds consistent with the rotation center of the clamp. The first adjusting motor 205 drives the first disc 207 to move linearly along the first adjusting slide rail 203, so that the two circumferential welds on the side wall of the tank sub-assembly 14 are consistent with the rotation center of the clamp during the welding process, so as to ensure the welding quality.

[0076] The structure of a single expansion block assembly 212 is as follows: it includes a U-shaped seat 215, which is installed in conjunction with the expansion block base 211 via a flat key 216. Several threaded holes are provided in the middle of the U-shaped seat 215, and a pin 217 is installed in each threaded hole. The pin 217 locks the U-shaped seat 215 to the top of the expansion block base 211. A first expansion block group 213 and a second expansion block group 214 are symmetrically installed on the outer side wall of the U-shaped seat 215. The first expansion block group 213 and the second expansion block group 214 correspond to the shape of the inner side wall of the tank sub-assembly 14. The volume of the tank sub-assembly 14 tightened by the first expansion block group 213 is greater than the volume of the tank sub-assembly 14 tightened by the second expansion block group 214. To accommodate tank assemblies 14 of different sizes, the expansion block assembly 212 adopts a two-sided quick-change structure. When producing different models of products, by loosening the pin 217, slightly pulling out the U-shaped seat 215 to disengage it from the flat key 216, rotating the U-shaped seat 215 around the pin 217 by 180 degrees, and tightening the pin 217, the quick change between the first expansion block group 213 and the second expansion block group 214 can be completed, thus matching two specifications of tank assemblies 14.

[0077] The structure of the end cap clamp 6 is as follows: It includes a second connecting plate 601 that mates with a slewing bearing 7 mounted on a movable seat 5. A second connecting frame 604 is fixedly mounted on the front of the second connecting plate 601. A second adjusting motor 605 is fixed to the bottom of the second connecting frame 604. The output end of the second adjusting motor 605 is connected to a second lead screw. A second connecting seat 606 is mounted on the outer circumference of the second lead screw. The second connecting seat 606 is fixed to the clamp mounting seat 607. Several parallel second adjusting slide rails 603 are fitted onto the front of the second connecting frame 604. A second adjusting slider 602 is fitted onto each second adjusting slide rail 603. The second adjusting slider 602 is fixedly mounted on the back of the clamp mounting seat 607. The second adjusting motor 605 drives the second connecting seat 606 to move linearly along the axial direction of the second lead screw via the second lead screw, thereby driving the clamp mounting seat 607 to move linearly along the second adjusting slide rails 603. Symmetrically arranged contour mounting frames 612 are fitted onto the front of the clamp mounting seat 607. A single contour mounting frame 612... The two ends of the 2 are fitted with symmetrically arranged contour blocks 613. The working surfaces of the four contour blocks 613 correspond to the shape of the outer wall of the tank sub-assembly 14 end cap. Each contour mounting bracket 612 is fitted with the clamp mounting base 607 through a clamping slide rail 608 and a clamping slider 609. The clamping slide rail 608 is symmetrically installed on the outer wall of the clamp mounting base 607, and the clamping slider 609 is installed on the contour mounting bracket 612. The clamping motor 610 is fixed in the middle of the clamp mounting base 607. The output end is connected to symmetrically arranged clamping screws. A third connecting seat 611 is installed on the outer circumference of a single clamping screw. Each third connecting seat 611 is connected to a corresponding single contour mounting bracket 612. The clamping motor 610 drives the two third connecting seats 611 to move in opposite directions or away from each other through the two clamping screws, thereby driving the two contour mounting brackets 612 to move in opposite directions or away from each other along the clamping slide rail 608, thereby causing the contour block 613 to clamp or loosen the end cap of the tank assembly 14. The contour block 613 is used to clamp the end cap of the tank body sub-assembly 14. The output end of the clamping motor 610 is connected to two clamping screws with opposite directions of rotation through a coupling. When the clamping motor 610 rotates forward, it drives the contour mounting frame 612 to move in opposite directions through the third connecting seat 611, thereby clamping the end cap of the tank body sub-assembly 14 with the four contour blocks 613. When the clamping motor 610 rotates in reverse, it drives the contour mounting frame 612 to move out of direction through the third connecting seat 611, thereby releasing the end cap of the tank body sub-assembly 14 with the four contour blocks 613.

[0078] The structure of the transverse movement mechanism 9 is as follows: it includes a transverse movement base 901, several transverse movement rails 903 arranged in parallel on the top of the transverse movement base 901, several transverse movement sliders 904 are installed on each transverse movement rail 903, a movable seat 5 is installed on the top of the transverse movement slider 904, a transverse movement motor 902 is fixed on the movable seat 5, the output end of the transverse movement motor 902 is connected to a transverse movement gear 905, the transverse movement gear 905 is meshed with a transverse movement rack 906, the transverse movement rack 906 is installed on the top of the transverse movement base 901 and located between the transverse movement rails 903, the transverse movement motor 902 drives the movable seat 5 to move linearly along the transverse movement rails 903 through the transverse movement gear 905 and the transverse movement rack 906. In this invention, both ends of the transverse movement rail 903, the clamping rail 608, the first adjusting rail 203, and the second adjusting rail 603 are fitted with bellows covers.

[0079] The roller frame mechanism 12 has the following structure: it includes a support base 1201, a lifting motor 1202 is fixedly mounted on the top of the support base 1201, the output end of the lifting motor 1202 is connected to a steering gear, the steering gear is connected to two lifting platforms 1204 respectively through symmetrically arranged drive shafts 1203, a lifting connecting seat 1206 is installed on the top of each lifting platform 1204, and guide columns 1205 are symmetrically installed on both sides of each lifting platform 1204. The lifting motor 1202 drives the two drive shafts 1203 to rotate simultaneously through the steering gear, thereby simultaneously driving the two lifting connecting seats 1204 through the two lifting platforms 1204. 06 performs a linear motion of rising or falling; roller mounting plates 1207 are simultaneously installed on the top of the two lifting connecting seats 1206, and symmetrically arranged roller mounting seats 1210 are installed on the top of the roller mounting plates 1207. A roller motor 1208 is fixed on the outside of a single roller mounting seat 1210, and the output end of the single roller motor 1208 passes through the side wall of the roller mounting seat 1210 and is connected to the support roller 1209 installed inside the roller mounting seat 1210. The roller motor 1208 drives the support roller 1209 to rotate, thereby driving the tank sub-assembly 14 between the two support rollers 1209 to rotate. The lifting motor 1202 sequentially drives the steering gear and the two drive shafts 1203 to rotate, transmitting power to the lifting platform 1204, thereby driving the two lifting connecting seats 1206 to rise or fall simultaneously, enabling the roller frame mechanism 12 to have a lifting function; the support rollers 1209 are rubber-coated rollers, and the roller motor 1208 drives the support rollers 1209 to rotate, thereby driving the tank sub-assembly 14 to rotate to find and locate the welding point, enabling the roller frame mechanism 12 to have a rotation function.

[0080] An operating table 10, a laser tracking control cabinet 11, and a plasma generating mechanism 13 are installed on one side of the base 4. The plasma generating mechanism 13 includes a plasma power supply 1301, a plasma water cooler 1302, and a plasma generator 1303, which are used to drive the plasma welding torch 313. The operating table 10 is used to set the parameters of the welding device during operation and to manually intervene in the operation of the welding device. An argon arc welding power supply is installed on the side of the operating table 10, which is used to drive the argon arc welding torch 328.

[0081] This embodiment provides a welding device for the circumferential weld of an aluminum alloy powder tanker. By setting a rotatable cylinder end clamp 2 and a head end clamp 6, the tank body sub-assembly 14 is rotated. A welding robotic arm 3 is set up to weld the circumferential weld on the side wall of the rotating tank body sub-assembly 14, thereby completing the automatic welding of the circumferential weld of the powder tanker. This can effectively reduce labor costs and improve production efficiency and quality.

[0082] Example 2:

[0083] Using the aluminum alloy powder tanker tank circumferential weld welding device provided in Embodiment 1, this embodiment provides a method for welding the circumferential weld seam of an aluminum alloy powder tanker tank.

[0084] An aluminum alloy powder tanker truck body consists of two tank body sub-assemblies 14. Each tank body sub-assembly 14 is composed of a head, an upper cylinder section, and a lower cylinder section in sequence. It has two circumferential welds: one is the circumferential weld between the head and the upper cylinder section, and the other is the circumferential weld between the upper cylinder section and the lower cylinder section.

[0085] When welding the circumferential weld of a single tank assembly 14 using an aluminum alloy powder tank truck tank body circumferential weld welding device, the following steps are included:

[0086] S1. Place the tank assembly 14 onto the roller frame mechanism 12 and the roller 222;

[0087] S2. The moving seat 5 drives the end clamp 6 to approach the end of the tank body sub-assembly 14 via the transverse moving mechanism 9;

[0088] S3. After the head end clamp 6 moves into place, it clamps the head of the tank body sub-assembly 14. Then the cylindrical section end clamp 2 tightens the cylindrical section end of the tank body sub-assembly 14, thereby clamping the tank body sub-assembly 14.

[0089] S3.1. The rotary cylinder 219 extends and drives the second disc 208 to rotate around the mounting center, causing the fixed shaft 224 to slide in the second arc groove 223, thereby driving the expansion block assembly 212 at the top of the expansion block base 211 to move linearly along the expansion block slide rail 209, thereby causing the expansion block assembly 212 to tighten the lower cylinder section of the tank sub-assembly 14.

[0090] S4. The welding robot arm 3 approaches the tank sub-assembly 14 and points to the circumferential weld between the end cap and the upper cylinder section of the tank sub-assembly 14. Then the roller frame mechanism 12 descends, and the two rotary motors 8 drive the cylinder end clamp 2 and the end cap end clamp 6 to rotate through the two rotary bearings 7, thereby driving the tank sub-assembly 14 to rotate. The welding robot arm 3 welds the circumferential weld between the end cap and the upper cylinder section of the tank sub-assembly 14.

[0091] After the first circumferential weld is completed, the first adjusting motor 205 drives the cylinder end clamp 2 to descend vertically, and at the same time, the second adjusting motor 605 drives the end clamp 6 to descend vertically, so that the center of the circumferential weld between the upper and lower cylinder sections of the tank sub-assembly 14 coincides with the rotation center of the cylinder end clamp 2 and the end clamp 6.

[0092] The welding robot arm 3 approaches the circumferential weld between the upper and lower cylindrical sections of the tank sub-assembly 14. The cylindrical section end clamp 2 and the end cap end clamp 6 drive the tank sub-assembly 14 to rotate, and the welding robot arm 3 welds the circumferential weld between the upper and lower cylindrical sections of the tank sub-assembly 14.

[0093] S4.1. The rotating robotic arm 301 drives the plasma welding unit, grinding unit and argon arc welding unit to the target position;

[0094] S4.2. The laser tracking sensor 315 searches for the arc starting point of the circumferential weld and adjusts the position between the plasma welding gun 313 and the circumferential weld through the first slide 307 and the second slide 308, so that the plasma welding gun 313 reaches the arc starting point.

[0095] S4.3. The plasma welding gun 313 welds the circumferential weld. The plasma welding gun 313 delays for a specified time at each working point to melt through the circumferential weld of the tank assembly 14. The welding position of the plasma welding gun 313 is tracked by the laser tracking sensor 315. The first slide 307 is adjusted to keep the plasma welding gun 313 aligned with the circumferential weld and prevent the plasma welding gun 313 from deviating.

[0096] S4.4. The grinding head 322 is kept in close contact with the circumferential weld of the tank body sub-assembly 14 by the first X-axis slide 317 and the first Y-axis slide 318. When the plasma welding gun 313 reaches the specified circumferential weld length, the wire brush on the grinding head 322 is rotated to grind the circumferential weld. The first X-axis slide 317 acquires the displacement parameters of the first slide 307 after a delay. The grinding head 322 is kept aligned with the circumferential weld by adjusting the first X-axis slide 317 to prevent the grinding head 322 from deviating.

[0097] S4.5. After the plasma welding torch 313 has completed one revolution, it returns to the starting position of the plasma welding torch 313. By making the third slide table 309 move at the same speed in the opposite direction to the rotation of the tank sub-assembly 14, the plasma welding torch 313 is stationary relative to the circumferential weld of the tank sub-assembly 14, so that the plasma welding torch 313 is relatively stationary and the arc filling crater is closed. When closing the arc, the first wire feeder 331 stops feeding wire first, and then the plasma welding torch 313 completely ends the arc. After the specified arc closing time is reached, the plasma welding torch 313 is adjusted back to its original position by the first slide table 307 and the second slide table 308.

[0098] S4.6. When the arc-ending position of the plasma welding torch 313 reaches the grinding system position of the grinding head 322, the grinding head 322 stops grinding;

[0099] S4.7. When the position of the circumferential weld seam welded by the plasma welding torch 313 is about 15mm away from the argon arc welding torch 328, the argon arc welding torch 328 is adjusted into position by the second X-axis slide 323 and the second Y-axis slide 324, and the argon arc welding torch 328 starts welding. The second X-axis slide 323 obtains the displacement parameters of the first slide 307 after a delay. By adjusting the second X-axis slide 323, the argon arc welding torch 328 is always aligned with the circumferential weld seam to prevent the argon arc welding torch 328 from deviating.

[0100] S4.8. After the argon arc welding torch 328 covers the circumferential weld seam welded by the plasma welding torch 313 for one circumference, and overlaps with the starting point of the argon arc welding torch 328 by 10mm, the cylinder end clamp 2 and the end cap clamp 6 stop rotating, the argon arc welding torch 328 terminates the arc and fills the arc crater, and when the arc is terminated, the second wire feeder 332 stops feeding wire first and then the argon arc welding torch 328 completely terminates the arc.

[0101] S5. After welding is completed, the welding robot arm 3 returns to its original position, the cylinder end clamp 2 and the end clamp 6 return to their original positions, and the roller frame mechanism 12 rises to support the tank sub-assembly 14.

[0102] S6. The tank assembly 14 is then transported to the next process.

[0103] This embodiment provides a welding method using a welding device for the circumferential weld of an aluminum alloy powder tanker. The circumferential weld on the tank assembly 14 is first subjected to plasma welding, followed by argon arc welding. During the plasma welding process, a grinding head 322 grinds the plasma circumferential weld, thereby achieving high-quality welding of the aluminum alloy powder tanker tank body circumferential weld. Simultaneously, a laser tracking sensor 315 tracks and provides feedback on the welding and grinding positions. A sliding table adjusts the welding position of the welding torch and the grinding position of the grinding head 322, ensuring that the welding and grinding positions always coincide with the circumferential weld position of the tank assembly 14. This improves welding accuracy, ensures welding quality, and enhances the consistency of the tank product.

[0104] This invention provides a welding device and method for circumferential welds on aluminum alloy powder tank truck bodies, which can efficiently and automatically complete the welding of circumferential welds on aluminum alloy powder tank truck bodies, effectively reducing labor costs and improving production efficiency; at the same time, it is equipped with multiple monitoring devices to effectively ensure the welding quality of the circumferential welds and improve welding precision.

[0105] The above description is an explanation of the present invention and not a limitation thereof. The scope of the present invention is defined by the claims. Within the scope of protection of the present invention, any form of modification may be made.

Claims

1. A welding device for the circumferential weld seam of an aluminum alloy powder tanker truck, characterized in that: It includes fixed seat (1), base (4), moving seat (5) and roller frame mechanism (12), the inside of fixed seat (1) and moving seat (5) is fixed with rotary motor (8), the output end of single rotary motor (8) is installed through gear and rotary support (7) cooperation, one rotary support (7) is installed on the outer wall surface of fixed seat (1), and the end face is installed with cylinder section end clamp (2) cooperation, another rotary support (7) is installed on the outer wall surface of moving seat (5), and the end face is installed with head end clamp (6) cooperation; The bottom of moving seat (5) is installed with horizontal movement mechanism (9) cooperation, moving seat (5) makes linear motion through horizontal movement mechanism (9) and approaches or away from fixed seat (1), so as to clamp the tank body subassembly (14) of multiple lengths, the side of horizontal movement mechanism (9) is installed with liftable roller frame mechanism (12); The top of base (4) is installed with welding mechanical arm (3) cooperation, the welding mechanical arm (3) is provided with rotary mechanical arm (301) that can rotate around installation center, the working end of rotary mechanical arm (301) is sequentially installed with plasma welding unit, polishing unit and argon arc welding unit from top to bottom, plasma welding unit performs primer welding on the girth weld on the side wall of tank body subassembly (14), polishing unit polishes the girth weld on the side wall of tank body subassembly (14) after plasma welding unit welding, and argon arc welding unit performs welding cover on the girth weld on the side wall of tank body subassembly (14); First adjusting motor (205) is arranged on cylinder section end clamp (2), first adjusting motor (205) drives cylinder section end clamp (2) to make linear motion of ascending or descending along vertical direction, roller (222) for supporting tank body subassembly (14) is further arranged on cylinder section end clamp (2); Second adjusting motor (605) is arranged on head end clamp (6), second adjusting motor (605) drives head end clamp (6) to make linear motion of ascending or descending along vertical direction; When working, cylinder section end clamp (2) and head end clamp (6) clamp tank body subassembly (14) simultaneously, and drive tank body subassembly (14) to rotate through rotary motor (8) and rotary support (7), so that welding mechanical arm (3) welds multiple girth welds on the side wall of tank body subassembly (14); The structure of the barrel joint end clamp (2) is as follows: a first connecting plate (201) is installed in cooperation with a rotary support (7) installed on a fixed base (1), a plurality of first adjusting sliding blocks (202) are installed on the front face of the first connecting plate (201) in cooperation, the first adjusting sliding blocks (202) are installed in cooperation with a plurality of first adjusting sliding rails (203) arranged in parallel on the back face of a first connecting frame (204), a first adjusting motor (205) is fixed on the top of the first connecting plate (201), a first screw rod is connected to the output end of the first adjusting motor (205), a first connecting seat (206) is installed in cooperation on the outer circumferential surface of the first screw rod, the first connecting seat (206) is fixed with the first connecting frame (204), the first adjusting motor (205) drives the first connecting seat (206) to move linearly along the first screw rod, so as to drive the first connecting frame (204) to move linearly along the first adjusting sliding rail (203); A first disc (207) is fixed and installed on the front face of the first connecting frame (204), a plurality of expansion block sliding rails (209) are uniformly installed on the circumferential surface of the first disc (207), a single expansion block sliding rail (209) is installed in cooperation with an expansion block base (211) through a plurality of expansion block sliding blocks (210), the expansion block sliding blocks (210) are installed on the bottom of the expansion block base (211), an inner expansion block assembly (212) is installed in cooperation on the top of a single expansion block base (211), a second disc (208) is arranged concentrically on the front face of the first disc (207), a plurality of first arc-shaped grooves (218) are formed in the middle of the second disc (208), a single first arc-shaped groove (218) is provided with a cylinder mounting seat, each cylinder mounting seat is installed in cooperation with a rotary cylinder (219), the output end of each rotary cylinder (219) is connected with the second disc (208), a plurality of second arc-shaped grooves (223) are uniformly arranged on the circumferential surface of the second disc (208), a single fixed shaft (224) is installed in a single second arc-shaped groove (223), a single fixed shaft (224) is installed in correspondence with a single expansion block base (211), the rotary cylinder (219) drives the second disc (208) to rotate through the first arc-shaped groove (218), so that the fixed shaft (224) slides in the second arc-shaped groove (223), and then the expansion block assembly (212) moves linearly along the radial direction of the first disc (207); A plurality of stop blocks (220) are uniformly installed on the circumferential surface of the first disc (207) and extend outwardly to the outside of the first disc (207) along the radial direction; A plurality of cradles (221) are symmetrically installed on the circumferential surface of the first disc (207), a single cradle (221) is rotatably installed with a roller (222), and the two rollers (222) are used for rotatably supporting a tank body sub-assembly (14). The structure of the single bulge assembly (212) comprises a U-shaped seat (215) which is installed in cooperation with the bulge base (211) through a flat key (216), the middle part of the U-shaped seat (215) is provided with a plurality of threaded holes, a pin (217) is installed in each threaded hole, the pin (217) locks the U-shaped seat (215) on the top of the bulge base (211), and the first bulge group (213) and the second bulge group (214) are symmetrically installed on the outer side wall of the U-shaped seat (215); The first bulge group (213) and the second bulge group (214) correspond to the shape of the inner side wall of the barrel section of the tank body sub-assembly (14), and the volume of the tank body sub-assembly (14) tightened by the first bulge group (213) is greater than the volume of the tank body sub-assembly (14) tightened by the second bulge group (214).

2. The apparatus of claim 1 wherein: The structure of the welding mechanical arm (3) comprises a rotating mechanical arm (301), the top of the rotating mechanical arm (301) is cooperatively installed with a first wire feeder (331), the working end of the rotating mechanical arm (301) is cooperatively installed with a mounting frame (302), the front face of the mounting frame (302) is sequentially and interval ly installed from top to bottom with a first mounting bracket (303), a second mounting bracket (304) and a third mounting bracket (305), the end of the first mounting bracket (303) is cooperatively installed with a beveled mounting seat, the plasma welding unit is obliquely installed on the end of the first mounting bracket (303) through the beveled mounting seat, the top of the second mounting bracket (304) is cooperatively installed with a polishing unit, the top of the third mounting bracket (305) is cooperatively installed with an argon arc welding unit, and the back face of the mounting frame (302) is cooperatively installed with a second wire feeder (332); The structure of the plasma welding unit comprises a first sliding table (307) fixed on the bevel of the beveled mounting seat, the first sliding table (307) is cooperatively installed with a first guide block (310), the top of the first guide block (310) is cooperatively installed with a second sliding table (308) arranged perpendicularly to the first sliding table (307), the second sliding table (308) is cooperatively installed with a second guide block (311), the top of the second guide block (311) is cooperatively installed with a first mounting seat (306), the top of the first mounting seat (306) is cooperatively installed with a third sliding table (309) arranged perpendicularly to the bevel of the beveled mounting seat, the third sliding table (309) is cooperatively installed with a third guide block (312), the top of the third guide block (312) is cooperatively installed with a plasma welding gun (313), the plasma welding gun (313) is connected with the first wire feeder (331) through a first wire feeding pipe (314), the top of the first mounting seat (306) is further cooperatively installed with a laser tracking sensor (315) and a first monitoring camera (316), and the laser tracking sensor (315) and the first monitoring camera (316) are located directly above the head of the plasma welding gun (313). The first sliding table (307) drives the first guide block (310) to drive the second sliding table (308) to make reciprocating linear motion along the length direction of the slope installation seat slope, the second sliding table (308) drives the second guide block (311) to drive the first installation seat (306) to make reciprocating linear motion along the length direction perpendicular to the installation seat slope, the third sliding table (309) drives the third guide block (312) to drive the plasma arc welding gun (313) to make reciprocating linear motion along the direction perpendicular to the slope installation seat slope, so that the plasma arc welding gun (313) welds the circumferential weld on the side wall of the tank body subassembly (14); The structure of the polishing unit is that the first X-axis sliding table (317) is fixed at the top of the second installation support (304), the first X-axis sliding table (317) is installed in cooperation with the first X-axis guide block (319), the top of the first X-axis guide block (319) is installed in cooperation with the first Y-axis sliding table (318) arranged perpendicularly to the first X-axis sliding table (317), the first Y-axis sliding table (318) is installed in cooperation with the first Y-axis guide block (320), and the top of the first Y-axis sliding table (318) is installed in cooperation with the polishing head (322) for polishing the circumferential weld through the second installation seat (321); The first X-axis sliding table (317) drives the first X-axis guide block (319) to drive the first Y-axis sliding table (318) to make reciprocating linear motion along the length direction perpendicular to the second installation support (304), and the first Y-axis sliding table (318) drives the polishing head (322) to make reciprocating linear motion along the length direction of the second installation support (304) through the first Y-axis guide block (320), so that the polishing head (322) polishes the circumferential weld on the side wall of the tank body subassembly (14); The structure of the argon arc welding unit is that the second X-axis sliding table (323) is fixed at the top of the third installation support (305), the second X-axis sliding table (323) is installed in cooperation with the second X-axis guide block (325), the top of the second X-axis guide block (325) is installed in cooperation with the second Y-axis sliding table (324) arranged perpendicularly to the second X-axis sliding table (323), the second Y-axis sliding table (324) is installed in cooperation with the second Y-axis guide block (326), the top of the second Y-axis guide block (326) is installed in cooperation with the third installation seat (327), the top of the third installation seat (327) is installed in cooperation with the argon arc welding gun (328) and the second monitoring camera (330), the second monitoring camera (330) is located directly above the head of the argon arc welding gun (328), and the argon arc welding gun (328) is connected with the second wire feeder (332) through the second wire feeding pipe (329). The second X-axis sliding table (323) drives the second X-axis guide block (325) to drive the second Y-axis sliding table (324) to make reciprocating linear motion perpendicular to the length direction of the third mounting support (305), and the second Y-axis sliding table (324) drives the argon arc welding gun (328) to make reciprocating linear motion along the length direction of the third mounting support (305), so that the argon arc welding gun (328) performs cover welding on the circumferential weld on the side wall of the tank body sub-assembly (14).

3. The apparatus of claim 1 wherein: The structure of the head end clamp (6) is as follows: a second connecting plate (601) is mounted in cooperation with a rotary support (7) mounted on a moving seat (5), a second connecting frame (604) is fixedly mounted on the front face of the second connecting plate (601), a second adjusting motor (605) is fixed on the bottom of the second connecting frame (604), a second screw rod is connected to the output end of the second adjusting motor (605), a second connecting seat (606) is mounted on the outer circumferential surface of the second screw rod, the second connecting seat (606) is fixed with a clamp mounting seat (607), a plurality of parallel second adjusting sliding rails (603) are cooperatively mounted on the front face of the second connecting frame (604), a second adjusting sliding block (602) is cooperatively mounted on each second adjusting sliding rail (603), and the second adjusting sliding block (602) is fixedly mounted on the back face of the clamp mounting seat (607); the second adjusting motor (605) drives the second connecting seat (606) to make linear motion along the axial direction of the second screw rod through the second screw rod, so as to drive the clamp mounting seat (607) to make linear motion along the second adjusting sliding rail (603); The front face of the clamp mounting seat (607) is cooperatively mounted with symmetrically arranged profiling mounting frames (612), and the two ends of each profiling mounting frame (612) are cooperatively mounted with symmetrically arranged profiling blocks (613); the working faces of the four profiling blocks (613) correspond to the shape of the outer side wall of the head of the tank body sub-assembly (14); Each profiling mounting frame (612) and the clamp mounting seat (607) are cooperatively mounted through clamping sliding rails (608) and clamping sliding blocks (609); the clamping sliding rails (608) are symmetrically mounted on the outer side walls of the clamp mounting seat (607), the clamping sliding blocks (609) are mounted on the profiling mounting frames (612), a clamping motor (610) is fixed in the middle of the clamp mounting seat (607), the output end of the clamping motor (610) is connected to symmetrically arranged clamping screw rods, third connecting seats (611) are cooperatively mounted on the outer circumferential surfaces of the clamping screw rods, each third connecting seat (611) is connected to a corresponding profiling mounting frame (612), and the clamping motor (610) drives the two third connecting seats (611) to make linear motion towards or away from each other through the two clamping screw rods, so as to drive the two profiling mounting frames (612) to make linear motion towards or away from each other along the clamping sliding rails (608), and further enable the profiling blocks (613) to clamp or release the head of the tank body sub-assembly (14).

4. The apparatus of claim 1 wherein: The structure of the transverse moving mechanism (9) is that a transverse moving base (901) is provided, a plurality of transverse moving slide rails (903) are arranged in parallel on the top of the transverse moving base (901), a plurality of transverse moving slide blocks (904) are installed in cooperation with one transverse moving slide rail (903), a moving seat (5) is installed on the top of the transverse moving slide block (904), a transverse moving motor (902) is fixed on the moving seat (5), the output end of the transverse moving motor (902) is connected with a transverse moving gear (905), the transverse moving gear (905) is installed in meshing with a transverse moving rack (906), the transverse moving rack (906) is installed on the top of the transverse moving base (901) and is located between the transverse moving slide rails (903), and the transverse moving motor (902) drives the moving seat (5) to move linearly along the transverse moving slide rail (903) through the transverse moving gear (905) and the transverse moving rack (906).

5. The apparatus of claim 1 wherein: The structure of the roller frame mechanism (12) is that a support seat (1201) is provided, a lifting motor (1202) is fixedly installed on the top of the support seat (1201), the output end of the lifting motor (1202) is connected with a steering gear, the steering gear is connected with two lifters (1204) through two transmission shafts (1203) arranged in symmetry, a lifting connecting seat (1206) is installed in cooperation with one lifter (1204) on the top of the lifter (1204), guide columns (1205) are symmetrically installed on the two sides of one lifter (1204), the lifting motor (1202) drives the two transmission shafts (1203) to rotate at the same time through the steering gear, so that the two lifting connecting seats (1206) are driven to move linearly upward or downward at the same time through the two lifters (1204); The top of the two lifting connecting seats (1206) is simultaneously installed with a roller installation plate (1207), the top of the roller installation plate (1207) is installed with symmetrically arranged roller installation seats (1210), a roller motor (1208) is fixed on the outer side of one roller installation seat (1210), the output end of one roller motor (1208) penetrates through the side wall of the roller installation seat (1210) and is connected with a supporting roller (1209) installed in the roller installation seat (1210), the roller motor (1208) drives the supporting roller (1209) to rotate, so as to drive the tank body subassembly (14) between the two supporting rollers (1209) to rotate.

6. The apparatus of claim 1 wherein: One side of the base (4) is installed with an operation table (10), a laser tracking control cabinet (11) and a plasma generating mechanism (13).

7. A welding method using the aluminum alloy powder tanker body girth weld welding apparatus according to claim 1, characterized by: The method comprises the following steps: S1. Placing the tank body subassembly (14) on the roller frame mechanism (12) and the roller (222); S2. Moving the moving seat (5) to drive the head end clamp (6) to approach the head of the tank body subassembly (14) through the transverse moving mechanism (9); S3. After the head end clamp (6) is moved to the position, the head of the tank body subassembly (14) is clamped, then the cylinder section end clamp (2) is used to tighten the cylinder section end of the tank body subassembly (14), so as to clamp the tank body subassembly (14); S4. The welding mechanical arm (3) approaches the tank body subassembly (14) and points to the position of the girth weld between the head and the upper cylinder section of the tank body subassembly (14), then the roller frame mechanism (12) is lowered, the two rotary motors (8) drive the cylinder section end clamp (2) and the head end clamp (6) to rotate through the two rotary bearings (7) respectively to drive the tank body subassembly (14) to rotate, and the welding mechanical arm (3) welds the girth weld between the head and the upper cylinder section of the tank body subassembly (14); After the welding of the first girth weld is completed, the first adjusting motor (205) drives the cylinder section end clamp (2) to descend along the vertical direction, at the same time, the second adjusting motor (605) drives the head end clamp (6) to descend along the vertical direction, so that the center of the girth weld between the upper cylinder section and the lower cylinder section of the tank body subassembly (14) coincides with the rotation center of the cylinder section end clamp (2) and the head end clamp (6); The welding mechanical arm (3) approaches the position of the girth weld between the upper cylinder section and the lower cylinder section of the tank body subassembly (14), the cylinder section end clamp (2) and the head end clamp (6) drive the tank body subassembly (14) to rotate, and the welding mechanical arm (3) welds the girth weld between the upper cylinder section and the lower cylinder section of the tank body subassembly (14); S5. After the welding is completed, the welding mechanical arm (3) returns to the original position, the cylinder section end clamp (2) and the head end clamp (6) are rotated to the original position, and the roller frame mechanism (12) is raised to support the tank body subassembly (14); S6. Then the tank body subassembly (14) is transported to the next process.

8. An aluminum alloy powder tanker car body girth weld welding method as claimed in claim 7, characterized by: When the welding mechanical arm (3) welds a girth weld on the tank body subassembly (14), the following steps are included: S4.

1. The rotary mechanical arm (301) drives the plasma welding unit, the polishing unit and the argon arc welding unit to the target position; S4.

2. Adjust the plasma welding unit to the arc starting point; S4.

3. Plasma weld the tank body subassembly (14) by the plasma welding unit, so that the plasma welding unit delays for a specified time at each working point to make the girth weld of the tank body subassembly (14) penetrate; S4.

4. Adjust the polishing unit to always closely contact the girth weld of the tank body subassembly (14), when the girth weld of the plasma welding reaches a specified weld length, the polishing unit polishes the girth weld of the tank body subassembly (14); S4.

5. The plasma welding unit is retracted to fill the crater, and the plasma welding is completed; S4.

6. Then the polishing unit stops polishing; S4.

7. Before the completion of the plasma welding, the argon arc welding unit is adjusted to the position, and after the completion of the plasma welding, the argon arc welding unit starts welding; S4.

8. After the argon arc welding unit covers the girth weld welded by the plasma welding unit for one round and overlaps the arc starting point of the argon arc welding unit by 10 mm, the cylinder section end clamp (2) and the head end clamp (6) stop rotating, the argon arc welding unit is retracted to fill the crater, and the welding is completed.

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