A double-sided multi-point welding system for pressure vessel heads

Abstract

The invention relates to the technical field of welding systems, and proposes a double-sided multi-spot welding system for a pressure vessel head. The system is applied to the welding operation of a pressure vessel head and a pressure vessel cylinder wall, has a higher frequency of use, better versatility, and can realize double-sided multi-spot welding operations, has better welding quality and welding efficiency, and is more practical. The system comprises a moving component and a clamping component. The moving component comprises a moving vehicle frame, a lifting frame is slidably connected in the moving vehicle frame, two traction ropes are fixedly connected to the lifting frame, a winch is installed at the top of the moving vehicle frame, the winch is used for traction drive of the two traction ropes, a strip opening is provided at the front end of the lifting frame, a mounting frame is slidably connected in the strip opening, a moving welding head is slidably connected to the mounting frame, a first servo motor and a first electric telescopic rod are installed on the mounting frame, and the first servo motor is used for driving the mounting frame to move to the left and right positions relative to the lifting frame.

Description

Technical Field

[0001] The invention relates to the technical field of welding systems, and in particular to a double-sided multi-spot welding system for a pressure vessel head. Background Art

[0002] As we all know, the pressure vessel head refers to a structural part used to seal the end of the container to isolate the internal and external media. The double-sided multi-point welding system for the pressure vessel head is an auxiliary system used to weld the pressure vessel head to form a relative connection welding relative to the pressure vessel.

[0003] After searching, the invention patent with patent publication number CN115229416A discloses a head welding frame, which is roughly described as including a base, a moving component and a welding component are arranged on the base, and two sets of positioning components that can move relatively are arranged on the moving component, and the positioning component includes a moving plate, an end positioning unit and a bottom positioning unit. The moving plate is arranged on the moving component, and the end positioning unit and the bottom positioning unit are respectively arranged on two opposite sides of the top of the moving plate. When it is in use, the welding manipulator in the welding component controls the welding gun to complete the welding of the head. We also retrieved that the invention patent with patent publication number CN114161061A discloses a pressure vessel head welding tool with locking positioning. During its use, a mechanical arm similar to a welding manipulator is used to match the pressure vessel head to form corresponding clamping and welding operations.

[0004] Although the above-mentioned existing technical solutions can be used for auxiliary clamping of pressure vessel heads and welding operations after clamping, their main function is a single pressure vessel head. In the actual production process, in order to ensure the structural strength of the pressure vessel head, a considerable portion of the pressure vessel heads are produced by stamping. The larger pressure vessel heads that are more difficult to complete by stamping have a lower actual application frequency. Therefore, the application scope of the above-mentioned two sets of technical solutions is relatively narrow, and the corresponding welding operation is formed at one welding point during the welding operation. The welding efficiency and welding quality need to be further improved and strengthened. Summary of the invention

[0005] In view of the shortcomings of the prior art, the present invention provides a double-sided multi-spot welding system for a pressure vessel head, which is used for welding operations between pressure vessel heads and pressure vessel barrel walls with matching non-large pressure vessels. It has a higher frequency of use, better versatility, and can achieve double-sided multi-spot welding operations. The welding quality and welding efficiency are both better, and it is more practical.

[0006] To achieve the above-mentioned purpose, the present invention provides the following technical solutions: a double-sided multi-spot welding system for a pressure vessel head, comprising a moving component and a clamping component, wherein the moving component comprises a moving vehicle frame, a lifting frame is slidably connected inside the moving vehicle frame, two traction ropes are fixedly connected to the lifting frame, a winch is installed at the top of the moving vehicle frame, the winch is used for traction drive of the two traction ropes, a strip opening is provided at the front end of the lifting frame, a mounting frame is slidably connected inside the strip opening, a moving welding head is slidably connected to the mounting frame, a first servo motor and a first electric telescopic rod are installed on the mounting frame, the first servo motor is used to drive the mounting frame to move left and right relative to the lifting frame, the first electric telescopic rod is used to adjust the relative distance of the moving welding head relative to the welding point, and the An insertion structure is installed in the mobile vehicle frame, and a cooperative welding head is installed on the insertion structure. The clamping assembly includes a fixed frame and a mobile frame. The fixed frame is fixedly connected in the lifting frame, and an upper drive shaft and a lower drive shaft are rotatably connected to the fixed frame. A plurality of upper supporting drive wheels are fixedly connected to the upper drive shaft, and a plurality of lower supporting drive wheels are fixedly connected to the lower drive shaft. Two second servo motors are installed on the fixed frame, and the two second servo motors are respectively used for the rotation drive of the upper drive shaft and the lower drive shaft. The mobile frame is slidably connected in the lifting frame, and a second electric telescopic rod is installed on the lifting frame. The telescopic rod of the second electric telescopic rod is fixedly connected to the mobile frame, and a plurality of upper auxiliary clamping wheels and a plurality of lower auxiliary clamping wheels are installed on the mobile frame.

[0007] Preferably, the insertion structure includes an insertion tube frame, a driving rod is slidably connected in the insertion tube frame, a rotating rod frame is rotatably connected in the insertion tube frame, an alignment frame is rotatably connected to the rotating rod frame, the alignment frame is fixedly connected to an elastic spring, the elastic spring is fixedly connected to the rotating rod frame, the cooperative welding head is mounted on the alignment frame, two side tube frames are fixedly connected to the alignment frame, pressure sensors are installed in the two side tube frames, connecting springs are provided in the two side tube frames, the two connecting springs are fixedly connected to ball sleeve frames, the two ball sleeve frames are respectively slidably connected to the two side tube frames, and the two ball sleeve frames are provided with contact balls, the right end of the driving rod is hinged with a transmission rod, an eccentric shaft is fixedly connected in the rotating rod frame, the eccentric shaft is hinged to the transmission rod, and the insertion tube frame is mounted in the moving vehicle frame through a lifting mechanism.

[0008] Preferably, the lifting mechanism includes a translation frame, the translation frame is slidably connected to the moving frame, and a third electric telescopic rod is installed in the moving frame, the third electric telescopic rod is used for driving and adjusting the translation frame in the moving frame, the bottom end of the translation frame is slidably connected to the moving frame, and a third servo motor is installed at the top of the translation frame, the third servo motor is used for driving the relative position of the moving frame with respect to the translation frame, a rotating arm is installed at the bottom end of the moving frame, and a fourth servo motor for driving the rotating arm to rotate relative to the moving frame is installed in the moving frame, the bottom end of the rotating arm is fixedly connected to the vertical frame, the insertion cylinder frame is fixedly connected to the vertical frame, a fourth electric telescopic rod is installed in the vertical frame, a linkage rod is hinged on the telescopic rod of the fourth electric telescopic rod, and the linkage rod is hinged to the driving rod.

[0009] Preferably, the cooperative welding head and the mobile welding head are both equipped with a laser vision sensor, the laser vision sensor is used for identifying the welding gap, and a lighting lamp is installed on the cooperative welding head.

[0010] Preferably, lead holes are provided on the alignment frame and the rotating rod frame, and the lead holes are used for passing and guiding the supporting lines of the cooperative welding head. A flexible tube is provided in the elastic spring, and the two ends of the flexible tube are respectively connected to the alignment frame and the rotating rod frame, and the flexible tube is used for guiding and protecting the supporting lines of the cooperative welding head when passing through the elastic spring.

[0011] Preferably, a driving bevel gear is installed on the output shaft of the third servo motor, and the driving bevel gear is meshed with a driven bevel gear. The driven bevel gear is transmission-connected to a lead screw, and the lead screw is rotationally connected in the translation frame. A transmission groove and two guide connecting grooves are provided at the bottom end of the translation frame, and guide bars are slidably connected in the two guide connecting grooves, and the two guide bars are fixedly connected to the moving frame. A transmission sleeve is fixedly connected to the moving frame, and an internal threaded sleeve threadedly connected to the lead screw is provided in the transmission sleeve.

[0012] Preferably, a bevel gear driving wheel is installed on the output shaft of the fourth servo motor, the bevel gear driving wheel is meshed with a bevel gear driven wheel, a connecting vertical shaft is fixedly connected to the rotating arm, the connecting vertical shaft is fixedly connected to the bevel gear driven wheel, and the connecting vertical shaft is rotatably connected to the movable frame.

[0013] Preferably, two guide wheel frames are fixedly connected to the mobile vehicle frame, and steering guide wheels are rotatably connected to the two guide wheel frames, and the two steering guide wheels are provided with guide grooves matching the traction rope.

[0014] Preferably, a driving spur gear is installed on the output shaft of the first servo motor, the driving spur gear is meshed with a transmission spur rack, the transmission spur rack is fixedly connected to the lifting frame, and a protective frame is fixedly connected to the rear end of the lifting frame, and the protective frame is used to protect the transmission structure of the driving spur gear and the transmission spur rack.

[0015] Preferably, two rolling wheels and two universal wheels are installed at the bottom end of the mobile frame, and two threaded support tubes are fixedly connected to the mobile frame. Support screws are threadedly connected in the two threaded support tubes, and support blocks are fixedly connected to the bottom ends of the two support screws. Insertion grooves are opened at the top ends of the two support screws, and auxiliary rotating rods are connected in the two insertion grooves through connecting rods.

[0016] Compared with the prior art, the present invention provides a double-sided multi-spot welding system for pressure vessel heads, which has the following beneficial effects:

[0017] (1) In the present invention, a movable carrier structure is formed by matching the movable components, which facilitates the relative position adjustment of the pressure vessel head double-sided multi-point welding system with respect to the pressure vessel head to be welded and the pressure vessel cylinder wall structure, as well as lifting after clamping is completed.

[0018] (2) In the present invention, the design of the clamping assembly facilitates the corresponding clamping relative to the pressure vessel wall and the rotational drive of the pressure vessel wall during the welding process after the clamping is completed, thereby facilitating the movement of the welding point and thereby achieving the formation of the welding trajectory.

[0019] (3) In the present invention, the execution structure of the welding operation of the outer weld between the pressure vessel head and the pressure vessel wall is formed by the cooperation of the mobile welding head, the mounting frame, the first servo motor and the first electric telescopic rod.

[0020] (4) In the present invention, the design of the insertion structure facilitates the formation of a matching installation structure of the cooperative welding head, so that the cooperative welding head can enter the interior formed by the pressure vessel head and the pressure vessel wall to form a butt welding, which is more practical. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] Figure 1 It is a schematic diagram of the overall three-dimensional structure of the present invention when viewed from above;

[0022] Figure 2 For the present invention Figure 1 A schematic diagram of the local enlarged structure at B in the middle;

[0023] Figure 3 For the present invention Figure 1 A schematic diagram of the local enlarged structure at point A in the middle;

[0024] Figure 4It is a schematic diagram of the overall three-dimensional structure of the present invention from a top view;

[0025] Figure 5 For the present invention Figure 4 A schematic diagram of the local enlarged structure at C in the middle;

[0026] Figure 6 For the present invention Figure 4 A schematic diagram of the local enlarged structure at D in the middle;

[0027] Figure 7 For the present invention Figure 4 A schematic diagram of the local enlarged structure at E in the middle;

[0028] Figure 8 For the present invention Figure 4 A schematic diagram of the local enlarged structure at F in the middle;

[0029] Fig. 9 For the present invention Figure 4 A schematic diagram of the local enlarged structure at G in the middle;

[0030] Fig.10 It is a schematic diagram of the exploded three-dimensional structure of the supporting screw rod, the connecting rod and the auxiliary rotating rod of the present invention;

[0031] Fig.11 It is a partially cutaway three-dimensional structural schematic diagram of the cooperation of the translation frame, the moving frame and the rotating arm of the present invention;

[0032] Fig.12 It is a schematic diagram of the three-dimensional structure of the driving rod, the rotating rod frame and the transmission rod of the present invention;

[0033] Fig.13 It is a partially cutaway three-dimensional structural schematic diagram of the coordination of the alignment frame, elastic spring and side tube frame of the present invention;

[0034] Fig.14 It is a schematic diagram of a three-dimensional structure in which the clamping assembly of the present invention is matched with the cylinder wall of a pressure vessel to clamp;

[0035] Fig.15 It is a schematic diagram of the overall welding operation steps of the present invention.

[0036] In the figure: 1, moving car frame; 2, lifting frame; 3, traction rope; 4, winch; 5, strip mouth; 6, mounting frame; 7, moving welding head; 8, first servo motor; 9, first electric telescopic rod; 10, cooperative welding head; 11, fixed frame; 12, moving frame; 13, upper drive shaft; 14, lower drive shaft; 15, upper support drive wheel; 16, lower support drive wheel; 17, second servo motor; 18, second electric telescopic rod; 19, upper auxiliary clamping wheel; 20, lower auxiliary clamping wheel; 21, insert cylinder frame; 22, drive rod; 23, rotating rod frame; 24, alignment frame; 25, elastic spring; 26, side cylinder frame; 27, pressure sensor; 28, connecting spring; 29, ball sleeve frame; 30, contact ball; 31, transmission rod; 32, eccentric shaft; 33, translation frame; 34, third Electric telescopic rod; 35, moving frame; 36, third servo motor; 37, rotating arm; 38, fourth servo motor; 39, vertical frame; 40, fourth electric telescopic rod; 41, linkage rod; 42, laser vision sensor; 43, lighting lamp; 44, lead hole; 45, flexible tube; 46, driving bevel gear; 47, driven bevel gear; 48, lead screw; 49, guide strip; 50, transmission sleeve; 51, internal thread sleeve; 52, bevel gear driving wheel; 53, bevel gear driven wheel; 54, connecting vertical axis; 55, guide wheel frame; 56, steering guide wheel; 57, guide groove; 58, driving spur gear; 59, transmission spur rack; 60, protective frame; 61, rolling wheel; 62, universal wheel; 63, threaded support cylinder; 64, support screw; 65, support block; 66, connecting rod; 67, auxiliary rotating rod. DETAILED DESCRIPTION

[0037] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0038] See also Figure 1-Figure 15To achieve the above-mentioned purpose, the present invention provides the following technical solutions: a double-sided multi-spot welding system for a pressure vessel head, comprising a moving component and a clamping component, the moving component comprising a moving vehicle frame 1, a lifting frame 2 is slidably connected in the moving vehicle frame 1, two traction ropes 3 are fixedly connected to the lifting frame 2, two guide wheel frames 55 are fixedly connected to the moving vehicle frame 1, and steering guide wheels 56 are rotatably connected in the two guide wheel frames 55, and the two steering guide wheels 56 are both provided with guide grooves 57 matching the traction ropes 3, a winch 4 is installed at the top of the moving vehicle frame 1, and the winch 4 is used for traction drive of the two traction ropes 3, and a movable carrier structure is formed through the matching of the moving component, so that the double-sided multi-spot welding system for the pressure vessel head can be conveniently adjusted relative to the structure of the pressure vessel head to be welded and the pressure vessel cylinder wall, and lifted after clamping is completed, and a strip is provided at the front end of the lifting frame 2 shaped opening 5, a mounting frame 6 is slidably connected in the strip-shaped opening 5, a mobile welding head 7 is slidably connected on the mounting frame 6, a first servo motor 8 and a first electric telescopic rod 9 are installed on the mounting frame 6, a driving spur gear 58 is installed on the output shaft of the first servo motor 8, the driving spur gear 58 is meshed with a transmission spur rack 59, the transmission spur rack 59 is fixedly connected to the lifting frame 2, and a protective frame 60 is fixedly connected to the rear end of the lifting frame 2, the protective frame 60 is used to protect the transmission structure of the driving spur gear 58 and the transmission spur rack 59, the first servo motor 8 is used to drive the mounting frame 6 to move to the left and right position relative to the lifting frame 2, the first electric telescopic rod 9 is used to adjust the relative distance of the mobile welding head 7 relative to the welding point, and through the cooperation of the mobile welding head 7, the mounting frame 6, the first servo motor 8 and the first electric telescopic rod 9, an execution structure for the welding operation of the outer weld between the pressure vessel head and the pressure vessel barrel wall is formed.

[0039] It should be further explained that an insertion structure is installed in the mobile car frame 1, and a cooperative welding head 10 is installed on the insertion structure. The insertion structure includes an insertion cylinder frame 21, a driving rod 22 is slidably connected in the insertion cylinder frame 21, and a rotating rod frame 23 is rotatably connected in the insertion cylinder frame 21. The rotating rod frame 23 is rotatably connected to a positioning frame 24, and the positioning frame 24 is fixedly connected to an elastic spring 25. The elastic spring 25 is fixedly connected in the rotating rod frame 23, and the cooperative welding head 10 is installed on the positioning frame 24. Two side cylinder frames 26 are fixedly connected to the positioning frame 24. Pressure sensors 27 are installed in the two side cylinder frames 26. Connecting springs 28 are provided in the two side cylinder frames 26. The two connecting springs 28 are fixedly connected to ball sleeve frames 29. The two ball sleeve frames 29 are respectively connected to the two The side cylinder frames 26 are slidably connected, and the two ball sleeve frames 29 are both provided with contact balls 30. The right end of the driving rod 22 is hinged with a transmission rod 31. An eccentric shaft 32 is fixedly connected in the rotating rod frame 23. The eccentric shaft 32 is hinged with the transmission rod 31. The insertion cylinder frame 21 is installed in the mobile vehicle frame 1 through a lifting mechanism. The lifting mechanism includes a translation frame 33. The translation frame 33 is slidably connected in the mobile vehicle frame 1, and a third electric telescopic rod 34 is installed in the mobile vehicle frame 1. The third electric telescopic rod 34 is used for driving and adjusting the translation frame 33 in the mobile vehicle frame 1. The bottom end of the translation frame 33 is slidably connected with a moving frame 35, and a third servo motor 36 is installed at the top of the translation frame 33. The third servo motor 36 is used for the relative position of the moving frame 35 relative to the translation frame 33 The movable frame 35 is driven by a rotating arm 37 installed at the bottom end thereof, and a fourth servo motor 38 for driving the rotating arm 37 to rotate relative to the movable frame 35 is installed in the movable frame 35, a vertical frame 39 is fixedly connected to the bottom end of the rotating arm 37, and the insert cylinder frame 21 is fixedly connected to the vertical frame 39, and a fourth electric telescopic rod 40 is installed in the vertical frame 39, and a linkage rod 41 is hinged on the telescopic rod of the fourth electric telescopic rod 40, and the linkage rod 41 is hinged to the driving rod 22. Through the design of the insertion structure, it is convenient to form a matching installation structure of the cooperative welding head 10, so that the cooperative welding head 10 can enter the interior formed by the pressure vessel head and the pressure vessel cylinder wall to form a counter-position welding, which is more practical. A driving bevel gear 46 is installed on the output shaft of the third servo motor 36, and the driving The movable bevel gear 46 is meshed with a driven bevel gear 47, and the driven bevel gear 47 is transmission-connected with a lead screw 48, and the lead screw 48 is rotationally connected in the translation frame 33. A transmission groove and two guide connection grooves are provided at the bottom end of the translation frame 33, and guide bars 49 are slidably connected in the two guide connection grooves. The two guide bars 49 are fixedly connected to the moving frame 35, and a transmission sleeve 50 is fixedly connected to the moving frame 35. An internal threaded sleeve 51 threadedly connected to the lead screw 48 is provided in the transmission sleeve 50, forming a specific display of the relative transmission structure between the third servo motor 36 and the moving frame 35. A bevel gear driving wheel 52 is installed on the output shaft of the fourth servo motor 38, and the bevel gear driving wheel 52 is meshed with a bevel gear driven wheel 53. A connecting vertical shaft 54 ​​is fixedly connected to the rotating arm 37.The connecting vertical shaft 54 ​​is fixedly connected to the bevel driven wheel 53, and the connecting vertical shaft 54 ​​is rotatably connected to the moving frame 35, forming a specific display of the relative transmission structure between the fourth servo motor 38 and the rotating arm 37.

[0040] It should be further explained that the cooperative welding head 10 and the mobile welding head 7 are both equipped with a laser vision sensor 42. The laser vision sensor 42 is used to identify the welding gap, which is convenient for the cooperative welding head 10 and the mobile welding head 7 to identify the welding position relative to their respective corresponding welding seams. The cooperative welding head 10 is equipped with a lighting lamp 43 to fill in the internal space of the overall structure formed by the pressure vessel head and the pressure vessel cylinder wall, so as to ensure that the light of the working environment of the laser vision sensor 42 matched with the cooperative welding head 10 is maintained. Lead wires are provided on the alignment frame 24 and the rotating rod frame 23. Hole 44, the lead hole 44 is used for the passage and guidance of the supporting line of the cooperative welding head 10, a flexible tube 45 is arranged in the elastic spring 25, and the two ends of the flexible tube 45 are respectively connected to the alignment frame 24 and the rotating rod frame 23, and the flexible tube 45 is used for guiding and protecting the supporting line of the cooperative welding head 10 when passing through the elastic spring 25, and the clamping assembly includes a fixed frame 11 and a movable frame 12, the fixed frame 11 is fixedly connected in the lifting frame 2, and the fixed frame 11 is rotatably connected with an upper drive shaft 13 and a lower drive shaft 14, and the upper drive shaft 13 is fixedly connected with a plurality of upper support drive wheels 15, and the lower drive shaft 14 is fixed A plurality of lower supporting drive wheels 16 are connected, two second servo motors 17 are installed on the fixed frame 11, and the two second servo motors 17 are used for the rotation drive of the upper drive shaft 13 and the rotation drive of the lower drive shaft 14 respectively. The moving frame 12 is slidably connected in the lifting frame 2, and a second electric telescopic rod 18 is installed on the lifting frame 2. The telescopic rod of the second electric telescopic rod 18 is fixedly connected to the moving frame 12, and a plurality of upper auxiliary clamping wheels 19 and a plurality of lower auxiliary clamping wheels 20 are installed on the moving frame 12. Through the design of the clamping assembly, it is convenient to form a corresponding clamping and clamping completion relative to the cylinder wall of the pressure vessel. During the post-welding process, the rotation drive of the wall of the pressure vessel facilitates the movement of the welding point, thereby achieving the formation of the welding trajectory. Two rolling wheels 61 and two universal wheels 62 are installed at the bottom end of the mobile frame 1. Two threaded support cylinders 63 are fixedly connected to the mobile frame 1. Support screws 64 are threadedly connected in the two threaded support cylinders 63. The bottom ends of the two support screws 64 are fixedly connected to support blocks 65. Insertion grooves are provided at the top ends of the two support screws 64. Auxiliary rotating rods 67 are connected in the two insertion grooves through connecting rods 66, which facilitates the auxiliary support limit after the movement and position adjustment of the mobile frame 1 are completed.

[0041] The first servo motor 8, the first electric telescopic, the second servo motor 17, the second electric telescopic rod 18, the third electric telescopic rod 34, the third servo motor 36, the fourth electric telescopic rod 40, the mobile welding head 7, the cooperative welding head 10, the pressure sensor 27, the laser vision sensor 42 and the lighting lamp 43 in this embodiment are all conventional equipment purchased on the market and well known to those skilled in the art. In the present invention, we only use them and do not improve their structure and function. For those skilled in the art, their setting method, installation method and electrical connection method only need to be debugged according to the requirements of their instruction manual, and they will not be described in detail here.

[0042] In summary, the working principle of the double-sided multi-spot welding system for the pressure vessel head is as follows: when in use, the double-sided multi-spot welding system for the pressure vessel head is first moved to the desired location, and a welding machine matching the mobile welding head 7 and the cooperative welding head 10 is installed, and a power supply and an intelligent controller matching the first servo motor 8, the first electric telescopic, the second servo motor 17, the second electric telescopic rod 18, the third electric telescopic rod 34, the third servo motor 36, the fourth electric telescopic rod 40, the mobile welding head 7, the cooperative welding head 10, the pressure sensor 27, the laser vision sensor 42 and the lighting lamp 43 are installed. Before the pressure vessel head and the pressure vessel barrel wall are relatively welded, it is necessary to complete the relative positioning between the pressure vessel head and the pressure vessel barrel wall. The positioning is performed by manual spot welding. In this process, in actual operation, it is usually necessary to set the pressure vessel barrel wall in a lying state for the convenience of operation. After the pressure vessel head and the pressure vessel barrel wall are relatively fixed, a combination is formed. This process is as shown in the attached figure. Fig.15 As shown in step 1 in the figure, the assembly is kept in a lying position, and then the mobile frame 1 is moved and adjusted relative to the assembly so that the assembly enters the mobile frame 1. To ensure the entry of the assembly, the lifting frame 2 in the mobile frame 1 needs to be adjusted to a raised state relative to the mobile frame 1 through the operation of the winch 4. This process is shown in the attached figure. Fig.15 As shown in step 2 of FIG. 1 , when the assembly enters the moving vehicle frame 1, that is, the assembly enters directly below the lifting frame 2, the process is as shown in FIG. Fig.15 As shown in step 3 of the figure, the lifting frame 2 is controlled to fall by the winch 4, and the position of the moving frame 1 is finely adjusted during this process, so that the assembly can enter the clamping space formed by the upper supporting driving wheel 15, the lower supporting driving wheel 16, the upper auxiliary clamping wheel 19 and the lower auxiliary clamping wheel 20. This process is shown in the attached figure. Fig.15As shown in step 4 in the figure, the second electric telescopic rod 18 then works to push the mobile frame 12 toward the fixed frame 11, so that the upper support driving wheel 15, the lower support driving wheel 16, the upper auxiliary clamping wheel 19 and the lower auxiliary clamping wheel 20 cooperate with the combination to form a tight embrace, and the tight embrace state is maintained by working the winch 4 to realize the winding and retracting of the two traction ropes 3 to realize the lifting of the lifting frame 2 and the combination therein. When the combination is in the lifted state off the ground, the second servo motor 17 is powered on to realize the rotation drive of the combination. This process is shown in the attached figure. Fig.15 As shown in step 5.

[0043] Furthermore, as the assembly is raised, the third servo motor 36 operates to control the moving frame 35 to adjust its relative position relative to the translation frame 33, so that the rotating arm 37 extends out of the moving vehicle frame 1, and the fourth electric telescopic rod 40 operates to control the driving rod 22 to move relative to the insertion cylinder frame 21 toward the end away from the rotating rod frame 23. In this state, the rotating rod frame 23 will be rotated and received into the insertion cylinder frame 21. This state is shown in the attached figure. Fig.12As shown, it is convenient for the cooperative welding head 10 to be inserted relative to the assembly. The pressure vessel head in the assembly is usually provided with an inlet or a drain outlet, so the cooperative welding head 10 can be inserted into the assembly through the inlet or the drain outlet. During the process of inserting the cooperative welding head 10 into the assembly, the hoist 4 is required to control the assembly and the cooperative welding head 10 to enter the corresponding height position, and the third servo motor 36 works to control the rotating arm 37 to reset relative to the moving vehicle frame 1. After the cooperative welding head 10 is extended to a suitable position in the assembly, the fourth electric telescopic rod 40 works to control the rotating rod frame 23 to rotate out of the insertion cylinder frame 21, so that the alignment frame 24 is close to the inner wall of the assembly. When the two joints are After the touch balls 30 are in contact with the inner wall of the assembly and the two pressure sensors 27 detect pressure readings, it means that the alignment frame 24 has overcome the elastic spring 25 under the reverse thrust of the inner wall of the assembly to form an angle adjustment relative to the rotating rod frame 23. This angle adjustment facilitates the positioning of the cooperative welding head 10 relative to the welding posture of the assembly to facilitate the adjustment of the welding angle of the cooperative welding head 10 formed by coordinating with the cylinder wall of the pressure vessel with different inner diameters, that is, when the rotating rod frame 23 is not fully rotated and displayed relative to the insertion cylinder frame 21, the cooperative welding head 10 also has a better welding angle. The first servo motor 8 works to adjust the relative position of the mounting frame 6 relative to the lifting frame 2 to achieve The mobile welding head 7 is put into position relative to the gap between the pressure vessel head and the pressure vessel wall in the assembly, and then the first electric telescopic rod 9 works to control the mobile welding head 7 to have a suitable distance relative to the gap between the pressure vessel head and the pressure vessel wall, and then the second servo motor 17 is powered on to realize the rotation drive of the assembly, and the welding machine is powered on to realize the synchronous welding operation of the mobile welding head 7 and the cooperative welding head 10, and the welding of the annular gap between the pressure vessel head and the pressure vessel wall is completed along with the rotation of the assembly. After the welding is completed, the welding machine stops working first, and then the first servo motor 8 and the first electric telescopic rod 9 work to realize the mobile welding head 7 relative to the assembly The weld between the cylinder wall of the internal pressure vessel and the head of another pressure vessel is in place, the fourth electric telescopic rod 40 works to control the rotating rod frame 23 to be retracted into the insertion cylinder frame 21, so as to achieve the distance between the contact ball 30 and the inner wall of the assembly, and then the third servo motor 36 works to adjust the depth of the insertion cylinder frame 21 into the assembly, so as to achieve the approach of the weld between the cylinder wall of the internal pressure vessel and the head of another pressure vessel in the assembly, and the fourth electric telescopic rod 40 works again to adjust the relative posture of the cooperative welding head 10 relative to the inner wall of the assembly. After the adjustment is completed, the welding machine works and the second servo motor 17 works to realize the welding operation of another weld in the assembly.

[0044] Furthermore, after the two welds of the assembly are welded, the first electric telescopic rod 9 can be used to control the mobile welding head 7 to move away from the assembly, and the third servo motor 36 can be used to completely pull the cooperative welding head 10 out of the assembly. Before the cooperative welding head 10 is pulled out, the fourth electric telescopic rod 40 needs to be used to realize the retraction of the rotating rod frame 23 into the insertion drum frame 21. Finally, the winch 4 works to lower the overall height of the assembly until it is placed on the ground again. Finally, the second electric telescopic rod 18 works to control the mobile frame 12 to move away from the fixed frame 11, so as to realize the upper support drive wheel 15 and the lower support drive wheel 16. 16. The upper auxiliary clamping wheel 19 and the lower auxiliary clamping wheel 20 fail to hold the assembly tightly, and the failure state is maintained. The lifting frame 2 is raised again by the winch 4 until the movement of the mobile frame 1 does not interfere with the assembly. Then, the mobile frame 1 is moved to adjust the position of the next assembly to be welded, and the welding operation is performed by repeating the aforementioned steps. The third electric telescopic rod 34 is provided to facilitate the front and rear position adjustment of the insertion drum frame 21, so as to facilitate the alignment adjustment of the insertion drum frame 21 relative to the insertion port of assemblies of different specifications. Insertion port, since the pressure vessel head is mostly a gradually raised structure, and the deepest position in the structure is located at the axis position, when setting the sewage outlet, in order to ensure thorough sewage discharge, the axis of the sewage outlet will coincide with the axis of the pressure vessel head, so as to achieve the effect of ensuring smooth sewage discharge at the deepest position in the pressure vessel head. Therefore, the insertion position of the insertion cylinder rack 21 relative to the assembly can ensure that the insertion cylinder rack 21 is sufficiently close to the axis of the pressure vessel head to ensure the smooth welding operation of the cooperative welding head 10, and during the welding operation, the laser vision sensor 42 scans the welding gap in real time, and the matching welding gap forms a welding track The correction of welding trajectory is achieved by adjusting the position of the mobile welding head 7 and the cooperative welding head 10. During the actual operation, the support screw 64 can be adjusted by rotating relative to the threaded support cylinder 63 to support the support block 65 relative to the ground. When the weight of the assembly is heavy, the rolling wheel 61 and the universal wheel 62 can be assisted to share the load, thereby protecting the rolling wheel 61 and the universal wheel 62. In addition, the cooperative welding head 10 can be inserted into the assembly for welding and can also be arranged outside the assembly to form a welding operation, thereby achieving the effect of forming a multi-point welding operation on the outside of the assembly.

[0045] Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A double-sided multi-spot welding system for a pressure vessel head, comprising a moving assembly, characterized in that: The mobile assembly also includes a clamping assembly, wherein the mobile assembly includes a mobile frame (1), a lifting frame (2) is slidably connected inside the mobile frame (1), two traction ropes (3) are fixedly connected to the lifting frame (2), a winch (4) is installed at the top of the mobile frame (1), and the winch (4) is used for traction driving of the two traction ropes (3), a strip-shaped opening (5) is opened at the front end of the lifting frame (2), a mounting frame (6) is slidably connected inside the strip-shaped opening (5), a mobile welding head (7) is slidably connected to the mounting frame (6), a first servo motor (8) and a first electric telescopic rod (9) are installed on the mounting frame (6), the first servo motor (8) is used for driving the mounting frame (6) to move to the left and right relative to the lifting frame (2), the first electric telescopic rod (9) is used for adjusting the relative distance of the mobile welding head (7) relative to the welding point, an insertion structure is installed inside the mobile frame (1), a cooperative welding head (10) is installed on the insertion structure, and the clamping assembly includes a plurality of movable members (11) and a plurality of movable members (12) arranged on the mounting frame (6). The component comprises a fixed frame (11) and a movable frame (12), wherein the fixed frame (11) is fixedly connected in the lifting frame (2), an upper drive shaft (13) and a lower drive shaft (14) are rotatably connected to the fixed frame (11), a plurality of upper support drive wheels (15) are fixedly connected to the upper drive shaft (13), and a plurality of lower support drive wheels (16) are fixedly connected to the lower drive shaft (14), two second servo motors (17) are installed on the fixed frame (11), and the two second servo motors (17) are respectively used for rotational driving of the upper drive shaft (13) and the lower drive shaft (14), the movable frame (12) is slidably connected in the lifting frame (2), a second electric telescopic rod (18) is installed on the lifting frame (2), the telescopic rod of the second electric telescopic rod (18) is fixedly connected to the movable frame (12), and a plurality of upper auxiliary clamping wheels (19) and a plurality of lower auxiliary clamping wheels (20) are installed on the movable frame (12), wherein The insertion structure comprises an insertion barrel frame (21), a driving rod (22) is slidably connected to the insertion barrel frame (21), a rotating rod frame (23) is rotatably connected to the insertion barrel frame (21), an alignment frame (24) is rotatably connected to the rotating rod frame (23), the alignment frame (24) is fixedly connected to an elastic spring (25), the elastic spring (25) is fixedly connected to the rotating rod frame (23), the cooperative welding head (10) is mounted on the alignment frame (24), two side barrel frames (26) are fixedly connected to the alignment frame (24), and pressure springs are installed in both side barrel frames (26). A sensor (27), a connecting spring (28) is provided in each of the two side tube frames (26), the two connecting springs (28) are fixedly connected to a ball sleeve frame (29), the two ball sleeve frames (29) are respectively slidably connected to the two side tube frames (26), the two ball sleeve frames (29) are provided with a contact ball (30), the right end of the driving rod (22) is hingedly connected to a transmission rod (31), the rotating rod frame (23) is fixedly connected to an eccentric shaft (32), the eccentric shaft (32) is hingedly connected to the transmission rod (31), the insertion tube frame (21) is installed in the moving vehicle frame (1) through a hoisting mechanism, wherein The lifting mechanism comprises a translation frame (33), the translation frame (33) being slidably connected in the moving frame (1), and a third electric telescopic rod (34) being installed in the moving frame (1), the third electric telescopic rod (34) being used to drive and adjust the translation frame (33) in the moving frame (1), the bottom end of the translation frame (33) being slidably connected to a moving frame (35), and a third servo motor (36) being installed at the top end of the translation frame (33), the third servo motor (36) being used to drive the relative position of the moving frame (35) relative to the translation frame (33). The movable frame (35) is movable, a rotating arm (37) is installed at the bottom end of the movable frame (35), and a fourth servo motor (38) is installed in the movable frame (35) for rotating the rotating arm (37) relative to the movable frame (35), a vertical frame (39) is fixedly connected to the bottom end of the rotating arm (37), the insertion cylinder frame (21) is fixedly connected to the vertical frame (39), a fourth electric telescopic rod (40) is installed in the vertical frame (39), a linkage rod (41) is hinged on the telescopic rod of the fourth electric telescopic rod (40), and the linkage rod (41) is hinged to the driving rod (22), wherein A driving bevel gear (46) is mounted on the output shaft of the third servo motor (36), the driving bevel gear (46) meshing with a driven bevel gear (47), the driven bevel gear (47) being transmission-connected to a lead screw (48), the lead screw (48) being rotationally connected to the translation frame (33), a transmission groove and two guide connection grooves being provided at the bottom end of the translation frame (33), guide bars (49) being slidably connected to the two guide connection grooves, the two guide bars (49) being fixedly connected to the moving frame (35), a transmission sleeve (50) being fixedly connected to the moving frame (35), an internal thread sleeve (51) being threadedly connected to the lead screw (48) being provided in the transmission sleeve (50), wherein A bevel gear drive wheel (52) is mounted on the output shaft of the fourth servo motor (38), the bevel gear drive wheel (52) is meshed with a bevel gear driven wheel (53), a connecting vertical shaft (54) is fixedly connected to the rotating arm (37), the connecting vertical shaft (54) is fixedly connected to the bevel gear driven wheel (53), and the connecting vertical shaft (54) is rotatably connected to the moving frame (35).

2. A double-sided multi-spot welding system for pressure vessel heads according to claim 1, characterized in that: The cooperative welding head (10) and the mobile welding head (7) are both equipped with a laser vision sensor (42), and the laser vision sensor (42) is used to identify the welding gap. The cooperative welding head (10) is equipped with an illumination lamp (43).

3. A double-sided multi-spot welding system for pressure vessel heads according to claim 2, characterized in that: The alignment frame (24) and the rotating rod frame (23) are both provided with lead-in holes (44), and the lead-in holes (44) are used for passing and guiding the supporting lines of the cooperative welding head (10). A flexible tube (45) is provided in the elastic spring (25), and the two ends of the flexible tube (45) are respectively connected to the alignment frame (24) and the rotating rod frame (23), and the flexible tube (45) is used for guiding and protecting the supporting lines of the cooperative welding head (10) when passing through the elastic spring (25).

4. A double-sided multi-spot welding system for pressure vessel heads according to claim 3, characterized in that: Two guide wheel frames (55) are fixedly connected to the moving vehicle frame (1), and steering guide wheels (56) are rotatably connected to the two guide wheel frames (55). The two steering guide wheels (56) are provided with guide grooves (57) matching the traction rope (3).

5. A double-sided multi-spot welding system for pressure vessel heads according to claim 4, characterized in that: A driving spur gear (58) is mounted on the output shaft of the first servo motor (8); the driving spur gear (58) is meshed with a transmission spur rack (59); the transmission spur rack (59) is fixedly connected to the lifting frame (2); a protective frame (60) is fixedly connected to the rear end of the lifting frame (2); the protective frame (60) is used to protect the transmission structure of the driving spur gear (58) and the transmission spur rack (59).

6. A double-sided multi-spot welding system for pressure vessel heads according to claim 5, characterized in that: Two rolling wheels (61) and two universal wheels (62) are installed at the bottom end of the mobile vehicle frame (1). Two threaded support tubes (63) are fixedly connected to the mobile vehicle frame (1). Support screws (64) are threadedly connected in the two threaded support tubes (63). Support blocks (65) are fixedly connected at the bottom ends of the two support screws (64). Insertion grooves are formed at the top ends of the two support screws (64). Auxiliary rotating rods (67) are connected in the two insertion grooves via connecting rods (66).

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