Water-drop-shaped wind tower girth welding manufacturing tool and process

Abstract

The invention relates to the technical field of water-drop-shaped wind tower girth welding manufacturing, and discloses a water-drop-shaped wind tower girth welding manufacturing tool and technology.The water-drop-shaped wind tower girth welding manufacturing tool comprises a boom vehicle, the boom vehicle comprises a vertical arm assembly, and the vertical arm assembly is provided with a movable track assembly and connected with an intelligent submerged-arc welding system assembly through the movable track assembly; the intelligent submerged arc welding system assembly comprises a cross arm which is movably connected to the vertical arm assembly through a movable rail assembly and can move front and back and up and down, a welding gun assembly is installed at the end of the cross arm through a welding gun angle adjusting assembly, an infrared scanning assembly is further installed at the end of the cross arm, and a servo roller frame is installed at the vertical bottom of the welding gun assembly. According to the water drop type wind tower girth welding manufacturing tool and process, constant-speed rotation of the water drop wind tower on the roller carrier is achieved, the distance between the welding gun and a welding seam and the inclination angle of the welding gun can be adjusted, and submerged-arc welding of water drop wind tower girth welding is achieved.

Description

Technical Field

[0001] The invention relates to the technical field of teardrop-shaped wind tower circumferential seam welding manufacturing, in particular to teardrop-shaped wind tower circumferential seam welding manufacturing tooling and process. Background Art

[0002] A wind turbine tower is generally composed of 3 to 5 tower sections, each of which is welded from multiple cylinder sections and flanges at both ends. The main welds include longitudinal seams (LW) and circumferential seams (CW). The wind tower is composed of steel pipes with a length of 2 to 4 meters per cylinder section and a diameter of approximately 4 to 8 meters. The steel pipes are assembled and welded into tower sections. Flanges are welded at both ends of the tower sections, and then the welded tower sections are connected to the tower through flanges with bolts. The existing wind turbine tower welding steps are as follows: 1. Circumferential seam welding: 1.1 Bake and collect welding materials according to the baking requirements of welding materials in WPS; 1.2 Confirm that the groove angle, assembly gap, etc. meet the WPS requirements. Defects that may affect the welding quality must be processed before welding. Good; 1.3 The welding environment temperature should not be lower than 0℃. If it is lower than 0℃, it should be heated to above 15℃ within 100mm of the welding place. The humidity should not be greater than 90%, otherwise flame heating should be used for dehumidification. When dehumidifying, welding must be done after the water vapor is dry; thick plate welding should be preheated according to the welding process regulations; 1.4 The grounding wire cannot be overlapped at will, it must be firmly fixed, and it cannot be used when the surface of the grounding wire is damaged; when using a carbon brush for grounding, the carbon brush needs to be polished in advance to increase the contact surface and avoid wire contact. When welding, it is necessary to inspect and pay attention to the carbon brush margin to prevent the carbon brush from being welded below the positioning tube; 1.5 The welding of the annular seam adopts the mechanized submerged arc welding method. The assembled cylinder section is placed on the roller frame, and rotates with the roller frame, and the submerged arc welding gun is fixed in a fixed position. During welding, the entire weld is completed with the rotation of the roller frame; when welding, the non-bottoming side weld on the outside of the cylinder is welded first; before welding the inner weld, the bottom weld needs to be removed by manual carbon arc gouging. After the base weld is removed, the groove after carbon planing is polished with a grinder to remove carbon slag and oxide scale, polished and polished to a U-shape that is easy to weld, and then welded by submerged arc welding. 1.6 For multi-layer welds, the arc starting point of each layer should be staggered ≥ 200mm, and for multi-pass welds, the overlap between welds should be smooth.

[0003] The biggest difference between the water drop-shaped wind tower and the tower section of the traditional wind tower is that its cross section is not a standard circle. The tower section is mainly a water drop shape composed of three arcs. The cross section of the traditional wind tower is circular. The circumferential seam welding of the water drop wind tower is the difficulty in making the wind tower. The circumferential seam welding method of the traditional wind tower cannot be used for the water drop wind tower. The manual welding method is adopted in the circumferential seam welding industry of the water drop wind tower, and the welding efficiency is low. At the same time, the welding pass rate is also low. The traditional method of welding the circumferential seam of the wind tower adopts the method of high-efficiency mechanized submerged arc welding. The reason is that the efficiency of industrial gas shielded welding is low and the welding quality cannot be guaranteed. The process route is to assemble the tower section with the tower section, the tower section with the flange into the tower section, and then place the assembled tower section on the roller frame, and place the mechanical submerged arc welding torch on the circumferential seam to be welded. During welding, the tower section rotates with the roller frame, the welding gun does not move, the roller frame rotates one circle to complete the welding of one weld, and multiple welding only requires the roller frame to rotate the corresponding number of circles. The teardrop-shaped wind tower has a teardrop-shaped cross-section, which is not a regular shape and cannot be welded by mechanized submerged arc welding using traditional methods.

[0004] The teardrop-shaped wind tower has the following disadvantages when welded using the traditional method: the cross-section of the teardrop-shaped wind tower is in the shape of three arcs, which are placed on a roller frame for rotation. When it rotates to the small arc side or the intersection of the large arc, the roller frame and the tower section do not have enough contact area, so the tower section will detach from the roller frame, causing quality or safety accidents; the tower section rotates on the roller frame, the welding gun does not move, and during the rotation of the teardrop cross-section, the distance from the welding gun keeps changing, with a change range of 2 to 4 meters, making welding impossible; the tower section rotates on the roller frame, the welding gun does not move, the curvature of the teardrop curve changes, the tangent also changes, and the relative angle with the welding gun changes, making welding impossible. Summary of the invention

[0005] The purpose of the present invention is to provide a teardrop-shaped wind tower circumferential seam welding manufacturing tooling and process. The teardrop-shaped wind tower circumferential seam welding manufacturing tooling and process disclosed in the present invention realize the uniform rotation of the teardrop wind tower on the roller frame, realize the adjustable distance and inclination angle between the welding gun and the weld, and realize the submerged arc welding of the teardrop wind tower circumferential seam welding, so as to solve the problems raised in the above-mentioned background technology.

[0006] To achieve the above-mentioned purpose, the present invention provides the following technical solutions: a teardrop-shaped wind tower annular seam welding manufacturing tooling, including a boom vehicle, the boom vehicle including a vertical arm assembly, a movable track assembly installed on the vertical arm assembly and connected to an intelligent submerged arc welding system assembly through the movable track assembly, the intelligent submerged arc welding system assembly including a cross arm that can move forward, backward, upward and downward and is movably connected to the vertical arm assembly through the movable track assembly, a welding gun assembly is installed on the end of the cross arm through a welding gun angle adjustment assembly, an infrared scanning assembly is also installed on the end of the cross arm, a servo roller frame is installed at the vertical bottom of the welding gun assembly, a teardrop wind tower is placed on the servo roller frame, the teardrop wind tower includes a flange tooling and a tower section, the flange tooling includes an outer ring, a flange connecting ring, a connecting hole and a connecting plate, the outer ring of the flange tooling is a standard circle, and the flange connecting ring and the connecting hole match the flange shape and the connecting hole position of the teardrop-shaped wind tower section.

[0007] Preferably, the tower section flange of the water drop wind tower is aligned with the connecting hole of the flange connecting ring of the flange tooling and is fastened by bolts.

[0008] Preferably, the water drop wind tower section flange and the flange connecting ring of the flange tooling each have eight connecting holes.

[0009] Preferably, the power input end of the servo roller frame is connected to the power output end of the first servo motor, and the signal input end of the first servo motor is connected to the signal output end of the programming module assembly.

[0010] Preferably, the power input end of the cross arm is connected to the power output end of the second servo motor through a movable track assembly on the vertical arm assembly.

[0011] Preferably, a signal input end of the second servo motor is connected to a signal output end of the intelligent control chip.

[0012] The teardrop-shaped wind tower girth welding manufacturing process includes the following steps: Step S1: Assemble the flange tooling and the tower section: Place the tower section on the servo roller frame, use a crane to lift the flange tooling, adjust the height and angle of the flange tooling, align the flange connection ring with the tower section flange, and align the corresponding connection holes, use matching bolts to connect the holes on the flange connection ring with the corresponding tower section flange holes and tighten them with nuts, symmetrically connect the flange connection ring with the eight corresponding holes on the tower section flange to ensure sufficient strength; Step S2: Placing the assembled flange tooling and tower section: After the flange tooling and the tower section flange are assembled, the crane is lifted and placed on the servo roller frame, and during placement, it is ensured that the roller of the servo roller frame is located in the middle of the outer ring of the flange tooling; Step S3: Program the servo roller frame driving path in advance: the radius and radian value of the three circular arcs of the water drop wind tower, the outer ring diameter of the flange tooling, and the relative position between the outer ring of the flange and the flange ring are given values. The rotation speed ratio of the water drop tower segment and the flange tooling is determined by the above given values, which is a function of the center angle θ of the outer ring of the flange tooling. The input and output relationship of the center angles θ1, θ2, and θ3 of the three circular arcs of the water drop cross section is compiled in advance through the programming software. When adjusting the speed, the speed value required by the process is input in the control interface, and the program automatically calculates the roller speeds of the roller at different center angles θ1, θ2, and θ3. Step S4: driving by a servo roller frame: the flange fixture is driven to rotate by the roller of the servo roller frame, the flange fixture is bolted to the tower section, and the tower section rotates synchronously; Step S5: Adjust the position and angle of the welding gun assembly: Move the cross arm forward and backward and up and down to the target position through the second servo motor, and adjust the angle of the welding gun assembly to a determined angle through the welding gun angle adjustment device at the end of the cross arm; Step S6: Intelligent scanning controlled welding: welding is performed through the welding gun assembly, and the distance between the welding gun assembly and the weld and the angle between the welding gun assembly and the weld are scanned by the infrared scanning assembly. The intelligent control system composed of a servo motor and an intelligent control chip installed at the bottom of the boom vehicle outputs signals to intelligently move the boom vehicle's cross arm forward and backward, up and down, and adjust the angle of the welding gun assembly to adapt to the welding of the rotating water drop wind tower.

[0013] Compared with the prior art, the present invention has the following beneficial effects: The teardrop-shaped wind tower annular seam welding manufacturing tooling and process disclosed in the present invention can realize the uniform rotation of the teardrop wind tower on the roller frame, realize the adjustable distance and inclination angle between the welding gun and the weld, realize the submerged arc welding of the teardrop wind tower annular seam welding, and solve the problem that when the teardrop-shaped wind tower is welded according to the traditional method and rotates to the small arc side or the intersection of the large arc, the tower section will separate from the roller frame due to the lack of sufficient contact surface between the roller frame and the tower section, causing quality or safety accidents; solve the problem that when the tower section rotates on the roller frame and the welding gun does not move, the distance between the teardrop cross section and the welding gun constantly changes during the rotation process, and the change range is 2 to 4 meters, so welding cannot be achieved; solve the problem that when the tower section rotates on the roller frame and the welding gun does not move, the curvature of the teardrop curve changes, the tangent also changes, and the relative angle with the welding gun changes, so welding cannot be achieved. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] Figure 1 It is a structural schematic diagram of the flange tooling of the present invention; Figure 2 It is a structural schematic diagram of the flange tooling of the present invention; Figure 3 It is a structural schematic diagram of the flange tooling and tower section of the present invention; Figure 4 It is a structural schematic diagram of the servo roller frame of the present invention; Figure 5 It is a structural schematic diagram of the boom vehicle and the intelligent submerged arc welding system components of the present invention; Figure 6 It is a schematic diagram of the overall structure of the present invention; Figure 7 This is the cross section of the water drop wind tower of the present invention.

[0015] In the figure: 1. outer ring; 2. flange connecting ring; 3. connecting hole; 4. connecting plate; 5. servo roller frame; 6. programming module assembly; 7. first servo motor; 8. cross arm; 9. welding gun angle adjustment assembly; 10. vertical arm assembly; 11. infrared scanning assembly; 12. welding gun assembly; 13. moving track assembly; 14. intelligent control chip; 15. second servo motor. DETAILED DESCRIPTION

[0016] 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.

[0017] Embodiment 1: See also Figure 1-Figure 7 The teardrop-shaped wind tower annular seam welding manufacturing tooling shown in the figure includes a boom vehicle, the boom vehicle includes a vertical arm assembly 10, a movable track assembly 13 is installed on the vertical arm assembly 10 and an intelligent submerged arc welding system assembly is connected through the movable track assembly 13, the intelligent submerged arc welding system assembly includes a cross arm 8 that can move forward, backward, upward and downward and is movably connected to the vertical arm assembly 10 through the movable track assembly 13, a welding gun assembly 12 is installed at the end of the cross arm 8 through a welding gun angle adjustment assembly 9, an infrared scanning assembly 11 is also installed at the end of the cross arm 8, a servo roller frame 5 is installed vertically at the bottom of the welding gun assembly 12, a teardrop wind tower is placed on the servo roller frame 5, the teardrop wind tower includes a flange tooling and a tower section, the flange tooling includes an outer ring 1, a flange connecting ring 2, a connecting hole 3 and a connecting plate 4, the outer ring 1 of the flange tooling is a standard circle, and the flange connecting ring 2 and the connecting hole 3 match the flange shape of the teardrop-shaped wind tower section and the position of the connecting hole 3.

[0018] Furthermore, the connecting holes 3 of the flange connecting ring 2 of the flange tooling of the water drop wind tower section are aligned and fastened by bolts, which is convenient for fastening; further, the connecting holes 3 of the flange connecting ring 2 of the flange tooling of the water drop wind tower section are eight, ensuring sufficient strength; further, the power input end of the servo roller frame 5 is connected to the power output end of the first servo motor 7, and the signal input end of the first servo motor 7 is connected to the signal output end of the programming module assembly 6; further, the power input end of the cross arm 8 is connected to the power output end of the second servo motor 15 through the movable track assembly 13 on the vertical arm assembly 10, which is convenient for driving; further, the signal input end of the second servo motor 15 is connected to the signal output end of the intelligent control chip 14, which is convenient for intelligent control.

[0019] In the present scheme, when in use, the teardrop-shaped wind tower annular seam welding manufacturing tooling and process disclosed in the present invention realizes the uniform rotation of the teardrop wind tower on the roller frame, realizes the adjustable distance and inclination angle between the welding gun and the weld, realizes the submerged arc welding of the teardrop wind tower annular seam welding, places the tower section on the servo roller frame 5, powers the power with an external power supply, and uses an external switch to hoist the flange tooling, adjusts the height and angle of the flange tooling, aligns the flange connecting ring 2 with the tower section flange, and corresponds to the corresponding connecting holes 3, uses matching bolts to connect the holes on the flange connecting ring 2 with the corresponding tower section flange holes and tightens them with nuts, and symmetrically connects the flange connecting rings. The eight holes corresponding to the connecting ring 2 and the tower section flange ensure sufficient strength; after the flange tooling and the tower section flange are assembled, the crane is lifted and placed on the servo roller frame 5. When placing it, ensure that the roller of the servo roller frame 5 is located in the middle position of the outer ring 1 of the flange tooling; the radius of the three arcs of the water drop wind tower, the arc value, the outer ring diameter of the flange tooling, and the relative position of the flange outer ring and the flange ring are given values. The rotation speed of the water drop tower segment and the speed ratio of the flange tooling are determined by the above given values. It is a function of the center angle θ of the outer ring of the flange tooling. Through the programming software, the center angles θ1, θ2 of the three arcs of the water drop cross section are prepared in advance. The input and output relationship of θ2 and θ3 is established. When adjusting the speed, the speed value required by the process is input in the control interface, and the program automatically calculates the roller speed of the roller at different central angles θ1, θ2, and θ3; the roller of the servo roller frame 5 drives the flange tooling to rotate, the flange tooling is bolted to the tower section, and the tower section rotates synchronously; the cross arm 8 is moved forward and backward and up and down to the target position through the second servo motor 15, and the end of the cross arm 8 adjusts the angle of the welding gun assembly 12 to a certain angle through the welding gun angle adjustment device 9; welding is performed through the welding gun assembly 12, and the infrared scanning assembly 11 scans the welding gun assembly 12 and the weld. The distance and the angle with the weld are determined by the intelligent control system composed of a servo motor and an intelligent control chip 14 installed at the bottom of the boom vehicle. The output signal is used to intelligently move the boom vehicle cross arm 8 in the front-to-back and up-down directions and adjust the angle of the welding gun assembly 12 to adapt to the welding of the rotating water drop wind tower (the servo roller frame 5, programming module assembly 6, first servo motor 7, cross arm 8, welding gun angle adjustment assembly 9, vertical arm assembly 10, infrared scanning assembly 11, welding gun assembly 12, mobile track assembly 13, intelligent control chip 14, second servo motor 15 and crane are all existing products on the market).

[0020] Embodiment 2: See also Figure 1-Figure 7 The teardrop-shaped wind tower girth welding manufacturing process shown in the figure includes the following steps: Step S1: Assemble the flange tooling and the tower section: place the tower section on the servo roller frame 5, use a crane to lift the flange tooling, adjust the height and angle of the flange tooling, align the flange connection ring 2 with the tower section flange, and correspond to the corresponding connection holes 3, use matching bolts to connect the holes on the flange connection ring 2 with the corresponding tower section flange holes and tighten them with nuts, symmetrically connect the flange connection ring 2 with the eight corresponding holes on the tower section flange to ensure sufficient strength; Step S2: Placing the assembled flange fixture and tower section: After the flange fixture and the tower section flange are assembled, the crane is lifted and placed on the servo roller frame 5. When placing, ensure that the roller of the servo roller frame 5 is located in the middle position of the outer ring 1 of the flange fixture; Step S3: Program the driving path of the servo roller frame 5 in advance: the radius and radian value of the three arcs of the water drop wind tower, the outer ring diameter of the flange tooling, and the relative position between the outer ring of the flange and the flange ring are given values. The speed ratio of the rotation speed of the water drop tower segment and the speed of the flange tooling is determined by the above given values, which is a function of the center angle θ of the outer ring of the flange tooling. The input and output relationship of the center angles θ1, θ2, and θ3 of the three arcs of the water drop cross section is compiled in advance through the programming software. When adjusting the speed, the speed value required by the process is input in the control interface, and the program automatically calculates the roller speeds of the roller at different center angles θ1, θ2, and θ3; Step S4: driving by the servo roller frame 5: the roller of the servo roller frame 5 drives the flange tooling to rotate, the flange tooling is bolted to the tower section, and the tower section rotates synchronously; Step S5: adjusting the position and angle of the welding gun assembly 12: the cross arm 8 is moved forward and backward and up and down to the target position by the second servo motor 15, and the end of the cross arm 8 is adjusted to a certain angle by the welding gun angle adjustment device 9; Step S6: Intelligent scanning controlled welding: welding is performed through the welding gun assembly 12, and the distance and angle between the welding gun assembly 12 and the weld are scanned by the infrared scanning assembly 11. The intelligent control system composed of a servo motor and an intelligent control chip 14 installed at the bottom of the boom vehicle outputs signals to intelligently move the boom vehicle cross arm 8 in the front and rear, up and down directions, and adjust the angle of the welding gun assembly 12 to adapt to the welding of the rotating water drop wind tower.

[0021] In the present scheme, when in use, the teardrop-shaped wind tower annular seam welding manufacturing tooling and process disclosed in the present invention realizes the uniform rotation of the teardrop-shaped wind tower on the roller frame, realizes the adjustable distance and inclination angle between the welding gun and the weld, realizes the submerged arc welding of the teardrop-shaped wind tower annular seam welding, and realizes the submerged arc mechanized welding of the entire (unsegmented) annular seam of the teardrop-shaped cross-section wind tower. Compared with manual welding, the welding operability is improved, the labor intensity is reduced, the welding efficiency is improved, and the welding quality is guaranteed; the rotation of the teardrop-shaped wind tower on the roller frame is realized, and the method can also be used in the automatic and manual painting and spraying processes of the teardrop-shaped wind tower; the intelligent submerged arc welding control system, the adjustment of the welding gun height and angle is more intelligent, and it is ahead of the welding system commonly used in the industry; the servo roller frame 5 is of reference significance for the output of the rotating uniform speed on the roller frame of the special-shaped wind tower.

[0022] It should be noted that, in this article, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device.

[0023] 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 teardrop-shaped wind tower circumferential seam welding manufacturing tool, including a boom vehicle, characterized in that: The boom vehicle comprises a vertical arm assembly (10), a movable track assembly (13) being mounted on the vertical arm assembly (10) and connected to an intelligent submerged arc welding system assembly via the movable track assembly (13), the intelligent submerged arc welding system assembly comprising a horizontal arm (8) movable forward and backward and upward and downward and connected to the vertical arm assembly (10) via the movable track assembly (13), a welding gun assembly (12) being mounted on the end of the horizontal arm (8) via a welding gun angle adjustment assembly (9), and an infrared A scanning assembly (11), wherein a servo roller frame (5) is vertically mounted at the bottom of the welding gun assembly (12), a water drop wind tower is placed on the servo roller frame (5), and the water drop wind tower comprises a flange tooling and a tower section, wherein the flange tooling comprises an outer ring (1), a flange connecting ring (2), a connecting hole (3) and a connecting plate (4), wherein the outer ring (1) of the flange tooling is a standard circle, and the flange connecting ring (2) and the connecting hole (3) match the flange shape of the water drop-shaped wind tower section and the position of the connecting hole (3).

2. The teardrop-shaped wind tower circumferential seam welding manufacturing tooling according to claim 1 is characterized by: The tower section flange of the water drop wind tower is aligned with the connection hole (3) of the flange connection ring (2) of the flange tooling and is fastened by bolts.

3. The teardrop-shaped wind tower circumferential seam welding manufacturing tooling according to claim 2 is characterized in that: The water drop wind tower section flange and the flange connection ring (2) of the flange tooling both have eight connection holes (3).

4. The teardrop-shaped wind tower circumferential seam welding manufacturing tooling according to claim 1 is characterized in that: The power input end of the servo roller frame (5) is connected to the power output end of the first servo motor (7), and the signal input end of the first servo motor (7) is connected to the signal output end of the programming module assembly (6).

5. The teardrop-shaped wind tower circumferential seam welding manufacturing tooling according to claim 1 is characterized by: The power input end of the cross arm (8) is connected to the power output end of the second servo motor (15) via a movable track assembly (13) on the vertical arm assembly (10).

6. The teardrop-shaped wind tower circumferential seam welding manufacturing tooling according to claim 5 is characterized in that: The signal input end of the second servo motor (15) is connected to the signal output end of the intelligent control chip (14).

7. The teardrop-shaped wind tower circumferential seam welding manufacturing process according to claim 1 is characterized in that: The steps include: Step S1: Assemble the flange fixture and the tower section: Place the tower section on the servo roller frame (5), use a crane to lift the flange fixture, adjust the height and angle of the flange fixture, align the flange connection ring (2) with the tower section flange, and correspond to the corresponding connection holes (3), use matching bolts to connect the holes on the flange connection ring (2) with the corresponding holes on the tower section flange and tighten them with nuts, symmetrically connect the flange connection ring (2) and the eight corresponding holes on the tower section flange to ensure sufficient strength; Step S2: Placing the assembled flange fixture and tower section: After the flange fixture and the tower section flange are assembled, the crane is lifted and placed on the servo roller frame (5), and during placement, it is ensured that the roller of the servo roller frame (5) is located in the middle of the outer ring (1) of the flange fixture; Step S3: Pre-program the driving path of the servo roller frame (5): the radius and radian value of the three circular arcs of the water drop wind tower, the outer ring diameter of the flange tooling, and the relative position between the outer ring of the flange and the flange ring are given values. The ratio of the rotation speed of the water drop tower segment to the speed of the flange tooling is determined by the above given values. It is a function of the center angle θ of the outer ring of the flange tooling. The input and output relationship of the center angles θ1, θ2, and θ3 of the three circular arcs of the water drop cross section is pre-programmed by programming software. When adjusting the speed, the speed value required by the process is input in the control interface, and the program automatically calculates the roller speeds of the roller at different center angles θ1, θ2, and θ3. Step S4: driving by the servo roller frame (5): the roller of the servo roller frame (5) drives the flange fixture to rotate, the flange fixture is bolted to the tower section, and the tower section rotates synchronously; Step S5: adjusting the position and angle of the welding gun assembly (12): the cross arm (8) is moved forward and backward and upward and downward to a target position by means of a second servo motor (15), and the end of the cross arm (8) is adjusted to a determined angle by means of a welding gun angle adjustment device (9); Step S6: Intelligent scanning controlled welding: welding is performed by means of the welding gun assembly (12), and the distance and angle between the welding gun assembly (12) and the weld are scanned by means of the infrared scanning assembly (11). An intelligent control system composed of a servo motor and an intelligent control chip (14) installed at the bottom of the boom vehicle outputs signals to intelligently move the boom vehicle cross arm (8) in the front-to-back and up-and-down directions and adjust the angle of the welding gun assembly (12) to adapt to the welding of the rotating water drop wind tower.

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