Full-automatic robot roll welding system and seam welding operation method thereof

Abstract

The invention relates to a full-automatic robot roll welding system and a seam welding operation method thereof.The full-automatic robot roll welding system comprises an oil tank to-be-welded area, an oil tank seam welding robot and a test board; an oil tank seam welding robot is arranged right opposite to an oil tank to-be-welded area and comprises a robot body, and an oil tank seam welding head is installed at the tail end of a mechanical arm of the robot body. The oil tank seam welding machine head comprises an upper welding wheel device and a lower welding wheel device, and the welding wheel devices are respectively connected with a rotary driving device; a control system of the robot communicates with a control system of the oil tank seam welding machine head. The seam welding operation method comprises the following steps: calibrating the roller diameter; then the robot drives the oil tank seam welding machine head to move to the to-be-welded area of the oil tank, and one to-be-welded oil tank is welded till welding is completed; and then the robot brings the oil tank seam welding machine head to the next oil tank to be welded, and welding operation is repeated. The oil tank seam welding machine head is designed, the robot is combined, full-automatic continuous operation is achieved, and the welding operation efficiency is improved.

Description

Technical Field

[0001] The invention relates to a robot rolling welding system for fully-automatically seaming the edge of an oil tank, and a corresponding seam welding operation method, belonging to the technical field of welding. Background Art

[0002] The shape of the fuel tank is generally more complicated, requiring two upper and lower steel plates to be stamped into shape separately, and then merged together. A special welding machine is used to seam weld the edges of the upper and lower steel plates to achieve a tight and reliable connection and ensure that no leakage occurs.

[0003] The Chinese patent publication number is CN217551409U, an automatic welding machine for oil tank shells, which discloses a device for automatic welding of oil tanks. The welding machine is used as the main body, and then the oil tank is set up on a rotating / moving workbench, and the side seams of the oil tank are continuously transported to the upper and lower welding rollers for rolling welding. However, the welding roller area of ​​this equipment is fixed, and the movement trajectory of the oil tank needs to be accurately designed to match the welding operation requirements. The setting difficulty is relatively large; when switching products, it is difficult to adjust, and after welding, it needs to be re-clamped to continue the welding operation, and the waiting time is long.

[0004] There are also special seam welding robots for fuel tank products, such as the seam welding robot with Chinese patent publication number CN103658954A. A seam welding head is installed at the end of the industrial multi-axis robotic arm, and then the side seams of products such as fuel tanks are seam welded. The robot drives the seam welding head to move around the fuel tank to achieve welding.

[0005] However, due to the load requirements of industrial robot arms, the seam welding machine head needs to be made lighter, which means that under conventional designs, many components need to be installed away from the machine head, which causes control delays and even inaccurate control; therefore, the application effect is poor.

[0006] In view of the above situation, it is necessary to redesign the seam welding head according to the application requirements of the seam welding robot, so as to meet the load requirements of the robot and the high quality requirements of seam welding, with short control delay and more precise control.

[0007] Furthermore, the robot seam welding system is designed to achieve fully automatic operation and complete the fully automatic continuous seam welding operation of fuel tank products. Summary of the invention

[0008] The purpose of the present invention is to provide a fully automatic robot seam welding system and a seam welding operation method thereof, design a fuel tank seam welding head, and combine it with a robot to achieve fully automatic continuous operation and improve welding operation efficiency.

[0009] To achieve the above-mentioned purpose, the first aspect of the present invention provides a fully automatic robot seam welding system, including a tank to-be-welded area, a tank seam welding robot, and a test bench;

[0010] The oil tank welding area has more than two oil tanks to be welded;

[0011] Opposite the oil tank welding area, there is an oil tank seam welding robot, including a robot, and an oil tank seam welding head is installed at the end of the robot's mechanical arm;

[0012] The oil tank seam welding machine head includes two upper and lower welding wheel devices, and the welding wheel devices are respectively connected to the rotating drive device;

[0013] The upper welding wheel device and its rotating drive device are fixed on the upper part of the frame; the lower welding wheel device and its rotating drive device are installed on the lifting platform of the lifting drive device; the lifting drive device drives the lower welding wheel device to perform vertical lifting movement relative to the upper welding wheel device;

[0014] A transformer is fixed on the frame, and the positive and negative poles of the transformer are connected to the upper and lower welding wheel devices through conductive copper plates respectively;

[0015] The welding wheel device is provided with a rotatable roller; the roller is electrically connected to the positive and negative poles of the transformer respectively;

[0016] The robot drives the oil tank seam welding machine head to circle around the oil tank to be welded. During the circle, the rollers of the upper and lower two welding wheel devices of the oil tank seam welding machine head clamp the edges of the oil tank to be welded, and perform welding operations to seam weld the oil tank;

[0017] Next to the robot, there is a test bench. The test bench is equipped with a calibration rod for rollers, which is connected to the rangefinder.

[0018] The robot's control system and the tank seam welding head's control system communicate with each other;

[0019] The measurement parameters of the rangefinder are fed back to the control system of the robot and the control system of the tank seam welding head.

[0020] As a further improvement of the present invention, the oil tank seam welding machine head is provided with a frame made of aluminum alloy, and various components are mounted on the frame;

[0021] A connecting frame for connecting and fixing with the robot is provided on the top of the frame;

[0022] Dressing devices are respectively installed on the sides of the upper and lower welding wheel devices;

[0023] A gas-liquid distribution regulating device is fixed on the frame, and the gas-liquid distribution regulating device is connected to a gas or cooling water device through a pipeline;

[0024] The cables, air pipes, and circulating cooling water pipes are gathered together and set along the robot's mechanical arm;

[0025] A mounting frame is provided on one side of the connecting frame, and the mounting frame fixes the collected pipelines.

[0026] As a further improvement of the present invention, the welding wheel device includes a roller, a main shaft, a conductive box, and a rotating driving wheel;

[0027] The roller is fixedly mounted on the end of the main shaft;

[0028] The main shaft is rotatably mounted in the conductive box, and a rotating driving wheel is fixedly mounted on the main shaft; the rotating driving wheel is located between the roller and the conductive box;

[0029] A rotating conductive device is arranged in the conductive box; and the outer surface of the conductive box is electrically connected to one pole of the transformer.

[0030] Furthermore, the conductive box is provided with a water-cooling chamber, and a water-cooling joint is provided on the conductive box, which is connected to a circulating cooling water pipe;

[0031] A roller cooling box is provided at the tail of the conductive box;

[0032] The main shaft is a hollow shaft with a cooling water chamber inside, which is connected to the roller;

[0033] A water cooling joint is provided on the outside of the roller cooling box, which is connected to the circulating cooling water pipe;

[0034] The cooling water chamber in the roller cooling box is communicated with the cooling water chamber of the main shaft.

[0035] Further, the rotation drive device includes a drive motor, a motor drive wheel, and a drive belt;

[0036] The driving motor is a servo motor;

[0037] The output shaft end of the driving motor is equipped with a motor driving wheel;

[0038] The motor drive wheel and the rotating drive wheel are both synchronous pulleys;

[0039] The motor driving wheel and the rotating driving wheel are connected via a driving belt.

[0040] As a further improvement of the present invention, the lifting drive device comprises a lifting cylinder, the cylinder body of the lifting cylinder is fixed on the frame, and the end of the piston rod of the lifting cylinder is installed with a lifting platform;

[0041] The welding wheel device located below is directly fixed on the lifting platform;

[0042] The rotating drive device bracket located below is connected and fixed on the lifting platform;

[0043] A guide device is arranged between the lifting platform and the side wall of the frame.

[0044] Further, the guide device includes 4 pairs of lifting linear slide blocks and lifting linear slide rails;

[0045] The lifting linear slider is fixed on the lifting platform through an adapter bracket;

[0046] The lifting linear slide rail is vertically fixed on the inner side of the side wall of the frame;

[0047] The lifting linear slider is matched with the lifting linear guide rail.

[0048] Furthermore, the guide device is a stainless steel guide device.

[0049] As a further improvement of the present invention, the trimming device installed on the side of the upper welding wheel device is a horizontally arranged trimming device; the trimming device installed on the side of the lower welding wheel device is a vertically arranged trimming device;

[0050] A dressing device, including a dressing blade, a tool holder, a dressing cylinder, and a dressing linear guide device;

[0051] The trimming blade has an edge shape that matches the outer surface shape of the roller;

[0052] The trimming blade is fixedly installed in the blade holder, and the blade edge is exposed;

[0053] The tool holder is installed at the end of the output piston rod of the dressing cylinder. The dressing cylinder drives the tool holder and the dressing blade to move closer to or farther away from the relative roller.

[0054] A straight-line trimming guide device is provided between the tool holder and the fixed bracket of the trimming device, including a straight-line trimming slider fixed to the tool holder and a straight-line trimming rail connected to the fixed bracket, and the straight-line trimming slider matches the straight-line trimming rail.

[0055] Furthermore, an ash collecting hopper is provided on the blade holder, and an ash collecting opening of the ash collecting hopper is arranged close to the trimming blade, and the ash collecting opening is located below the blade.

[0056] As a further improvement of the present invention, one pole of the transformer is connected to a conductive box of the welding wheel device located below through a first conductive copper plate;

[0057] A conductive flexible connection is provided between the first conductive copper plate and the conductive box;

[0058] The other pole of the transformer is directly connected to the conductive box of the welding wheel device located above through the second conductive copper plate.

[0059] Furthermore, cooling water channels are provided in the first conductive copper plate and the second conductive copper plate;

[0060] The cooling water channel is connected to the circulating cooling water pipe through a water cooling joint.

[0061] As a further improvement of the present invention, a test welding table is provided on one side of the upper part of the test table;

[0062] A quick-release clamp is installed on the test welding table.

[0063] As a further improvement of the present invention, the calibration rod of the test bench is arranged horizontally and extends outward;

[0064] The calibration rod is mounted on the vertical slider, the vertical slider is mounted on the vertical slide rail, the vertical slide rail is fixed on the column through the mounting plate, and the vertical slider matches the vertical slide rail to form a vertical motion guide;

[0065] A reset cylinder is installed at the bottom of the vertical slider, the cylinder body of the reset cylinder is fixed on the mounting plate, and the piston rod of the reset cylinder is connected to the vertical slider; the piston rod of the reset cylinder can drive the vertical slider and the calibration rod to rise or fall;

[0066] The body of the rangefinder is fixed on the mounting plate, and the measuring end of the rangefinder is connected to the vertical slider.

[0067] A second aspect of the present invention provides a seam welding method of a fully automatic robot seam welding system, comprising the following steps:

[0068] Step 1, sending the parameters of the oil tank to be welded in the oil tank welding area to the robot and the control system of the oil tank seam welding head;

[0069] Step 2, roller diameter calibration: using the calibration rod and the rangefinder, the current diameter of the roller of the upper and lower welding wheel devices is measured and calibrated, and the calibration parameters are sent to the robot and the control system of the tank seam welding head;

[0070] Step 3, the robot drives the oil tank seam welding head to move to the oil tank to be welded area, and welds one of the oil tanks to be welded;

[0071] 3.1. The lifting drive device of the oil tank seam welding machine head drives the welding wheel device below to descend, so that the distance between the upper and lower rollers is maximized;

[0072] 3.2. The upper and lower rollers of the oil tank seam welding machine head are set on the side seam area to be welded of the oil tank to be welded;

[0073] The robot 1 drives the tank seam welding head to descend, so that the roller located above falls exactly on the upper surface of the side seam to be welded;

[0074] 3.3, the lifting cylinder of the lifting drive device moves, driving the welding wheel device below to rise, so that the roller located below abuts against the lower surface of the edge seam to be welded, and the upper and lower rollers face each other, generating positive pressure on the edge seam to be welded;

[0075] 3.4, the driving motor of the rotary drive device starts, driving the upper thread roller to rotate synchronously;

[0076] At the same time, the robot moves, driving the upper and lower rollers of the tank seam welding head to move along the side seam area of ​​the tank to be welded;

[0077] At the same time, the transformer starts to transmit welding current to the upper and lower rollers, so that a large current passes between the upper rollers to implement welding;

[0078] 3.5, the robot drives the upper and lower rollers of the oil tank seam welding head to circle around the side seam area of ​​the oil tank to be welded, thus completing the seam welding operation of the oil tank;

[0079] 3.6, welding is completed,

[0080] Transformer suspends power supply;

[0081] The lifting drive device drives the welding wheel device below to descend, and the robot drives the oil tank seam welding head to rise a certain distance, so that the upper and lower rollers leave the edge of the oil tank;

[0082] The robot then takes the tank seam welding head away from the welded tank;

[0083] Step 4: The robot moves the tank seam welding head to the next tank to be welded and repeats step 3 to perform welding operations;

[0084] Remove the welded fuel tank and install the new one.

[0085] As a further improvement of the present invention, in the above step 3, when the roller rotates, the trimming device is started, and the blade of the trimming blade of the trimming device is against the surface of the roller to perform the ash cleaning operation.

[0086] As a further improvement of the present invention, there is further provided step 5, setting the number of continuous welding operations of the roller according to the length of the welding area of ​​a single oil tank and the current diameter of the roller;

[0087] When the roller of the tank seam welding machine head reaches the welding operation number, step 3 ends, that is, after the robot takes the tank seam welding machine head away from the welded tank, the dressing cylinder of the dressing device is supplied with dressing air pressure, so that the blade of the dressing blade dresses the surface of the roller to remove the potholes on the roller surface;

[0088] After the trimming is completed, step 2 is executed, that is, the robot brings the tank seam welding machine head to the test bench, uses the calibration rod and the rangefinder to recalibrate the diameter size of the upper and lower rollers, and sends the calibration parameters to the robot and the control system of the tank seam welding machine head;

[0089] At the same time, the number of continuous welding operations of the setting roller is recalculated;

[0090] Then, repeat step 3 to perform welding operation.

[0091] As a further improvement of the present invention, step 6 is further provided. In step 5, when the roller is measured by the test bench and found to be excessively worn, an alarm is sounded to require the worker to replace it.

[0092] After the replacement is completed, perform step 2 to calibrate the diameter of the roller, and then repeat step 3 to perform the welding operation.

[0093] The present invention first improves the structure of the oil tank seam welding machine head, so that the structure is more integrated and the overall weight is reasonable. It can be installed at the end of the robot's mechanical arm. As the robot's mechanical arm moves around the oil tank, the roller of the welding wheel device clamps the edge of the oil tank, and a large current is passed to perform welding. During the process, the mechanical arm drives the oil tank seam welding machine head to move along the edge of the oil tank, and the rotary drive device rolls the roller, so that the roller presses the edge of the oil tank while rolling along the edge of the oil tank, and avoids sliding friction as much as possible, which causes the roller to be damaged too quickly, and also avoids sliding and causing poor welding surface quality. The oil tank seam welding machine head of the present invention trims the roller through a trimming device; during the trimming process, the trimming cylinder drives the blade of the blade to rest against the surface of the roller, and the rotary drive device rotates the roller, so as to trim the roller by utilizing the relative movement between the blade and the roller; by adjusting the pressure of the compressed air in the trimming cylinder, the cutting force of the blade of the blade can be adjusted, thereby adjusting the trimming amount of the roller surface. During the welding operation, a relatively small air pressure can be introduced into the dressing cylinder of the dressing device, so that the blade of the blade always rests against the surface of the roller, and the ash and dust that sticks to the surface of the roller during the welding process are cleaned off in time to avoid sticking to the surface of the roller, which affects the welding quality and also affects the roller; by using a relatively small air pressure, the blade of the blade will not cut the roller during this process, making its diameter smaller.

[0094] The present invention preferably adopts medium frequency direct current welding, the welding machine power reaches 280KVA, the frequency is 1kHz, the current is stable, the transformer is light, the electrode has a long service life, and there is less spatter; the material welding thickness can reach 1.2mm; the roller running speed is 1.5 revolutions / second, 0.1-0.8 meters / second, and basically 70 seconds-100 seconds / 1 oil tank can be achieved for continuous welding operations.

[0095] The control system of the present invention and the robot control system directly communicate using the Profinet protocol to ensure the stability of communication.

[0096] The fully automatic robot seam welding system of the present invention, the oil tank seam welding head therein, and the seam welding method therein have the following characteristics in general:

[0097] 1. The welding box is silver-plated as a whole, with good conductivity, high long-term working reliability and stable welding current;

[0098] 2. The follow-up die repair mechanism is more flexible and convenient. It can weld the follow-up die repair roller according to the user's process requirements; or repair the die after welding a certain number of times; or repair the die at a fixed position; the die repair time is short and the electrode consumption is small;

[0099] 3. The conductive copper plate connected to the transformer is cooled by water; and because the distance between the transformer and the welding wheel device is close, the cross-sectional area of ​​the conductive copper plate can be increased, and the surface can be silver-plated to make the conductivity better;

[0100] 4. Stainless steel double sliders are used on both sides of the lifting platform, and the two-way guidance is more stable and durable;

[0101] 5. The lifting cylinder of the lifting drive device is controlled by a proportional valve and integrated next to the cylinder, making the air pressure more stable during welding, and thus the pressure between the upper and lower rollers is also more stable;

[0102] 6. The frame (whole frame), connecting brackets and other auxiliary devices are made of 7075 aluminum alloy, making the overall weight lighter;

[0103] 7. Cooling water system, gas pipe, and pipeline optimization; use distribution devices to make the water and gas pipelines clear and easy to inspect and troubleshoot; and avoid heat-prone areas during installation to ensure that there is no risk of scalding in the water and gas pipelines;

[0104] 8. The driving motor of the rotary drive device and the control electrical appliances of other cylinder connection valves are integrated with modules and directly communicate with PLC, which is fast and has strong anti-interference. The electrical control adopts the master-slave mode, and the pipeline package cables are simplified, thus eliminating problems such as wear and tear and pulling that cause communication abnormalities;

[0105] 9. The distance meter connected to the calibration rod of the test bench is a displacement sensor with high precision and a detection accuracy of 0.01mm. The detection results are directly fed back to the control system of the robot and the control system of the tank seam welding head, so as to automatically compensate the welding trajectory and operating parameters according to the detection results;

[0106] 10. The parameter adaptation range is changed to avoid the deviation of the welding track caused by the mechanism itself;

[0107] 11. Safety program framework to fully ensure the interlocking of people and equipment

[0108] 12. The software interface is fully functional, and the functions such as fault alarm, operation process, troubleshooting, parameter setting, etc. are intuitive and easy to understand;

[0109] 13. The control system development port can be connected to EMS to collect and analyze welding data.

[0110] The oil tank seam welding head of the present invention is combined with a multi-axis industrial robot arm to form an oil tank seam welding robot, and then to form a fully automatic robot rolling welding system. The devices can directly communicate and exchange data to achieve synchronous adjustment of control parameters. According to the structural characteristics of specific oil tank products, the seam welding operation method is operated to perform automated and continuous seam welding operations on the oil tank, which can greatly improve the welding efficiency and ensure the welding quality. BRIEF DESCRIPTION OF THE DRAWINGS

[0111] Figure 1 It is a schematic diagram of the overall structure of the fully automatic robot seam welding system of the present invention;

[0112] Figure 2 It is a schematic diagram of the overall structure of the fuel tank seam welding robot of the present invention;

[0113] Figure 3 The overall structure of the oil tank seam welding machine head of the present invention is shown in FIG. Figure 1 ;

[0114] Figure 4 The overall structure of the oil tank seam welding machine head of the present invention is shown in FIG. Figure 2 ;

[0115] Figure 5 The overall structure of the oil tank seam welding machine head of the present invention is shown in FIG. Figure 3 ;

[0116] Figure 6 The overall structure of the oil tank seam welding machine head of the present invention is shown in FIG. Figure 4 ;

[0117] Figure 7 It is a schematic diagram of the overall structure of the welding wheel device of the present invention;

[0118] Figure 8 The overall structure diagram of the installation drive of the welding wheel device Figure 1 ;

[0119] Fig. 9 The overall structure diagram of the installation drive of the welding wheel device Figure 2 ;

[0120] Fig.10 The figure is a schematic diagram of the overall structure of the welding wheel dressing device;

[0121] Fig.11 The overall structure of the vertical trimming device is shown in FIG. Figure 1 ;

[0122] Fig.12 The overall structure of the vertical trimming device is shown in FIG. Figure 2 ;

[0123] Fig.13 It is a schematic diagram of the overall structure of the horizontal trimming device;

[0124] Fig.14 Schematic diagram of the overall structure of the conductive connection of the welding wheel device Figure 1 ;

[0125] Fig.15 Schematic diagram of the overall structure of the conductive connection of the welding wheel device Figure 2 ;

[0126] Fig.16 It is a schematic diagram of the overall structure of the conductive copper plate;

[0127] Fig.17 This is the installation diagram of the gas-liquid distribution and regulating device;

[0128] Fig.18 It is a schematic diagram of the overall structure of the test bench of the present invention;

[0129] Fig.19 It is an enlarged view of the specific structure of the test bench of the present invention. DETAILED DESCRIPTION

[0130] The specific implementation modes of the present invention are further described in detail below in conjunction with the accompanying drawings.

[0131] The present invention firstly relates to a fully automatic robot seam welding system, such as Figure 1 As shown, it includes a tank welding area, where more than two tanks to be welded are placed. In this embodiment, three tanks to be welded, A, B, and C, can be placed at the same time. Opposite the tank welding area, a tank seam welding robot is provided, including a robot 1. The end of the robot arm of the robot 1 is equipped with a tank seam welding head 3. Figure 2 As shown, the robot 1 drives the oil tank seam welding head 3 to make a circle along the oil tanks (A, B, C) to be welded, and the oil tank seam welding head 3 performs welding operations during the circling process to seam weld the oil tanks; by setting up multiple oil tank placement stations, continuous welding operations can be achieved, that is, after welding one oil tank, it can move to the next station to continue the welding operation, and after welding is completed, the station can disassemble and reinstall the oil tank to be welded.

[0132] Next to the robot 1, a test bench 2 is provided for calibrating the tank seam welding head 3 to ensure the welding quality and the accuracy of continuous welding operations.

[0133] One of the key points of the present invention is the structural design of the fuel tank seam welding machine head 3. The overall structure of the fuel tank seam welding machine head 3 is as follows: Figure 3 , Figure 4 , Figure 5 ,and Figure 6As shown, a frame 32 is provided, and various components are installed on the frame 32; a connecting frame 31 is provided on the top of the frame 32 for connecting and fixing with the robot 1; a mounting frame 312 is provided on one side of the connecting frame 31 for installing pipelines, and the pipelines are collected through the workstation, arranged along the mechanical arm of the robot 1, and finally introduced into the oil tank seam welding head 3 of the present invention through the mounting frame 312, so as to supply power, gas and water to the oil tank seam welding head 3 of the present invention.

[0134] The oil tank seam welding head 3 includes two upper and lower welding wheel devices 4, and the welding wheel devices 4 are respectively connected to the rotating drive device 5; wherein, the upper welding wheel device 4 and its rotating drive device 5 are fixed on the upper part of the frame 32, while the lower welding wheel device 4 and its rotating drive device 5 are installed on the lifting platform of the lifting drive device 6; the lifting drive device 6 drives so that the height distance between the upper and lower welding wheel devices 4 can be relatively adjusted; when working, the lifting drive device 6 drives the lower welding wheel device 4 and its rotating drive device 5 to move upward, so that the rollers of the upper and lower welding wheel devices 4 clamp the edge of the oil tank to be welded; after the work is completed, the lifting drive device 6 drives the lower welding wheel device 4 and its rotating drive device 5 to move downward, so that the rollers of the upper and lower welding wheel devices 4 are separated, exposing a larger gap, which is convenient for leaving the oil tank and other operations.

[0135] Dressing devices 7 are respectively installed on the sides of the upper and lower welding wheel devices 4 to dress the surfaces of the rollers, thereby ensuring the welding quality.

[0136] A transformer 8 is fixed on the frame 32, so that the welding power supply is directly supplied to the welding wheel device 4 after being transformed for welding, thereby reducing line loss and improving the utilization of electric energy; at the same time, since the transformer 8 is directly installed on the frame 32 of the oil tank seam welding head of the present invention, a higher current can be used, avoiding the problem that a sufficiently thick conductive cable cannot be set along the mechanical arm of the robot 1.

[0137] A gas-liquid distribution regulating device 9 is fixed on the frame 32, so as to fully shorten the distance of the gas-liquid transmission pipeline, improve the control response speed, and make the gas-liquid control more timely and accurate.

[0138] The welding wheel device 4 has a specific structure as follows Figure 7As shown, it includes a roller 41, a main shaft 42, a conductive box 43, a roller cooling box 44, and a rotating driving wheel 45. The roller 41 is fixedly mounted on the end of the main shaft 42, and the main shaft 42 is rotatably mounted in the conductive box 43. The rotating driving wheel 45 is also fixedly mounted on the main shaft 42; a conductive device is provided in the conductive box 43, and reference can be made to the robot seam welding electrode drive of Chinese Patent Publication No. CN107252963A, the active conductive structure of the seam welding machine electrode of Chinese Patent Publication No. CN101579781A, or the electrode rotating conductive structure of Chinese Patent Publication No. CN104638489A, etc. Through the conductive structure, the electricity connected to the conductive box 43 is transmitted to the rotating main shaft 42, and finally transmitted to the roller 41.

[0139] The welding wheel device 4 and the conductive box 43 are silver-plated as a whole, with good conductivity, high long-term working reliability, stable welding current, good corrosion resistance and longer service life; the main shaft 42 and the roller 41 are copper products with good conductivity and can efficiently transmit the welding current.

[0140] Since the conductive box 43, the main shaft 42, and the roller 41 transmit a very large current during the welding operation, thereby causing heat, a water cooling device is provided. Correspondingly, a water cooling joint is provided on the conductive box 43, so that cooling water can be introduced into the conductive box 43 to cool the outer surfaces of the conductive box 43 and the main shaft 42; a roller cooling box 44 is provided at the tail of the conductive box 43, and the main shaft 42 is a hollow shaft with a cooling water cavity provided inside, which is connected to the roller 41. A water cooling joint is provided on the outside of the roller cooling box 44, and the roller cooling box 44 is connected to the cooling water cavity of the main shaft 42. Therefore, the cooling water can be introduced into the main shaft 42 through the roller cooling box 44, and enters the roller 41, so that the inside of the main shaft 42 and the roller 41 are cooled.

[0141] The rotary drive device 5, such as Figure 5 , Figure 8 , Fig. 9 As shown, it includes a driving motor 51, a motor driving wheel 52, and a driving belt 53; the driving motor 51 is a servo motor, which can accurately adjust the output speed; the output shaft end of the driving motor 51 is equipped with a motor driving wheel 52, the motor driving wheel 52 and the rotating driving wheel 45 are both synchronous pulleys, and the two are connected by a driving belt 53 (i.e., a synchronous belt), which is generally a non-metallic braided belt with good insulation, good synchronous transmission performance, and large transmission torque, so the driving motor 51 can drive the roller 41 to perform precise rotational motion.

[0142] The lifting drive device 6, such as Figure 8 , Fig. 9As shown, it includes a lifting cylinder 61, the cylinder body of the lifting cylinder 61 is fixed on the frame 32, and the end of the piston rod of the lifting cylinder 61 is installed with a lifting platform 62. The welding wheel device 4 and its rotating drive device 5 below are directly fixed on the lifting platform 62, or are connected and fixed on the lifting platform 62 through a bracket. In order to ensure the smooth lifting movement, a guide device is provided between the lifting platform 62 and the side wall of the frame 32, specifically including 4 pairs of lifting linear sliders 63 and lifting linear slide rails 64. The lifting linear sliders 63 are fixed on the lifting platform 62 through an adapter bracket, and the lifting linear slide rails 64 are vertically fixed on the inner side of the side wall of the frame 32. The lifting linear sliders 63 match the lifting linear slide rails 64, and the lifting and lowering movement of the welding wheel device 4 and its rotating drive device 5 and the lifting platform 62 located below are reliably guided, so as to avoid excessive pressure between the rollers 41 of the two welding wheel devices 4 during welding, which causes the welding wheel device 4 below to be skewed.

[0143] The guide device is arranged close to the welding wheel device 4. In order to avoid the large current in the welding process from generating electromagnetic influence on the guide device, causing heat, volatilization of internal grease and affecting the guiding performance, the guide device here is preferably a stainless steel guide device to avoid generating eddy current.

[0144] The trimming device 7 has a specific structure as follows Fig.10 , Fig.11 , Fig.12 ,and Fig.13 As shown, due to installation space limitations, the trimming device 7 installed on the upper side of the welding wheel device 4 is a horizontally arranged trimming device 7, while the trimming device 7 installed on the lower side of the welding wheel device 4 is a vertically arranged trimming device 7.

[0145] The main structures of the horizontally arranged trimming device 7 and the vertically arranged trimming device 7 are the same, including a trimming blade 71, a tool holder 72, a trimming cylinder 73, and a trimming linear guide device. The trimming blade 71 has a blade shape that matches the outer surface shape of the roller 41, and can trim the worn roller 41 to the designed surface shape; the trimming blade 71 is fixedly installed in the tool holder 72, and the blade is exposed; the tool holder 72 is installed at the end of the output piston rod of the trimming cylinder 73, and the trimming cylinder 73 drives the tool holder 72 and the trimming blade 71 to move, approaching or moving away from the roller 41. In order to improve the reliability of the trimming process after the trimming blade 71 contacts the roller 41, a trimming linear guide device is provided between the tool holder 72 and the fixed bracket. Specifically, it includes a trimming linear slider 74 fixed to the tool holder 72, and a trimming linear slide rail 75 connected to the fixed bracket. The trimming linear slider 74 is matched with the trimming linear slide rail 75, so as to bear the force perpendicular to the axial direction of the trimming blade 71 generated during the trimming process of the trimming blade 71 on the roller 41.

[0146] Furthermore, an ash collecting hopper 76 is provided on the blade holder 72, and an ash collecting opening 761 of the ash collecting hopper 76 is provided close to the trimming blade 71; further, according to the difference between the horizontally arranged trimming device 7 and the vertically arranged trimming device 7, such as Fig.13 As shown in FIG. 1 , the ash collecting opening 761 of the ash collecting hopper 76 of the horizontally arranged trimming device 7 is located below the trimming blade 71 and horizontally exceeds the blade end of the trimming blade 71. In this way, the ash generated by the trimming roller 41 of the trimming blade 71 falls under the gravity and falls into the ash collecting hopper 76 through the ash collecting opening 761 to avoid splashing everywhere. Fig.11 , Fig.12 As shown, the ash collecting openings 761 of the ash collecting hopper 76 of the vertically arranged trimming device 7 are located on both sides of the trimming blade 71 and are vertically lower than the blade end of the trimming blade 71. Similarly, the ash generated by the trimming roller 41 of the trimming blade 71 falls due to gravity and falls into the ash collecting hopper 76 through the ash collecting openings 761 near both sides to avoid splashing everywhere.

[0147] Transformer 8, such as Fig.14 , Fig.15 As shown, the positive and negative electrodes are respectively connected to the conductive box 43 of the welding wheel device 4 located below through the first conductive copper plate 81, and are directly connected to the conductive box 43 of the welding wheel device 4 located above through the second conductive copper plate 82.

[0148] Since the welding wheel device 4 located below needs to move up and down with the lifting platform 62, its position relative to the transformer 8 is not fixed, so a conductive flexible connection 812, such as a copper foil flexible connection, a copper wire flexible connection, etc., is preferably provided between the first conductive copper plate 81 and the conductive box 43, so that a reliable conductive connection is achieved between the conductive copper plate and the conductive box 43. Preferably, a conductive connecting plate 622 is provided on the lifting platform 62, which is a copper plate that can pass a large current, one end of which is connected to the conductive flexible connection 812, and the other end is directly connected to the conductive box 43.

[0149] Since the conductive copper plates (the first conductive copper plate 81 and the second conductive copper plate 82) transmit a very large current during the welding process, thereby generating heat, a cooling water channel 94 is provided in the conductive copper plates, through which circulating cooling water can be introduced to cool the conductive copper plates in time.

[0150] Gas-liquid distribution regulating device 9, such as Fig.15 , Fig.17 As shown, it is fixed on the frame 32 and is arranged near the cylinder and the cooling water device, so that the connecting pipe can be saved and the control response is more timely. Each cooling water device is provided with a water cooling joint 95 for connecting the water cooling pipe.

[0151] The tank seam welding head of the present invention has functional requirements, so the welding wheel device 4 body, transformer 8, conductive copper plate, etc. are all made of copper, so they are heavier; therefore, in order to reduce the overall weight, the frame 32 is made of high-strength aluminum alloy, and the cylinder, etc. are made of aluminum alloy.

[0152] The oil tank seam welding head of the present invention has a more integrated structure and a reasonable overall weight. It can be installed at the end of the mechanical arm of the robot 1. As the mechanical arm of the robot 1 moves around the oil tank, the roller 41 of the welding wheel device 4 clamps the edge of the oil tank, and a large current is passed to perform welding. During the process, the mechanical arm moves the oil tank seam welding head along the edge of the oil tank, and the rotary drive device 5 rolls the roller 41, so that the roller 41 presses the edge of the oil tank while rolling along the edge of the oil tank, avoiding sliding friction as much as possible to avoid excessive damage to the roller 41, and also avoiding poor welding surface quality due to sliding.

[0153] During the welding process, the roller 41 will always be damaged. At this time, the roller 41 is trimmed by the trimming device 7. During the trimming process, the trimming cylinder 73 drives the blade of the blade 71 to rest against the surface of the roller 41, and the rotary drive device 5 rotates the roller 41, so as to trim the roller 41 by utilizing the relative movement between the blade and the roller 41; by adjusting the pressure of the compressed air in the trimming cylinder 73, the cutting force of the blade of the blade 71 can be adjusted, thereby adjusting the trimming amount of the surface of the roller 41; after the trimming is completed, because the diameter of the roller 41 is reduced, it is necessary to use the test bench 2 to test the diameter of the roller 41, especially the position The diameter of the roller 41 of the upper welding wheel device 4 is measured and calibrated, so that in the next welding operation, the mechanical arm of the robot 1 can drive the oil tank seam welding head to press down a certain size more to make up for the gap caused by the smaller diameter of the roller 41, so that the roller 41 of the upper welding wheel device 4 is always pressed on the upper surface of the edge of the oil tank during welding, that is, there is no virtual contact, and there is no deformation of the edge of the oil tank due to overpressure. Then, the roller 41 of the lower welding wheel device 4 is driven by the lifting drive device 6 to push up, and the upper and lower rollers 41 are pressed on the upper and lower surfaces of the edge of the oil tank at the same time, and then power is turned on to carry out the welding operation.

[0154] After using the test bench 2 to detect the diameter of the roller 41, the output of the drive motor 51 of the rotation drive device 5 can be synchronously adjusted to make the rolling linear speeds of the upper and lower rollers 41 consistent, and the rolling linear speed of the roller 41 is consistent with the movement speed of the robot arm of the robot 1, thereby avoiding welding quality problems caused by inconsistent linear speeds, such as the robot arm moving too fast, causing the roller 41 to slide on the side of the oil tank, or the roller 41 rolling too fast, causing rolling marks on the side of the oil tank after welding, etc.

[0155] During the welding operation, a relatively small air pressure can be introduced into the dressing cylinder 73 of the dressing device 7, so that the blade of the blade 71 is always against the surface of the roller 41, and the dust and debris adhering to the surface of the roller 41 during the welding process are cleaned off in time to avoid sticking to the surface of the roller 41, which will affect the welding quality and the roller 41; by using a relatively small air pressure, the blade of the blade 71 will not cut the roller 41 during this process, so that its diameter becomes smaller.

[0156] Test bench 2, the specific structure is as follows Fig.18 , Fig.19 As shown, the column 21 is installed on the side of the robot 1, and a test welding table 22 is provided on one side of the upper part of the column 21, and a roller 41 calibration rod 25 is provided on the other side.

[0157] A quick-release clamp 23 is installed on the test welding table 22, and the test sample can be clamped on the test welding table 22 by the quick-release clamp 23. When the parameters are adjusted or work starts every day, the robot 1 can carry the oil tank seam welding head 3 to perform test welding on the test sample on the test welding table 22, and then after determining that the welding effect meets the requirements, the formal welding operation can be carried out on the oil tank to be welded in the oil tank to be welded area.

[0158] The calibration rod 25 is installed on the vertical slider 26, and the calibration rod 25 is arranged horizontally and extends outward; the vertical slider 26 is installed on the vertical slide rail 27, and the vertical slide rail 27 is fixed on the column 21 through the mounting plate, and the vertical slider 26 matches the vertical slide rail 27 to form a vertical motion guide; a reset cylinder 28 is installed at the bottom of the vertical slider 26, and the cylinder body of the reset cylinder 28 is fixed on the mounting plate or the column 21, and the piston rod of the reset cylinder 28 is connected to the vertical slider 26; a rangefinder 29 is also provided, and the body of the rangefinder 29 is fixed on the mounting plate or the column 21, and the measuring end of the rangefinder 29 is connected to the vertical slider 26.

[0159] When in use, firstly, compressed air is introduced into the tail of the reset cylinder 28, so that the vertical slide block 26 drives the calibration rod 25 to rise, and the measuring end of the rangefinder 29 is driven to rise, which is recorded as the upper zero point at this time; the robot 1 moves the tank seam welding head 3 to one side of the calibration rod 25 with the lowest point of the roller 41 of the welding wheel device 4 located above to the extended end of the calibration rod 25, and then the robot 1 drives the tank seam welding head 3 to move downward for a distance A1, until the lowest point of the roller 41 is pressed on the calibration rod 25, and the calibration rod 25 is pressed downward for a distance B; if the roller 41 is of standard size, the downward pressing distance of the calibration rod 25 is B0, but as the roller 41 is trimmed, the diameter becomes smaller, so the calibration rod 25 can only be pressed downward for a distance B1, then R1=(B0-B1) is the radius size reduced by the trimming of the roller 41, and this size is recorded and sent to the robot 1 and the control system of the tank seam welding head 3.

[0160] Similarly, compressed air is introduced into the front part of the reset cylinder 28, so that the vertical slider 26 drives the calibration rod 25 to descend, and the measuring end of the rangefinder 29 is driven to descend, which is recorded as the lower zero point; the robot 1 carries the tank seam welding head 3, aligns the highest point of the roller 41 of the welding wheel device 4 located below with the protruding end of the calibration rod 25, and then the robot 1 drives the tank seam welding head 3 to move upward for a distance A2; until the highest point of the roller 41 is against the calibration rod 25, and the calibration rod 25 is pushed upward for a distance C; if the roller 41 is of standard size, the upward movement distance of the calibration rod 25 is C0, but as the roller 41 is trimmed, the diameter becomes smaller, so the calibration rod 25 can only be pushed upward by a distance C1, then R2 = (C0-C1) is the radius size reduced by the trimming of the roller 41, this size is recorded, and sent to the control system of the tank seam welding head 3.

[0161] The resetting cylinder 28 here plays the role of a gas spring and can perform resetting calibration.

[0162] Preferably, the distance meter 29 is an absolute size distance meter, so that even if there is a deviation in the zero point when the reset cylinder 28 is reset, it will not affect the subsequent distance measurement and the calibration of the radius size of the roller 41.

[0163] When welding again, the robot 1 needs to move the tank seam welding head 3 downward by a distance of R1 to make the roller 41 of the welding wheel device 4 located above the tank seam welding head 3 just against the upper surface of the side plate of the tank to ensure that there will be no cold welding or deformation. Then, the output speed of the drive motor 51 is adjusted according to R1 and R2 to ensure that the rotation linear speed of the upper and lower rollers 41 is consistent with the linear speed of the tank seam welding head 3 driven by the robot 1.

[0164] V=ω0×R0=(ω0+ω1)×(R0-R1)=(ω0+ω2)×(R0-R2)

[0165] V is the moving linear velocity;

[0166] ω0 is the initial output speed of the driving motor 51;

[0167] R0 is the initial radius of the roller 41;

[0168] ω1 and ω2 are the rotation speeds that need to be supplemented after the upper and lower rollers 41 are trimmed.

[0169] The calibration device of the calibration rod 25 can measure the diameter of the roller 41 . When the roller is too large or the roller is excessively worn, an alarm will be issued to require workers to replace the roller 41 .

[0170] In summary, further, the present invention provides a seam welding method of a fully automatic robot seam welding system:

[0171] Step 1, sending the parameters of the oil tank to be welded in the oil tank welding area to the robot 1 and the control system of the oil tank seam welding head 3;

[0172] Step 2, calibrating the diameter of the roller 41; using the calibration rod 25 and the rangefinder 29, the current diameter of the roller 41 of the upper and lower welding wheel device 4 is measured and calibrated, and the calibration parameters are sent to the robot 1 and the control system of the tank seam welding head 3;

[0173] Step 3, the robot 1 drives the oil tank seam welding head 3 to move to the oil tank to be welded area, and welds one of the oil tanks to be welded;

[0174] 3.1, the lifting drive device 6 of the oil tank seam welding machine head 3 drives the welding wheel device 4 below to descend, so that the distance between the upper and lower rollers 41 is maximized;

[0175] 3.2, the upper and lower rollers 41 of the oil tank seam welding head 3 are sleeved on the side seam area to be welded of the oil tank to be welded; the robot 1 drives the oil tank seam welding head 3 to descend, so that the rollers 41 located at the top just fall on the upper surface of the side seam to be welded;

[0176] 3.3, the lifting cylinder 61 of the lifting drive device 6 is actuated to drive the welding wheel device 4 below to rise, so that the roller 41 located below abuts against the lower surface of the edge seam to be welded, and the upper and lower rollers 41 face each other, generating positive pressure on the edge seam to be welded;

[0177] 3.4, the driving motor 51 of the rotary driving device 5 is started, driving the upper line roller 41 to rotate synchronously, and at the same time the robot 1 moves, driving the upper and lower rollers 41 of the tank seam welding head 3 to move along the side seam area to be welded of the tank to be welded;

[0178] At the same time, the transformer 8 is started to transmit welding current to the upper and lower rollers 41, so that a large current passes between the upper rollers 41 to implement welding;

[0179] At the same time, the trimming device 7 is started to clean the ash and slag from the upper and lower rollers 41 in real time;

[0180] 3.5, the robot 1 drives the upper and lower rollers 41 of the oil tank seam welding head 3 to circle around the side seam area to be welded of the oil tank to be welded, thus completing the seam welding operation of the oil tank;

[0181] Transformer 8 suspends power supply;

[0182] The lifting drive device 6 drives the welding wheel device 4 below to descend, and the robot 1 drives the oil tank seam welding head 3 to rise a certain distance, so that the upper and lower rollers 41 are away from the edge of the oil tank;

[0183] Then the robot 1 takes the tank seam welding head 3 away from the welded tank;

[0184] During the process, the blade of the trimming blade 71 of the trimming device 7 can always be against the surface of the roller 41 to perform the ash and slag cleaning operation;

[0185] Step 4, the robot 1 brings the tank seam welding head 3 to the next tank to be welded, and repeats step 3 to perform welding operation;

[0186] Remove the already welded fuel tank and install the new one to be welded;

[0187] Step 5, according to the length of the welding area of ​​a single oil tank and the current diameter of the roller 41, set the number of continuous welding operations of the roller 41;

[0188] When the roller 41 of the tank seam welding head 3 reaches the welding operation number, after the robot 1 takes the tank seam welding head 3 away from the welded tank, a large dressing air pressure is introduced into the dressing cylinder 73 of the dressing device 7, so that the blade of the dressing blade 71 dresses the surface of the roller 41 to remove the potholes on the surface of the roller 41;

[0189] After the trimming is completed, step 2 is executed, that is, the robot 1 brings the tank seam welding machine head 3 to the test bench 2, uses the calibration rod 25 and the rangefinder 29 to recalibrate the diameter size of the upper and lower rollers 41, and sends the calibration parameters to the robot 1 and the control system of the tank seam welding machine head 3;

[0190] At the same time, the number of continuous welding operations of the roller 41 is recalculated and set;

[0191] Then, repeat step 3 to perform welding operation.

[0192] Step 6, when the roller 41 is measured by the test bench 2 in step 5 and is found to be excessively worn, an alarm is sounded to require the worker to replace it; after the replacement is completed, step 2 is executed again to calibrate the diameter of the roller 41, and then step 3 is repeated to perform the welding operation.

[0193] The fully automatic robot seam welding system of the present invention, combined with the above-mentioned seam welding operation method, can perform continuous automatic welding operations on the oil tank during the life of the roller 41, and can ensure good welding quality, greatly improving the welding operation efficiency.

[0194] The preferred embodiments of the present invention have been specifically described above, but the present invention is not limited to the described embodiments. Those skilled in the art may make various equivalent modifications or substitutions without violating the spirit of the present invention. These equivalent modifications or substitutions are all included in the scope defined by the claims of this application.

Claims

1. Fully automatic robot seam welding system, characterized by: It includes the fuel tank welding area, fuel tank seam welding robot, and test bench; The oil tank welding area has more than two oil tanks to be welded; Opposite the oil tank welding area, there is an oil tank seam welding robot, including a robot, and an oil tank seam welding head is installed at the end of the robot's mechanical arm; The tank seam welding machine head includes two upper and lower welding wheel devices, which are respectively connected to the rotary drive device; The upper welding wheel device and its rotating drive device are fixed on the upper part of the frame; the lower welding wheel device and its rotating drive device are installed on the lifting platform of the lifting drive device; the lifting drive device drives the lower welding wheel device to perform vertical lifting movement relative to the upper welding wheel device; A transformer is fixed on the frame, and the positive and negative poles of the transformer are connected to the upper and lower welding wheel devices through conductive copper plates respectively; The welding wheel device is provided with a rotatable roller; the roller is electrically connected to the positive and negative poles of the transformer respectively; The robot drives the oil tank seam welding machine head to circle around the oil tank to be welded. During the circle, the rollers of the upper and lower two welding wheel devices of the oil tank seam welding machine head clamp the edges of the oil tank to be welded, and perform welding operations to seam weld the oil tank; Next to the robot, there is a test bench. The test bench is equipped with a calibration rod for rollers, which is connected to the rangefinder. The control system of the robot and the control system of the tank seam welding head communicate with each other; The measurement parameters of the rangefinder are fed back to the control system of the robot and the control system of the tank seam welding head.

2. The fully automatic robot seam welding system according to claim 1, characterized in that: The tank seam welding machine head is equipped with an aluminum alloy frame on which various components are mounted; A connecting frame for connecting and fixing with the robot is provided on the top of the frame; Dressing devices are respectively installed on the sides of the upper and lower welding wheel devices; A gas-liquid distribution regulating device is fixed on the frame, and the gas-liquid distribution regulating device is connected to a gas or cooling water device through a pipeline; The cables, air pipes, and circulating cooling water pipes are gathered together and set along the robot's mechanical arm; A mounting frame is provided on one side of the connecting frame, and the mounting frame fixes the collected pipelines.

3. The fully automatic robot seam welding system according to claim 1, characterized in that: A welding wheel device, comprising a roller, a main shaft, a conductive box, and a rotating driving wheel; The roller is fixedly mounted on the end of the main shaft; The main shaft is rotatably mounted in the conductive box, and a rotating driving wheel is fixedly mounted on the main shaft; the rotating driving wheel is located between the roller and the conductive box; A rotating conductive device is arranged in the conductive box; and the outer surface of the conductive box is electrically connected to one pole of the transformer.

4. The fully automatic robot seam welding system according to claim 3, characterized in that: A rotary drive device, comprising a drive motor, a motor drive wheel, and a drive belt; The driving motor is a servo motor; The output shaft end of the driving motor is equipped with a motor driving wheel; The motor drive wheel and the rotating drive wheel are both synchronous pulleys; The motor driving wheel and the rotating driving wheel are connected via a driving belt.

5. The fully automatic robot seam welding system according to claim 1, characterized in that: The lifting drive device comprises a lifting cylinder, the cylinder body of the lifting cylinder is fixed on the frame, and the end of the piston rod of the lifting cylinder is equipped with a lifting platform; The welding wheel device located below is directly fixed on the lifting platform; The rotating drive device bracket located below is connected and fixed on the lifting platform; A guide device is arranged between the lifting platform and the side wall of the frame.

6. The fully automatic robot seam welding system according to claim 1, characterized in that: The trimming device installed on the side of the upper welding wheel device is a horizontally arranged trimming device; the trimming device installed on the side of the lower welding wheel device is a vertically arranged trimming device; A dressing device, including a dressing blade, a tool holder, a dressing cylinder, and a dressing linear guide device; The trimming blade has an edge shape that matches the outer surface shape of the roller; The trimming blade is fixedly installed in the blade holder, and the blade edge is exposed; The tool holder is installed at the end of the output piston rod of the dressing cylinder. The dressing cylinder drives the tool holder and the dressing blade to move closer to or farther away from the relative roller. A straight-line trimming guide device is provided between the tool holder and the fixed bracket of the trimming device, including a straight-line trimming slider fixed to the tool holder and a straight-line trimming rail connected to the fixed bracket, and the straight-line trimming slider matches the straight-line trimming rail.

7. The fully automatic robot seam welding system according to claim 6, characterized in that: An ash collecting hopper is arranged on the knife frame, and an ash collecting opening of the ash collecting hopper is arranged close to the trimming blade, and the ash collecting opening is located below the blade.

8. The fully automatic robot seam welding system according to claim 1, characterized in that: One pole of the transformer is connected to a conductive box of a welding wheel device located below through a first conductive copper plate; A conductive soft connection is provided between the first conductive copper plate and the conductive box; The other pole of the transformer is directly connected to the conductive box of the welding wheel device located above through the second conductive copper plate.

9. The fully automatic robot seam welding system according to claim 8, characterized in that: Cooling water channels are provided in the first conductive copper plate and the second conductive copper plate; The cooling water channel is connected to the circulating cooling water pipe through a water cooling joint.

10. The fully automatic robot seam welding system according to claim 1, characterized in that: A test welding table is provided on one side of the upper part of the test bench; A quick-release clamp is installed on the test welding table.

11. The fully automatic robot seam welding system according to claim 1, characterized in that: The calibration rod of the test bench is set horizontally and extends outward; The calibration rod is mounted on the vertical slider, the vertical slider is mounted on the vertical slide rail, the vertical slide rail is fixed on the column through the mounting plate, and the vertical slider matches the vertical slide rail to form a vertical motion guide; A reset cylinder is installed at the bottom of the vertical slider, the cylinder body of the reset cylinder is fixed on the mounting plate, and the piston rod of the reset cylinder is connected to the vertical slider; the piston rod of the reset cylinder can drive the vertical slider and the calibration rod to rise or fall; The body of the rangefinder is fixed on the mounting plate, and the measuring end of the rangefinder is connected to the vertical slider.

12. The seam welding method of the fully automatic robot seam welding system is characterized in that: The fully automatic robot seam welding system according to any one of claims 1 to 11 includes the following seam welding steps: Step 1, sending the parameters of the oil tank to be welded in the oil tank welding area to the robot and the control system of the oil tank seam welding head; Step 2, roller diameter calibration: using the calibration rod and the rangefinder, the current diameter of the roller of the upper and lower welding wheel devices is measured and calibrated, and the calibration parameters are sent to the robot and the control system of the tank seam welding head; Step 3, the robot drives the oil tank seam welding head to move to the oil tank to be welded area, and welds one of the oil tanks to be welded; 3.

1. The lifting drive device of the oil tank seam welding machine head drives the welding wheel device below to descend, so that the distance between the upper and lower rollers is the largest; 3.

2. The upper and lower rollers of the oil tank seam welding machine head are set on the side seam area to be welded of the oil tank to be welded; The robot 1 drives the tank seam welding head to descend, so that the roller located above falls exactly on the upper surface of the side seam to be welded; 3.3, the lifting cylinder of the lifting drive device moves, driving the welding wheel device below to rise, so that the roller located below abuts against the lower surface of the edge seam to be welded, and the upper and lower rollers face each other, generating positive pressure on the edge seam to be welded; 3.4, the driving motor of the rotary drive device starts, driving the upper thread roller to rotate synchronously; At the same time, the robot moves, driving the upper and lower rollers of the tank seam welding head to move along the side seam area of ​​the tank to be welded; At the same time, the transformer starts to transmit welding current to the upper and lower rollers, so that a large current passes between the upper rollers to implement welding; 3.5, the robot drives the upper and lower rollers of the oil tank seam welding head to circle around the side seam area of ​​the oil tank to be welded, thus completing the seam welding operation of the oil tank; 3.6, welding is completed, Transformer suspends power supply; The lifting drive device drives the welding wheel device below to descend, and the robot drives the oil tank seam welding head to rise a certain distance, so that the upper and lower rollers leave the edge of the oil tank; The robot then takes the tank seam welding head away from the welded tank; Step 4: The robot moves the tank seam welding head to the next tank to be welded and repeats step 3 to perform welding operations; Remove the welded fuel tank and install the new fuel tank to be welded.

13. The seam welding method of the fully automatic robot seam welding system according to claim 12, characterized in that: In the above step 3, when the roller rotates, the dressing device is started, and the blade of the dressing blade of the dressing device is against the surface of the roller to clean the ash.

14. The seam welding method of the fully automatic robot seam welding system according to claim 12 or 13, characterized in that: There is also a step 5, setting the number of continuous welding operations of the roller according to the length of the welding area of ​​the single oil tank and the current diameter of the roller; When the roller of the tank seam welding machine head reaches the welding operation number, step 3 ends, that is, after the robot takes the tank seam welding machine head away from the welded tank, the dressing cylinder of the dressing device is supplied with dressing air pressure, so that the blade of the dressing blade dresses the surface of the roller to remove the potholes on the roller surface; After the trimming is completed, step 2 is executed, that is, the robot brings the tank seam welding machine head to the test bench, uses the calibration rod and the rangefinder to recalibrate the diameter size of the upper and lower rollers, and sends the calibration parameters to the robot and the control system of the tank seam welding machine head; At the same time, the number of continuous welding operations of the setting roller is recalculated; Then, repeat step 3 to perform welding operation.

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