Self-adjusting type force control welding seam back gouging equipment and welding machining system

Abstract

The invention provides a self-adjusting type force control welding seam back gouging device and a welding machining system, and the self-adjusting type force control welding seam back gouging device comprises a back gouging mechanism which comprises a floating force control actuator, a back gouging driver and a back gouging grinding wheel; the moving mechanism comprises a frame body, a trundle assembly, a driving assembly and a laser detector, and the driving assembly and the laser detector are connected to the frame body; and the floating force control actuator, the back gouging driver and the laser detector are respectively in signal connection with the central control mechanism. According to the back gouging device, the back gouging controllability can be improved, noise, smoke and spark pollution generated in the back gouging process can be effectively reduced, meanwhile, the specific machining depth of the back gouging mechanism can be monitored, regulated and controlled through a laser detector in the moving mechanism, and therefore back gouging machining can be accurately controlled. Compared with an existing back gouging technology, the back gouging device has the remarkable advantages of being high in controllable clearance, high in machining precision, stable in machining process, wide in application range, high in automation degree, environmentally friendly and the like.

Description

Technical Field

[0001] The invention relates to the technical field of welding root cleaning, and in particular to a self-adjusting force-controlled weld root cleaning device and a welding processing system. Background Art

[0002] In the steel structure manufacturing industry, the quality of butt welds plays a vital role in the stability and durability of the entire structure. Especially for thicker plates, traditional welding processes usually use a multi-layer multi-pass welding mode to ensure the strength and sealing of the weld. In this process, the base weld is the basis of welding, which requires precise welding at the bottom of the groove where the two plates are spliced, and the subsequent multi-layer multi-pass filling weld is to gradually fill the groove to achieve the required weld size and performance.

[0003] However, after the root welding is completed, in order to ensure the quality of the subsequent filling welding, the root cleaning of the root welding surface must be carried out. This step is crucial because it involves removing oxides, slag and other impurities on the surface of the root welding to provide a clean and flat welding interface for multi-layer and multi-pass filling welding. At present, the root cleaning process mainly relies on carbon planing root cleaning and plasma root cleaning technology, but these two methods have many problems in practical application.

[0004] Although carbon planer root cleaning and plasma root cleaning technologies can meet the root cleaning needs to a certain extent, they are inefficient, have serious noise pollution, and are difficult to accurately control the root cleaning depth in actual operation, resulting in fluctuations in welding quality and poor adaptability. The sparks and smoke generated during the carbon planer root cleaning process pollute the environment, and at the same time, the operators need to endure greater labor intensity and noise interference. Although plasma root cleaning is relatively environmentally friendly, its equipment cost is high, the operation is complicated, and the operator's skills are required to be high.

[0005] In addition, since the adjustment of the root cleaning depth depends on the operator's experience and feeling, there is often a large subjective error, which directly affects the quality of the welded joint and the overall performance of the structure. During the welding process, this error may lead to weld defects such as pores, cracks and slag inclusions, thereby reducing the reliability and safety of the steel structure. Summary of the invention

[0006] Therefore, the technical problem to be solved by the present invention is to overcome the problems of unstable root cleaning quality and serious pollution in the prior art, and to provide a self-adjusting force-controlled weld root cleaning device and a welding processing system.

[0007] In order to solve the above technical problems, the present invention provides a self-adjusting force-controlled weld root cleaning device, which includes: a root cleaning mechanism, the root cleaning mechanism includes a floating force-controlled actuator, a root cleaning driver and a root cleaning grinding wheel, the root cleaning grinding wheel is connected to the working end of the floating force-controlled actuator and the working end of the root cleaning driver, and is rotated around its axial direction through the root cleaning driver, and can move toward / away from the weld to be processed; a moving mechanism, the moving mechanism includes a frame, at least two caster assemblies, a driving assembly and at least one laser detector, the root cleaning mechanism is slidably connected to the frame, the at least two caster assemblies are connected to both ends of the frame and supported on the surface to be processed to adjust the position of the moving mechanism, the driving assembly and the at least one laser detection assembly are respectively connected to the frame, wherein the working end of the driving assembly is connected to the root cleaning mechanism to drive the root cleaning mechanism to move along a first direction, and the at least one laser detection assembly is arranged at the end of the frame in the first direction and arranged toward the weld to be processed; a central control mechanism, the floating force-controlled actuator, the root cleaning driver and the laser detector are respectively connected to the central control mechanism by signal.

[0008] In one embodiment of the present invention, the moving mechanism further comprises at least one proximity sensor, and the at least one proximity sensor is connected to the frame and disposed toward the root cleaning mechanism.

[0009] In one embodiment of the present invention, the frame includes a main body, a gripping portion, an assembly portion and a fixing plate, the main body extends along a first direction, the root cleaning mechanism is slidably connected to the main body, the gripping portion is arranged at one end of the main body, the assembly portion is arranged at both ends of the frame in the first direction, the at least two caster assemblies are respectively connected to the assembly portion, the fixing plate is arranged on the frame, the laser detector is connected to the fixing plate, and can be moved and adjusted along a second direction.

[0010] In one embodiment of the present invention, the moving mechanism also includes an adjustment component, which includes a pull rod and an adjustment handwheel. Both ends of the pull rod are respectively passed through the frame and respectively threadedly engaged with the frame. The adjustment handwheel is connected to one end of the pull rod to drive the pull rod to rotate around its axis.

[0011] In one embodiment of the present invention, any of the caster assemblies comprises at least two movable wheels, a mounting frame and a connecting shaft, wherein the connecting shaft extends along the second direction, passes through and connects the frame body and the mounting frame, and the at least two movable wheels are arranged at the bottom of the mounting frame, and the mounting frame is connected to the pull rod, and rotates around the connecting shaft through the pull rod.

[0012] In one embodiment of the present invention, the driving assembly includes a rotary driver and a screw. The rotary driver is disposed on the frame, and its working end is connected to one end of the screw. The screw extends along a first direction, and its two ends are respectively connected to the frame. The screw passes through the root cleaning mechanism and is threadedly engaged with the root cleaning mechanism to enable the root cleaning mechanism to move along the first direction.

[0013] In one embodiment of the present invention, the driving assembly also includes a guide rail and at least one slider, the guide rail extends along a first direction, and its two ends are respectively connected to the frame, and the at least one slider is slidably connected to the guide rail and connected to the root cleaning mechanism.

[0014] In one embodiment of the present invention, the root cleaning mechanism also includes a connecting plate and a lifting slide plate, wherein the connecting plate is connected to the frame and extends along a first direction, and a lifting module is provided thereon. The lifting slide plate is slidably connected to the lifting module, and the root cleaning grinding wheel is arranged on the lifting slide plate and moves synchronously with the lifting slide plate.

[0015] In one embodiment of the present invention, the root cleaning mechanism also includes a transmission belt and a tensioning assembly, the transmission belt is sleeved on the working end of the root cleaning driver and the root cleaning grinding wheel, the tensioning assembly includes a tensioning wheel, a fixed frame and an adjusting member, the fixed frame is arranged on the lifting slide, one end of the adjusting member is passed through the fixed frame, and the other end is connected to the tensioning wheel to move the tensioning wheel toward / away from the transmission belt.

[0016] The present invention also provides a self-adjusting force-controlled weld root cleaning method, which adopts the above-mentioned self-adjusting force-controlled weld root cleaning equipment to perform self-adjusting force-controlled weld root cleaning processing on the weld, which includes: step S1, moving the self-adjusting force-controlled weld root cleaning equipment to the surface to be processed, and making it located at the end of the weld to be cleaned in the first processing area; step S2, collecting preset depth data of the weld to be cleaned through a laser detector, and driving the root cleaning grinding wheel to clean and grind the weld through a central control mechanism, and driving the root cleaning mechanism to move along the weld to be processed. During this process, the floating force control actuator performs real-time force control adjustment on the root cleaning grinding wheel; step S3, repeating the above process until the root cleaning grinding wheel is down to the preset depth; step S4, moving the self-adjusting force-controlled weld root cleaning equipment to the end of the weld to be cleaned in the second processing area, repeating steps S1 to S3, until all weld root cleaning processing on the surface to be processed is completed.

[0017] The above technical solution of the present invention has the following advantages compared with the prior art: The self-adjusting force-controlled weld root cleaning equipment and welding processing system described in the present invention provide a mobile installation platform for the root cleaning mechanism through a mobile mechanism, so that the mobile mechanism can stably move along the weld to be processed, wherein the root cleaning mechanism adopts force-controlled grinding to perform root cleaning, which can not only improve the controllability of root cleaning, but also effectively reduce the noise, smoke and spark pollution generated during the root cleaning process. At the same time, the laser detector in the mobile mechanism can monitor and control the specific processing depth of the root cleaning mechanism, thereby realizing precise control of the root cleaning process, and then achieving the purpose of significantly improving the product yield. Compared with the conventional root cleaning processing technology at this stage, the present application has significant advantages such as controllable cleaning, high processing accuracy, stable processing process, wide application range, high degree of automation and environmental friendliness, and has broad application prospects in this industry. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] In order to make the contents of the present invention more clearly understood, the present invention is further described in detail below based on specific embodiments of the present invention in conjunction with the accompanying drawings.

[0019] Figure 1 It is a three-dimensional structural schematic diagram of a self-adjusting force-controlled weld root cleaning device and a surface to be processed in a preferred embodiment of the present invention; Figure 2 yes Figure 1 Schematic diagram of the three-dimensional structure of the self-adjusting force-controlled weld root cleaning equipment; Figure 3 yes Figure 1 The enlarged schematic diagram at A in the middle; Figure 4 yes Figure 1 A three-dimensional structural diagram of the self-adjusting force-controlled weld root cleaning equipment from another perspective in the middle part; Figure 5 yes Figure 1 A schematic diagram of the three-dimensional structure of the frame of the self-adjusting force-controlled weld root cleaning equipment shown; Figure 6 yes Figure 1 A three-dimensional structural schematic diagram of a caster assembly and an adjustment assembly in the self-adjusting force-controlled weld root cleaning device shown; Figure 7 yes Figure 1 The enlarged schematic diagram of point B in the middle; Figure 8 yes Figure 1 A schematic diagram of the three-dimensional structure of a driving component in the self-adjusting force-controlled weld root cleaning device shown; Fig. 9 yes Figure 1 A three-dimensional structural schematic diagram of a root cleaning mechanism in a self-adjusting force-controlled weld root cleaning device is shown; Fig.10 yes Fig. 9 An exploded view of the structure of the root cleaning mechanism.

[0020] Description of the reference numerals in the specification: 100, moving mechanism; 110, frame; 111, main body; 112, gripping portion; 113, assembly portion; 114, fixing plate; 120, proximity sensor; 130, caster assembly; 131, moving wheel; 132, mounting frame; 133, connecting shaft; 140, adjustment assembly; 141, pull rod; 142, adjustment hand wheel; 150, driving assembly; 151, guide rail; 152, slider; 153, rotary drive; 154, screw; 1 60. Laser detector; 200. Root cleaning mechanism; 210. Connecting plate; 211. Lifting module; 220. Lifting slide; 230. Floating force control actuator; 240. Root cleaning driver; 250. Transmission belt; 260. Root cleaning grinding wheel; 270. Cover; 280. Tensioning assembly; 281. Tensioning wheel; 282. Fixed frame; 283. Adjusting member; 300. Central control mechanism; 400. Surface to be processed; 410. Weld; X, first direction; Y, second direction; Y, third direction. DETAILED DESCRIPTION

[0021] The present invention is further described below in conjunction with the accompanying drawings and specific embodiments so that those skilled in the art can better understand the present invention and implement it, but the embodiments are not intended to limit the present invention. Embodiment 1

[0022] See also Figure 1 and Figure 2As shown, this embodiment provides a self-adjusting force-controlled weld root cleaning device, which includes: a root cleaning mechanism 200, the root cleaning mechanism 200 includes a floating force-controlled actuator 230, a root cleaning driver 240 and a root cleaning grinding wheel 260, the root cleaning grinding wheel 260 is connected to the working end of the floating force-controlled actuator 230 and the working end of the root cleaning driver 240, and it is rotated around its axis through the root cleaning driver 240, and can move toward / away from the weld 410 to be processed; a moving mechanism 100, the moving mechanism 100 includes a frame 110, at least two caster assemblies 130, a drive assembly 150 and at least one laser detector 160, the root cleaning mechanism 200 is slidably connected to the frame 110, and the at least two caster assemblies 130 are connected to the frame 110. At least two caster assemblies 130 are connected to both ends of the frame 110 and supported on the surface 400 to be processed to adjust the position of the moving mechanism 100. The driving assembly 150 and the at least one laser detection assembly are respectively connected to the frame 110, wherein the working end of the driving assembly 150 is connected to the root cleaning mechanism 200 to drive the root cleaning mechanism 200 to move along the first direction X, and the at least one laser detection assembly is arranged at the end of the frame 110 in the first direction X and is arranged toward the weld 410 to be processed; the central control mechanism 300, the floating force control actuator 230, the root cleaning driver 240 and the laser detector 160 are respectively connected to the central control mechanism 300 by signal.

[0023] The self-adjusting force-controlled weld 410 root cleaning equipment described in this embodiment provides a mobile installation platform for the root cleaning mechanism 200 through the mobile mechanism 100, so that the mobile mechanism 100 can stably move along the weld 410 to be processed, wherein the root cleaning mechanism 200 uses force-controlled grinding to perform root cleaning, which can not only improve the controllability of root cleaning, but also effectively reduce the noise, smoke and spark pollution generated during the root cleaning process. At the same time, the laser detector 160 in the mobile mechanism 100 can monitor and control the specific processing depth of the root cleaning mechanism 200, thereby achieving precise control of the root cleaning process, and then achieving the purpose of significantly improving the product yield. Compared with the conventional root cleaning processing technology at this stage, the present application has significant advantages such as controllable cleaning, high processing accuracy, stable processing process, wide application range, high degree of automation and environmental friendliness, and has broad application prospects in this industry.

[0024] It should be noted that, for ease of description, in this embodiment, the length direction of the self-adjusting force-controlled weld 410 root cleaning device is defined as the first direction X, the width direction of the self-adjusting force-controlled weld 410 root cleaning device is defined as the second direction Y, and the height direction of the self-adjusting force-controlled weld 410 root cleaning device is defined as the third direction Z, wherein the first direction X, the second direction Y and the third direction Z are arranged perpendicular to each other, and the first direction X and the second direction Y are located in the same plane. In addition, in the actual production and processing process, the operator can control the above structure in real time through the central control mechanism 300, thereby improving the flexibility of the use of the device, and can also preset parameters through the central control mechanism 300, thereby improving the automation of the device.

[0025] See also Figure 1 and Figure 2 As shown, in this embodiment, the frame 110 is used to provide an installation connection platform for other structures, and includes a main body 111, a gripping portion 112, an assembly portion 113 and a fixing plate 114. The main body 111 extends along a first direction X, and the root cleaning mechanism 200 is slidably connected to the main body 111. The gripping portion 112 is disposed at one end of the main body 111. The operator can move the self-adjusting force-controlled weld 410 root cleaning device as a whole through the gripping portion 112. The assembly portion 113 is disposed at both ends of the frame 110 in the first direction X, and the at least two caster assemblies 130 are respectively connected to the assembly portion 113. The fixing plate 114 is disposed on the frame 110, and the laser detector 160 is connected to the fixing plate 114 and can be moved and adjusted along a second direction Y. Further, see Figure 3 As shown, the fixed plate 114 in this embodiment is arranged at one end of the main body 111, and the laser detector 160 is connected to the fixed plate 114 through a screw 154 which can adjust the extension length and the rotation angle along the second direction Y. Based on this, the operator can flexibly adjust the detection position of the laser detector 160 according to actual use needs, thereby improving the degree of automation of the self-adjusting force-controlled weld 410 root cleaning equipment.

[0026] See also Figure 4 and Figure 5As shown, further, the mobile mechanism 100 in this embodiment also includes at least one proximity sensor 120, and the at least one proximity sensor 120 is connected to the frame 110 and is arranged toward the root cleaning mechanism 200. The proximity sensor 120 is used to limit the movement process of the mobile mechanism 100. When the root cleaning mechanism 200 moves to the end close to the frame 110, it can adjust the root cleaning mechanism 200 to stop moving. Specifically, the length of the main body 111 in this embodiment is configured to be 1.2m, so that the maximum moving distance of the root cleaning mechanism 200 on the main body 111 does not exceed 1.2m. The present invention does not limit the specific length of the main body 111. In different embodiments, the frame 110 can also adopt a detachable splicing structure, thereby further improving its flexibility of use.

[0027] See also Figure 6 As shown, in this embodiment, an adjustment component 140 is also provided, and the adjustment component 140 includes a pull rod 141 and an adjustment hand wheel 142. Both ends of the pull rod 141 are respectively penetrated through the frame 110, and are respectively threaded with the frame 110. The adjustment hand wheel 142 is connected to one end of the pull rod 141 to drive the pull rod 141 to rotate around its axial direction. Based on the setting of the adjustment component 140, the actual working position of the caster assembly 130 can be adjusted. Specifically, the pull rod 141 in this embodiment is preferably a forward and reverse bidirectional screw rod, thereby being able to adjust the two caster assemblies 130 at the same time according to actual use requirements, or to adjust any one of the caster assemblies 130 in a targeted manner, thereby achieving the purpose of improving the use range and mobile stability of the self-adjusting force-controlled weld 410 root cleaning equipment.

[0028] See also Figure 7 As shown, any of the caster assemblies 130 in this embodiment includes at least two moving wheels 131, a mounting frame 132 and a connecting shaft 133, wherein the connecting shaft 133 extends along the second direction Y, and is arranged to connect the frame 110 and the mounting frame 132, wherein the at least two moving wheels 131 are arranged at the bottom of the mounting frame 132, and the mounting frame 132 is connected to the pull rod 141, and rotates around the connecting shaft 133 through the pull rod 141, thereby providing a connection structure among the caster assembly 130, the adjustment assembly 140 and the frame 110.

[0029] See also Figure 7 and Figure 8As shown, the drive assembly frame in this embodiment is used to drive the root cleaning mechanism 200 to move along the frame 110, and includes a rotary driver 153 and a screw 154. The rotary driver 153 is arranged on the frame 110, and its working end is connected to one end of the screw 154. The screw 154 extends along the first direction X, and its two ends are respectively connected to the frame 110. The root cleaning mechanism 200 is penetrated and threadedly matched with the root cleaning mechanism 200, so that the root cleaning mechanism 200 moves along the first direction X. Specifically, the root cleaning mechanism 200 in this embodiment is provided with an assembly block (not shown in the figure) that can be threadedly matched with the screw 154. Further, the drive assembly 150 also includes a guide rail 151 and at least one slider 152. The guide rail 151 extends along the first direction X, and its two ends are respectively connected to the frame 110. The at least one slider 152 is slidably connected to the guide rail 151 and connected to the root cleaning mechanism 200. Based on the structural configuration of the guide rail 151 and the slider 152, the present application can connect and guide the movement process of the root cleaning mechanism 200, thereby improving its movement stability and accuracy, thereby fundamentally avoiding the problem of processing position deviation.

[0030] See also Fig. 9 and Fig.10 As shown, the root cleaning mechanism 200 also includes a connecting plate 210 and a lifting slide 220. The connecting plate 210 is connected to the frame 110 and extends along the first direction X. A lifting module 211 is provided on the connecting plate 210. The lifting slide 220 is slidably connected to the lifting module 211. The root cleaning grinding wheel 260 is provided on the lifting slide 220 and moves synchronously with the lifting slide 220. Further, the assembly block in this embodiment is provided on the connecting plate 210. The lifting module 211 is preferably two slide rails extending along the third direction Z. Two sliders 152 are correspondingly provided on the lifting slide 220 to realize the sliding connection structure between the lifting slide 220 and the connecting plate 210. Specifically, the floating force control actuator 230 in this embodiment is arranged on the lifting slide 220, and moves synchronously with the lifting slide 220, and its working end is connected to the root cleaning grinding wheel 260. In the specific root cleaning process, the lifting slide 220 can monitor and adjust the relative extrusion force between the root cleaning grinding wheel 260 and the surface to be processed 400 in real time, thereby ensuring that the root cleaning grinding wheel 260 can act on the weld 410 to be processed with a constant force, thereby ensuring the uniformity and stability of the processing quality. In addition, in this embodiment, the root cleaning mechanism 200 also includes a cover 270 to protect its internal structure.

[0031] Specifically, the root cleaning mechanism 200 in this embodiment also includes a transmission belt 250 and a tensioning assembly 280. The transmission belt 250 is sleeved on the working end of the root cleaning driver 240 and the root cleaning grinding wheel 260. The tensioning assembly 280 includes a tensioning wheel 281, a fixed frame 282 and an adjusting member 283. The fixed frame 282 is arranged on the lifting slide 220. One end of the adjusting member 283 is passed through the fixed frame 282, and the other end is connected to the tensioning wheel 281 so that the tensioning wheel 281 moves toward / away from the transmission belt 250. Embodiment 2

[0032] This embodiment provides a self-adjusting force-controlled weld 410 root cleaning method, which uses the above-mentioned self-adjusting force-controlled weld 410 root cleaning device to perform self-adjusting force-controlled weld 410 root cleaning processing on the weld 410, which includes: Step S1, moving the self-adjusting force-controlled weld 410 root cleaning device to the surface 400 to be processed, and positioning it at the end of the weld 410 to be root cleaned in the first processing area; Step S2, collecting the preset depth data of the root cleaning through the laser detector 160, and driving the root cleaning grinding wheel 260 through the central control mechanism 300 to perform root cleaning and grinding on the weld 410, and driving the root cleaning mechanism 200 to move along the weld 410 to be processed. During this process, the floating force control actuator 230 performs real-time force control adjustment on the root cleaning grinding wheel 260; Step S3, repeat the above process until the root cleaning grinding wheel 260 reaches a preset depth; Step S4, moving the self-adjusting force-controlled weld 410 root cleaning device to the end of the weld 410 to be root cleaned in the second processing area, repeating steps S1 to S3 until the root cleaning of all welds 410 on the surface 400 to be processed is completed.

[0033] In summary, the self-adjusting force-controlled weld 410 root cleaning equipment and welding processing system described in the present invention provide a mobile installation platform for the root cleaning mechanism 200 through the mobile mechanism 100, so that the mobile mechanism 100 can stably move along the weld 410 to be processed, wherein the root cleaning mechanism 200 uses force-controlled grinding to perform root cleaning, which can not only improve the controllability of root cleaning, but also effectively reduce the noise, smoke and spark pollution generated during the root cleaning process. At the same time, the laser detector 160 in the mobile mechanism 100 can monitor and control the specific processing depth of the root cleaning mechanism 200, thereby realizing precise control of the root cleaning process, and then achieving the purpose of significantly improving the product yield. Compared with the conventional root cleaning processing technology at this stage, the present application has significant advantages such as controllable cleaning, high processing accuracy, stable processing process, wide application range, high degree of automation and environmental friendliness, and has broad application prospects in this industry.

[0034] Obviously, the above embodiments are merely examples for clear explanation and are not intended to limit the implementation methods. For those skilled in the art, other different forms of changes or modifications can be made based on the above description. It is not necessary and impossible to list all the implementation methods here. The obvious changes or modifications derived from these are still within the protection scope of the invention.

Claims

1. A self-adjusting force-controlled weld root cleaning device, characterized in that: include: A root cleaning mechanism, the root cleaning mechanism comprising a floating force-controlled actuator, a root cleaning driver and a root cleaning grinding wheel, the root cleaning grinding wheel being connected to the working end of the floating force-controlled actuator and the working end of the root cleaning driver, being rotatable around its axial direction through the root cleaning driver, and being movable toward / away from the weld to be processed; A moving mechanism, the moving mechanism comprising a frame, at least two caster assemblies, a driving assembly and at least one laser detector, the root cleaning mechanism is slidably connected to the frame, the at least two caster assemblies are connected to both ends of the frame and supported on the surface to be processed to adjust the position of the moving mechanism, the driving assembly and the at least one laser detection assembly are respectively connected to the frame, wherein the working end of the driving assembly is connected to the root cleaning mechanism to drive the root cleaning mechanism to move in a first direction, and the at least one laser detection assembly is arranged at the end of the frame in the first direction and is arranged toward the weld to be processed; The central control mechanism, the floating force control actuator, the root cleaning driver and the laser detector are respectively connected to the central control mechanism by signals.

2. The self-adjusting force-controlled weld root cleaning device according to claim 1 is characterized in that: The moving mechanism further includes at least one proximity sensor, which is connected to the frame and disposed toward the root cleaning mechanism.

3. The self-adjusting force-controlled weld root cleaning device according to claim 1 is characterized in that: The frame includes a main body, a gripping portion, an assembly portion and a fixing plate, the main body extends along a first direction, the root cleaning mechanism is slidably connected to the main body, the gripping portion is arranged at one end of the main body, the assembly portion is arranged at both ends of the frame in the first direction, the at least two caster assemblies are respectively connected to the assembly portion, the fixing plate is arranged on the frame, and the laser detector is connected to the fixing plate and can be moved and adjusted along a second direction.

4. The self-adjusting force-controlled weld root cleaning device according to claim 1 is characterized in that: The moving mechanism also includes an adjustment component, which includes a pull rod and an adjustment hand wheel. Both ends of the pull rod are respectively passed through the frame and respectively engaged with the frame thread. The adjustment hand wheel is connected to one end of the pull rod to drive the pull rod to rotate around its axis.

5. The self-adjusting force-controlled weld root cleaning device according to claim 4 is characterized in that: Any of the caster assemblies includes at least two movable wheels, a mounting frame and a connecting shaft, wherein the connecting shaft extends along the second direction, passes through and connects the frame body and the mounting frame, and the at least two movable wheels are arranged at the bottom of the mounting frame, and the mounting frame is connected to the pull rod, and rotates around the connecting shaft through the pull rod.

6. The self-adjusting force-controlled weld root cleaning device according to claim 1 is characterized in that: The driving assembly includes a rotary driver and a screw. The rotary driver is arranged on the frame, and its working end is connected to one end of the screw. The screw extends along a first direction, and its two ends are respectively connected to the frame. The root cleaning mechanism is passed through the screw and is threadedly matched with the root cleaning mechanism to enable the root cleaning mechanism to move along the first direction.

7. The self-adjusting force-controlled weld root cleaning device according to claim 1 is characterized in that: The driving assembly also includes a guide rail and at least one slider. The guide rail extends along a first direction, and its two ends are respectively connected to the frame. The at least one slider is slidably connected to the guide rail and is connected to the root cleaning mechanism.

8. The self-adjusting force-controlled weld root cleaning device according to claim 1 is characterized in that: The root cleaning mechanism also includes a connecting plate and a lifting slide plate. The connecting plate is connected to the frame and extends along a first direction. A lifting module is arranged on the connecting plate. The lifting slide plate is slidably connected to the lifting module. The root cleaning grinding wheel is arranged on the lifting slide plate and moves synchronously with the lifting slide plate.

9. The self-adjusting force-controlled weld root cleaning device according to claim 8, characterized in that: The root cleaning mechanism also includes a transmission belt and a tensioning assembly. The transmission belt is sleeved on the working end of the root cleaning driver and the root cleaning grinding wheel. The tensioning assembly includes a tensioning wheel, a fixed frame and an adjusting member. The fixed frame is arranged on the lifting slide. One end of the adjusting member is passed through the fixed frame, and the other end is connected to the tensioning wheel to move the tensioning wheel toward / away from the transmission belt.

10. A self-adjusting force-controlled weld root cleaning method, characterized in that: The self-adjusting force-controlled weld root cleaning device according to any one of claims 1 to 9 is used to perform self-adjusting force-controlled weld root cleaning processing on the weld, which comprises: Step S1, moving the self-adjusting force-controlled weld root cleaning device to the surface to be processed, and positioning it at the end of the weld to be root cleaned in the first processing area; Step S2, collecting preset depth data of the root to be cleaned by a laser detector, and driving the root cleaning grinding wheel to clean and grind the weld by a central control mechanism, and driving the root cleaning mechanism to move along the weld to be processed. During this process, the floating force control actuator performs real-time force control adjustment on the root cleaning grinding wheel; Step S3, repeat the above process until the root cleaning grinding wheel reaches a preset depth; Step S4, moving the self-adjusting force-controlled weld root cleaning device to the end of the weld to be cleaned in the second processing area, and repeating steps S1 to S3 until all weld root cleaning processes on the surface to be processed are completed.

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