A wheel set design method for an internal welding mobile platform and a wheel set thereof

Abstract

The application relates to a wheel set design method of an internal welding mobile platform and a wheel set thereof. The wheel set design method comprises the following steps: a conventional wheel set is installed on the internal welding mobile platform to perform a test, and the distribution of welding spatter particles in a welding process is obtained; the number of limiting rings required at different positions is calculated according to the distribution of the welding spatter particles; the number of wheel discs is determined according to the weight of the internal welding mobile platform and the magnetic force of the wheel discs; the length of a wheel shaft is designed according to the size of the internal welding mobile platform, the number of the limiting rings and the number of the wheel discs; a wheel set assembly mode is formulated according to a welding technology, and the gap between adjacent wheel discs is adjusted; a new wheel set is assembled according to the wheel set assembly mode, the new wheel set is installed on the internal welding mobile platform to perform a simulation test, and the new wheel set is optimized and adjusted according to a test result; and the wheel set is obtained by using the wheel set design method. The application can effectively reduce the influence of the spatter particles on the wheel set and ensure the stable bearing of the wheel set.

Description

Technical Field

[0001] This application relates to the field of welding equipment technology, specifically to a wheel design method and wheel set of an internal welding mobile platform. Background Technology

[0002] Internal welding is a common practical problem encountered in welding production, especially in the welding of large bridges, pressure vessels, oil and gas pipelines, etc. Since it is difficult for construction personnel to enter the interior of the structure, internal welding is often completed using a dedicated internal welding mobile platform.

[0003] These welding platforms primarily utilize permanent magnet wheels with strong magnetic force for movement. However, the welding process inevitably generates a large amount of spatter. This molten metal, splashed from the weld pool, cools rapidly upon contact with air, forming irregular metal particles that severely hinder the smooth and precise rolling of the magnetic wheels on the internal welding platform. This results in a significant decrease in the quality and precision of the internal welding process. Therefore, designing a wheel set suitable for internal welding platforms that effectively reduces the impact of spatter is crucial for improving welding quality and precision. However, currently, there is no specific design method for such wheel sets, making it impossible to design a wheel set suitable for internal welding platforms that effectively reduces the impact of spatter. Summary of the Invention

[0004] To address the problems existing in the prior art, this application aims to provide a wheel assembly design method and a wheel assembly for an internal welding mobile platform. The wheel assembly design method for the internal welding mobile platform can effectively reduce the impact of spatter particles on the wheel assembly, ensure stable load-bearing capacity, adapt to the structure of the internal welding mobile platform, and improve applicability and reliability.

[0005] The wheel assembly design method for an internal welding mobile platform described in this application includes the following steps:

[0006] S1. A conventional wheel set was installed on the internal welding mobile platform for testing to obtain the distribution of welding spatter particles during the welding process;

[0007] S2. Calculate the number of limiting rings required at different positions based on the distribution of welding spatter particles;

[0008] S3. Determine the number of wheel disks based on the weight of the internal welding moving platform and the magnetic force of the wheel disks;

[0009] S4. Design the length of the wheel axle based on the dimensions of the internal welding moving platform, the number of limit rings, and the number of wheel discs;

[0010] S5. Develop a wheel assembly method based on welding technology and adjust the gap between adjacent wheel discs;

[0011] S6. Assemble the new wheelset according to the wheelset assembly method, and install the new wheelset on the internal welding moving platform for simulation testing. Optimize and adjust the new wheelset based on the test results.

[0012] Preferably, step S1 specifically includes:

[0013] A metal test plate with weld seams and the same material as the actual working condition is used, and welding parameters are set, including welding current, welding voltage and moving speed.

[0014] A welding platform is set up for welding. Double-sided adhesive tape is laid from the weld seam to the platform welding point. The width of the double-sided adhesive tape is W, satisfying W≥L. P ;

[0015] The internal welding mobile platform moves to the platform welding point for welding processing. After welding is completed, the side of the double-sided tape with particles is divided into N areas at equal intervals along the length direction from the end closest to the weld to the end furthest from the weld.

[0016] A three-dimensional scan was performed on the surface of the double-sided tape with the particles attached, and the shortest straight-line distance L from the center point of each particle to the weld was measured. H Identify the particle boundary of each particle and calculate the particle projection diameter d. T ;

[0017] Among them, L P The length of the internal welding moving platform is indicated; the maximum projected diameter of the particle is indicated by the diameter of the maximum circumscribed circle on the two-dimensional projection plane.

[0018] Preferably, step S1 further includes:

[0019] Based on the N regions, record the particle projection diameter of all particles in each region, and count the frequency of splash particles with different diameter ranges in each region to obtain frequency distribution data.

[0020] A two-dimensional histogram is plotted with the shortest straight-line distance from the center point of the particle to the weld as the abscissa and the particle projection diameter as the ordinate. The height of each histogram bar represents the frequency of spatter particles within the corresponding distance and diameter range, thus obtaining the distribution of spatter particle diameter at different distances.

[0021] For the particle projection diameter data in each region, the mean and standard deviation are calculated. Combining distance information, two-dimensional histogram, and the calculated mean and standard deviation, the distribution of welding spatter particles is obtained.

[0022] Preferably, step S2 specifically includes:

[0023] Based on the distribution of the splashed particles, obtain the number of regions Y corresponding to a regular wheel set, and obtain the maximum particle projection diameter d within the Y regions corresponding to a regular wheel set. Tmax And the thickness H of the limiting ring used. X Calculate the minimum number of limiting rings Q required at the location with the largest particle projection diameter. X :

[0024] If d Tmax <H X Then the number of limit rings Q X The value of Q is X =1;

[0025] If d Tmax ≥H X Then the number of limit rings Q X The value is

[0026] Calculate the total number of limit rings Q required for a single wheelset as follows: Z :

[0027]

[0028] in, Indicates taking The integer part of the calculation result; S represents the total length of the double-sided tape; N represents the number of regions equally spaced along the length of the double-sided tape; 1≤Y≤N.

[0029] Preferably, step S3 specifically includes:

[0030] A pressure test was conducted on a single wheel using pressure testing equipment to obtain the load-bearing capacity F of the single wheel. L ;

[0031] Obtain the number M of wheel sets required for the internal welding moving platform and the weight G of the internal welding moving platform. P And calculate the weight G that a single wheelset needs to bear. L :

[0032]

[0033] Based on the weight G that a single wheelset needs to bear. L Calculate the minimum number of roulette wheels n required for a single roulette wheel set. Lmin :

[0034]

[0035] in, Indicates taking The integer part of the calculation result;

[0036] Obtain the magnetic force F of a single wheel B The number of roulette wheels required for a single roulette wheel set, n, is determined as follows: L :

[0037] If n Lmin *F B ≥F BL Then the number of roulette wheels required for a single roulette wheel set, n L =n Lmin ;

[0038] If n Lmin *F B <F BL Then calculate the magnetic force difference: F BL -(n Lmin *F B And increase the number of roulette wheels by Δn until n is satisfied. Lmin *F B ≥F BL The number of roulette wheels required for a single roulette wheel set, n L =n Lmin +Δn;

[0039] Among them, F BL This represents the theoretical minimum magnetic force required for a single wheelset. And Δn takes the integer value.

[0040] Preferably, step S4 specifically includes:

[0041] The wheel axle includes a fastening section, a wheel assembly mounting section, a wheel stop flange section, and a platform mounting section distributed sequentially along the axial direction;

[0042] The fastening section is used to install the end nut, so the length of the fastening section L1 = L 螺母 +ΔL;

[0043] The wheel assembly mounting section is used to install the limiting ring and the wheel disc, and to obtain the thickness H of the wheel disc. L Calculate the length of the wheel assembly installation section L2 = Q Z *H X +n L *H L +ΔL′;

[0044] If the wheel stop flange section is located between the wheel assembly mounting section and the platform mounting section, then the length L3 of the wheel stop flange section is 2*(H). X +H L );

[0045] The platform mounting section is used to connect with the internal welding mobile platform, so the length of the platform mounting section L4 = L 平台孔 +ΔL″;

[0046] The total length of the axle is: L 轮轴 =L1+L2+L3+L4;

[0047] Among them, L 螺母 Indicates the axial length of the nut used; L 平台孔 This indicates the depth of the connecting holes in the internal welding moving platform; ΔL, ΔL′, and ΔL″ all represent the reserved length; H X Indicates the thickness of the limiting ring; Q Z Indicates the total number of limit rings required; n L This indicates the number of discs required for a single wheel set.

[0048] Preferably, step S5 specifically includes:

[0049] The welding technologies include MIG welding and laser welding;

[0050] If the aforementioned MIG welding is used, the wheel assembly method includes:

[0051] The wheel assembly mounting section is divided into a first mounting section, a second mounting section, and a third mounting section along the axial direction from one end near the fastening section to one end near the wheel flange section;

[0052] Several disks are arranged at equal intervals ΔK1 on the first installation section, and ΔK1 = 2 * H X This allows two limit rings to be set between two adjacent roulette wheels;

[0053] Several disks are arranged at equal intervals ΔK2 on the second mounting section, and ΔK2 = H. X This allows a single limiting ring to be set between two adjacent roulette wheels;

[0054] Several discs are arranged adjacent to each other on the third mounting section, so that there is no gap between two adjacent discs;

[0055] If the laser welding is used, the wheel assembly method includes:

[0056] Multiple discs are evenly spaced on the wheel assembly section, and the same number of limiting rings are provided between each pair of adjacent discs, forming a structure in which discs and limiting rings are alternately arranged;

[0057] Among them, H X This indicates the thickness of the limiting ring.

[0058] Preferably, step S6 specifically includes:

[0059] According to the MIG welding wheel assembly method, for n L A roulette wheel and QZ The wheel assembly is performed using a set of limit rings to obtain a new assembled wheel set, which is then installed onto the internal welding moving platform.

[0060] The internal welding mobile platform equipped with the new wheelset was placed in a welding simulation area for welding tests. The welding tests included:

[0061] Test whether the components of the new wheel set are loose under different vibration frequencies and amplitudes. If the components are loose during the vibration test, tighten them again and add anti-loosening measures.

[0062] Test whether the axle of the new wheel set deforms under different vibration frequencies and amplitudes. If the axle deforms, replace it with an axle of different strength.

[0063] Test the load-bearing capacity of the new wheelset under a certain pressure, observe whether the components are damaged, and if the load-bearing capacity is insufficient, optimize the structure of the axle or wheel disc.

[0064] Observe the new wheel set's ability to avoid particles of various sizes generated by simulated welding. If the obstacle avoidance ability is poor, adjust the gap between adjacent wheel discs.

[0065] After adjustments and optimizations, welding tests were repeated until the new wheelset showed no abnormalities during the welding test.

[0066] Where, n L Indicates the number of spools required for a single spool; Q Z This indicates the total number of limit rings required.

[0067] Preferably, step S6 further includes:

[0068] Based on the laser-welded wheel assembly method, for n L A roulette wheel and Q Z The wheel assembly is performed using a set of limit rings to obtain a new assembled wheel set, which is then installed onto the internal welding moving platform.

[0069] The internal welding mobile platform equipped with the new wheelset was placed in a welding simulation area for welding tests. The welding tests included:

[0070] Test whether the components of the new wheel set are loose under different vibration frequencies and amplitudes. If the components are loose during the vibration test, tighten them again and add anti-loosening measures.

[0071] The ability of the new wheel set to pass through tiny particles is tested. If movement is affected by particle accumulation, the spacing between adjacent wheels is optimized.

[0072] After adjustments and optimizations, welding tests were repeated until the new wheelset showed no abnormalities during the welding test.

[0073] Where, n L Indicates the number of spools required for a single spool; Q Z This indicates the total number of limit rings required.

[0074] This application also proposes a wheel set for an internal welding mobile platform, which is obtained using the wheel set design method for an internal welding mobile platform as described above, and includes:

[0075] The axle includes a fastening section, a wheel assembly mounting section, a wheel stop flange section, and a platform mounting section distributed sequentially along the axial direction, and the platform mounting section is rotatably connected to the internal welded moving platform;

[0076] A plurality of said discs are disposed in the wheel assembly mounting section, and said discs are made of magnetic material;

[0077] A limiting ring, at least one of the limiting rings is disposed on the wheel assembly mounting section, and the limiting ring is located between two adjacent wheel discs;

[0078] Fasteners are connected to the fastening section, and the fasteners and the wheel stop flange section abut against the wheel disc from both axial ends of the wheel assembly mounting section to restrict the axial movement of the wheel disc;

[0079] The wheel, the limiting ring, and the fastener all rotate synchronously with the wheel axle.

[0080] The wheel assembly design method and wheel assembly of the internal welding mobile platform described in this application have the following advantages:

[0081] 1. This application discloses a wheel assembly design method for an internal welding mobile platform. By acquiring the distribution of welding spatter particles and analyzing their impact on the wheel assembly, a foundation is provided for subsequent wheel assembly design. The number of wheel discs is determined based on the weight of the internal welding mobile platform and the magnetic force of the discs, ensuring the wheel assembly has sufficient load-bearing capacity to support the platform while maintaining its stability during welding, preventing platform wobbling due to an unreasonable number of discs. The axle length is designed according to the dimensions of the internal welding mobile platform, the limiting ring, and the number of discs, ensuring the wheel assembly is compatible with the platform, guaranteeing a secure installation, and improving the overall structural coordination and reliability. Wheel assembly methods are tailored to different welding techniques, allowing for the assembly of wheel assemblies suitable for various welding scenarios. Through simulation testing and optimization, the reliability and stability of the wheel assembly in actual use are further improved, extending its service life. This wheel assembly design method for an internal welding mobile platform effectively reduces the impact of welding spatter particles on the wheel assembly, ensures stable load-bearing capacity, adapts to the internal welding mobile platform structure, and improves applicability and reliability.

[0082] 2. The wheel set of the internal welding mobile platform of this application is obtained through the wheel set design method of the aforementioned internal welding mobile platform. The wheel set design method uses the study of the distribution of welding spatter particles to determine the number of limiting rings and the wheel disc gap. The limiting rings between adjacent wheel discs can form a suitable gap, effectively avoiding spatter particles generated during welding, preventing them from hindering the movement of the wheel set, ensuring stable operation of the wheel set in the welding environment, and guaranteeing welding accuracy and quality. Since the magnetic wheel discs have adsorption capabilities, the need for manual cleaning of spatter particles is reduced to a certain extent, helping to improve work efficiency. The wheel set design method determines the number of wheel discs, ensuring they are aligned with the internal welding mobile platform. The magnetic force of the wheel and the magnetic force of the wheel are matched to provide sufficient support and attraction for the internal welding mobile platform, ensuring its stability during welding operations and improving operational safety. The design of each section of the wheel axle is based on the platform size and the number of limit rings and wheel discs. The platform mounting section of the wheel axle connects to the internal welding mobile platform, adapting to its structure and ensuring the coordination and reliability of the entire device. The wheel discs, limit rings, and fasteners rotate synchronously with the wheel axle. The fasteners and wheel stop flanges abut against the wheel discs from both ends of the axial direction, restricting their axial movement. This structure makes the wheel assembly as a whole stable, reducing relative displacement and wear between components, extending the service life of the wheel assembly, and reducing maintenance costs. Attached Figure Description

[0083] Figure 1 This is a flowchart of a wheel assembly design method for an internal welding mobile platform as described in this application;

[0084] Figure 2 This is a schematic diagram of the wheel assembly structure of an internal welding mobile platform as described in this application, assembled by the MIG welding wheel assembly method.

[0085] Figure 3 yes Figure 2 A sectional view;

[0086] Figure 4 This is a schematic diagram of the wheel assembly structure of an internally welded mobile platform as described in this application, assembled by a wheel assembly method using laser welding.

[0087] Figure 5 yes Figure 4 A sectional view;

[0088] Figure 6 This is a schematic diagram of the wheel axle structure in the wheel assembly of an internal welding mobile platform described in this application.

[0089] Explanation of reference numerals in the attached figures:

[0090] 10-Wheel axle; 101-Fastening section; 102-Wheelset mounting section; 103-Wheel stop flange section; 104-Platform mounting section;

[0091] 20-Roulette;

[0092] 30-Limit ring;

[0093] 40-Fasteners. Detailed Implementation

[0094] like Figures 1-6 As shown, the wheel assembly design method for an internal welding mobile platform according to this application includes the following steps:

[0095] S1. A conventional wheel set was installed on the internal welding mobile platform for testing to obtain the distribution of welding spatter particles during the welding process;

[0096] S2. Calculate the number of limiting rings required at different positions based on the distribution of welding spatter particles;

[0097] S3. Determine the number of wheel disks based on the weight of the internal welding moving platform and the magnetic force of the wheel disks;

[0098] S4. Design the length of the wheel axle based on the dimensions of the internal welding moving platform, the number of limit rings, and the number of wheel discs;

[0099] S5. Develop a wheel assembly method based on welding technology and adjust the gap between adjacent wheel discs;

[0100] S6. Assemble the new wheelset according to the wheelset assembly method, and install the new wheelset on the internal welding moving platform for simulation testing. Optimize and adjust the new wheelset based on the test results.

[0101] Furthermore, in this embodiment, step S1 specifically includes:

[0102] A metal test plate with weld seams and the same material as the actual working condition is used, and welding parameters are set, including welding current, welding voltage and moving speed.

[0103] A welding platform is set up for welding. Double-sided tape is laid from the weld seam to the platform welding point. The width of the double-sided tape is W, satisfying W≥L. P ;

[0104] The internal welding mobile platform moves to the platform welding point for welding. After welding, the side of the double-sided tape with particles is divided into N equal-distance areas along the length from the end closest to the weld to the end furthest from the weld. The platform welding point is the position where the internal welding mobile platform is located during welding.

[0105] A 3D scan was performed on the surface of the double-sided tape with particles attached, and the shortest straight-line distance L from the center point of each particle to the weld was measured. HIdentify the particle boundary of each particle and calculate the particle projection diameter d. T ;

[0106] Among them, L P The length of the internal welding moving platform is indicated; the maximum projected diameter of the particle represents the diameter of the maximum circumscribed circle on the two-dimensional projection plane.

[0107] Example as follows:

[0108] A metal test plate with weld seams, the same material as the actual working condition, was selected as a steel plate. The welding parameters were set as follows: welding current of 18A, welding voltage of 30V and moving speed of 30cm / min.

[0109] The length L of the internal welding moving platform P =50cm, set the platform welding point at a horizontal distance of 10cm from the steel plate, and lay double-sided tape from the weld to the platform welding point. The width of the double-sided tape is W = 60cm, satisfying W ≥ L P ;

[0110] Welding is performed. After welding, the double-sided tape is divided into N=10 equally spaced areas along its length, from the end closest to the weld to the end furthest from the weld. A 3D scanner is used to scan the surface of the double-sided tape with the particles attached, measuring the shortest straight-line distance from the center point of each particle to the weld. The particle boundary of each particle is identified, and the projected diameter of the particle is calculated. For example, if the shortest straight-line distance L from the center point of a certain particle to the weld is measured... H =5cm, particle projection diameter d T =0.03cm.

[0111] Furthermore, in this embodiment, step S1 further includes:

[0112] Based on the N regions, record the particle projection diameter of all particles in each region, and count the frequency of splash particles with different diameter ranges in each region to obtain frequency distribution data.

[0113] A two-dimensional histogram is plotted with the shortest straight-line distance from the center point of the particle to the weld as the abscissa and the particle projection diameter as the ordinate. The height of each histogram bar represents the frequency of spatter particles within the corresponding distance and diameter range, thus obtaining the distribution of spatter particle diameter at different distances.

[0114] For the particle projection diameter data in each region, the mean and standard deviation are calculated. Combined with distance information, two-dimensional histogram, and the calculated mean and standard deviation, the distribution of welding spatter particles is obtained.

[0115] Example as follows:

[0116] Based on the division of N=10 regions, the 10 regions are successively divided into region 1, region 2... region 10 from the end of the double-sided tape closest to the weld to the end furthest from the weld.

[0117] For example, in region 1, the measured particle projection diameters were 0.2cm, 0.3cm, 0.25cm, and 0.5cm, respectively. The frequency of splash particles in different diameter ranges (e.g., 0-0.2cm, 0.2-0.4cm, 0.4-0.6cm) was counted.

[0118] Statistics show that in region 1, particles with a diameter range of 0-0.2 cm appeared 3 times, particles with a diameter range of 0.2-0.4 cm appeared 5 times, and particles with a diameter range of 0.4-0.6 cm appeared once, thus obtaining the frequency distribution data for region 1.

[0119] A two-dimensional histogram is plotted with the shortest straight-line distance from the particle center point to the weld as the abscissa (for example, the average shortest straight-line distance from the particle center point to the weld in region 1 is 2cm) and the particle projection diameter as the ordinate. The height of each histogram bar corresponds to the frequency of spatter particles appearing within the corresponding distance and diameter range. For example, at the abscissa of 2cm, the height of the histogram bar corresponding to the diameter range of 0.2-0.4cm represents the frequency of occurrence of 5 times, thus presenting the distribution of spatter particle diameter at different distances.

[0120] Calculate the mean and standard deviation of the particle projection diameter data within region 1. For example, calculate the mean particle projection diameter. With a standard deviation σ = 0.05 cm, the distribution of welding spatter particles in region 1 can be obtained by combining the distance information of each region, the two-dimensional histogram, and the calculated mean and standard deviation. The analysis of other regions is similar.

[0121] Furthermore, in this embodiment, step S2 specifically includes:

[0122] Based on the distribution of the splashed particles, obtain the number of regions Y corresponding to a regular wheel set, and obtain the maximum particle projection diameter d within the Y regions corresponding to a regular wheel set. Tmax And the thickness H of the limiting ring used. X Calculate the minimum number of limiting rings Q required at the location with the largest particle projection diameter. X :

[0123] If d Tmax <H X Then the number of limit rings Q X The value of Q is X =1;

[0124] If d Tmax ≥H X Then the number of limit rings Q XThe value is

[0125] Calculate the total number of limit rings Q required for a single wheelset as follows: Z :

[0126]

[0127] in, Indicates taking The integer part of the calculation result; S represents the total length of the double-sided tape; N represents the number of regions equally spaced along the length of the double-sided tape; 1≤Y≤N;

[0128] If Q Z If the calculation result contains a decimal, then Q Z Take greater than The smallest integer, for example, Q Z The calculated value is 9.4, so the value is Q. Z =10;

[0129] The thickness H of the limiting ring used X This information can be found in the product manual or product introduction of products that use limit rings;

[0130] Example as follows:

[0131] N = 10 zones. For example, if zones 7 and 8 correspond to a standard wheelset, then the number of zones corresponding to a standard wheelset is Y = 2, and the thickness H of the retaining ring used is... X =0.4cm, the total length of the double-sided tape S = 80cm;

[0132] Based on the distribution of splashed particles, the maximum projected diameter d of the particles within region 8 was determined. Tmax =0.4cm, because it satisfies d Tmax ≥H X Then calculate the minimum number of limit rings required. in If the integer part of the calculation result is 1, then Q X =1+1=2;

[0133] Calculate the total number of limit rings required for a single wheelset. That is, a single wheelset requires a total of 10 limit rings.

[0134] Furthermore, in this embodiment, step S3 specifically includes:

[0135] A pressure test was conducted on a single wheel using pressure testing equipment to obtain the load-bearing capacity F of the single wheel. L ;

[0136] Obtain the number M of wheel sets required for the internal welding moving platform and the weight G of the internal welding moving platform. P And calculate the weight G that a single wheelset needs to bear. L :

[0137]

[0138] Based on the weight G that a single wheelset needs to bear. L Calculate the minimum number of roulette wheels n required for a single roulette wheel set. Lmin :

[0139]

[0140] in, Indicates taking The integer part of the calculation result;

[0141] Obtain the magnetic force F of a single wheel B The number of roulette wheels required for a single roulette wheel set, n, is determined as follows: L :

[0142] If n Lmin *F B ≥F BL Then the number of roulette wheels required for a single roulette wheel set, n L =n Lmin ;

[0143] If n Lmin *F B <F BL Then calculate the magnetic force difference: F BL -(n Lmin *F B And increase the number of roulette wheels by Δn until n is satisfied. Lmin *F B ≥F BL The number of roulette wheels required for a single roulette wheel set, n L =n Lmin +Δn;

[0144] Among them, F BL This represents the theoretical minimum magnetic force required for a single wheelset. And Δn takes the integer value;

[0145] The magnetic force of the roulette wheel can be found in the product manual or product introduction of the roulette wheel used;

[0146] Since Δn is an integer, if the calculated result of Δn has a decimal, then a value greater than 1 should be chosen. The smallest integer, for example, if the result of Δn is 4.5, then Δn takes the value of 5;

[0147] Example as follows:

[0148] A pressure test was conducted on a single wheel using pressure testing equipment to obtain the load-bearing capacity F of the single wheel. L =50N;

[0149] The number of wheel sets required for the internal welding mobile platform is M = 4, and the weight of the internal welding mobile platform is G. P =800N;

[0150] The magnetic force F of a single wheel B =30N, the theoretical minimum magnetic force F required for a single wheelset BL =300N;

[0151] Calculate the weight that a single wheelset needs to bear.

[0152] Calculate the minimum number of discs required for a single wheelset. in Indicates taking If the integer part of the calculation result is 4, then the minimum number of roulette wheels required, n, is... Lmin =4+1=5;

[0153] Calculate n Lmin *F B =5 * 30 = 150 N, because 150 N < F BL =300N, then the number of roulette wheels needs to be increased;

[0154] Calculate the magnetic force difference F BL -(n Lmin *F B ) = 300 - 150 = 150N;

[0155] according to At this point, the number of roulette wheels required for a single roulette wheel set is n. L =5+5=10, meaning that at this point, a single wheel set requires 10 spools;

[0156] Re-evaluate n based on the number of 10 roulette wheels. Lmin *F B With F BL The relationship, if n Lmin *F B ≥F BL If n Lmin *F B <F BL Then add the roulette wheel again in the above manner until n is satisfied. Lmin *F B ≥F BL .

[0157] Furthermore, in this embodiment, step S4 specifically includes:

[0158] The wheel axle includes a fastening section, a wheel assembly mounting section, a wheel stop flange section, and a platform mounting section, which are distributed sequentially along the axial direction.

[0159] If the fastening section is used to install the end nut, then the length of the fastening section L1 = L 螺母 +ΔL;

[0160] The wheelset mounting section is used to install the limit ring and wheel disc, and to obtain the wheel disc thickness H. L Calculate the length of the wheel assembly installation section L2 = Q Z *H X +n L *H L +ΔL′; The thickness of the wheel can be obtained by referring to the product manual or product introduction of the wheel used;

[0161] If the wheel stop flange section is located between the wheel assembly mounting section and the platform mounting section, then the length of the wheel stop flange section L3 = 2*(H) X +H L );

[0162] The platform mounting section is used to connect with the internal welding mobile platform, so the length of the platform mounting section L4 = L 平台孔 +ΔL″;

[0163] The total length of the wheel and axle is: L 轮轴 =L1+L2+L3+L4;

[0164] Among them, L 螺母 Indicates the axial length of the nut used; L 平台孔 This indicates the depth of the connecting holes in the internal welding moving platform; ΔL, ΔL′, and ΔL″ all represent the reserved length; H X Indicates the thickness of the limiting ring; Q Z Indicates the total number of limit rings required; n L Indicates the number of discs required for a single wheel set;

[0165] Example as follows:

[0166] The axial length L of the nut used 螺母 =2cm, the thickness H of the limiting ring X =0.4cm, the thickness H of the wheel L =0.6cm, the hole depth L of the internal welding moving platform connection hole 平台孔 =5cm, Q Z =10, n L =10;

[0167] Reserved lengths ΔL = 0.5cm, ΔL′ = 1cm, ΔL″ = 0.8cm;

[0168] Then the length of the fastening section L1 = L 螺母 +ΔL=2+0.5=2.5cm;

[0169] Wheel assembly installation section length L2 = Q Z *H X +n L *H L +ΔL′=10*0.4+10*0.6+1=11cm;

[0170] Wheel chock flange length L3 = 2*(H) X +H L ) = 2 * (0.4 + 0.6) = 2 cm;

[0171] Platform installation segment length L4 = L 平台孔 +ΔL″=5+0.8=5.8cm;

[0172] The total length of the wheel and axle is: L 轮轴 =L1+L2+L3+L4=2.5+11+2+5.8=20.3cm.

[0173] Furthermore, in this embodiment, step S5 specifically includes:

[0174] Welding technologies include MIG welding and laser welding;

[0175] If MIG welding is used, the wheel assembly methods include:

[0176] The wheel assembly mounting section is divided into three sections along the axial direction, from the end near the fastening section to the end near the wheel flange section: the first mounting section, the second mounting section, and the third mounting section.

[0177] Several disks are arranged at equal intervals ΔK1 on the first installation section, and ΔK1 = 2 * H X This allows two limit rings to be set between two adjacent roulette wheels;

[0178] Several disks are arranged at equal intervals ΔK2 on the second installation section, and ΔK2 = H. X This allows a single limiting ring to be set between two adjacent roulette wheels;

[0179] Several discs are arranged adjacent to each other on the third installation section, so that there is no gap between two adjacent discs;

[0180] If laser welding is used, the wheel assembly methods include:

[0181] Multiple discs are evenly spaced on the wheel assembly section, and the same number of limiting rings are set between each pair of adjacent discs, forming a structure in which discs and limiting rings are alternately arranged;

[0182] Among them, H X Indicates the thickness of the limiting ring;

[0183] Example as follows:

[0184] The thickness H of the limiting ring X =0.4cm;

[0185] If MIG welding is used, the wheelset assembly method is as follows:

[0186] The wheel assembly mounting section is divided into three sections along the axial direction, from the end near the fastening section to the end near the wheel flange section: the first mounting section, the second mounting section, and the third mounting section.

[0187] First installation segment: Four discs are installed in this segment, with a spacing of ΔK1 = 2 * H between adjacent discs. X =2*0.4=0.8cm, 0.8cm is equal to the thickness of the two limit rings, that is, two limit rings are set between two adjacent wheels;

[0188] Second installation segment: Three discs are installed in this segment, with an interval of ΔK2 = H between adjacent discs. X =0.4cm, 0.4cm is equal to the thickness of a single limiting ring, that is, a single limiting ring is set between two adjacent wheels;

[0189] Third installation section: Three discs are set up adjacent to each other on the third installation section, with no gaps between adjacent discs;

[0190] If laser welding is used, the wheel assembly method is as follows:

[0191] Ten discs are evenly spaced on the wheel assembly section. The same number of retaining rings are set between each pair of adjacent discs, i.e., the optimal setting is a single retaining ring, forming a structure in which discs and retaining rings are alternately set. The two ends of the wheel assembly section must be discs. Discs can be added or retaining rings can be reduced according to the actual installation situation.

[0192] Furthermore, in this embodiment, step S6 specifically includes:

[0193] Based on the MIG welding wheel assembly method, for n L A roulette wheel and Q Z The wheelset is assembled using a set of limit rings to obtain a new assembled wheelset, which is then installed onto the internal welding moving platform.

[0194] The internal welding mobile platform equipped with the new wheelset was placed in a welding simulation area for welding tests. The welding tests included:

[0195] Test whether the components of the new wheelset are loose under different vibration frequencies and amplitudes. If the components are loose during the vibration test, tighten them again and add anti-loosening measures.

[0196] Test whether the axle of the new wheelset deforms under different vibration frequencies and amplitudes. If the axle deforms, replace it with an axle of different strength.

[0197] Test the load-bearing capacity of the new wheelset under certain pressure, observe whether the components are damaged, and if the load-bearing capacity is insufficient, optimize the structure of the axle or wheel disc.

[0198] Observe the new wheel set's ability to avoid particles of various sizes generated by simulated welding. If the obstacle avoidance ability is poor, adjust the gap between adjacent wheel discs.

[0199] After adjustments and optimizations, welding tests were repeated until the new wheelset showed no abnormalities during the welding test.

[0200] Where, n L Indicates the number of spools required for a single spool; Q Z Indicates the total number of limit rings required;

[0201] Example as follows:

[0202] The number of spools required for a single spool set, n L =10, the total number of limit rings required is Q Z =10;

[0203] According to the MIG welding wheel assembly method (for example, the first installation section is equipped with 4 wheel discs, the second installation section is equipped with 3 wheel discs, and the third installation section is equipped with 3 wheel discs), 10 wheel discs and 10 limit rings are assembled to obtain a new wheel set, and the new wheel set is installed on the internal welding moving platform.

[0204] Vibration test: The internal welding mobile platform for installing the new wheelset was placed in the welding simulation site. The vibration frequency was gradually increased from 5Hz to 20Hz, and the amplitude was gradually increased from 0.5mm to 2mm. For example, it was found during the test that when the vibration frequency reached 15Hz and the amplitude was 1.5mm, the end nut of the wheelset became loose. The nut was then tightened again, and anti-loosening measures such as anti-loosening washers were added.

[0205] Wheel and axle deformation test: Continue to test whether the wheel and axle are deformed under different vibration frequencies and amplitudes. If the wheel and axle do not show obvious deformation after testing, there is no need to replace the wheel and axle.

[0206] Load-bearing capacity test: Apply a pressure equivalent to 1.2 times the full load weight of the internal welded moving platform to the new wheelset. If the wheel is found to be deformed during the test, it indicates that the load-bearing capacity is insufficient. Subsequently, the wheel is thickened or a wheel of other thickness is used to optimize its structure.

[0207] Obstacle avoidance test: Welding was simulated in a simulated field to produce particles of different sizes. The obstacle avoidance performance of the new wheelset was observed. It was found that the wheelset had poor obstacle avoidance ability for particles with a diameter of 0.3cm or more. The spacing between adjacent wheels was increased and the layout of the limit rings was adjusted, that is, the number of limit rings between adjacent wheelsets was increased.

[0208] After making the above adjustments and optimizations, the welding test is carried out again until the new wheelset has no abnormalities during the welding test, and then the wheelset of the required design is obtained.

[0209] Furthermore, in this embodiment, step S6 further includes:

[0210] Based on the assembly method of the wheel assembly using laser welding, for n L A roulette wheel and Q Z The wheelset is assembled using a set of limit rings to obtain a new assembled wheelset, which is then installed onto the internal welding moving platform.

[0211] The internal welding mobile platform equipped with the new wheelset was placed in a welding simulation area for welding tests. The welding tests included:

[0212] Test whether the components of the new wheelset are loose under different vibration frequencies and amplitudes. If the components are loose during the vibration test, tighten them again and add anti-loosening measures.

[0213] Test the new wheel set's ability to pass through tiny particles. If particle accumulation affects movement, optimize the spacing between adjacent wheels.

[0214] After adjustments and optimizations, welding tests were repeated until the new wheelset showed no abnormalities during the welding test.

[0215] Where, n L Indicates the number of spools required for a single spool; Q Z Indicates the total number of limit rings required;

[0216] Example as follows:

[0217] The number of spools required for a single spool set, n L =10, the total number of limit rings required is Q Z =10;

[0218] Following the laser-welded wheel assembly method, 10 wheel discs and 10 limiting rings are assembled, with the wheel discs and limiting rings alternately set to obtain a new wheel set, which is then installed on the internal welding moving platform.

[0219] Vibration test: Place the internal welding mobile platform for installing the new wheelset in the welding simulation area, and set the vibration frequency to gradually increase from 8Hz to 25Hz and the amplitude to gradually increase from 0.3mm to 1.8mm. For example, during the test, when the vibration frequency is 20Hz and the amplitude is 1.2mm, it is found that the fixing bolt of the limit ring is loose. Then tighten the bolt and add anti-loosening measures such as spring washers.

[0220] Microparticle passing capability test: A large number of microparticles were simulated in a simulated field (assuming an average particle diameter of 0.1cm). The internal welding moving platform was run. It was found that as the particles accumulated, the movement of the wheel set was affected. Based on the actual situation, the distance between adjacent wheel discs was appropriately increased, that is, the number of limiting rings between adjacent wheel discs was increased. The thickness of two limiting rings was adjusted from the original distance of one limiting ring. If the movement of the wheel set was still affected after the test, the number of limiting rings was increased by one each time.

[0221] After making the above adjustments and optimizations, welding tests are conducted again until the new wheelset no longer exhibits any abnormalities during the welding test, thus obtaining the wheelset of the desired design.

[0222] This application also proposes a wheel set for an internal welding mobile platform, which is obtained using the wheel set design method for an internal welding mobile platform as described above, and includes:

[0223] The axle 10 includes a fastening section 101, a wheel assembly mounting section 102, a wheel stop flange section 103, and a platform mounting section 104 distributed sequentially along the axial direction, with the platform mounting section 104 rotatably connected to an internal welding moving platform; the fastening section 101, the wheel assembly mounting section 102, and the wheel stop flange section 103 extend in a direction away from the internal welding moving platform;

[0224] The straight-line distance between the two parallel edges on the axial cross-section of the wheel assembly mounting section 102 is W, the axial cross-sectional diameter of the fastening section 101 is D1, and the axial cross-sectional diameter of the wheel stop flange section 103 is D2, satisfying D1 < W < D2; the optimal choice for the axial cross-sectional diameter D2 of the wheel stop flange section 103 is 4cm, the optimal choice for W is 3cm, and the optimal choice for the axial cross-sectional diameter D1 of the fastening section 101 is 2cm, satisfying D1 < W < D2.

[0225] A plurality of wheel disks 20 are disposed in the wheel assembly mounting section 102, and the wheel disks 20 are made of magnetic material; specifically, the magnetic material of the wheel disks 20 is artificial magnet. During use, the surface of the wheel disks 20 can adsorb some of the splashed metal particles. This adsorption helps to reduce the accumulation of metal particles in the welding area, thereby reducing the impact of metal particles on welding quality and precision to a certain extent, and reducing the impact of metal particles generated during welding on the movement of the internal welding moving platform.

[0226] A limiting ring 30, at least one limiting ring 30 is provided on the wheelset mounting section 102, and the limiting ring 30 is located between two adjacent wheel discs 20;

[0227] Fastener 40 is connected to fastening section 101. Fastener 40 and wheel flange section 103 abut against the wheel disc 20 from both axial ends of wheel assembly mounting section 102 to restrict the axial movement of wheel disc 20. Specifically, fastener 40 is a nut, which is connected to fastening section 101 so that fastener 40 abuts against one end of wheel assembly mounting section 102 near fastening section 101. Wheel flange section 103 abuts against one end of wheel assembly mounting section 102 near wheel flange section 103. Thus, fastener 40 and wheel flange section 103 abut against the wheel disc 20 provided on wheel assembly mounting section 102 from both axial ends of wheel assembly mounting section 102 to restrict the axial movement of wheel disc 20. The outer surface of fastening section 101 is provided with threads, and fastener 40 has threaded holes adapted to fastening section 101. Fastener 40 is threadedly connected to fastening section 101.

[0228] The wheel 20, the limiting ring 30, and the fastener 40 all rotate synchronously with the wheel axle 10; the platform mounting section 104 of the wheel axle 10 is rotatably connected to the internal welding moving platform, and the wheel axle 10 is driven to rotate by the drive motor in the internal welding moving platform, so that during the movement, the wheel axle 10 rotates, thereby driving the movement of the internal welding moving platform. Therefore, during the rotation of the wheel axle 10, the wheel 20, the limiting ring 30, and the fastener 40 all rotate synchronously with the wheel axle 10.

[0229] The wheel assembly mounting section 102 is divided into a first mounting section, a second mounting section, and a third mounting section from the end near the fastening section 101 to the end near the wheel flange section 103.

[0230] Multiple discs 20 are arranged at intervals in both the first and second installation sections, that is, there is a certain distance between every two discs 20 in the first and second installation sections, and the ratio of the distance between adjacent discs 20 in the first installation section to the distance between adjacent discs 20 in the second installation section is 2:1.

[0231] Multiple discs 20 are arranged adjacent to each other in the third installation section, that is, there is no gap between two adjacent discs 20;

[0232] Two limiting rings 30 are provided between every two adjacent wheel discs 20 on the first installation section;

[0233] A limiting ring 30 is provided between every two adjacent wheel discs 20 on the second installation section;

[0234] The third installation segment has an infinite loop of 30;

[0235] The above structure is suitable for MIG welding, and the structure is as follows: Figure 2 As shown, for the MIG welding process, the larger the size and the fewer the number of spatter particles, the further away from the weld. Therefore, the distance from the weld to the first, second, and third mounting sections increases sequentially. In the first mounting section, near the weld, two limiting rings 30 are installed to increase the distance between two adjacent discs 20. This allows larger spatter particles to fall smoothly into the gap between adjacent discs 20 on the first mounting section when the wheel assembly rotates. The second mounting section absorbs some of the spatter particles, and smaller particles can also fall between adjacent discs 20 on the second mounting section. The third mounting section, far from the weld, is positioned adjacent to each other. Therefore, the discs 20 on the third mounting section absorb some particles through their outer edges, and the size of the absorbed particles is smaller than that absorbed in the first and second mounting sections. This ensures that the wheel assembly provides sufficient support for the internal welding platform while allowing the disc 20 to be positioned according to the actual application, preventing spatter particles from hindering the smooth and precise rolling of the wheel assembly on the surface of the workpiece to be welded.

[0236] For laser welding, the structure is as follows: multiple discs 20 are arranged at equal intervals on the wheel assembly section 102, and a limiting ring 30 is provided between every two adjacent discs 20, forming a structure in which the discs 20 and the limiting rings 30 are alternately arranged. That is, the distance between every two adjacent discs 20 is equal, and a limiting ring 30 is provided between every two adjacent discs 20. This structure is as follows: Figure 4 As shown;

[0237] For laser welding, the size of the weld pool is significantly smaller than that of arc welding, and the maximum size of the spatter metal is smaller and the distribution is more uniform. Using the above structure, as the wheel set rolls while supporting the internal welding moving platform, spatter particles that are smaller than those in arc welding can smoothly enter the gap of the wheel disk 20 to avoid hindering the movement of the wheel set.

[0238] The axle 10 is made of steel, which can be any one of stainless steel, high-strength steel, and tool steel. In order to ensure the rigidity of the axle 10, it is manufactured by integral machining.

[0239] The limiting component 30 is made of any one of stainless steel, aluminum alloy, and titanium alloy.

[0240] Fastener 40 is made of stainless steel or cast iron.

[0241] In the description of this application, it should be understood that the orientation or positional relationship indicated by directional terms such as "front, back, up, down, left, right", "horizontal, vertical, horizontal" and "top, bottom" is usually based on the orientation or positional relationship shown in the accompanying drawings, and is only for the convenience of describing this application and simplifying the description. Unless otherwise stated, these directional terms do not indicate or imply that the device or element referred to must have a specific orientation or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation on the scope of protection of this application.

[0242] For those skilled in the art, various other corresponding changes and modifications can be made based on the technical solutions and concepts described above, and all such changes and modifications should fall within the protection scope of the claims of this application.

Claims

1. A wheel assembly design method for an internal welding mobile platform, wherein the wheel assembly includes an axle, wheel discs, and a limiting ring, the axle includes a wheel assembly mounting section, a plurality of wheel discs are disposed in the wheel assembly mounting section, at least one limiting ring is disposed in the wheel assembly mounting section, and the limiting ring is located between two adjacent wheel discs; characterized in that, Includes the following steps: S1. A conventional wheel assembly was installed on the internal welding moving platform for testing to obtain the distribution of welding spatter particles during the welding process. A metal test plate with weld seams and the same material as the actual working condition was used, and welding parameters were set. The welding point of the internal welding moving platform was set, and double-sided tape was laid from the weld seam to the platform welding point. The internal welding moving platform was moved to the platform welding point for welding. After welding, the side of the double-sided tape with particles was divided into equal intervals along the length direction from the end closest to the weld seam to the end furthest from the weld seam. One region; S2. Calculate the number of limiting rings required at different positions based on the distribution of welding spatter particles; S2 specifically includes: Based on the distribution of splashed particles, obtain the number of areas corresponding to a conventional wheelset. And obtain the corresponding wheelset as a regular wheelset. Maximum particle projection diameter in each region And the thickness of the limiting ring used. Calculate the minimum number of limiting rings required at the location with the largest particle projection diameter. : like < The number of limit rings The value is =1; like ≥ The number of limit rings The value is ; Calculate the total number of limit rings required for a single wheelset as follows: : in, Indicates taking The integer part of the calculation result; Indicates the total length of the double-sided tape; This indicates the number of regions that the double-sided tape is equidistant from along its length; 1 ≤ ≤ ; S3. Determine the number of wheel disks based on the weight of the internal welding moving platform and the magnetic force of the wheel disks; S4. Design the length of the wheel axle based on the dimensions of the internal welding moving platform, the number of limit rings, and the number of wheel discs; S5. Develop a wheel assembly method based on welding technology and adjust the gap between adjacent wheel discs; S6. Assemble the new wheelset according to the wheelset assembly method, and install the new wheelset on the internal welding moving platform for simulation testing. Optimize and adjust the new wheelset based on the test results.

2. The wheel assembly design method for the internal welding moving platform according to claim 1, characterized in that, Step S1 specifically includes: The welding parameters include welding current, welding voltage, and moving speed; The width of the double-sided tape is ,satisfy ≥ ; A three-dimensional scan was performed on the surface of the double-sided tape with the particles attached, and the shortest straight-line distance from the center point of each particle to the weld was measured. Identify the particle boundary of each particle and calculate the projected diameter of the particle. ; in, The length of the internal welding moving platform is indicated; the maximum projected diameter of the particle is indicated by the diameter of the maximum circumscribed circle on the two-dimensional projection plane.

3. The wheel assembly design method for the internal welding moving platform according to claim 2, characterized in that, Step S1 also includes: According to the division The program is divided into several regions, and the projected diameter of all particles in each region is recorded. The frequency of splash particles with different diameter ranges in each region is statistically analyzed to obtain frequency distribution data. A two-dimensional histogram is plotted with the shortest straight-line distance from the center point of the particle to the weld as the abscissa and the particle projection diameter as the ordinate. The height of each histogram bar represents the frequency of spatter particles within the corresponding distance and diameter range, thus obtaining the distribution of spatter particle diameter at different distances. For the particle projection diameter data in each region, the mean and standard deviation are calculated. Combining distance information, two-dimensional histogram, and the calculated mean and standard deviation, the distribution of welding spatter particles is obtained.

4. The wheel assembly design method for the internal welding moving platform according to claim 1, characterized in that, Step S3 specifically includes: A pressure testing device is used to perform a pressure test on a single wheel to obtain the load-bearing capacity of the single wheel. ; Determine the number of wheel sets required for the internal welding mobile platform. And the weight of the internal welding moving platform And calculate the weight that a single wheelset needs to bear. : Based on the weight that a single wheelset needs to bear. Calculate the minimum number of spools required for a single spool set. : in, Indicates taking The integer part of the calculation result; Obtain the magnetism of a single roulette wheel The number of spools required for a single wheelset is determined as follows: : like The number of roulette wheels required for a single roulette wheel set = ; like Then calculate the magnetic force difference: And increase the number of roulette wheels. One, until the requirement is met. The number of spools required for a single wheelset = ; in, This represents the theoretical minimum magnetic force required for a single wheelset. = ,and Take the integer part.

5. The wheel set design method for the internal welding moving platform according to claim 4, characterized in that, Step S4 specifically includes: The wheel axle includes a fastening section, a wheel assembly mounting section, a wheel stop flange section, and a platform mounting section distributed sequentially along the axial direction; The fastening section is used to install the end nut, therefore the length of the fastening section is... = + ; The wheel assembly mounting section is used to install the limiting ring and the wheel disc, and to obtain the thickness of the wheel disc. Calculate the length of the wheel assembly installation section. ; The wheel stop flange section is located between the wheel assembly mounting section and the platform mounting section, then the length of the wheel stop flange section is... = ; The platform mounting section is used to connect with the internal welding mobile platform, therefore the length of the platform mounting section is... = ; The total length of the axle is: ; in, Indicates the axial length of the nut used; Indicates the depth of the connecting holes in the internal welding moving platform; , and All indicate reserved length; Indicates the thickness of the limiting ring; Indicates the total number of limit rings required; This indicates the number of discs required for a single wheel set.

6. The wheel assembly design method for the internal welding moving platform according to claim 5, characterized in that, Step S5 specifically includes: The welding technologies include MIG welding and laser welding; If the aforementioned MIG welding is used, the wheel assembly method includes: The wheel assembly mounting section is divided into a first mounting section, a second mounting section, and a third mounting section along the axial direction from one end near the fastening section to one end near the wheel flange section; Several discs are spaced at equal intervals on the first mounting section. Arrangement settings, and =2* This allows two limit rings to be set between two adjacent roulette wheels; Several discs are spaced at equal intervals on the second mounting section. Arrangement settings, and = This allows a single limiting ring to be set between two adjacent roulette wheels; Several discs are arranged adjacent to each other on the third mounting section, so that there is no gap between two adjacent discs; If the laser welding is used, the wheel assembly method includes: Multiple discs are evenly spaced on the wheel assembly section, and the same number of limiting rings are provided between each pair of adjacent discs, forming a structure in which discs and limiting rings are alternately arranged; in, This indicates the thickness of the limiting ring.

7. The wheel assembly design method for the internal welding moving platform according to claim 6, characterized in that, Step S6 specifically includes: According to the MIG welding wheel assembly method, A roulette wheel and The wheel assembly is performed using a set of limit rings to obtain a new assembled wheel set, which is then installed onto the internal welding moving platform. The internal welding mobile platform equipped with the new wheelset was placed in a welding simulation area for welding tests. The welding tests included: Test whether the components of the new wheel set are loose under different vibration frequencies and amplitudes. If the components are loose during the vibration test, tighten them again and add anti-loosening measures. Test whether the axle of the new wheel set deforms under different vibration frequencies and amplitudes. If the axle deforms, replace it with an axle of different strength. Test the load-bearing capacity of the new wheelset under a certain pressure, observe whether the components are damaged, and if the load-bearing capacity is insufficient, optimize the structure of the axle or wheel disc. Observe the new wheel set's ability to avoid particles of various sizes generated by simulated welding. If the obstacle avoidance ability is poor, adjust the gap between adjacent wheel discs. After adjustments and optimizations, welding tests were repeated until the new wheelset showed no abnormalities during the welding test. in, Indicates the number of discs required for a single wheel set; This indicates the total number of limit rings required.

8. The wheel assembly design method for the internal welding moving platform according to claim 6, characterized in that, Step S6 also includes: According to the laser-welded wheel assembly method, A roulette wheel and The wheel assembly is performed using a set of limit rings to obtain a new assembled wheel set, which is then installed onto the internal welding moving platform. The internal welding mobile platform equipped with the new wheelset was placed in a welding simulation area for welding tests. The welding tests included: Test whether the components of the new wheel set are loose under different vibration frequencies and amplitudes. If the components are loose during the vibration test, tighten them again and add anti-loosening measures. The ability of the new wheel set to pass through tiny particles is tested. If movement is affected by particle accumulation, the spacing between adjacent wheels is optimized. After adjustments and optimizations, welding tests were repeated until the new wheelset showed no abnormalities during the welding test. in, Indicates the number of discs required for a single wheel set; This indicates the total number of limit rings required.

9. A wheel set for an internal welding mobile platform, obtained by adopting the wheel set design method for an internal welding mobile platform as described in any one of claims 1-8, characterized in that, include: The axle (10) includes a fastening section (101), a wheel assembly mounting section (102), a wheel stop flange section (103), and a platform mounting section (104) distributed sequentially along the axial direction, and the platform mounting section (104) is rotatably connected to the internal welding moving platform; Wheels (20), a plurality of said wheels (20) are disposed in said wheel assembly mounting section (102), and said wheels (20) are made of magnetic material; A limiting ring (30), at least one of the limiting rings (30) is disposed on the wheel assembly section (102), and the limiting ring (30) is located between two adjacent wheel discs (20); Fastener (40) is connected to the fastening section (101). The fastener (40) and the wheel stop flange section (103) abut against the wheel disc (20) from both ends of the wheel assembly mounting section (102) to restrict the axial movement of the wheel disc (20). The wheel (20), the limiting ring (30) and the fastener (40) all rotate synchronously with the wheel axle (10).

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