Shell ring internal expansion assembly and robot welding system with water-cooling copper liner and welding method of shell ring internal expansion assembly and robot welding system

Abstract

The invention relates to a shell ring internal expansion assembly and robot welding system with a water-cooling copper liner and a welding method thereof. The shell ring internal expansion assembly and robot welding system comprises a system base assembly; the headstock assembly is arranged at one end of the system base assembly, part of the headstock assembly can move in the extending direction of the system base assembly or rotate relative to the system base assembly, and the headstock assembly is suitable for clamping a barrel to be welded; one end of the tensioning assembly is rotationally connected with the fixed part of the headstock assembly and the system base assembly, and the other end of the tensioning assembly extends into the to-be-welded barrel and is located at the weld joint of the to-be-welded barrel; the welding assembly is located on one side of the system base assembly and is suitable for welding a welding seam; wherein a tensioning part is arranged at one end, extending into the to-be-welded barrel, of the tensioning assembly and can be driven by external force to expand outwards so as to abut against a welding seam, and therefore during welding, automatic intelligent welding is achieved through mutual cooperation of all the parts, and the welding efficiency is improved. The tensioning effect of the tensioning assembly is used for controlling the inner weld joint of the to-be-welded barrel to not generate the inner surplus height after welding is completed.

Description

Technical Field

[0001] The present invention relates to the technical field of cylinder connection, in particular to a cylinder segment internal expansion assembly with a water-cooled copper liner and a robot welding system and a welding method thereof. Background Art

[0002] With the increasing demand for cylinder products in modern industry, especially the defense industry, the traditional assembly and welding process between cylinder segments can no longer meet the requirements of high efficiency and high quality production. The existing technology has the following main shortcomings:

[0003] 1. External mechanical assembly and external special machine welding process:

[0004] Mechanical assistance is used to manually assemble the cylinder segments externally, manual spot welding is used for the grooves, and a special welding machine is used to weld the welds between the cylinder segments.

[0005] Disadvantages: No ovality correction measures, poor assembly quality; low degree of intelligence; the use of single-sided welding and double-sided forming welding technology will produce internal excess height on the inside of the cylinder.

[0006] 2. Internal assembly and welding process:

[0007] Another example is the assembly and welding all-in-one machine designed in patent 2024109210757 "A pipe and fitting internal expansion and external clamp assembly and robot welding all-in-one machine". The outer clamping chuck at the left end of the previous cylinder section is first clamped, and then the inner expansion chuck at the right end of the previous cylinder section and the left end of the next cylinder section is tightened. Then the self-centering cone at the left end of the next cylinder section is intelligently tightened, and finally the weld between the previous cylinder section and the next cylinder section is intelligently welded by the robot.

[0008] Disadvantages: This type of cylinder segment assembly and welding process lacks intelligent technology, and the single-sided welding and double-sided forming process makes it impossible to control the weld's internal reinforcement that extends beyond the cylinder's inner wall. For products where internal reinforcement is not permitted, manual grinding is required. However, due to the small inner diameter of the cylinder segment, grinding personnel cannot enter the segment, making grinding extremely difficult and difficult to ensure quality.

[0009] Therefore, technicians in this field are committed to developing an intelligent cylinder segment internal expansion assembly and robot welding system with a water-cooled copper liner that can achieve no excess height of the internal weld. Summary of the Invention

[0010] In view of the above-mentioned defects of the prior art, the technical problem to be solved by the present invention is to provide an intelligent cylinder segment internal expansion assembly and robot welding system with a water-cooled copper liner that can achieve no excess height of the internal weld.

[0011] To achieve the above-mentioned object, the present invention provides a cylinder segment internal expansion assembly and robot welding system with a water-cooled copper liner, comprising:

[0012] System base assembly;

[0013] A head frame assembly is provided at one end of the system base assembly, and a portion of the head frame assembly can move along the extension direction of the system base assembly or rotate relative to the system base assembly, and is suitable for clamping the cylinder to be welded;

[0014] a tensioning assembly, one end of which is rotatably connected to the fixed portion of the head frame assembly and the system base assembly, and the other end of which is inserted into the cylinder to be welded and located at the weld of the cylinder to be welded; and

[0015] a welding assembly, located on one side of the system base assembly and suitable for welding the weld;

[0016] The tensioning assembly has a tensioning component at one end thereof that penetrates into the cylinder to be welded. The tensioning component can be expanded outwards under the driving force of an external force to abut against the weld.

[0017] Furthermore, the head frame assembly includes a fixed head frame fixedly connected to the system base assembly and a movable head frame movably connected to the system base assembly;

[0018] The tensioning assembly includes a transmission shaft rotatably connected to the fixed head frame, and a tensioning component connected to the end of the transmission shaft away from the fixed head frame. The tensioning component includes a tensioning base connected to the transmission shaft and several tensioning blocks connected to the tensioning base. The several tensioning blocks are evenly arranged along the circumference of the tensioning base and can expand and retract relative to the tensioning base.

[0019] Furthermore, the tensioning block includes a moving portion movably connected to the tensioning base and a supporting portion connected to the moving portion. The outer surface of the supporting portion is arc-shaped, and the curvature of the arc is consistent with the inner curvature of the cylinder to be welded.

[0020] Furthermore, the tensioning component also includes a water cooling component, which is connected to the supporting portion. The interior of the supporting portion is hollow, and the water cooling liquid of the water cooling component can be circulated and cooled in the supporting portion. The tensioning block is a copper gasket.

[0021] Furthermore, a chuck component for clamping the cylinder to be welded is provided on the movable head frame, the transmission long shaft passes through the chuck component, and is transmission-connected to the movable head frame through a clutch follower component, and can selectively rotate following the chuck component.

[0022] Furthermore, it also includes a tailstock assembly, which is arranged at one end of the system base assembly away from the headstock assembly. The tailstock assembly can move toward or away from the headstock assembly to support and fix the cylinder to be welded.

[0023] Furthermore, it also includes a support assembly arranged between the headstock assembly and the tailstock assembly, and the support assembly can be moved or raised and lowered relative to the system base assembly to support the cylinder to be welded.

[0024] Furthermore, a plurality of support assemblies are provided.

[0025] Furthermore, it also includes a visual component, which is arranged on the movable end of the welding component and is suitable for detecting and locating the position of the weld.

[0026] In another preferred embodiment of the present invention, a cylinder welding method is also included, which is suitable for welding the cylinder to be welded using the above-mentioned cylinder segment internal expansion assembly with water-cooled copper liner and a robotic welding system, comprising:

[0027] S1: According to the length of the cylinder to be welded, the support assembly is moved to a suitable position, and is raised or lowered to a suitable height according to the outer diameter of the cylinder to be welded;

[0028] S2: hoisting the cylinder to be welded to the support assembly and the movable head frame and clamping it by the movable head frame;

[0029] S3: The support assembly and the movable head frame synchronously move the cylinder to be welded until the end of the cylinder to be welded away from the movable head frame is located in the middle of the abutting portion;

[0030] S4: hoisting another cylinder to be welded above the system base assembly, and moving it to fit into the middle of the abutting portion;

[0031] S5: Pushing the tailstock assembly to contact the cylinder to be welded and then continue to drive the cylinder to be welded to move until the tailstock assembly is coaxially abutted with the first installed cylinder to be welded and aligned with the weld seam;

[0032] S6: The tensioning member expands to hold the weld;

[0033] S7: starting the water cooling assembly and injecting cooling water into the copper liner;

[0034] S8: starting the clutch follower component of the tensioning assembly to link the tensioning assembly with the circumferential drive system of the movable head frame;

[0035] S9: using the circumferential drive system of the movable head frame to drive the two aligned cylinders to be welded to rotate;

[0036] S10: Automatically locate the weld using the visual component and the welding component;

[0037] S11: performing intermittent welding of the weld using the welding assembly according to the positioning result;

[0038] S12: After one round of intermittent welding is completed, the tensioning assembly retracts and the clutch follower system is released, and the circumferential drive system of the movable head frame drives the cylinder to rotate;

[0039] S13: the tensioning assembly expands again, so that the copper gasket fits the unwelded position, and the clutch follower system of the tensioning assembly engages again;

[0040] S14: Repeat the above steps S9 to S11 to perform intermittent welding again;

[0041] S15: If there are multiple cylinders to be welded, repeat S4 to S14 to weld other cylinder sections.

[0042] S16: After the welding is completed, the chuck component of the movable head frame is released, and the welded cylinder to be welded is lifted away.

[0043] The device provided by the present invention has the following technical effects:

[0044] 1. Compared with the prior art, the present invention provides a cylinder section internal expansion assembly and robot welding system with a water-cooled copper liner, which is provided with a system base assembly, a head frame assembly, a tensioning assembly and a welding assembly, wherein the head frame assembly is arranged at one end of the system base assembly, and part of the head frame assembly can move along the extension direction of the system base assembly or rotate relative to the system base assembly, which is suitable for clamping the cylinder to be welded, one end of the tensioning assembly is rotatably connected to the head frame assembly and the fixed part of the system base assembly, and the other end penetrates into the cylinder to be welded and is located at the weld of the cylinder to be welded, the welding assembly is on one side of the system base assembly, which is suitable for welding the weld, and the tensioning assembly has a tensioning component at one end that penetrates into the cylinder to be welded, and the tensioning component can expand outward under external force to abut the weld, so that automatic intelligent welding is realized through the mutual cooperation of various components during welding, and the tensioning effect of the tensioning assembly is used to control the internal weld of the cylinder to be welded to not generate internal excess height after welding is completed.

[0045] The concept, specific structure and technical effects of the present invention will be further described below in conjunction with the accompanying drawings to fully understand the purpose, characteristics and effects of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0046] Figure 1This is a schematic diagram of the structure of the cylinder segment internal expansion assembly and robot welding system with water-cooled copper liner provided in this application;

[0047] Figure 2 for Figure 1 Schematic diagram of part of the structure;

[0048] Figure 3 for Figure 1 Schematic diagram of part of the structure;

[0049] Figure 4 for Figure 3 Another perspective structural diagram;

[0050] Figure 5 for Figure 3 Schematic diagram of part of the structure;

[0051] Figure 6 for Figure 3 Schematic diagram of part of the structure.

[0052] Description of labels:

[0053] 1-system base assembly; 2-head frame assembly; 21-fixed head frame; 22-movable head frame; 3-tensioning assembly; 31-transmission long shaft; 32-tensioning component; 321-tensioning base; 322-tensioning block; 3221-moving part; 3222-supporting part; 33-water cooling assembly; 331-copper tube; 332-water inlet copper tube; 333-water outlet copper tube; 4-welding assembly; 41-welding robot arm; 42-welding head; 5-tailstock assembly; 6-support assembly; 61-support base; 62-support component; 621-lifting block; 622-lifting part; 7-visual assembly; 8-chuck component; 9-cylinder to be welded. DETAILED DESCRIPTION

[0054] The following describes the embodiments of the present invention through specific examples. Those skilled in the art can easily understand other advantages and effects of the present invention from the content disclosed in this specification. The present invention can also be implemented or applied through other different specific embodiments. The details in this specification can also be modified or changed based on different viewpoints and applications without departing from the spirit of the present invention. It should be noted that the following embodiments and features in the embodiments can be combined with each other unless they conflict.

[0055] It should be noted that the illustrations provided in the following embodiments are merely schematic illustrations of the basic concept of the present invention. Therefore, the illustrations only show components related to the present invention and are not drawn according to the number, shape, and size of components in actual implementation. In actual implementation, the type, quantity, and proportion of each component may be changed arbitrarily, and the component layout may also be more complex.

[0056] While some exemplary embodiments of the present invention have been described for purposes of illustration, it should be understood that the present invention may be implemented in other ways not specifically shown in the drawings.

[0057] like Figures 1 to 6 As shown, the present application provides a cylinder segment internal expansion assembly and robot welding system with a water-cooled copper liner, including a system base assembly 1, a head frame assembly 2, a tightening assembly 3 and a welding assembly 4.

[0058] Among them, the head frame assembly 2 is set at one end of the system base assembly 1, and part of the head frame assembly 2 can move along the extension direction of the system base assembly 1 or rotate relative to the system base assembly 1, which is suitable for clamping the cylinder 9 to be welded and can be driven to rotate and move together with the cylinder 9 to be welded. One end of the tensioning assembly 3 is rotatably connected to the fixed part of the head frame assembly 2 and the system base assembly 1, and the other end is deeply inserted into the cylinder 9 to be welded and is located at the weld seam of the cylinder 9 to be welded. The welding assembly 4 is on one side of the system base assembly 1 and is suitable for welding the weld seam. The tensioning assembly 3 has a tensioning component 32 at one end of the cylinder 9 to be welded. The tensioning component 32 can expand outward under the drive of an external force to abut the weld seam, so that automatic intelligent welding can be achieved through the mutual cooperation of various components during welding, and the tensioning effect of the tensioning assembly 3 is used to control the internal weld seam of the cylinder 9 to be welded after welding is completed so as not to generate internal excess height.

[0059] Specifically, the head frame assembly 2 includes a fixed head frame 21 fixedly connected to the system base assembly 1 and a movable head frame 22 movably connected to the system base assembly 1. The tensioning assembly 3 includes a transmission shaft 31 rotatably connected to the fixed head frame 21, and a tensioning component 32 connected to the end of the transmission shaft 31 away from the fixed head frame 21. The tensioning component 32 includes a tensioning base 321 connected to the transmission shaft 31 and a plurality of tensioning blocks 322 connected to the tensioning base 321. The plurality of tensioning blocks 322 are evenly arranged along the circumference of the tensioning base 321 and can expand and retract relative to the tensioning base 321, thereby achieving perfect fitting of the weld from the inside of the cylinder 9 to be welded, thereby suppressing the formation of internal excess height.

[0060] A plurality of mounting grooves are formed on the tensioning base 321, and a movable block is installed in the mounting groove, which can be moved relative to the mounting groove under the drive of an external force. The tensioning block 322 is connected to the movable block, thereby driving the expansion and retraction of the tensioning block 322. In this embodiment, the method of driving the movable block to move is pneumatic, and the transmission method is conventional. In other embodiments, the driving method can also be selected according to actual needs, such as electric, etc. As long as it can meet the actual needs, no specific limitation is made here.

[0061] Specifically, the tensioning block 322 includes a movable portion 3221 movably connected to the tensioning base 321, and a supporting portion 3222 connected to the movable portion 3221. The outer surface of the supporting portion 3222 is curved, and the curvature of the arc matches the internal curvature of the cylinder 9 to be welded, thereby better fitting the interior of the cylinder 9 to be welded. In this embodiment, six tensioning blocks 322 are provided. In other embodiments, the number of tensioning blocks 322 can be adjusted based on actual needs, such as two, three, four, five, or six or more, as long as it meets actual needs. This is not a specific limitation here.

[0062] The tensioning component 32 further includes a water cooling assembly 33 , which is connected to the abutting portion 3222 . The interior of the abutting portion 3222 is hollow, and the cooling liquid of the water cooling assembly 33 can be circulated and cooled in the abutting portion 3222 . Specifically, there is a mounting groove on the transmission shaft 31, and the copper tube 331 of the water cooling assembly 33 is buried in the mounting groove. The two ends of the supporting part 3222 have connecting interfaces. The water inlet copper tube 332 is connected to an interface of one of the supporting parts 3222, and the other interface is connected to the interface of the supporting part 3222 of the adjacent tightening block 322 through a connecting pipe, until the last tightening block 322 is connected to the water outlet copper tube 333. The cooling water is pumped out of the water tank by a water pump and enters the water inlet copper tube 332. After completing the cycle in several tightening blocks 322 through the interface, it returns to the return copper tube 333 and flows back to the water tank, thereby realizing circulating cooling. The flow rate of the cooling water can be adjusted by a regulating valve connected to the system. In this embodiment, the tightening block 322 is a copper pad with better thermal conductivity.

[0063] It is worth noting that the water channel in the tensioning block 322 adopts a U-shaped water channel design, which ensures both cooling effect and structural strength.

[0064] The movable headstock 22 is provided with a chuck assembly 8 for clamping the cylindrical body 9 to be welded. A transmission shaft 31 passes through the chuck assembly 8 and is connected to the movable headstock 22 via a clutch follower assembly. The shaft 31 selectively rotates with the chuck assembly 8, thereby ensuring stability during welding. In this embodiment, the chuck assembly 8 is a four-jaw chuck. In other embodiments, a corresponding chuck can be selected according to actual conditions, and this is not specifically limited here.

[0065] To achieve more stable welding, this embodiment further includes a tailstock assembly 5 and a support assembly 6. The tailstock assembly 5 is disposed at one end of the system base assembly 1 away from the headstock assembly 2. The tailstock assembly 5 can move toward or away from the headstock assembly 2 to support and fix the cylinder 9 to be welded. The support assembly 6 is disposed between the headstock assembly 2 and the tailstock assembly 5. The support assembly 6 can move or rise and fall relative to the system base assembly 1 to support the cylinder 9 to be welded.

[0066] Specifically, the end of the tailstock assembly 5 facing the headstock assembly 2 is tapered, and when abutting, it can extend into the interior of the cylinder 9 to be welded, and is suitable for cylinders 9 to be welded of different diameters. The support assembly 6 includes a support seat 61 slidably connected to the system base assembly 1, and a support component 62 arranged on the support seat 61. The support component 62 includes a lifting block 621 and a lifting member 622 connecting the lifting block 621 and the support seat 61. The extension or retraction of the telescopic end of the lifting member 622 can drive the lifting block 621 to move up and down. The lifting block 621 is arc-shaped on the side facing the cylinder 9 to be welded, and the curvature is consistent with the outer circumference curvature of the cylinder 9 to be welded, thereby abutting and supporting the cylinder 9 to be welded. In this embodiment, a plurality of support assemblies 6 are provided, and the plurality of support assemblies 6 cooperate with each other to support the cylinder 9 to be welded more stably, and are suitable for welding multiple cylinders 9 to be welded. In this embodiment, the lifting member 622 is a cylinder.

[0067] A roller is also provided on the lifting block 621. When the cylinder body 9 to be welded is driven to rotate by the movable head frame 22, it can roll relative to the roller to avoid damage to the cylinder body 9 to be welded due to excessive friction, and the rotation process is smoother.

[0068] It is worth noting that this embodiment also includes a visual component 7, which is arranged on the movable end of the welding component 4 and is suitable for detecting the position of the positioning weld. It is connected to the welding component 4 through a control system signal and uses a laser detection sensor to detect the positioning weld. In this embodiment, the above-mentioned control system and signal connection method are all existing technologies and will not be repeated here.

[0069] Welding assembly 4 includes a welding arm 41 and a welding head 42 mounted on it. Welding arm 41 is a multi-axis arm capable of performing multi-directional welding operations. This embodiment also includes a welding power supply unit consisting of a welding machine, wire feeder, wire feed reel, cooling water tank, and other components for argon arc welding. This power supply unit is located adjacent to welding assembly 4 to provide welding support.

[0070] This embodiment further provides a cylinder welding method, which is suitable for welding the cylinder 9 to be welded using the cylinder segment internal expansion assembly with a water-cooled copper liner and a robotic welding system as described above, comprising:

[0071] S1: According to the length of the cylinder 9 to be welded, the support assembly 6 is moved to a suitable position, and is raised or lowered to a suitable height according to the outer diameter of the cylinder 9 to be welded;

[0072] S2: The cylinder 9 to be welded is hoisted to the support assembly 6 and the movable head frame 22 and clamped by the movable head frame 22;

[0073] S3: The support assembly 6 and the movable head frame 22 move synchronously with the cylinder 9 to be welded until the end of the cylinder 9 to be welded away from the movable head frame 22 is located in the middle of the abutting portion 3222;

[0074] S4: hoisting another cylinder 9 to be welded above the system base assembly 1 and moving it to fit in the middle of the abutting portion 3222;

[0075] S5: Push the tailstock assembly 5, and after it contacts the cylinder 9 to be welded, continue to drive the cylinder 9 to be welded to move until it abuts against the first installed cylinder 9 to align the weld seam coaxially;

[0076] S6: The tensioning member 32 expands to hold the weld;

[0077] S7: Start the water cooling assembly 33 and inject cooling water into the copper liner;

[0078] S8: Activate the clutch follower component of the tensioning assembly 3 to link the tensioning assembly 3 with the circumferential drive system of the movable head frame 22;

[0079] S9: Using the circumferential drive system of the movable head frame 22 to drive the two aligned cylinders 9 to be welded to rotate;

[0080] S10: Automatically locate the weld using the visual component 7 and the welding component 4;

[0081] S11: performing intermittent welding of the weld using the welding assembly 4 according to the positioning result;

[0082] S12: After one round of intermittent welding is completed, the tensioning assembly 3 retracts and the clutch follower system is released, and the circumferential drive system of the movable head frame 22 drives the cylinder to rotate;

[0083] S13: the tensioning assembly 3 expands again, so that the copper gasket fits the unwelded position, and at the same time the clutch follower system of the tensioning assembly 3 engages again;

[0084] S14: Repeat the above steps S9 to S11 to perform intermittent welding again;

[0085] S15: If there are multiple cylinders 9 to be welded, repeat the above steps S4 to S14 to perform welding of other cylinder sections.

[0086] S16: After the welding is completed, the chuck component 8 of the movable head frame 22 is released, and the welded cylinder 9 to be welded is lifted away.

[0087] It is noteworthy that the clutch in the clutch follower component of the above method is mounted on the movable head frame 22. During the welding process, the clutch is disengaged without hindering the longitudinal movement of the movable head frame 22. During welding, the clutch engages the transmission shaft 31, allowing the tensioning assembly 3 to rotate with the workpiece cylinder. The engagement method and structure are both conventional and will not be further described here.

[0088] The above embodiments are merely illustrative of the principles and effects of the present invention and are not intended to limit the present invention. Anyone skilled in the art may modify or alter the above embodiments without departing from the spirit and scope of the present invention. Therefore, all equivalent modifications or alterations made by one of ordinary skill in the art without departing from the spirit and technical principles disclosed herein are intended to be covered by the claims of the present invention.

Claims

1. A cylindrical segment internal expansion assembly and robot welding system with a water-cooled copper liner, characterized in that: include: System base assembly; A head frame assembly is provided at one end of the system base assembly, and a portion of the head frame assembly can move along the extension direction of the system base assembly or rotate relative to the system base assembly, and is suitable for clamping the cylinder to be welded; A tensioning assembly, one end of which is rotatably connected to the fixed portion of the head frame assembly and the system base assembly, and the other end of which is inserted into the cylinder to be welded and located at the weld seam of the cylinder to be welded; as well as a welding assembly, located on one side of the system base assembly and suitable for welding the weld; The tensioning assembly has a tensioning component at one end thereof that penetrates into the cylinder to be welded. The tensioning component can be expanded outwards under the driving force of an external force to abut against the weld.

2. The cylinder segment internal expansion assembly and robot welding system with water-cooled copper liner according to claim 1 is characterized in that: The head frame assembly includes a fixed head frame fixedly connected to the system base assembly and a movable head frame movably connected to the system base assembly; The tensioning assembly includes a transmission shaft rotatably connected to the fixed head frame, and a tensioning component connected to the end of the transmission shaft away from the fixed head frame. The tensioning component includes a tensioning base connected to the transmission shaft and several tensioning blocks connected to the tensioning base. The several tensioning blocks are evenly arranged along the circumference of the tensioning base and can expand and retract relative to the tensioning base.

3. The internal expansion assembly and robot welding system for cylinder segments with water-cooled copper liners according to claim 2, characterized in that: The tensioning block includes a moving part movably connected to the tensioning base and a supporting part connected to the moving part. The outer surface of the supporting part is arc-shaped, and the curvature of the arc is consistent with the inner curvature of the cylinder to be welded.

4. The internal expansion assembly and robot welding system for cylinder segments with water-cooled copper liners according to claim 3 is characterized in that: The tensioning component further includes a water cooling assembly, which is connected to the abutting portion. The interior of the abutting portion is hollow, and the water cooling liquid of the water cooling assembly can be circulated and cooled in the abutting portion. The tensioning block is a copper gasket.

5. The cylinder segment internal expansion assembly and robot welding system with water-cooled copper liner according to claim 4 is characterized in that: The movable head frame is provided with a chuck component for clamping the cylinder to be welded. The transmission long shaft passes through the chuck component and is transmission-connected to the movable head frame through a clutch follower component, and can selectively rotate following the chuck component.

6. The cylinder segment internal expansion assembly and robot welding system with water-cooled copper liner according to claim 2, characterized in that: It also includes a tailstock assembly, which is arranged at one end of the system base assembly away from the headstock assembly. The tailstock assembly can move towards or away from the headstock assembly to support and fix the cylinder to be welded.

7. The cylinder segment internal expansion assembly and robot welding system with water-cooled copper liner according to claim 6, characterized in that: The system further comprises a support assembly arranged between the headstock assembly and the tailstock assembly. The support assembly can be moved or lifted relative to the system base assembly to support the cylinder to be welded.

8. The cylinder segment internal expansion assembly and robot welding system with water-cooled copper liner according to claim 7, characterized in that: There are several supporting components.

9. The internal expansion assembly and robot welding system for cylinder segments with water-cooled copper liners according to claim 8, characterized in that: It also includes a visual component, which is arranged on the movable end of the welding component and is suitable for detecting and locating the position of the weld.

10. A cylinder welding method, suitable for welding the cylinder to be welded using the cylinder segment internal expansion assembly with water-cooled copper liner according to claims 1-9 and a robot welding system, characterized in that: include: S1: According to the length of the cylinder to be welded, the support assembly is moved to a suitable position, and is raised or lowered to a suitable height according to the outer diameter of the cylinder to be welded; S2: The cylinder to be welded is hoisted to the support assembly and the movable head frame and clamped by the movable head frame; S3: The support assembly and the movable head frame synchronously move the cylinder to be welded until the end of the cylinder to be welded away from the movable head frame is located in the middle of the abutting portion; S4: hoisting another cylinder to be welded above the system base assembly, and moving it to fit into the middle of the abutting portion; S5: Pushing the tailstock assembly to contact the cylinder to be welded and then continue to drive the cylinder to be welded to move until it abuts against the first installed cylinder to be welded coaxially and aligns the weld seam; S6: The tensioning member expands to hold the weld; S7: starting the water cooling assembly and injecting cooling water into the copper liner; S8: starting the clutch follower component of the tensioning assembly to link the tensioning assembly with the circumferential drive system of the movable head frame; S9: using the circumferential drive system of the movable head frame to drive the two aligned cylinders to be welded to rotate; S10: Automatically locate the weld using the visual component and the welding component; S11: performing intermittent welding of the weld using the welding assembly according to the positioning result; S12: After one round of intermittent welding is completed, the tensioning assembly retracts and the clutch follower system is released, and the circumferential drive system of the movable head frame drives the cylinder to rotate; S13: the tensioning assembly expands again, so that the copper gasket fits the unwelded position, and the clutch follower system of the tensioning assembly engages again; S14: Repeat the above steps S9 to S11 to perform intermittent welding again; S15: If there are multiple cylinders to be welded, repeat S4 to S14 to weld other cylinder sections. S16: After the welding is completed, the chuck component of the movable head frame is released, and the welded cylinder to be welded is lifted away.

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