Tank welding equipment and method thereof

Abstract

The invention discloses tank welding equipment and a method thereof, and relates to the technical field of welding, the tank welding equipment comprises a frame, a tungsten electrode assembly and a tank to be welded, the tank to be welded comprises a tank body and an end cover, and an active clamping mechanism is integrally arranged on the frame; the driving clamping mechanism comprises a clamping assembly, a clamping block, an elastic assembly, a screwing assembly and a lifting assembly. According to the automatic welding device, through cooperative control of multiple mechanisms such as the electric push rod lifting and screwing assembly and the telescopic air cylinder driving and pressing head, the welding takt of a single tank is shortened, and compared with a traditional manual production line, the efficiency is greatly improved; and the tank body and the end cover are respectively and independently propped through the double-bulge structures of the clamping blocks, and the axial pressing force of the pressing mechanism and the limiting of the driven propping mechanism are combined, so that the angle error of the groove is reduced, the defects of incomplete penetration, incomplete fusion and the like are avoided, and the qualified rate of ray detection is improved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of welding, in particular to a tank welding device and method thereof. BACKGROUND

[0002] Nuclear power instrument tanks, as key safety equipment of nuclear power plants, have extremely strict requirements on sealing and structural integrity. Traditional instrument tank manufacturing generally adopts manual assembly and welding methods, which have the following technical bottlenecks: first, manual operation is difficult to meet the strict size tolerance requirements of the ring joint between the cylinder and the head, which is easy to cause defects such as incomplete penetration and incomplete fusion, and the nuclear power standard requires zero tolerance for such defects. Second, nuclear power instrument tanks need to go through multiple processes such as assembly, spot welding and full welding, and the traditional production line is isolated, relying on manual transportation and repeated positioning, which is easy to cause imbalance of work station rhythm, high idle rate of equipment and difficult to improve production capacity.

[0003] Therefore, an automatic welding device integrating high-precision self-adaptive clamping and multi-station collaborative control is needed to break through the quality and efficiency bottlenecks of nuclear power instrument tank manufacturing. SUMMARY

[0004] This section aims to summarize some aspects of the embodiments of the present application and briefly introduce some preferred embodiments. Some simplifications or omissions may be made in this section and the abstract and title of the specification to avoid obscuring the purpose of this section, abstract and title, and such simplifications or omissions cannot be used to limit the scope of the present application.

[0005] In view of the above problems of the tank welding device and method, the present application is proposed.

[0006] Therefore, the purpose of the present application is to provide a tank welding device and method to solve the problems of "insufficient precision and limited production efficiency".

[0007] To solve the above technical problems, the present application provides the following technical solutions: a tank welding device, comprising: a frame, a tungsten electrode assembly and a tank to be welded, the tank to be welded comprising a tank body and an end cover, the frame integrally provided with a driving clamping mechanism, the driving clamping mechanism comprising a clamping assembly, a clamping block, an elastic assembly, a tightening assembly and a lifting assembly; a driven abutting mechanism and a pressing mechanism are arranged on both sides of the driving clamping mechanism respectively; The driving clamping mechanism is used to clamp and drive the tank to be welded to rotate, and the driven abutting mechanism and the pressing mechanism are cooperatively matched to abut the end cover and the tank body.

[0008] As a preferred scheme of the can body welding equipment, the pressing mechanism comprises a support frame fixed above the frame, a telescopic cylinder fixed on the support frame, a sliding block fixed on the telescopic end of the telescopic cylinder, and a pushing column fixed on the sliding block, and a pressing head is fixed on one end of the pushing column.

[0009] As a preferred scheme of the can body welding equipment, the clamping assembly comprises an index plate, a servo motor and a clamping jaw, the index plate is fixed on the support frame, and the servo motor is arranged on one side of the index plate.

[0010] As a preferred scheme of the can body welding equipment, the index plate comprises a fixed part and a rotating chuck, a worm pair transmission part is arranged in the fixed part, the output end of the servo motor is connected with the transmission part, the clamping jaw is fixed on the movable end of the chuck, a screw transmission part is arranged in the chuck, and the screw transmission part is driven through the tightening opening.

[0011] As a preferred scheme of the can body welding equipment, the tightening assembly comprises a speed reducer and a tightening head, the tightening head is fixedly connected with the output end of the speed reducer, and the tightening head is in abutting engagement with the tightening opening when the tightening head moves upward.

[0012] As a preferred scheme of the can body welding equipment, the lifting assembly comprises a fixed frame fixed in the frame, and an electric push rod fixed on the fixed frame, and the telescopic end of the electric push rod is detachably connected with the speed reducer through a sliding table.

[0013] As a preferred scheme of the can body welding equipment, the clamping block is detachably arranged at the end of the clamping jaw, and the clamping block is an integral structure comprising a fixed block and two protruding parts.

[0014] As a preferred scheme of the can body welding equipment, the elastic assembly is arranged at the middle part of the clamping jaw, and the elastic assembly comprises a sliding rod, an abutting block and a spring, the sliding rod is slidably arranged in the clamping jaw, the abutting block is fixedly connected with the sliding rod, the spring is sleeved on the sliding rod, and the two ends of the spring are fixedly arranged on the abutting block and the clamping jaw respectively.

[0015] As a preferred scheme of the can body welding equipment, the driven abutting mechanism comprises a driving motor, a screw rod, a limiting slide rail and a protective cover, the driving motor and the limiting slide rail are fixedly arranged on the frame, the output end of the driving motor is fixedly connected with the screw rod, a nut is sleeved on the screw rod and is threadedly connected with the screw rod, the nut is rotationally arranged with a rotary chuck through a connecting piece, the rotary chuck and the pressing head are arranged with the same center, an air inlet pipe is inserted through the center of the rotary chuck, the connecting piece is slidingly arranged on the limiting slide rail and is used for limiting the circumferential rotation of the nut, and the protective cover is fixedly arranged on the frame.

[0016] A can body welding method comprises the following steps: S1, rotating the index plate to a tightening preparation position by a servo motor, at this time, the tightening port corresponds to the position of the tightening head, and a can body is placed between the plurality of clamping jaws by a grabbing robot; S2, driving the tightening head to abut into the tightening port upward by an electric push rod and a sliding table, and rotating the tightening port by a reduction motor cooperating with the tightening head, so as to drive the movement of the movable end of the rotating chuck and make the plurality of clamping jaws close to the center, so that the abutting blocks abut against the can body in advance; S3, placing an end cover between the clamping jaws and making the end cover adhere to the can body, at this time, the reduction motor further drives the clamping jaws to contract, and the two protruding parts of the clamping blocks abut against the can body and the end cover respectively, so as to clamp them respectively, so that the end cover and the can body reach a positioning preparation state; S4, driving the rotary chuck to advance and abut against the end cover by a driving motor, driving the pressing head to advance and abut against the can body and the end cover by a telescopic cylinder, and further driving the clamping jaws to contract by the reduction motor, so that the can body and the end cover are positioned completely, at this time, cooling gas is introduced into the can body through the air inlet pipe to exhaust the air in the can body, and a welding robot is used to spot weld the can to be welded; S5, after the spot welding is completed, the grabbing robot grabs the can body, the reduction motor rotates to make the clamping jaws loose, and the driving motor drives the rotary chuck to retreat and separate from the end cover, the grabbing robot takes down the can body, rotates the can body and then places the can body between the clamping jaws again, and places another end cover between the clamping jaws, and repeats the above operation to spot weld the end cover; S6, after the spot welding is completed, the grabbing robot takes out the can body, and the clamping jaws and the rotary chuck are used to clamp and position the can body, the servo motor drives the index plate to rotate at a preset angle, and a welding robot is used to perform full welding of the girth seam.

[0017] The beneficial effects of the present application are that: through the cooperative control of the multi-mechanism such as the electric push rod lifting the tightening assembly, the telescopic cylinder driving the pressing head, the single-tank welding beat is shortened, and the efficiency is greatly improved compared with the traditional production line; and through the double-protruding structure of the clamping block respectively abutting against the tank body and the end cover, combined with the axial pressing force of the pressing mechanism and the automatic positioning of the driven abutting mechanism positioning groove, the groove angle error is reduced, the defects such as incomplete penetration and incomplete fusion are avoided from the root, and the qualified rate of the ray detection is improved; in addition, the built-in air inlet pipe in the rotary chuck can introduce cooling gas into the tank and empty the air at the spot welding stage, and form a protective gas curtain; combined with the accurate welding of the tungsten electrode assembly, the oxidation of alloy elements is effectively inhibited, and the metallurgical quality of the weld is guaranteed. BRIEF DESCRIPTION OF DRAWINGS

[0018] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings needed in the embodiment description will be briefly introduced as follows. Obviously, the drawings in the following description are only some embodiments of the present application, and other drawings can be obtained by those skilled in the art without creative labor. Among them: Figure 1 It is a structural schematic diagram of a tank welding equipment of the present application.

[0019] Figure 2 It is a partial structural schematic diagram of a tank welding equipment of the present application.

[0020] Figure 3 It is an enlarged structural schematic diagram of A in the present application. Figure 2

[0021] Figure 4 It is an internal structural schematic diagram of the frame in the present application.

[0022] Figure 5 It is a structural schematic diagram of a positioning preparation state in the present application.

[0023] Figure 6 It is a structural schematic diagram of a spot welding state in the present application.

[0024] Figure 7 It is a structural schematic diagram of a full welding state in the present application.

[0025] ​BRIEF DESCRIPTION OF DRAWINGS: 100, frame; 200, active clamping mechanism; 201, clamping assembly; 201a, index plate; 201b, servo motor; 201c, clamping jaw; 202, clamping block; 203, elastic assembly; 203a, slide rod; 203b, abutting block; 203c, spring; 204, tightening assembly; 205, lifting assembly; 205a, fixed frame; 205b, electric push rod; 205c, slide table; 300, driven abutting mechanism; 301, drive motor; 302, lead screw; 303, nut; 304, connecting piece; 305, rotary chuck; 400, pressing mechanism; 401, support frame; 402, telescopic cylinder; 403, slide block; 404, push column; 405, pressing head; 500, tungsten electrode assembly. DETAILED DESCRIPTION

[0026] In order to make the above objectives, features and advantages of the present application more apparent, the specific embodiments of the present application will be described in detail below with reference to the accompanying drawings.

[0027] In the following description, a lot of specific details are set forth in order to provide a thorough understanding of the present application, but the present application can be practiced in other different manners than those described herein, and those skilled in the art can make similar generalizations without departing from the spirit of the present application, therefore the present application is not limited to the specific embodiments disclosed below.

[0028] Secondly, the "one embodiment" or "embodiment" referred to herein can include specific features, structures or characteristics included in at least one implementation of the present application. "In one embodiment" appearing in different places in the specification does not mean the same embodiment, nor is it an independent or alternative embodiment mutually exclusive with other embodiments.

[0029] Thirdly, the present application is described in detail in conjunction with the schematic diagram, and in the detailed description of the embodiments of the present application, the cross-sectional view of the device structure is partially enlarged without the general proportion for the convenience of description, and the schematic diagram is only an example, which should not limit the scope of protection of the present application. In addition, the three-dimensional spatial dimensions of length, width and depth should be included in actual manufacture.

[0030] Embodiment 1 Reference Figure 1 , Figure 2 and Figure 4For the first embodiment of the present application, the embodiment provides a tank welding device, which improves production efficiency and comprises a frame 100, a tungsten electrode assembly 500 and a tank to be welded, the tungsten electrode assembly 500 is fixed on the frame 100 and used for replacing the tungsten electrode of the welding gun, the tank to be welded comprises a tank body and an end cover, the frame 100 is integrally provided with a driving clamping mechanism 200, the driving clamping mechanism 200 comprises a clamping assembly 201, a clamping block 202, an elastic assembly 203, a tightening assembly 204 and a lifting assembly 205, and the driving clamping mechanism 200 is provided with a driven abutting mechanism 300 and a pressing mechanism 400 on both sides.

[0031] In use, the tank body and the end cover are clamped by the clamping assembly 201, and the end cover and the tank body are abutted and adhered by the relative extrusion of the driven abutting mechanism 300 and the pressing mechanism 400, and then spot welding is performed; after the spot welding is completed, the tank to be welded is clamped and rotated by the clamping assembly 201, and then full welding is performed, and the production efficiency is improved by the cooperation of the processes.

[0032] Embodiment 2 Referring to Figures 1 to 7 For the second embodiment of the present application, different from the previous embodiment, the pressing mechanism 400 comprises a support frame 401 fixed above the frame 100, the support frame 401 is fixedly provided with a telescopic cylinder 402, the telescopic end of the telescopic cylinder 402 is fixedly provided with a sliding block 403, referring to Figure 2 The telescopic cylinder 402 drives the sliding block 403 to move axially, the sliding block 403 is fixedly provided with a push column 404, one end of the push column 404 is fixedly provided with a pressing head 405, and the sliding block 403 drives the pressing head 405 to move axially through the push column 404; when the pressing head 405 contacts the tank to be welded, the tank body and the end cover can be pressed.

[0033] Further, referring to Figures 1-3The clamping assembly 201 includes a dividing disc 201a, a servo motor 201b and a clamping jaw 201c. The dividing disc 201a is fixedly arranged on the support frame 401, and the servo motor 201b is arranged on one side of the dividing disc 201a. The dividing disc 201a includes a fixed part and a rotating chuck. A worm pair transmission part is arranged in the fixed part. The servo motor 201b drives the worm pair transmission part to drive the rotating chuck of the dividing disc 201a to rotate. The worm pair transmission part (a commonly used transmission structure, not shown in the figure) includes a worm gear and a plurality of bevel gears that cooperate with each other to transmit power. The output end of the servo motor 201b is connected to the transmission part. The servo motor 201b drives the worm to rotate, and cooperates with the worm gear and the bevel gear to transmit power in a steering manner. The purpose is to drive the rotating chuck to rotate. The clamping jaw 201c is fixed to the movable end of the chuck. A screw transmission part is arranged in the chuck, and is driven by a tightening port. The chuck can refer to the existing standard three-jaw chuck structure. The reduction motor drives the tightening head to rotate, and drives the clamping jaw 201c to radially contract through the screw transmission part in the chuck. It should be noted that the clamping jaw 201c can be compatible with workpieces with a length of 250mm-400mm. Workpieces with different diameters can be compatible by replacing the clamping jaw 201c.

[0034] Further, referring to Figure 4 The tightening assembly 204 includes a reduction motor and a tightening head. The tightening head is fixedly connected to the output end of the reduction motor and is driven by the reduction motor to rotate. When the tightening head moves upward, it abuts against the tightening port and is driven by the reduction motor and the tightening head to rotate, so as to move the movable end of the chuck.

[0035] Further, referring to Figure 4 The lifting assembly 205 includes a fixed frame 205a fixedly arranged in the frame 100. An electric push rod 205b is fixedly arranged on the fixed frame 205a. The extension end of the electric push rod 205b is detachably mounted with a reduction motor through a sliding table 205c. The electric push rod 205b and the sliding table 205c drive the tightening assembly 204 to lift, so as to realize the insertion and separation of the tightening head and the tightening port.

[0036] Further, referring to Figure 3 and Figure 5 The clamping block 202 is detachably mounted on the end portion of the clamping jaw 201c. The clamping block 202 is an integrated structure, which includes a fixed block and two protruding parts. The two protruding parts are respectively abutted against the tank body and the end cover, so as to facilitate clamping and positioning.

[0037] Further, referring to Figure 3The elastic assembly 203 is arranged at the middle part of the clamping jaw 201c, and the elastic assembly 203 comprises a sliding rod 203a, a pressing block 203b and a spring 203c. The sliding rod 203a is slidingly arranged on the clamping jaw 201c, the pressing block 203b is fixedly connected with the sliding rod 203a, the spring 203c is sleeved on the sliding rod 203a, and the two ends of the spring 203c are fixedly arranged on the pressing block 203b and the clamping jaw 201c respectively. In the positioning preparation stage, the tank body is arranged in the middle of the plurality of clamping jaws 201c, the plurality of clamping jaws 201c are driven to move towards the center, and the tank body is preliminarily pressed by the pressing block 203b. At this time, not only enough gap is ensured to enable the end cover to be placed in the clamp, but also the tank body can achieve a certain centering accuracy. It should be noted that the spring 203c is selected from a 60Si2MnA spring steel with a wire diameter of 1.2 mm, and the pre-pressing force is set to 150±5 N.

[0038] Further, referring to Figure 2 The driven pressing mechanism 300 comprises a driving motor 301, a lead screw 302 and a limiting slide rail. The driving motor 301 and the limiting slide rail are fixedly arranged on the frame 100, the output end of the driving motor 301 is fixedly connected with the lead screw 302, the driving motor 301 drives the lead screw 302 to rotate, a nut 303 is sleeved on the lead screw 302, and the nut 303 is threadedly connected with the lead screw 302. The nut 303 is rotatably arranged with a rotary chuck 305 through a connecting piece 304, and the nut 303 drives the rotary chuck 305 to move through the connecting piece 304. The rotary chuck 305 and the pressing head 405 are arranged at the same center, and a positioning groove matched with the end cover is arranged at the center. When the rotary chuck 305 and the pressing head 405 are respectively pressed on one end of the tank to be welded, the tank body and the end cover are pressed and positioned, and the angle error can be reduced. At this time, the tank to be welded is spot-welded, and the rotary chuck 305 is provided with an air inlet pipe at the center, which is used for introducing cooling gas (such as argon) into the tank body to exhaust the air in the tank body. The connecting piece 304 is slidingly arranged on the limiting slide rail, which is used for limiting the circumferential rotation of the nut 303, so that the nut 303 only moves axially along the limiting slide rail. The driven pressing mechanism 300 further comprises a protective cover fixedly arranged on the frame 100.

[0039] In use, the indexing disc 201a is driven to rotate to a tightening preparation position by the servo motor 201b, at which time the tightening port corresponds to the position of the tightening head, and the can body is placed between the plurality of clamping jaws 201c by the grabbing robot; then the tightening head is driven upward into the tightening port by the electric push rod 205b and the sliding table 205c, and the tightening port is driven to rotate by the reduction motor cooperating with the tightening head, so as to drive the movement of the movable end of the chuck, and the plurality of clamping jaws 201c are moved towards the center, so that the abutting block 203b abuts against the can body in advance, and both sufficient clearance is ensured to enable the end cover to be placed into the clamp, and the can body also reaches a certain centering accuracy; the end cover is placed between the clamping jaws 201c and is attached to the can body, at which time the reduction motor further drives the clamping jaws 201c to contract, and the two protruding portions of the clamping block 202 abut against the can body and the end cover respectively, so as to clamp them respectively, so that the end cover and the can body reach a positioning preparation state; then the rotary chuck 305 is driven to advance and abut against the end cover by the driving motor 301, the pressing head 405 is driven to advance and press the can body and the end cover to be attached to each other by the telescopic cylinder 402, the clamping jaws 201c are further driven to contract by the reduction motor, so that the can body and the end cover are completely positioned, at which time the cooling gas is introduced into the can body through the air inlet pipe to exhaust the air in the can body, and the can to be welded is spot welded by the welding robot; after completion, the grabbing robot reaches the grabbing position, grabs the can body, the reduction motor rotates to release the clamping jaws 201c, and reaches a fully open state, the driving motor 301 drives the rotary chuck 305 to retreat and separate from the end cover, the grabbing robot takes down the can body, rotates by 180 degrees, and is placed between the clamping jaws 201c again, and another end cover is placed between the clamping jaws 201c by the grabbing robot, and the above operation is repeated to spot weld the end cover; after spot welding, the can body is taken out by the grabbing robot, and is clamped and positioned by the clamping jaws 201c and the rotary chuck 305 again, the indexing disc 201a is driven to rotate by a preset angle by the servo motor 201b, and the full circumferential welding of the ring seam is performed by cooperating with the welding robot.

[0040] Embodiment 3 With reference to Figures 1 to 7 For the third embodiment of the present application, on the basis of the above embodiment, a can body welding method is provided, comprising the following steps: S1, the indexing disc 201a is driven to rotate to a tightening preparation position by the servo motor 201b, at which time the tightening port corresponds to the position of the tightening head, and the can body is placed between the plurality of clamping jaws 201c by the grabbing robot; S2, the tightening head is driven upward into the tightening port by the electric push rod 205b and the sliding table 205c, and the tightening port is driven to rotate by the reduction motor cooperating with the tightening head, so as to drive the movement of the movable end of the chuck, and the plurality of clamping jaws 201c are moved towards the center, so that the abutting block 203b abuts against the can body in advance; S3, the end cover is grabbed and placed in the middle of the clamping jaw 201c, and the end cover is attached to the tank body, at this time the speed reducer motor further drives the clamping jaw 201c to contract, and the two protruding parts of the clamping block 202 are respectively abutted on the tank body and the end cover, and the tank body and the end cover are respectively clamped, so that the end cover and the tank body reach the positioning preparation state; S4, the rotary chuck 305 is driven forward by the driving motor 301 and abuts on the end cover, the pressing head 405 is driven forward by the telescopic cylinder 402 and abuts on the tank body and the end cover, the speed reducer motor further drives the clamping jaw 201c to contract, so that the tank body and the end cover are positioned completely, at this time the cooling gas is introduced into the tank body through the air inlet pipe to exhaust the air in the tank body, and the welding robot is used to spot weld the tank to be welded; S5, the grabbing robot grabs the tank body, and the speed reducer motor rotates to release the clamping jaw 201c, so that the tank body is taken out, the rotary chuck 305 is driven backward by the driving motor 301 and separated from the end cover, the grabbing robot takes out the tank body, rotates 180 degrees and is placed between the clamping jaws 201c again, and another end cover is placed between the clamping jaws 201c, and the above operation is repeated to spot weld the end cover; S6, after the spot welding is completed, the tank body is taken out by the grabbing robot, and is clamped and positioned by the clamping jaw 201c and the rotary chuck 305 again (refer to Figure 7 The state), the indexing disc 201a is driven to rotate by the servo motor 201b at a preset angle, and the welding robot is used to perform full welding of the girth seam.

[0041] It should be noted that the welding robot is ABB IRB2600 robot, the grabbing robot is IRB 4600 robot, and the whole device is controlled by a controller. Since the controller is a commonly used device and belongs to the existing mature technology, the electrical connection relationship, the specific circuit structure, and the timing synchronization and obstacle avoidance logic of the robot will not be described here.

[0042] It should be understood that during the development of any actual implementation, numerous implementation-specific decisions can be made. Such development efforts, while possibly complex and time-consuming, would nevertheless be routine undertaking for those of ordinary skill in the art having the benefit of this disclosure, without undue experimentation.

[0043] It should be noted that the above embodiments are only used to illustrate the technical solutions of the present application, not limit the present application. Although the present application has been described in detail with reference to the preferred embodiments, those skilled in the art should understand that the technical solutions of the present application can be modified or replaced by equivalent, without departing from the spirit and scope of the technical solutions of the present application, which should be covered in the scope of the claims of the present application.

Claims

1. A can body welding apparatus comprising a frame (100), a tungsten electrode assembly (500) and a can to be welded, the can to be welded comprising a can body and an end closure, characterised in that: The frame (100) is integrally provided with an active clamping mechanism (200), which comprises a clamping assembly (201), a clamping block (202), an elastic assembly (203), a tightening assembly (204) and a lifting assembly (205); both sides of the active clamping mechanism (200) are respectively provided with a driven abutting mechanism (300) and a pressing mechanism (400); The active clamping mechanism (200) is used for clamping and driving the to-be-welded tank to rotate, and the driven abutting mechanism (300) and the pressing mechanism (400) are used for abutting the end cover and the tank body in cooperation.

2. The can body welding apparatus according to claim 1, characterized by: The pressing mechanism (400) comprises a support frame (401) fixedly arranged above the frame (100), a telescopic cylinder (402) fixedly arranged on the support frame (401), a sliding block (403) fixedly arranged at the telescopic end of the telescopic cylinder (402), a push column (404) fixedly arranged on the sliding block (403), and a pressing head (405) fixedly arranged at one end of the push column (404).

3. The can body welding apparatus according to claim 2, characterized by: The clamping assembly (201) comprises an index plate (201a), a servo motor (201b) and a clamping jaw (201c), and the index plate (201a) is fixedly arranged on the support frame (401).

4. The can body welding apparatus according to claim 3, characterized by: The index plate (201a) comprises a fixed part and a rotating chuck, the output end of the servo motor (201b) drives the rotating chuck to rotate through a worm pair transmission part, the clamping jaw (201c) is fixed to the movable end of the chuck, a screw transmission part is arranged in the chuck, and the screw transmission part is driven through a tightening port.

5. The can body welding apparatus according to claim 4, characterized by: The tightening assembly (204) comprises a speed reducer and a tightening head, the tightening head is fixedly connected with the output end of the speed reducer, and when the tightening head moves upward, the tightening head abuts and cooperates with the tightening port.

6. The can body welding apparatus according to claim 5, characterized by: The lifting assembly (205) comprises a fixed frame (205a) fixedly arranged in the frame (100), and an electric push rod (205b) fixedly arranged on the fixed frame (205a); the telescopic end of the electric push rod (205b) is detachably installed with a speed reducer through a sliding table (205c).

7. The can body welding apparatus according to claim 3, characterized by: The clamping block (202) is detachably installed at the end of the clamping jaw (201c), and the clamping block (202) is an integral structure comprising a fixed block and two protruding parts.

8. The can body welding apparatus according to claim 3, characterized by: The elastic assembly (203) is arranged at the middle part of the clamping jaw (201c), and the elastic assembly (203) comprises a sliding rod (203a), an abutting block (203b) and a spring (203c); the sliding rod (203a) is slidably arranged on the clamping jaw (201c), the abutting block (203b) is fixedly connected with the sliding rod (203a), and the spring (203c) is sleeved on the sliding rod (203a), and both ends of the spring (203c) are fixedly arranged on the abutting block (203b) and the clamping jaw (201c).

9. The can body welding apparatus according to claim 1, characterized by: The driven abutting mechanism (300) comprises a driving motor (301), a lead screw (302), a limiting slide rail and a protective cover, the driving motor (301) and the limiting slide rail are fixedly arranged on a frame (100), and the output end of the driving motor (301) is fixedly connected with the lead screw (302), the lead screw (302) is sleeved with a nut (303), and the nut (303) is threadedly connected with the lead screw (302), the nut (303) is rotationally arranged with a rotating chuck (305) through a connecting piece (304), the rotating chuck (305) and a pressing head (405) are arranged with the same center, and the centers are both provided with positioning grooves matched with end covers, the rotating chuck (305) is provided with an air inlet pipe penetratingly at the center, the connecting piece (304) is slidingly arranged on the limiting slide rail, and is used for limiting the circumferential rotation of the nut (303), and the protective cover is fixedly arranged on the frame (100).

10. A can body welding method using the can body welding apparatus according to any one of claims 1 to 9, characterized by The method comprises the following steps: S1, the indexing disc (201a) is rotated to a tightening preparation position by the servo motor (201b), at this time, the tightening port is corresponding to the position of the tightening head, and the can body is placed in the middle of the plurality of clamping jaws (201c) by the grabbing robot; S2, the tightening head is driven upward into the tightening port by the electric push rod (205b) and the slide table (205c), and the tightening port is rotated by the reduction motor cooperating with the tightening head, which is used to drive the movement of the movable end of the rotating chuck, so that the plurality of clamping jaws (201c) are close to the center, and the can body is pre-abutted by the abutting block (203b); S3, the end cover is placed in the middle of the clamping jaw (201c) and is attached to the can body, at this time, the reduction motor further drives the clamping jaw (201c) to shrink, and the two protruding parts of the clamping block (202) are respectively abutted on the can body and the end cover, respectively clamping them, so that the end cover and the can body reach the positioning preparation state; S4, the rotating chuck (305) is driven forward by the driving motor (301) and abuts on the end cover, the pressing head (405) is driven forward by the telescopic cylinder (402) and abuts on the can body and the end cover, the reduction motor further drives the clamping jaw (201c) to shrink, so that the can body and the end cover are completely positioned, at this time, the cooling gas is introduced into the can body through the air inlet pipe to exhaust the air in the can body, and the welding robot is used for spot welding the to-be-welded can; S5, the grabbing robot grabs the can body, and the reduction motor rotates to release the clamping jaw (201c), so as to reach the full opening state of taking out, the driving motor (301) drives the rotating chuck (305) to retreat and separate from the end cover, the grabbing robot takes down the can body, rotates 180 degrees, and then is placed between the clamping jaws (201c) again, and another end cover is placed between the clamping jaws (201c), and the above operation is repeated to spot weld the end cover; S6, after spot welding, the can body is taken out by the grabbing robot, and is clamped and positioned by the clamping jaw (201c) and the rotating chuck (305) again, the indexing disc (201a) is rotated by the servo motor (201b) according to the preset angle, and the welding robot is used for full welding of the girth seam.

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