Automatic welding equipment for access door of wind power generation tower drum

Abstract

The invention relates to automatic welding equipment for an access door of a wind power generation tower drum, and relates to the technical field of welding equipment. The portal frame is arranged at the top of the base in a sliding mode and used for doing feeding motion in the length direction of the base; the cantilever is arranged on the portal frame in a lifting manner; the welding assembly is fixedly connected to the middle of the bottom of the cantilever and points to a to-be-welded weld joint; the slag removal assembly is arranged at the top of the cantilever and points to a welded welding seam area; and the driving mechanism is used for driving the portal frame to move. According to the device, the slag removal assembly is used for carrying out slag removal operation on the welding seam of the welded section, the portal frame is arranged to carry out feeding movement in the length direction of the base, on one hand, the welding assembly is dragged to carry out welding operation, on the other hand, the slag removal assembly is synchronously dragged to carry out slag removal operation on the welding seam of the welded section, and collaborative operation is achieved; the automatic welding equipment for the access door of the wind power generation tower drum can reduce the hoisting frequency and improve the working efficiency at the same time.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of welding equipment, in particular to a wind power tower cylinder access door automatic welding equipment. BACKGROUND

[0002] With the transformation of global energy structure to clean, wind power as an important part of renewable energy, its installed capacity and single machine power continues to grow. Modern wind turbine tower height generally reaches 80-150 meters, tower diameter 4-6 meters, as the core bearing structure of the whole unit, its manufacturing quality is directly related to the operation safety and service life of wind farm. Tower access door is a key functional component on the wind power tower, mainly used for the passage entrance of daily maintenance of equipment, when manufacturing, welding equipment needs to be used to weld the door frame with the door hole of the tower.

[0003] Through retrieval, the Chinese patent with publication number CN116352332A discloses a gantry type wind tower door frame welding mechanism, which is convenient for quickly adjusting the position of the welding gun equipment, accelerates the work efficiency, improves the flexibility of the device, and can adsorb the door frame and then adjust the position of the door frame to cooperate with the welding gun equipment for use, so that the use effect is good. However, after welding, the slag needs to be removed, which requires two times of hoisting for the two processes of welding and slag removal, prolonging the production cycle of a single piece.

[0004] In order to solve the above problems, the wind power tower cylinder access door automatic welding equipment is proposed in the present application. SUMMARY

[0005] (1) Technical problem to be solved

[0006] The purpose of the present application is to overcome the problem that the existing technology needs to be hoisted twice for welding and slag removal, prolonging the production cycle, to adapt to the actual needs, and to provide a wind power tower cylinder access door automatic welding equipment, which has the effects of reducing the hoisting times and improving the work efficiency.

[0007] (2) Technical scheme

[0008] In order to achieve the purpose of the present application, the technical scheme adopted by the present application is:

[0009] The application discloses a kind of wind power tower cylinder maintenance door automatic welding equipment, including: base;Gantry, slidingly disposed in the top of the base, for along the length direction of the base feed movement;Cantilever, lifting is set on the gantry;Welding assembly, fixedly connected to the middle part of the bottom of the cantilever and points to the weld to be welded;Deslagging component, it is set to the top of the cantilever and points to the weld area of welded segment;Driving mechanism, for driving the movement of the gantry;Control unit, with the welding assembly, deslagging component and driving mechanism electric connection, and control unit is configured as: in welding process, start driving mechanism and drive the movement of the gantry, by the movement of the gantry traction welding assembly carries out welding operation and synchronously traction deslagging component carries out deslagging operation to the weld of welded segment.

[0010] Further, the deslagging component includes a moving seat that moves along the length of the cantilever, the top of the moving seat is rotatably connected with a telescopic member, the movable end of the telescopic member is fixedly connected with a deslagging mechanical arm, and the movable end of the deslagging mechanical arm is fixedly connected with an electromagnetic vibration deslagging device.

[0011] Further, one side of the moving seat forms a deslagging machine seat, the top of the deslagging machine seat is fixedly connected with a first adjusting motor, the output end of the first adjusting motor penetrates through the bottom of the deslagging machine seat and is fixedly connected with an adjusting gear, one side of the cantilever is fixedly connected with an adjusting rack, and the adjusting gear is engaged with the adjusting rack.

[0012] Further, the top of the moving seat is fixedly connected with a support ring body, the telescopic member is rotatably connected with the top of the support ring body, the top of the moving seat is fixedly connected with a rotating motor, the rotating motor is located on the inner wall of the support ring body, the output end of the rotating motor is fixedly connected with the telescopic member, and the surface of the support ring body is provided with a vent.

[0013] Further, the telescopic member includes a shell, a cavity is formed in the inside of the shell, a telescopic plate is slidably connected in the cavity, one end of the telescopic plate extends to the outside of the shell and is fixedly connected with a connecting seat, the deslagging mechanical arm is fixedly connected with the bottom of the connecting seat, an adjusting screw rod is rotatably connected with the inner wall of the shell, a vertical plate is fixedly connected with the end of the telescopic plate away from the connecting seat, the vertical plate is threadedly connected with the surface of the adjusting screw rod, a second adjusting motor is fixedly connected with one end of the shell, and the output end of the second adjusting motor is fixedly connected with one end of the adjusting screw rod.

[0014] Further, the welding assembly includes a welding mechanical arm fixedly connected with the center of the bottom of the cantilever, and the movable end of the welding mechanical arm is fixedly connected with a welding gun.

[0015] Further, a welding roller frame is arranged on the base, which is used to support and drive the tower to rotate around its own axis, and the rotation axis of the welding roller frame is parallel to the moving direction of the gantry.

[0016] Further, the control unit is electrically connected with the welding roller frame and is configured to execute the following two working modes:

[0017] Linear weld mode: control the welding roller frame to rotate the tower, adjust the linear weld at the door frame to the flat weld position opposite to the welding assembly, lock the tower, and then control the gantry to move to complete the welding and slag removal of the linear weld;

[0018] Annular weld mode: control the welding roller frame to continuously rotate the tower at a predetermined speed, and control the gantry to move along the base, so as to form the welding track of the arc weld at the door frame through the combination of the two movements, and complete the slag removal by the synchronous traction slag removal assembly.

[0019] Further, the upper surface of the base is fixedly connected with a guide rail, the bottom of the gantry is slidably connected with the guide rail, the middle part of the gantry is formed with a vertical limiting frame, the inner bottom wall of the limiting frame is rotatably connected with a lifting threaded rod, the surface of the lifting threaded rod is threadedly connected with a lifting block, the lifting block is slidably connected with the inner wall of the limiting frame, one end of the lifting block is fixedly connected with a cantilever, the other end of the lifting block is fixedly connected with a limiting block, the top of the limiting frame is fixedly connected with a lifting motor, and the output end of the lifting motor is fixedly connected with one end of the lifting threaded rod.

[0020] Further, the driving mechanism comprises a driving rack fixedly connected with the outer side of the guide rail, the bottom of the gantry outwardly extends to form a driving seat, the top of the driving seat is fixedly connected with a driving motor, the output end of the driving motor penetrates through the bottom of the driving seat and is fixedly connected with a driving gear, and the driving gear is engaged with the driving rack.

[0021] (3) Advantageous effects:

[0022] A. In the present application, the maintenance door of the tower is welded by the welding assembly, the slag removal operation is performed on the weld of the welded section by the slag removal assembly, and the gantry is arranged to move along the length direction of the base, which can not only realize the collaborative operation, but also reduce the hoisting times and improve the work efficiency compared with the prior art.

[0023] B. In this invention, the output of the first adjusting motor drives the adjusting gear to rotate. With the cooperation of the adjusting rack, the adjusting gear is displaced along the length of the cantilever, thereby causing the moving seat to move. The output of the second adjusting motor drives the adjusting screw to rotate, which in turn drives the vertical plate to move. The vertical plate drives the telescopic plate to move, which in turn drives the connecting seat to move. The connecting seat drives the slag-cleaning robotic arm to move. The output of the rotary motor drives the outer shell to rotate, thus coarsely adjusting the position of the electromagnetic vibration slag cleaner. The slag-cleaning robotic arm then finely adjusts the position of the electromagnetic vibration slag cleaner to a preset position. This position is then used in conjunction with welding operations to improve the slag-cleaning effect. The coarse adjustment reduces the extension length of the slag-cleaning robotic arm, preventing interference when it extends into the tower for operation.

[0024] C. In this invention, by setting up a welding roller frame, on the one hand, the tower is rotated to adjust the straight weld at the door frame to the flat welding position directly opposite the welding assembly, and the tower is locked. Then the gantry moves to complete the welding and slag removal of the straight weld. On the other hand, the tower is continuously rotated at a predetermined speed, and the gantry moves along the base. Through the combination of the two movements, an arc-shaped weld trajectory is formed at the door frame, and the slag removal is completed by the synchronous traction slag removal assembly. Attached Figure Description

[0025] Figure 1 This is a three-dimensional structural diagram of the present invention;

[0026] Figure 2 This is a cross-sectional structural schematic diagram of the gantry frame of the present invention;

[0027] Figure 3 For the present invention Figure 2 Enlarged structural diagram at point A;

[0028] Figure 4 This is a three-dimensional structural diagram of the slag removal component of the present invention;

[0029] Figure 5 For the present invention Figure 4 Enlarged structural diagram at point B;

[0030] Figure 6 This is a cross-sectional view of the outer casing of the present invention;

[0031] Figure 7 This is a top view of the tower structure of the present invention.

[0032] The attached figures are labeled as follows:

[0033] 1. Base; 2. Gantry frame; 201. Limiting frame; 202. Lifting threaded screw; 203. Lifting block; 204. Limiting block; 205. Lifting motor; 206. Drive base; 3. Cantilever; 4. Welding assembly; 401. Welding robotic arm; 402. Welding gun; 5. Slag removal assembly; 501. Moving seat; 502. Telescopic component; 5021. Outer shell; 5022. Cavity; 5023. Telescopic plate; 5024. Connecting seat; 5025 5026. Adjusting threaded screw; 5027. Vertical plate; 5028. Second adjusting motor; 503. Slag cleaning robotic arm; 504. Electromagnetic vibration slag cleaner; 505. Slag cleaning machine base; 506. First adjusting motor; 507. Adjusting gear; 508. Adjusting rack; 509. Support ring; 510. Rotary motor; 6. Drive mechanism; 601. Drive rack; 602. Drive motor; 603. Drive gear; 7. Welding roller frame; 8. Tower; 9. Guide rail. Detailed Implementation

[0034] The following is in conjunction with the appendix Figures 1-7 The present invention is further illustrated by the embodiments:

[0035] like Figure 7 As shown in the top view of the tower 8 and the doorway, the doorway has an irregular shape with arcs on the upper and lower sides. During welding, it is necessary to weld the straight sections C and D on the left and right sides, as well as the arc sections E and F on the upper and lower sides. The two ends of the arc section E are E1 and E2, and the two ends of the arc section F are F1 and F2. During welding, for the arc sections E and F, the welding method is to weld from the center point of the arc section to both ends to improve its firmness.

[0036] like Figures 1-6 As shown, an automatic welding device for maintenance doors of wind power towers includes: a base 1; a gantry 2, slidably mounted on the top of the base 1 for feeding along the length of the base 1; a cantilever 3, lifted and lowered on the gantry 2; a welding assembly 4, fixedly connected to the middle of the bottom of the cantilever 3 and pointing towards the weld seam to be welded; a slag removal assembly 5, mounted on the top of the cantilever 3 and pointing towards the welded area; a drive mechanism 6 for driving the gantry 2 to move; and a control unit electrically connected to the welding assembly 4, the slag removal assembly 5, and the drive mechanism 6, wherein the control unit is configured to: during the welding process, activate the drive mechanism 6 to drive the gantry 2 to move, and the movement of the gantry 2 pulls the welding assembly 4 to perform welding operations and simultaneously pulls the slag removal assembly 5 to perform slag removal operations on the welded section.

[0037] Specifically, the maintenance door of the tower drum 8 is welded by the welding assembly 4, the slag of the welded seam is removed by the slag removal assembly 5, the gantry 2 is arranged to move in the length direction of the base 1, on the one hand, the welding assembly 4 is pulled to perform the welding operation, and on the other hand, the slag removal assembly 5 is synchronously pulled to perform the slag removal operation on the welded seam, thereby realizing the collaborative operation. Compared with the prior art, the wind power tower drum maintenance door automatic welding equipment can reduce the hoisting times and improve the work efficiency.

[0038] The slag removal assembly 5 comprises a moving seat 501 moving in the length direction of the cantilever 3, the moving seat 501 can drive the slag removal assembly 5 to move in the length direction of the cantilever 3 as a whole, a telescopic piece 502 is rotationally connected to the top of the moving seat 501, a slag removal mechanical arm 503 is fixedly connected to the movable end of the telescopic piece 502, the telescopic piece 502 can drive the slag removal mechanical arm 503 to move in the direction perpendicular to the length of the cantilever 3, thereby realizing the coarse adjustment, and an electromagnetic vibration slag remover 504 is fixedly connected to the movable end of the slag removal mechanical arm 503. The electromagnetic vibration slag remover 504 is a prior art, and its working principle is to convert electrical energy into high-frequency and small-amplitude mechanical kinetic energy, and to destroy the adhesion between the adherend and the surface of the base by vibration.

[0039] One side of the moving seat 501 is formed with a slag removal base 505, a first adjusting motor 506 is fixedly connected to the top of the slag removal base 505, an adjusting gear 507 is fixedly connected to the output end of the first adjusting motor 506 and penetrates through the bottom of the slag removal base 505, an adjusting rack 508 is fixedly connected to one side of the cantilever 3, the adjusting gear 507 is engaged with the adjusting rack 508, the output end of the first adjusting motor 506 drives the adjusting gear 507 to rotate, and under the cooperation of the adjusting rack 508, the adjusting gear 507 is displaced in the length direction of the cantilever 3, thereby making the moving seat 501 move, and further making the slag removal assembly 5 move in the length direction of the cantilever 3 as a whole.

[0040] The top of the moving seat 501 is fixedly connected with a support ring body 509, the telescopic piece 502 is rotationally connected to the top of the support ring body 509, a rotating motor 510 is fixedly connected to the top of the moving seat 501, the rotating motor 510 is located on the inner wall of the support ring body 509, the output end of the rotating motor 510 is fixedly connected with the telescopic piece 502, and air vents are arranged on the surface of the support ring body 509. The output end of the rotating motor 510 drives the outer shell 5021 to rotate, thereby changing the orientation of the slag removal assembly 5.

[0041] The telescopic part 502 comprises a shell 5021, the inside of the shell 5021 is formed with a cavity 5022, a telescopic plate 5023 is slidingly connected in the cavity 5022, one end of the telescopic plate 5023 extends to the outside of the shell 5021 and is fixedly connected with a connecting seat 5024, a slag removal mechanical arm 503 is fixedly connected with the bottom of the connecting seat 5024, an adjusting screw rod 5025 is rotatably connected with the inner wall of the shell 5021, a vertical plate 5026 is fixedly connected with the end of the telescopic plate 5023 away from the connecting seat 5024, the vertical plate 5026 is threadedly connected with the surface of the adjusting screw rod 5025, a second adjusting motor 5027 is fixedly connected with one end of the shell 5021, the output end of the second adjusting motor 5027 is fixedly connected with one end of the adjusting screw rod 5025, the output end of the second adjusting motor 5027 drives the adjusting screw rod 5025 to rotate, the adjusting screw rod 5025 drives the vertical plate 5026 to move, the vertical plate 5026 drives the telescopic plate 5023 to move, the telescopic plate 5023 drives the connecting seat 5024 to move, the connecting seat 5024 drives the slag removal mechanical arm 503 to move, and the slag removal mechanical arm 503 drives the electromagnetic vibration slag remover 504 to move in a direction perpendicular to the length of the cantilever 3.

[0042] The welding assembly 4 comprises a welding mechanical arm 401 fixedly connected with the center of the bottom of the cantilever 3, a welding gun 402 fixedly connected with the movable end of the welding mechanical arm 401, the welding mechanical arm 401 drives the welding gun 402 to adjust the direction, and flat welding is realized.

[0043] The base 1 is provided with a welding roller frame 7, the welding roller frame 7 is used for supporting and driving the tower drum 8 to rotate around its own axis, the rotation axis of the welding roller frame 7 is parallel to the moving direction of the gantry 2, the welding roller frame 7 is prior art, and in the embodiment, the welding roller frame 7 generally comprises a set of driving roller frames and a set of driven roller frames, the driving roller frame is internally provided with a motor, a speed reducer and a transmission mechanism, the motor is electrically connected with the control unit and receives start, stop, rotating speed and rotating direction instructions sent by the control unit.

[0044] The control unit is electrically connected with the welding roller frame 7 and is configured to execute the following two working modes:

[0045] The straight line weld mode: the welding roller frame 7 is controlled to rotate the tower drum 8, the straight line weld at the door frame is adjusted to a flat welding position opposite to the welding assembly 4, and the tower drum 8 is locked, then the gantry 2 is controlled to move to complete the welding and slag removal of the straight line weld;

[0046] The circular weld seam mode: the welding roller frame 7 is controlled to rotate the tower drum 8 continuously at a predetermined speed, and the gantry 2 is controlled to move along the base 1, through the combination of the movements of the two, the welding track of the arc-shaped weld seam is formed at the door frame, and the slag removal is completed by the synchronous traction slag removal assembly 5; by arranging the welding roller frame 7, on the one hand, the tower drum 8 is rotated to adjust the straight weld seam at the door frame to the flat welding position opposite to the welding assembly 4, and the tower drum 8 is locked, and then the gantry 2 is moved to complete the welding and slag removal of the straight weld seam; on the other hand, the tower drum 8 is continuously rotated at a predetermined speed, the gantry 2 moves along the base 1, through the combination of the movements of the two, the welding track of the arc-shaped weld seam is formed at the door frame, and the slag removal is completed by the synchronous traction slag removal assembly 5, wherein the control unit is the core of realizing automatic and intelligent operation in the embodiment, and is essentially an integrated industrial computer system, usually including a programmable logic controller, an industrial personal computer, a motion control card, corresponding digital / analog input / output modules and supporting control software and algorithms. The control unit is electrically connected with the driving mechanism 6, the welding assembly 4, the slag removal assembly 5 and the welding roller frame 7 through a circuit and a communication bus, receives feedback signals from various sensors, and issues accurate action instructions to various actuators.

[0047] The upper surface of the base 1 is fixedly connected with a guide rail 9, the bottom of the gantry 2 is slidably connected with the guide rail 9, the middle part of the gantry 2 is formed with a vertical limiting frame body 201, the inner bottom wall of the limiting frame body 201 is rotatably connected with a lifting threaded rod 202, the surface of the lifting threaded rod 202 is threadedly connected with a lifting block 203, the lifting block 203 is slidably connected with the inner wall of the limiting frame body 201, one end of the lifting block 203 is fixedly connected with the cantilever 3, the other end of the lifting block 203 is fixedly connected with a limiting block 204, the top of the limiting frame body 201 is fixedly connected with a lifting motor 205, the output end of the lifting motor 205 is fixedly connected with one end of the lifting threaded rod 202, the output end of the lifting motor 205 drives the lifting threaded rod 202 to rotate, the lifting threaded rod 202 drives the lifting block 203 to ascend or descend, and drives the cantilever 3 to ascend or descend.

[0048] The driving mechanism 6 includes a driving rack 601 fixedly connected with the outer side of the guide rail 9, the bottom of the gantry 2 outwardly extends to form a driving machine base 206, the top of the driving machine base 206 is fixedly connected with a driving motor 602, the output end of the driving motor 602 penetrates through the bottom of the driving machine base 206 and is fixedly connected with a driving gear 603, the driving gear 603 is engaged with the driving rack 601, the output end of the driving motor 602 drives the driving gear 603 to rotate, under the cooperation of the driving rack 601, the driving gear 603 is displaced along the length direction of the base 1, and then the gantry 2 moves along the length direction of the base 1.

[0049] Working principle: when the wind power tower maintenance door automatic welding equipment is used, the user first lays the tower 8 horizontally on the welding roller frame 7, then uses the welding assembly 4 to weld the maintenance door of the tower 8, and uses the slag removal assembly 5 to remove the slag of the welded section. The gantry 2 moves in the length direction of the base 1, on the one hand, it drags the welding assembly 4 to perform welding operation, on the other hand, it synchronously drags the slag removal assembly 5 to perform slag removal operation on the welded section, realizing collaborative work. Compared with the prior art, the wind power tower 8 maintenance door automatic welding equipment can reduce the hoisting frequency and improve the work efficiency, specifically:

[0050] When welding the straight line segment area C, control the welding roller frame 7 to drive the tower 8 to rotate, so that the straight line weld at the door frame of the straight line segment area C is adjusted to the flat welding position opposite the welding gun 402, and the tower 8 is locked, then control the gantry 2 to move the welding gun 402 from E1 to E2 or E2 to E1 to complete the welding of the straight line weld;

[0051] When welding the straight line segment area D, control the welding roller frame 7 to drive the tower 8 to rotate, so that the straight line weld at the door frame of the straight line segment area D is adjusted to the flat welding position opposite the welding gun 402, and the tower 8 is locked. At this time, the output end of the first adjusting motor 506 drives the adjusting gear 507 to rotate, and under the cooperation of the adjusting rack 508, the adjusting gear 507 is displaced in the length direction of the cantilever 3, thereby moving the moving seat 501. The output end of the second adjusting motor 5027 drives the adjusting threaded rod 5025 to rotate, and the adjusting threaded rod 5025 drives the vertical plate 5026 to move. The vertical plate 5026 drives the telescopic plate 5023 to move, the telescopic plate 5023 drives the connecting seat 5024 to move, the connecting seat 5024 drives the slag removal mechanical arm 503 to move, the output end of the rotating motor 510 drives the shell 5021 to rotate, coarsely adjusts the position of the electromagnetic vibration slag remover 504, and finely adjusts the position of the electromagnetic vibration slag remover 504 using the slag removal mechanical arm 503, so that it reaches the preset position. That is, when the welding gun 402 is located at F1, the electromagnetic vibration slag remover 504 is located at F1. If the welding gun 402 is located at F2, the electromagnetic vibration slag remover 504 is located at F2. Then control the gantry 2 to move the welding gun 402 from F1 to F2 or F2 to F1 to complete the welding of the straight line weld, and at the same time, the electromagnetic vibration slag remover 504 completes the slag removal operation;

[0052] When welding the arc line segment area F, the welding is performed from the center of the area F to both ends, that is, the area F center to F1 position and the area F center to F2 position are welded respectively;

[0053] When welding the arc segment area E, first weld from the center of area E to E1 position, in the same way, make the welding gun 402 face the center of the arc weld of the arc segment area E door frame, then in the same way make the electromagnetic vibration deslagging device 504 face the F2 position, then control the welding roller frame 7 to drive the tower drum 8 to rotate clockwise, and the gantry frame 2 to move forward, in the process, the welding gun 402 moves along the weld from the center of area E to E1 position to complete the welding work, and the electromagnetic vibration deslagging device 504 moves along the weld from the F2 position to the center of area F to complete the deslagging work; in the same way, weld from the center of area E to E2 position.

[0054] After the welding of the above-mentioned outer weld of the tower drum 8 is completed, the device can be adjusted to the inside of the tower drum 8, and welding and deslagging are carried out in the same way, at this time, the coarse adjustment action can reduce the extension length of the deslagging mechanical arm 503, and interference is avoided, compared with the prior art, the wind power generation tower drum maintenance door automatic welding device can reduce the hoisting times, and improve the work efficiency.

[0055] The embodiments of the present application disclose the preferred embodiments, but are not limited thereto, and those skilled in the art can easily understand the spirit of the present application according to the above-mentioned embodiments, and make different inferences and changes, as long as they do not deviate from the spirit of the present application, they are within the protection scope of the present application.

Claims

1. A wind power tower drum access door automatic welding apparatus, characterized in that, The utility model relates to a welding robot, which comprises the following components: a base (1); a portal frame (2) slidingly arranged on the top of the base (1) and used for feeding movement along the length direction of the base (1); a cantilever (3) liftingly arranged on the portal frame (2); a welding assembly (4) fixedly connected to the middle of the bottom of the cantilever (3) and pointing to the weld seam to be welded; a slag removal assembly (5) arranged on the top of the cantilever (3) and pointing to the welded seam area; a driving mechanism (6) used for driving the portal frame (2) to move; a control unit electrically connected to the welding assembly (4), the slag removal assembly (5) and the driving mechanism (6), and configured to, during the welding process, start the driving mechanism (6) to drive the portal frame (2) to move, so that the welding assembly (4) is pulled to perform the welding operation and the slag removal assembly (5) is simultaneously pulled to perform the slag removal operation on the welded seam.

2. The wind power tower drum access door automatic welding apparatus of claim 1, wherein: The slag removal assembly (5) comprises a moving seat (501) moving along the length direction of the cantilever (3), a telescopic piece (502) rotatably connected to the top of the moving seat (501), a slag removal mechanical arm (503) fixedly connected to the movable end of the telescopic piece (502), and an electromagnetic vibration slag remover (504) fixedly connected to the movable end of the slag removal mechanical arm (503).

3. The wind power tower drum access door automatic welding apparatus of claim 2, wherein: One side of the moving seat (501) forms a slag removal machine seat (505), the top of the slag removal machine seat (505) is fixedly connected with a first adjusting motor (506), the output end of the first adjusting motor (506) penetrates through the bottom of the slag removal machine seat (505) and is fixedly connected with an adjusting gear (507), one side of the cantilever (3) is fixedly connected with an adjusting rack (508), and the adjusting gear (507) is engaged with the adjusting rack (508).

4. The wind power tower hatch door automatic welding apparatus of claim 2, wherein: The top of the moving seat (501) is fixedly connected with a supporting ring body (509), the telescopic piece (502) is rotatably connected to the top of the supporting ring body (509), the top of the moving seat (501) is fixedly connected with a rotating motor (510), the rotating motor (510) is located on the inner wall of the supporting ring body (509), the output end of the rotating motor (510) is fixedly connected with the telescopic piece (502), and the surface of the supporting ring body (509) is provided with a vent.

5. The wind power tower drum access door automatic welding apparatus of claim 2, wherein: The telescopic part (502) comprises a shell (5021), an inner part of the shell (5021) is formed with a cavity (5022), a telescopic plate (5023) is slidably connected in the cavity (5022), one end of the telescopic plate (5023) extends to the outside of the shell (5021) and is fixedly connected with a connecting seat (5024), the slag removal mechanical arm (503) is fixedly connected with the bottom of the connecting seat (5024), an inner wall of the shell (5021) is rotatably connected with an adjusting threaded rod (5025), one end of the telescopic plate (5023) away from the connecting seat (5024) is fixedly connected with a vertical plate (5026), the vertical plate (5026) is threadedly connected with the surface of the adjusting threaded rod (5025), one end of the shell (5021) is fixedly connected with a second adjusting motor (5027), and the output end of the second adjusting motor (5027) is fixedly connected with one end of the adjusting threaded rod (5025).

6. The wind power tower drum access door automatic welding apparatus of claim 1, wherein: The welding assembly (4) comprises a welding mechanical arm (401) fixedly connected with the bottom center of the cantilever (3), and the movable end of the welding mechanical arm (401) is fixedly connected with a welding gun (402).

7. The wind power tower drum access door automatic welding apparatus of claim 1, wherein: The base (1) is provided with a welding roller frame (7), which is used to support and drive the tower drum (8) to rotate around its own axis, and the rotation axis of the welding roller frame (7) is parallel to the moving direction of the gantry (2).

8. The wind power tower drum access door automatic welding apparatus of claim 7, wherein: The control unit is electrically connected with the welding roller frame (7) and is configured to perform the following two working modes: Linear weld mode: control the welding roller frame (7) to rotate the tower drum (8), adjust the linear weld at the door frame to a flat welding position opposite to the welding assembly (4), and lock the tower drum (8), then control the gantry (2) to move to complete the welding and slag removal of the linear weld; Annular weld mode: control the welding roller frame (7) to continuously rotate the tower drum (8) at a predetermined speed, while controlling the gantry (2) to move along the base (1), through the combination of the two movements, forming a welding track of the arc weld at the door frame, and completing the slag removal by the synchronous traction slag removal assembly (5).

9. The wind power tower drum access door automatic welding apparatus of claim 1, wherein: The upper surface of the base (1) is fixedly connected with a guide rail (9), the bottom of the gantry (2) is slidably connected with the guide rail (9), the middle part of the gantry (2) is formed with a vertical limiting frame body (201), the inner bottom wall of the limiting frame body (201) is rotatably connected with a lifting threaded rod (202), the surface of the lifting threaded rod (202) is threadedly connected with a lifting block (203), the lifting block (203) is slidably connected with the inner wall of the limiting frame body (201), one end of the lifting block (203) is fixedly connected with the cantilever (3), the other end of the lifting block (203) is fixedly connected with a limiting block (204), the top of the limiting frame body (201) is fixedly connected with a lifting motor (205), and the output end of the lifting motor (205) is fixedly connected with one end of the lifting threaded rod (202).

10. The wind power tower drum access door automatic welding apparatus of claim 9, wherein: The driving mechanism (6) comprises a driving rack (601) fixedly connected with the outer side of the guide rail (9), the bottom of the portal frame (2) is outwardly extended to form a driving seat (206), the top of the driving seat (206) is fixedly connected with a driving motor (602), the output end of the driving motor (602) penetrates through the bottom of the driving seat (206) and is fixedly connected with a driving gear (603), and the driving gear (603) is engaged with the driving rack (601).

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