Laser welding equipment and welding method for steel cylinder

Abstract

The invention relates to the technical field of laser welding equipment, and discloses laser welding equipment for a steel cylinder and a welding method.The laser welding equipment comprises a bearing support which is rotatably arranged on an inner formwork and can move in the circumferential direction of a cylinder body; the axial moving mechanism is arranged on the bearing support and comprises a climbing device capable of moving in the axial direction of the barrel; the guiding and limiting mechanism is rotatably arranged on the climbing device and comprises a guiding device which can abut against the outer wall of the barrel in an adsorbable mode, a laser welding structure is arranged on the guiding and limiting mechanism, and the guiding and limiting mechanism is provided with a first rotating position and a second rotating position; when the guiding and limiting mechanism is located at the first rotating position, the guiding direction of the guiding device is consistent with the annular direction of the barrel, and when the guiding and limiting mechanism is located at the second rotating position, the guiding direction of the guiding device is consistent with the axial direction of the barrel. The automatic welding system has the advantages that automatic welding of longitudinal welding seams and circumferential welding seams can be completed through the same system, and the welding precision is high.

Description

Technical Field

[0001] This invention relates to the field of laser welding equipment technology, and in particular to a laser welding device and welding method for steel cylinders. Background Technology

[0002] In port engineering, marine engineering, and municipal pipeline networks, steel cylinders are widely used in the manufacture of core components such as pile foundations, storage tanks, and pipelines due to their advantages of high structural strength, strong corrosion resistance, and high construction efficiency. The forming process of a steel cylinder involves longitudinal welds (vertical seams) on multiple plate units, as well as circumferential welds (transverse seams) after the upper and lower cylinders are joined. The welding quality and efficiency directly determine the structural performance and production cycle of the steel cylinder. However, the equipment and processes currently used in the steel cylinder welding field still have many technical limitations, making it difficult to meet the demands for efficient, high-precision, and highly flexible welding.

[0003] In traditional steel cylinder welding, vertical and horizontal seam welding require two separate welding machines: vertical seam welding often uses a fixed-rail welding machine, which restricts the movement path of the welding head to ensure accuracy; horizontal seam welding requires a rotary welding machine, which drives the cylinder or welding head to rotate to complete the circumferential weld. This "one machine, one seam" approach necessitates disassembly, transportation, and readjustment of the equipment between the two welding conditions, resulting in a discontinuous welding process, long waiting times between processes, and severely restricting the overall production efficiency of steel cylinders. Summary of the Invention

[0004] In view of the above-mentioned shortcomings of the existing technology, the technical problem to be solved by the present invention is to propose a laser welding equipment and welding method for steel cylinders with high integration, which can automatically weld longitudinal and circumferential welds through the same system and with high welding accuracy.

[0005] The technical solution adopted by the present invention to solve its technical problem is to provide a laser welding device for a steel cylinder, wherein the steel cylinder includes a cylinder body and an inner mold frame disposed within the cylinder body, and the laser welding device includes: A support bracket is rotatably mounted on the inner mold frame and can move circumferentially along the cylinder. An axial movement mechanism is provided on the support bracket and includes a climbing device that can move along the axial direction of the cylinder. A guide limiting mechanism is rotatably mounted on the climbing device and includes a guide device that adsorbs against the outer wall of the cylinder. The guide limiting mechanism has a laser-welded structure and has a first rotational position and a second rotational position. When the guide limiting mechanism is in the first rotational position, the guiding direction of the guide device is consistent with the circumferential direction of the cylinder. When the guide limiting mechanism is in the second rotational position, the guiding direction of the guide device is consistent with the axial direction of the cylinder.

[0006] In the aforementioned laser welding equipment for steel cylinders, the guiding and limiting mechanism includes a switching device. The guiding device includes a roller assembly retractably mounted on the switching device and an adsorption structure arranged side-by-side with the roller assembly. The adsorption structure has an adsorption state and a relaxed state. When the adsorption structure is in the adsorption state, the roller assembly abuts against the outer wall of the cylinder. When the adsorption structure is in the relaxed state, the roller assembly separates from the outer wall of the cylinder.

[0007] In the aforementioned laser welding equipment for steel cylinders, the roller assembly includes a roller group and an elastic element. The roller group includes multiple rollers arranged in a straight line and connected by a synchronization plate. The roller group is connected to the switching device through the elastic element. The adsorption structure is disposed on the synchronization plate and electrically connected to the control system.

[0008] In the aforementioned laser welding equipment for steel cylinders, the climbing device includes a mounting plate, and the switching device includes a switching plate and a locking assembly. The switching plate is rotatably connected to the mounting plate via a switching driver and has a first locking hole corresponding to a first rotational position and a second locking hole corresponding to a second rotational position. The locking assembly includes a locking rod that is retractably inserted through the mounting plate. When the locking rod is inserted into the first locking hole, the guide limiting mechanism is restricted to the first rotational position; when the locking rod is inserted into the second locking hole, the guide limiting mechanism is restricted to the second rotational position.

[0009] In the aforementioned laser welding equipment for steel cylinders, the supporting bracket includes a turntable, a first driving component, and two support arms. The turntable is rotatably mounted on the inner mold frame via the first driving component. The two support arms are symmetrically connected to both sides of the turntable. The axial movement mechanism, the guide limiting mechanism, and the laser welding structure are each provided in two sets, and are respectively located on the two support arms.

[0010] In the aforementioned laser welding equipment for steel cylinders, two support arms are respectively hinged to the turntable. The turntable is equipped with a lifting assembly, which includes a lifting plate that is vertically mounted above the turntable and a second driving member that drives the lifting plate to move up and down relative to the turntable. The two ends of the lifting plate are respectively hinged to the two support arms via connecting rods, and the lifting plate has a first height position and a second height position. When the lifting plate is at the first height position, the included angle between the two support arms is 180°; when the lifting plate is at the second height position, the included angle between the two support arms is less than 180°.

[0011] In the aforementioned laser welding equipment for steel cylinders, the axial movement mechanism includes a vertical guide assembly, which comprises a take-up roller, a pulley block, a guide cable, and a counterweight. The take-up roller is mounted on the turntable, the pulley block is mounted on the support arm, one end of the guide cable is wound around the take-up roller, and the other end passes through the pulley block and extends downward along the axial direction of the cylinder. The counterweight is located at the end of the guide cable, and the climbing device is slidably connected to the guide cable.

[0012] In the aforementioned laser welding equipment for steel cylinders, the climbing device includes a mounting plate connected to the switching device, and a climbing assembly disposed on the side of the mounting plate away from the switching device. The climbing assembly includes a drive wheel set, a driven wheel set, a climbing drive component, and a locking drive component. The drive wheel set and the driven wheel set are arranged opposite to each other and clamp the guide cable. The climbing drive component is connected to the drive wheel set and can drive the drive wheel of the drive wheel set to rotate. The locking drive component is connected to the driven wheel set and can drive the driven wheel set to move closer to or away from the drive wheel set.

[0013] In the aforementioned laser welding equipment for steel cylinders, there are synchronous rotation components and docking components. The synchronous rotation components include a ring track and a track trolley. The ring track is coaxially arranged with the cylinder body, and the inner diameter of the ring track is larger than the outer diameter of the cylinder body. There are two sets of track trolleys that are slidably mounted on the ring track. There are two sets of docking components. Each set of docking components includes two docking blocks that are openably mounted on the track trolley, and a docking shaft with one end connected to the counterweight or the guide cable and the other end connected to the docking blocks in a plug-in connection.

[0014] The technical solution adopted by the present invention to solve its technical problem is to also provide a welding method for a laser welding device for steel cylinders, comprising the following steps: S1, the laser welding equipment is installed on the inner mold frame, and the two support arms are extended and form a 180° angle through the lifting component; S2, through two sets of climbing components, respectively drive the switching device equipped with the laser welding structure to descend from the top of the cylinder to the bottom along the length of the guide steel cable. During this process, the scanning module built into the laser welding structure scans the weld seam to be welded on the cylinder to obtain the position, gap and contour information of each longitudinal weld seam, and transmits the data to the control system. S3, after the scan is completed, the control system adjusts the guide limit mechanism to its second rotation position according to the recognition result so that the guiding direction of the guide device is consistent with the axis of the cylinder. Then, the climbing component drives the laser welding structure to weld the longitudinal weld from bottom to top. During this process, the adsorption structure adsorbs the switching device onto the outer wall of the cylinder. S4. After the welding of one longitudinal weld is completed, the turntable rotates circumferentially and drives the support arm to rotate to the position of the next longitudinal weld. Continue to execute steps S2 and S3 in sequence, and repeat this cycle until the welding of all longitudinal welds is completed. S5. After all longitudinal welds are completed, the control system adjusts the guide limit mechanism to its first rotation position so that the guiding direction of the guide device is consistent with the circumferential direction of the cylinder. Then, the climbing component drives the switching device with the laser welding structure installed to descend along the length of the guide steel cable to the circumferential weld of the two cylinders. Finally, the turntable rotates circumferentially to drive the laser welding structure to weld the circumferential weld around the outer wall of the cylinder, welding the two cylinders into a steel cylinder.

[0015] Compared with the prior art, the present invention has at least the following beneficial effects: 1. In this invention, the supporting bracket is rotatably mounted on the inner mold frame and can move circumferentially along the cylinder; the axial moving mechanism is mounted on the supporting bracket and includes a climbing device that can move axially along the cylinder; the guiding and limiting mechanism is rotatably mounted on the climbing device and includes a guiding device that can adsorb and abut against the outer wall of the cylinder, the guiding and limiting mechanism is provided with a laser welding structure, and the guiding and limiting mechanism has a first rotating position and a second rotating position; when the guiding and limiting mechanism is in the first rotating position, the guiding direction of the guiding device is consistent with the circumferential direction of the cylinder, and when the guiding and limiting mechanism is in the second rotating position, the guiding direction of the guiding device is consistent with the axial direction of the cylinder. This design integrates circumferential motion, axial movement, and a switchable direction guide and limiting mechanism into the same device, enabling a single system to adaptively complete welding operations for both vertical and circumferential seams. This not only solves the equipment switching problem in the traditional "one machine, one seam" mode, but also effectively suppresses the lateral or longitudinal sway of the laser-welded structure in the direction perpendicular to the weld seam through real-time contact and mechanical limiting of the cylinder wall by the adsorption-type guide device. This fundamentally ensures the geometric accuracy and process stability of the welding trajectory, significantly improving welding quality and overall production efficiency.

[0016] 2. In this invention, two support arms are hinged to a turntable, which is equipped with a lifting assembly. The lifting assembly includes a lifting plate that is vertically mounted above the turntable, and a second driving component that drives the lifting plate to move relative to the turntable. The two ends of the lifting plate are hinged to the two support arms via connecting rods, and the lifting plate has a first height position and a second height position. When the lifting plate is at the first height position, the angle between the two support arms is 180°; when the lifting plate is at the second height position, the angle between the two support arms is less than 180°. This design allows the equipment to both extend its arms during operation to achieve simultaneous welding at two workstations, greatly improving work efficiency, and retract its arms during non-operational operation, providing sufficient operating space for the hoisting and removal of the welded cylinder, achieving the optimal balance between efficient equipment operation and site adaptability.

[0017] 3. In this invention, the synchronous rotation assembly includes a ring track and a track trolley. The ring track is coaxially arranged with the cylinder, and the inner diameter of the ring track is larger than the outer diameter of the cylinder. Two sets of track trolleys are slidably mounted on the ring track. Two sets of docking assemblies are also provided. Each docking assembly includes two docking blocks that are openably mounted on the track trolley, and a docking shaft with one end connected to a counterweight or guide cable and the other end forming a plug-in connection with the docking blocks. This design, by establishing a coaxial ring track reference at the bottom of the cylinder, provides stable bottom support and synchronous guidance for the suspended guide cable system, effectively suppressing possible swaying and offset during long-stroke operations, and ensuring high precision and stability of the laser welding trajectory during the welding of ultra-large cylinders. Attached Figure Description

[0019] Figure 1 This is a schematic diagram of the structure of a laser welding device for steel cylinders according to the present invention.

[0020] Figure 2 This is a schematic diagram of the connection between the vertical guide component and the climbing device in this invention.

[0021] Figure 3 This is a schematic diagram of the climbing device in this invention.

[0022] Figure 4 This is a partial structural schematic diagram of the climbing device in this invention.

[0023] Figure 5 This is a schematic diagram of the synchronous rotation component and docking component in this invention.

[0024] Figure 6 This is a schematic diagram of the docking component in this invention.

[0025] Figure 7 This is a schematic diagram showing the connection between the guiding device, switching device, and climbing device in this invention.

[0026] Figure 8 This is a schematic diagram of the guiding device in this invention.

[0027] Figure 9 This is a schematic diagram of the switching device in this invention.

[0028] Figure 10 This is a schematic diagram of the state when the laser welding equipment of the present invention is welding a longitudinal weld.

[0029] Figure 11 This is a schematic diagram of the state when the laser welding equipment of the present invention is welding a circumferential weld.

[0030] In all the accompanying drawings, the same reference numerals denote the same technical features, specifically: 100. Cylinder body; 110. Inner mold frame; 200. Bearing support bracket; 210. Turntable; 220. First driving component; 230. Support arm; 240. Lifting assembly; 241. Lifting plate; 242. Second driving component; 243. Connecting rod; 244. First U-shaped bracket; 250. Connecting bracket; 300. Climbing device; 310. Mounting plate; 320. Climbing assembly; 321. Drive wheel assembly; 322. Driven wheel assembly; 323. Climbing driving component; 324. Locking driving component; 325. Second U-shaped bracket; 400. Vertical guide assembly; 410. Take-up roller; 420. Pulley block; 430. Guide cable ; 440, counterweight; 500, switching device; 510, switching plate; 511, first locking hole; 512, second locking hole; 520, locking assembly; 521, locking rod; 522, second linear actuator; 530, switching actuator; 600, guiding device; 610, roller assembly; 611, roller group; 612, elastic element; 613, synchronization plate; 620, adsorption structure; 700, laser welding structure; 800, synchronous rotation assembly; 810, circular track; 820, track trolley; 900, docking assembly; 910, docking block; 920, docking shaft; 930, first linear actuator. Detailed Implementation

[0032] The following are specific embodiments of the present invention, which are described in conjunction with the accompanying drawings to further illustrate the technical solutions of the present invention. However, the present invention is not limited to these embodiments.

[0033] It should be noted that all directional indications (such as up, down, left, right, front, back, etc.) in the embodiments of the present invention are only used to explain the relative positional relationship and movement of each component in a certain specific posture (as shown in the figure). If the specific posture changes, the directional indication will also change accordingly.

[0034] Furthermore, in this invention, descriptions involving terms such as "first," "second," and "a" are for descriptive purposes only and should not be construed as indicating or implying their relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of that feature. In the description of this invention, "a plurality of" means at least two, such as two, three, etc., unless otherwise explicitly specified.

[0035] In this invention, unless otherwise explicitly specified and limited, the terms "connection," "fixed," etc., should be interpreted broadly. For example, "fixed" can mean a fixed connection, a detachable connection, or an integral part; it can mean a mechanical connection or an electrical connection; it can mean a direct connection or an indirect connection through an intermediate medium; it can mean the internal communication of two components or the interaction between two components, unless otherwise explicitly limited. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0036] Furthermore, the technical solutions of the various embodiments of the present invention can be combined with each other, but only if they are feasible for those skilled in the art. If the combination of technical solutions is contradictory or cannot be implemented, it should be considered that such combination of technical solutions does not exist and is not within the scope of protection claimed by the present invention.

[0037] like Figures 1 to 11 As shown in the figure, in this embodiment, a laser welding device for a steel cylinder is provided. The steel cylinder includes a cylinder body 100 and an inner mold frame 110 disposed within the cylinder body 100. The laser welding device includes: The support bracket 200 is rotatably mounted on the inner mold frame 110 and can move circumferentially along the cylinder 100; An axial movement mechanism is provided on the support bracket 200 and includes a climbing device 300 that can move along the axial direction of the cylinder 100. A guide limiting mechanism is rotatably mounted on the climbing device 300 and includes a guide device 600 that adsorbs against the outer wall of the cylinder 100. The guide limiting mechanism is provided with a laser-welded structure 700 and has a first rotational position and a second rotational position. When the guide limiting mechanism is in the first rotational position, the guiding direction of the guide device 600 is consistent with the circumferential direction of the cylinder 100. When the guide limiting mechanism is in the second rotational position, the guiding direction of the guide device 600 is consistent with the axial direction of the cylinder 100. This design integrates circumferential motion, axial movement, and a switchable direction guide and limiting mechanism into the same device, enabling a single system to adaptively complete welding operations for both vertical and circumferential seams. This not only solves the equipment switching problem in the traditional "one machine, one seam" mode, but also effectively suppresses the lateral or longitudinal sway of the laser welding structure 700 in the direction perpendicular to the weld seam through the real-time contact and mechanical limiting of the adsorption guide device 600 with the cylinder wall. This fundamentally ensures the geometric accuracy and process stability of the welding trajectory, significantly improving welding quality and overall production efficiency.

[0038] According to the manufacturing process of the steel cylinder, multiple arc-shaped plate units are first assembled circumferentially and temporarily fixed on the same inner mold frame 110 to form at least two cylinder structures 100 arranged side by side along the axial direction. Each cylinder 100 is formed by several adjacent plate units, and their splicing joints extend along the axial direction of the cylinder 100 to form multiple longitudinal welds. After all the plate units are in place, the end faces of adjacent cylinders 100 are aligned and fitted together to provide an assembly reference for the subsequent formation of circumferential butt welds.

[0039] The laser welding equipment provided in this embodiment is specifically designed for automated, high-precision welding of longitudinal and circumferential welds in the aforementioned steel cylindrical structure. Specifically, the laser welding equipment uses the internal mold frame 110 built into the cylinder 100 as the installation and movement reference. By integrating circumferential rotation, axial climbing, and direction-switchable guide and limit functions, it can adaptively complete the identification, positioning, and welding of welds with different spatial orientations without changing the main structure.

[0040] like Figures 1 to 11 As shown in the figure, in this embodiment, the support bracket 200 serves as the main load-bearing and motion support structure of the entire laser welding equipment. It is rotatably mounted on the upper surface of the inner mold frame 110 and can rotate circumferentially along the cylinder 100. This design allows the laser welding structure 700 to sequentially align with multiple longitudinal weld seams distributed circumferentially on the cylinder 100, completing longitudinal seam welding and achieving closed welding of circumferential weld seams, thereby meeting the automated operation requirements of different types of weld seams.

[0041] The support bracket 200 includes a turntable 210, a first drive component 220, and two support arms 230. The turntable 210 is rotatably mounted on the inner mold frame 110 via the first drive component 220. The two support arms 230 are symmetrically connected to both sides of the turntable 210, serving as the mounting base for the axial movement mechanism, the guide and limiting mechanism, and the laser welding structure 700. This symmetrical layout allows the equipment to be equipped with two complete welding execution systems simultaneously, acting on two symmetrically distributed longitudinal or circumferential welds on the cylinder 100, thereby achieving dual-station synchronous welding, significantly improving welding efficiency, and effectively shortening the overall production cycle. Furthermore, during the welding operation, the forces and torques generated by the two welding execution systems are opposite in direction and similar in magnitude, forming a partial mutual cancellation effect on the turntable 210, thereby improving the stress state of the entire machine, enhancing operational stability and structural reliability, and providing a stable mechanical foundation for high-precision laser welding.

[0042] Preferably, the first drive component 220 is a rotary motor and is detachably mounted on the inner mold frame 110 to facilitate the assembly, maintenance, or replacement of the equipment according to working conditions.

[0043] Furthermore, the two support arms 230 are respectively hinged to the turntable 210. The turntable 210 is equipped with a lifting assembly 240, which includes a lifting plate 241 vertically positioned directly above the turntable 210, and a second driving member 242 that drives the lifting plate 241 to move longitudinally relative to the turntable 210. Both ends of the lifting plate 241 are hinged to the support arms 230 via connecting rods 243, thus forming a linked unfolding / retracting mechanism. The lifting plate 241 has a first height position and a second height position: when the lifting plate 241 is at the first height position, the angle between the two support arms 230 is 180°, meaning the two support arms 230 are in an unfolded state; when the lifting plate 241 is at the second height position, the angle between the two support arms 230 is less than 180°, meaning the two support arms 230 are in a retracted state. This design allows the equipment to extend its arms to achieve simultaneous welding at two workstations while in operation, greatly improving work efficiency, and to retract its arms when not in operation, effectively reducing the overall size of the equipment and providing sufficient operating space for the hoisting and removal of the welded cylinder 100, thus achieving the best balance between efficient operation and site adaptability.

[0044] Preferably, the second drive component 242 is a combination of an electric push rod, a hydraulic cylinder, or a servo motor and a lead screw, used to drive the lifting plate 241 to move between the first height position and the second height position. The second drive component 242 is detachably installed between the turntable 210 and the first drive component 220 via a connecting bracket 250 to facilitate the assembly, maintenance, or replacement of the equipment according to working conditions.

[0045] Specifically, the output end of the first driving member 220 is provided with a connecting bracket 250. The end of the first driving member 220 away from 250 is connected to the turntable 210. The second driving member 242 is mounted on the connecting bracket 250 and connected to the lifting plate 241 via a vertically arranged first U-shaped bracket 244. The open end of the first U-shaped bracket 244 extends from bottom to top through the turntable 210 and is fixedly connected to the lifting plate 241. The two arms of the first U-shaped bracket 244 are connected to the output end of the second driving member 242. When the first driving member 220 is working, the connecting bracket 250 can drive the turntable 210, support arm 230, and lifting assembly 240 to rotate as a whole. When the second driving member 242 is working, it drives the lifting plate 241 to move up and down relative to the turntable 210. This design improves the stability of the lifting plate 241's movement while effectively preventing interference between the first U-shaped bracket 244 and the turntable 210.

[0046] In this embodiment, two sets of axial movement mechanisms are provided, respectively mounted on the two support arms 230. Each set of axial movement mechanisms includes a vertical guide component 400 and a climbing device 300. The vertical guide component 400 is arranged along the axial direction of the cylinder 100 and serves as a guide reference for the axial movement of the climbing device 300. The climbing device 300 is used to support the guide and limiting mechanism on which the laser welding structure 700 is installed, and can slide stably along the vertical guide component 400 on the outer wall of the cylinder 100.

[0047] Furthermore, the vertical guide assembly 400 includes a take-up roller 410, a pulley block 420, a guide cable 430, and a counterweight 440. The take-up roller 410 is fixedly or detachably mounted on the turntable 210 and is used to take up, unwind, and adjust the tension of the guide cable 430. The pulley block 420 is mounted on the support arm 230 and is used to change the direction of the guide cable 430 and reduce running resistance. One end of the guide cable 430 is wound around the take-up roller 410, and the other end passes through the pulley block 420 and extends downward along the axial direction of the cylinder 100, forming the motion reference for the axial movement of the climbing device 300. The counterweight 440 is located at the end of the guide cable 430 and applies a constant tension to the guide cable 430 through its own weight, ensuring that the cable maintains good verticality and tension during operation, thereby providing stable and high-precision axial guidance for the climbing device 300. This design constructs a lightweight, high-rigidity axial motion guidance system using a tensioned vertical guide cable 430. This system not only provides a precise linear motion trajectory for the climbing device 300 but also effectively suppresses swaying and deviation during long-stroke operation, thus providing a reliable axial positioning foundation for the laser welding head when operating on the outer wall of a large steel cylinder.

[0048] Furthermore, the climbing device 300 is slidably connected to the guide cable 430, and includes a mounting plate 310 and a climbing component 320 disposed on the side of the mounting plate 310 opposite to the switching device 500. The mounting plate 310 is rectangular and is used to securely support the climbing component 320 and the guide limiting mechanism connected to it, providing a reliable mounting base for the entire welding execution unit.

[0049] The climbing assembly 320 includes a drive wheel assembly 321, a driven wheel assembly 322, a climbing drive component 323, and a locking drive component 324. The drive wheel assembly 321 and the driven wheel assembly 322 are arranged opposite to each other and clamp the guide cable 430. The climbing drive component 323 is connected to the drive wheel assembly 321 and can drive the drive wheel of the drive wheel assembly 321 to rotate, thereby driving the entire climbing device 300 to move stably and controllably up and down along the guide cable 430 through friction. The locking drive component 324 is connected to the driven wheel assembly 322 and can drive the driven wheel assembly 322 to move closer to or away from the drive wheel assembly 321 to adjust the clamping force of the two on the guide cable 430, thereby achieving a high degree of locking of the climbing assembly 320. This design enables the climbing device 300 to not only obtain sufficient driving force to overcome its own weight and load during operation, but also to achieve reliable position locking by increasing the clamping force after reaching the target position. This effectively prevents slippage or displacement caused by vibration, inertia or external disturbances, thereby ensuring the high stability and repeatability of the welding torch position during laser welding operations.

[0050] Preferably, two guide cables 430 are provided and arranged side by side along the length of the mounting plate 310. Correspondingly, each mounting plate 310 is equipped with two sets of driving wheel sets 321 and two sets of driven wheel sets 322, which are symmetrically arranged left and right along the length of the mounting plate 310 and respectively cooperate with the two guide cables 430 to form a double-rail clamping drive structure. This design not only improves the stability and load-bearing capacity of the climbing device 300 during vertical movement, but also effectively suppresses torsion or tilting caused by off-center loading, enhancing the reliability of the entire machine operation.

[0051] Specifically, two sets of driven wheel sets 322 are movably mounted on the mounting plate 310 in opposite directions, with their movement direction perpendicular to the axis of the guide cable 430; two sets of locking drive members 324 are located between the two sets of driven wheel sets 322 and are fixedly connected to the mounting plate 310.

[0052] Preferably, the locking drive 324 is an electric push rod or a hydraulic cylinder, and its output end is hinged to the two driven wheel sets 322 respectively through the second U-shaped bracket 325. When the locking drive 324 extends or retracts, it can synchronously drive the driven wheel sets 322 on both sides to move toward or away from the corresponding driving wheel set 321, thereby realizing the synchronous clamping or release of the two guide steel cables 430.

[0053] Furthermore, each set of drive wheel 321 includes a first mounting frame, multiple drive wheels, and a drive wheel. The first mounting frame is detachably fixed to the mounting plate 310 by fasteners, facilitating assembly, maintenance, or replacement. The multiple drive wheels are arranged in a line along the length of the first mounting frame to form multi-point contact with the guide cable 430, improving the uniformity and reliability of the friction driving force. The drive wheel is rotatably mounted on the first mounting frame and arranged adjacent to one of the drive wheels.

[0054] Furthermore, the drive wheel is connected to each driving wheel via a synchronous belt, which is wound around the connecting shaft extending from each driving wheel to the outside of the first mounting bracket, thereby achieving synchronous rotation of multiple driving wheels. This design ensures that each driving wheel rotates at the same speed during driving, avoiding cable wear or creeping instability caused by slippage or asynchrony.

[0055] The climbing drive component 323 is detachably mounted on the outer wall of the mounting plate 310 or the first mounting bracket, and its output end is connected to the drive wheel to provide rotational power. Preferably, the climbing drive component 323 is a rotary motor, which can precisely adjust the climbing speed and start / stop position according to the welding process requirements, thereby ensuring the continuity and consistency of the laser welding trajectory.

[0056] Furthermore, each driven wheel assembly 322 includes a second mounting bracket and multiple driven wheels. The second mounting bracket is movably mounted on the mounting plate 310 and connected to the locking drive member 324, enabling it to reciprocate in a direction perpendicular to the axis of the guide cable 430 under the action of the locking drive member 324; the multiple driven wheels are arranged in a line along the length of the second mounting bracket, and their positions correspond one-to-one with the driving wheels in the corresponding driving wheel assembly 321, for forming multi-point contact clamping with the other side of the guide cable 430.

[0057] To improve the operational stability of the equipment during ultra-long stroke welding and the synchronization accuracy of the welding units on both sides, in this embodiment, the laser welding equipment also includes a synchronous rotation component 800 and a docking component 900.

[0058] The synchronous rotation assembly 800 includes an annular track 810 and a track trolley 820. The annular track 810 is coaxially arranged with the cylinder 100, and the inner diameter of the annular track 810 is larger than the outer diameter of the cylinder 100 to ensure that it does not interfere with the cylinder 100 during the circumferential movement. The track trolley 820 is provided in two sets and slidably mounted on the annular track 810 to carry and guide the docking assembly 900 to move smoothly in the circumferential direction.

[0059] The docking assembly 900 also has two sets. Each set of docking assemblies 900 includes two docking blocks 910 that are openably mounted on the track trolley 820, and a docking shaft 920, one end of which is connected to the counterweight block 440 or the guide cable 430, and the other end of which is plugged into the docking block 910. This shaft is used to reliably anchor the bottom of the suspended guide cable 430 to the track trolley 820. This design provides stable bottom support and synchronous guidance for the suspended guide cable 430 system by establishing a coaxial circular track 810 reference at the bottom of the cylinder 100. This effectively suppresses possible swaying and deviation during long-stroke operations and ensures high precision and stability of the laser welding trajectory during the welding of the ultra-large cylinder 100.

[0060] Furthermore, one end of the docking shaft 920 is detachably fixed to the central area of ​​the counterweight block 440 for simultaneously connecting two guide steel cables 430 to achieve force flow alignment and structural symmetry; the outer peripheral wall of the docking shaft 920 is provided with multiple annular grooves along its axial direction.

[0061] Accordingly, the docking block 910 is movably mounted on the track trolley 820 via the first linear actuator 930. In each docking assembly 900, two docking blocks 910 are positioned opposite each other, each with a semi-circular inner wall. When the two docking blocks 910 close under the drive of the first linear actuator 930, they together form a cylindrical clamping cavity. The inner wall of this clamping cavity has multiple axially arranged annular protrusions that engage with annular grooves on the docking shaft 920, thereby reliably limiting the axial movement of the docking shaft 920 and preventing axial displacement during equipment operation.

[0062] Furthermore, when the docking block 910 closes and locks the docking shaft 920, a downward constraint reaction force can be applied to the counterweight block 440 to further tension the guide cable 430, making its vertical state more stable. This tensioning effect effectively suppresses the lateral swaying or swinging of the guide cable 430 caused by its own flexibility, gravity sag, or external wind load, ensuring that it maintains a near-ideal straight state throughout long-stroke operation. This provides a high-precision, low-disturbance axial motion reference for the climbing device 300, significantly improving the repeatability and overall process stability of the laser welding trajectory.

[0063] Specifically, when the two support arms 230 are extended to a horizontal position (i.e., the included angle between them is 180°), the take-up roller 410 releases the guide cable 430. The counterweight block 440 connected to the lower end of the guide cable 430 moves downward under its own weight, simultaneously driving the guide cable 430 and the docking shaft 920 connected to the counterweight block 440 to move towards the clamping cavity. When the docking shaft 920 is fully inserted into the clamping cavity, the first linear actuator 930 drives the two docking blocks 910 to move towards each other until both docking blocks 910 abut against the outer surface of the docking shaft 920. At this time, the annular protrusion on the inner wall of the clamping cavity is embedded in the annular groove on the docking shaft 920, forming a locking engagement.

[0064] When disassembly is required, the first linear actuator 930 drives the two mating blocks 910 to move in opposite directions until both mating blocks 910 are separated from the outer surface of the mating shaft 920. At this point, the mating assembly 900 releases its lock on the mating shaft 920.

[0065] In this embodiment, the guide limiting mechanism and the laser welding structure 700 are also provided in two sets, which are located on the two sets of support arms 230 respectively, and cooperate with the corresponding two sets of axial moving mechanisms to form two complete welding execution units.

[0066] A guide and limiting mechanism is rotatably mounted on the mounting plate 310 of the climbing device 300, and includes a guide device 600 and a switching device 500. The guide device 600 is rotatably connected to the mounting plate 310 via the switching device 500, and can adhere to the outer wall of the cylinder 100 by adsorption, thereby forming a dynamic mechanical constraint with the surface of the cylinder 100 during welding. This constraint effectively limits the lateral or longitudinal sway of the laser-welded structure 700 in the direction perpendicular to the weld, ensuring the geometric accuracy and process stability of the welding trajectory.

[0067] Specifically, the guide and limiting mechanism can rotate circumferentially around an axis perpendicular to the longitudinal weld seam, and has a first rotation position and a second rotation position. When the guide and limiting mechanism is in the first rotation position, the guiding direction of the guide device 600 is consistent with the circumferential direction of the cylinder 100. At this time, it can guide the laser welding structure 700 to move smoothly along the circumferential direction, while restricting its movement along the axial direction of the cylinder 100. When the guide and limiting mechanism is in the second rotation position, the guiding direction of the guide device 600 is consistent with the axial direction of the cylinder 100. At this time, it can guide the laser welding structure 700 to run smoothly along the axial direction, while restricting its deviation in the circumferential direction. By switching between the above two working positions, the same set of guide and limiting mechanisms can adaptively support the high-precision welding requirements of longitudinal and circumferential weld seams.

[0068] Furthermore, the guiding device 600 includes a roller assembly 610 retractably mounted on the switching device 500, and an adsorption structure 620 arranged side by side with the roller assembly 610. The adsorption structure 620 has an adsorption state and a relaxed state. When the adsorption structure 620 is in the adsorption state, the roller assembly 610 abuts against the outer wall of the cylinder 100, providing stable guidance. When the adsorption structure 620 is in the relaxed state, the roller assembly 610 separates from the outer wall of the cylinder 100. This not only facilitates smooth switching of the guiding and limiting mechanism between the first rotation position and the second rotation position, but also effectively avoids scratches, coating damage, or motion interference caused by continuous friction between the roller and the surface of the cylinder 100 under non-welding conditions, thus balancing process reliability and workpiece surface protection.

[0069] Furthermore, the adsorption structure 620 can be an electromagnetic block or a vacuum chuck. When an electromagnetic block is used, it generates magnetic attraction by passing an electric current, which is suitable for applications where the cylinder 100 is made of magnetically conductive materials such as carbon steel. When a vacuum chuck is used, it achieves non-magnetic contact fixation of the outer wall of the cylinder 100 through negative pressure adsorption, which is suitable for cylinders 100 made of stainless steel, aluminum alloy, or other non-magnetically conductive metals.

[0070] Preferably, the adsorption structure 620 is an electromagnetic block.

[0071] Furthermore, the roller assembly 610 includes a roller group 611 and an elastic element 612. The roller group 611 includes multiple rollers arranged in a straight line and connected by a synchronization plate 613 to ensure uniform force distribution and synchronous fit to the curved surface of the cylinder 100. The roller group 611 is connected to the switching device 500 through the elastic element 612 (such as a compression spring, tension spring, or elastic damper) to form a retractable floating support structure. The adsorption structure 620 is disposed on the synchronization plate 613 and electrically connected to the control system for receiving control signals to switch its working state.

[0072] Specifically, when the adsorption structure 620 is controlled to switch from a relaxed state to an adsorption state, the adsorption force it generates acts on the synchronous plate 613. The synchronous plate 613 pulls the roller assembly 611 outwards, overcoming the elastic force of the elastic element 612, so that each roller tightly abuts against and presses against the outer wall of the cylinder 100, forming a stable guide. When the adsorption structure 620 switches back to the relaxed state, the adsorption force disappears, and the elastic element 612 retracts under the action of the restoring force, driving the roller assembly 611 to reset inwards, causing the rollers to disengage from the outer wall of the cylinder 100. This design, through the synergistic effect of the adsorption force and the elastic element 612, achieves adaptive contact and controllable disengagement of the roller assembly 610 to the surface of the cylinder 100: it provides high-fitting and highly stable dynamic guidance during welding, and automatically releases contact during position switching or non-working states, effectively avoiding scratches on the surface of the cylinder 100, interference with mechanism movement, or increased unnecessary frictional resistance, significantly improving the equipment's intelligence level, process adaptability, and workpiece protection capabilities.

[0073] Furthermore, the roller assembly 611 also includes multiple guide rods, each corresponding to a roller. These guide rods are telescopically inserted into the protective frame on the switching plate 510. One end of each guide rod is detachably connected to the corresponding roller via a roller frame, and the other end is connected to an elastic element 612. The other end of the elastic element 612 is fixedly connected to the inner wall of the protective frame. This design allows each roller to slide smoothly axially via the guide rods when subjected to the reaction force from the outer wall of the cylinder 100, with the elastic element 612 providing a restoring force and buffering effect, thereby achieving adaptive fitting of the rollers to the curved surface of the cylinder 100. Simultaneously, the cooperation between the guide rods and the protective frame effectively limits the swaying of the rollers in the non-working direction, improving the overall rigidity and motion stability of the guiding device 600. In addition, the detachable connection between the rollers and the guide rods via the roller frame facilitates maintenance, replacement, or adaptation to cylinders 100 of different diameters, enhancing the versatility and maintainability of the equipment.

[0074] The switching device 500 includes a switching plate 510 and a locking assembly 520. The switching plate 510 is rotatably connected to the mounting plate 310 via a switching driver 530, and is used to support the guide device 600 and realize its switching between different welding directions. The switching plate 510 has a first locking hole 511 corresponding to a first rotation position and a second locking hole 512 corresponding to a second rotation position. The locking assembly 520 includes a locking rod 521 that is telescopically inserted into the mounting plate 310. When the locking rod 521 is inserted into the first locking hole 511, the guide limiting mechanism is restricted to the first rotation position, so that the guiding direction of the guide device 600 is consistent with the circumferential direction of the cylinder 100, which is suitable for circumferential weld welding. When the locking rod 521 is inserted into the second locking hole 512, the guide limiting mechanism is restricted to the second rotation position, so that the guiding direction is consistent with the axial direction of the cylinder 100, which is suitable for longitudinal weld welding. This design uses a mechanical locking mechanism to ensure that the guide and limit mechanism maintains precise posture positioning during the welding process, effectively preventing directional deviation caused by vibration or external force interference, thereby ensuring the geometric accuracy and repeatability of the welding trajectory.

[0075] Furthermore, the switching plate 510 is provided with a protective frame for mounting the roller assembly 610. The protective frame has a protective cavity inside to accommodate the sliding stroke of the elastic element 612 and the guide rod, which protects the internal moving parts from dust or splashes and provides a stable installation and working space for the elastic element.

[0076] Preferably, two sets of the first locking hole 511 and the second locking hole 512 are provided, and are equidistantly arranged around the rotation center of the switching plate 510; correspondingly, two sets of locking rods 521 are also provided, corresponding one-to-one with the locking holes. This symmetrical double-point locking design can evenly distribute the locking load, improve the torsional resistance and overall rigidity of the locking structure, and avoid uneven loading or jamming caused by single-point force.

[0077] Furthermore, the locking assembly 520 also includes a second linear actuator 522, which is detachably mounted on the mounting plate 310 and connected to the locking lever 521 for driving the locking lever 521 to extend and retract axially, thereby achieving automatic control of locking and unlocking.

[0078] Preferably, the switching driver 530 is a rotary motor, which has the advantages of fast response, accurate positioning, and easy integration into an automated control system. It can accurately drive the switching plate 510 to switch between the first rotation position and the second rotation position, thus meeting the requirements of efficient and reliable processes.

[0079] In this embodiment, the laser welding structure 700 is detachably mounted on the mounting plate 310 and located between the two roller groups 611, so that the laser output end can be centered and aligned with the weld seam. At the same time, it is guided and supported by the roller groups 611 on both sides, which effectively improves the stability and centering accuracy of the welding process.

[0080] Furthermore, the laser welding structure 700 incorporates a built-in scanning module that can scan the area to be welded on the surface of the cylinder 100 in real time before or during welding to obtain information on the weld position, gap, and contour. This scanning data can be fed back to the control system to dynamically adjust the laser focus position, welding power, and motion trajectory, achieving highly adaptable intelligent welding, which is especially suitable for large steel cylindrical structures with assembly errors or deformation.

[0081] This invention also provides a welding method for a laser welding device for steel cylinders, comprising the following steps: S1, the laser welding equipment is installed on the inner mold frame 110, and the lifting component 240 drives the two support arms 230 to unfold and form an angle of 180°, thereby forming a symmetrical dual-station working posture, providing stable support for subsequent welding operations.

[0082] S2, the switching device 500, which is equipped with the laser welding structure 700, is driven by two sets of climbing components 320 to descend from the top to the bottom of the cylinder 100 along the length of the guide cable 430. During this process, the scanning module built into the laser welding structure 700 scans the weld seam to be welded on the cylinder 100 to obtain the position, gap and contour information of each longitudinal weld seam, and transmits the data to the control system.

[0083] S3. After the scan is completed, the control system adjusts the guide limit mechanism to its second rotation position according to the recognition result so that the guide direction of the guide device 600 is consistent with the axis of the cylinder 100. Then, the climbing component 320 drives the laser welding structure 700 to weld the longitudinal weld from bottom to top. During this process, the adsorption structure 620 adsorbs the switching device 500 onto the outer wall of the cylinder 100 to ensure the stability and accuracy of the welding trajectory in the direction perpendicular to the weld.

[0084] S4. After the welding of one longitudinal weld is completed, the turntable 210 rotates around the cylinder 100 under the drive of the first drive member 220, and drives the support arm 230 to rotate to the position of the next longitudinal weld. Steps S2 and S3 are executed in sequence, and so on, until the welding of all longitudinal welds is completed.

[0085] S5. After all longitudinal welds are completed, the control system adjusts the guide limit mechanism to its first rotation position so that the guide direction of the guide device 600 is consistent with the circumferential direction of the cylinder 100. Then, the climbing component 320 drives the switching device 500, which is equipped with the laser welding structure 700, to descend along the length of the guide cable 430 to the circumferential weld of the two cylinders 100. Finally, the turntable 210 rotates circumferentially to drive the laser welding structure 700 to weld the circumferential weld around the outer wall of the cylinder 100, thus welding the two cylinders 100 into a steel cylinder.

[0086] This welding method, through a process flow of "longitudinal first, then circumferential, scanning guidance, dual-station synchronization, and automatic switching of guiding direction," achieves fully automated, high-precision, and high-efficiency welding of longitudinal and circumferential welds in the manufacturing of large steel cylinders. It significantly improves the consistency of welding quality and production cycle time, and is suitable for high-end steel structure manufacturing scenarios in fields such as marine engineering, port equipment, and large storage tanks.

Claims

1. A laser welding device for a steel cylinder, the steel cylinder comprising a cylinder body and an inner mold frame disposed within the cylinder body, characterized in that, The laser welding equipment includes: A support bracket is rotatably mounted on the inner mold frame and can move circumferentially along the cylinder. An axial movement mechanism is provided on the support bracket and includes a climbing device that can move along the axial direction of the cylinder. A guide limiting mechanism is rotatably mounted on the climbing device and includes a guide device that adsorbs against the outer wall of the cylinder. The guide limiting mechanism has a laser-welded structure and has a first rotational position and a second rotational position. When the guide limiting mechanism is in the first rotational position, the guiding direction of the guide device is consistent with the circumferential direction of the cylinder. When the guide limiting mechanism is in the second rotational position, the guiding direction of the guide device is consistent with the axial direction of the cylinder.

2. The laser welding equipment for steel cylinders according to claim 1, characterized in that, The guiding and limiting mechanism includes a switching device, the guiding device including a retractable roller assembly on the switching device, and an adsorption structure arranged side by side with the roller assembly. The adsorption structure has an adsorption state and a relaxed state. When the adsorption structure is in the adsorption state, the roller assembly abuts against the outer wall of the cylinder. When the adsorption structure is in the relaxed state, the roller assembly separates from the outer wall of the cylinder.

3. The laser welding equipment for steel cylinders according to claim 2, characterized in that, The roller assembly includes a roller group and an elastic element. The roller group includes multiple rollers arranged in a straight line and connected by a synchronization plate. The roller group is connected to the switching device through the elastic element. The adsorption structure is disposed on the synchronization plate and is electrically connected to the control system.

4. The laser welding equipment for steel cylinders according to claim 2, characterized in that, The climbing device includes a mounting plate, and the switching device includes a switching plate and a locking assembly. The switching plate is rotatably connected to the mounting plate via a switching driver and has a first locking hole corresponding to the first rotational position and a second locking hole corresponding to the second rotational position. The locking assembly includes a locking rod that is retractably inserted into the mounting plate. When the locking rod is inserted into the first locking hole, the guide limiting mechanism is restricted to the first rotational position; when the locking rod is inserted into the second locking hole, the guide limiting mechanism is restricted to the second rotational position.

5. The laser welding equipment for steel cylinders according to claim 2, characterized in that, The support bracket includes a turntable, a first driving component, and two support arms. The turntable is rotatably mounted on the inner mold frame via the first driving component. The two support arms are symmetrically connected to both sides of the turntable. The axial movement mechanism, the guide limiting mechanism, and the laser welding structure are each provided in two sets and are located on the two support arms respectively.

6. The laser welding equipment for steel cylinders according to claim 5, characterized in that, The two support arms are respectively hinged to the turntable, which is provided with a lifting assembly. The lifting assembly includes a lifting plate that is vertically mounted above the turntable, and a second driving member that drives the lifting plate to move up and down relative to the turntable. The two ends of the lifting plate are respectively hinged to the two support arms through connecting rods, and the lifting plate has a first height position and a second height position. When the lifting plate is at the first height position, the included angle between the two support arms is 180°. When the lifting plate is at the second height position, the included angle between the two support arms is less than 180°.

7. The laser welding equipment for steel cylinders according to claim 5, characterized in that, The axial movement mechanism includes a vertical guide assembly, which includes a take-up roller, a pulley block, a guide cable, and a counterweight. The take-up roller is mounted on the turntable, the pulley block is mounted on the support arm, one end of the guide cable is wound around the take-up roller, and the other end passes through the pulley block and extends downward along the axial direction of the cylinder. The counterweight is located at the end of the guide cable, and the climbing device is slidably connected to the guide cable.

8. The laser welding equipment for steel cylinders according to claim 7, characterized in that, The climbing device includes a mounting plate connected to the switching device, and a climbing assembly disposed on the side of the mounting plate away from the switching device. The climbing assembly includes a drive wheel assembly, a driven wheel assembly, a climbing drive component, and a locking drive component. The drive wheel assembly and the driven wheel assembly are arranged opposite to each other and clamp the guide cable. The climbing drive component is connected to the drive wheel assembly and can drive the drive wheel of the drive wheel assembly to rotate. The locking drive component is connected to the driven wheel assembly and can drive the driven wheel assembly to move closer to or away from the drive wheel assembly.

9. A laser welding device for steel cylinders according to claim 7, characterized in that, The system includes a synchronous rotation assembly and a docking assembly. The synchronous rotation assembly includes a ring track and a track trolley. The ring track is coaxially arranged with the cylinder, and the inner diameter of the ring track is larger than the outer diameter of the cylinder. The track trolley is provided in two sets and is slidably mounted on the ring track. The docking assembly is provided in two sets. Each docking assembly includes two docking blocks that are openably mounted on the track trolley, and a docking shaft with one end connected to the counterweight or the guide cable and the other end connected to the docking blocks in a plug-in connection.

10. A welding method for a laser welding device used for steel cylinders, characterized in that, Includes the following steps: S1, the laser welding equipment is installed on the inner mold frame, and the two support arms are extended and form a 180° angle through the lifting component; S2, through two sets of climbing components, respectively drive the switching device equipped with the laser welding structure to descend from the top of the cylinder to the bottom along the length of the guide steel cable. During this process, the scanning module built into the laser welding structure scans the weld seam to be welded on the cylinder to obtain the position, gap and contour information of each longitudinal weld seam, and transmits the data to the control system. S3, after the scan is completed, the control system adjusts the guide limit mechanism to its second rotation position according to the recognition result so that the guiding direction of the guide device is consistent with the axis of the cylinder. Then, the climbing component drives the laser welding structure to weld the longitudinal weld from bottom to top. During this process, the adsorption structure adsorbs the switching device onto the outer wall of the cylinder. S4. After the welding of one longitudinal weld is completed, the turntable rotates circumferentially and drives the support arm to rotate to the position of the next longitudinal weld. Continue to execute steps S2 and S3 in sequence, and repeat this cycle until the welding of all longitudinal welds is completed. S5. After all longitudinal welds are completed, the control system adjusts the guide limit mechanism to its first rotation position so that the guiding direction of the guide device is consistent with the circumferential direction of the cylinder. Then, the climbing component drives the switching device with the laser welding structure installed to descend along the length of the guide steel cable to the circumferential weld of the two cylinders. Finally, the turntable rotates circumferentially to drive the laser welding structure to weld the circumferential weld around the outer wall of the cylinder, welding the two cylinders into a steel cylinder.

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