Rotary welding device and welding method for pressure vessel

Abstract

The invention discloses a rotary welding device and method for a pressure vessel, and relates to the technical field related to welding, the rotary welding device for the pressure vessel comprises two main shafts, sliding seats are rotatably mounted at the two ends of the two main shafts, the main shafts are slidably mounted on a rack through the sliding seats, and grabbing mechanisms are mounted on the two main shafts; the translation mechanism is mounted on the rack and connected with the sliding seat, and the sliding seat, the main shaft and the grabbing mechanism are driven by the translation mechanism to move oppositely or oppositely; the turnover mechanism is installed on the rack and connected with the main shaft, and the main shaft and the grabbing mechanism are driven by the turnover mechanism to turn over by 180 degrees when moving oppositely or oppositely; the welding mechanism is mounted between the two main shafts, and the two workpieces carried by the grabbing mechanism are annularly welded through the welding mechanism; compared with an existing workpiece rotating and welding gun fixing mode, the problem of tiny coaxial deviation caused by centrifugal force and dynamic balance difference during workpiece rotating is thoroughly avoided.

Description

Technical Field

[0001] This invention relates to the field of welding-related technologies, specifically to a rotary welding device and welding method for pressure vessels. Background Technology

[0002] As pressure-bearing, sealed equipment, the welding quality of the circumferential weld of a pressure vessel directly determines the operational safety of the equipment. Rotary welding devices, due to their ability to automate circumferential weld welding, have become the mainstream equipment in the industry. In existing technologies, such devices mostly use clamping mechanisms to fix the workpiece and coordinate with rotation and welding mechanisms to complete the operation.

[0003] For example, the welding device for pressure vessel processing disclosed in CN114871616A uses a welding frame assembly and a welding rail assembly to form a flexible guide rail, which drives the welding core to move along an arc, thus improving welding accuracy to a certain extent. However, in practical applications, there are still many technical problems that need to be solved, as follows: I. Existing devices mostly use dual independent drive units to control the clamping mechanisms on both sides, which makes parameter matching difficult. Long-term operation can easily lead to inconsistent speed and torque, resulting in workpiece clamping offset and affecting the quality of welded joints. Second, the workpiece rotation and welding gun fixing mode results in insufficient space for the clamping mechanism when welding small-diameter workpieces, leading to inadequate space for welding mechanism installation and dynamic operation. Third, during the rotation of the workpiece, it is prone to slight coaxial misalignment due to centrifugal force and dynamic balance differences, which cannot meet the subsequent processing accuracy requirements of the automated production line. Fourth, the release of clamps and separation of clamps are often carried out simultaneously. During the process of the workpiece falling, it is easy to collide with equipment parts, which reduces the yield of finished products. Fifth, the dispersed layout of multiple institutions and the large number of independent drive units not only increase hardware procurement costs but also increase the complexity of equipment debugging and subsequent maintenance. Summary of the Invention

[0004] To address the shortcomings of existing technologies, this invention provides a rotary welding device and method for pressure vessels, which solves the problem that slight coaxial misalignment is easily generated during workpiece rotation due to centrifugal force and dynamic balance differences, thus failing to meet the subsequent processing accuracy requirements of automated production lines.

[0005] To achieve the above objectives, the present invention provides the following technical solution: a rotary welding device for pressure vessels, comprising a frame, and further comprising: Two main spindles, each with a slide mounted at both ends, are slidably mounted on the frame via the slides, and both spindles are equipped with gripping mechanisms. A translation mechanism is mounted on the frame and connected to the slide block. The translation mechanism drives the slide block, the main shaft, and the gripping mechanism to move relative to or in opposite directions. A flipping mechanism is installed on the frame and connected to the main shaft. The flipping mechanism drives the main shaft and the gripping mechanism to flip 180° when they move relative to or in opposite directions. The welding mechanism, installed between the two main shafts, performs ring welding on the two workpieces carried by the gripping mechanism.

[0006] Furthermore, the gripping mechanism includes a first mounting plate disposed on the opposite or opposite sides of the two main shafts, and the first mounting plate is fixed to the main shafts by two support arms; Mounting plate number two is fixed to the side of mounting plate number one away from the spindle, and the support frame is formed by mounting plate number one and mounting plate number two. Multiple movable plates are circumferentially slidably installed between the No. 2 mounting plate and the No. 1 mounting plate. The ends of the multiple movable plates are all facing the center of the No. 2 mounting plate. A threaded hole is opened at the end of the movable plate away from the center of the No. 2 mounting plate. A No. 1 lead screw that is threaded into the threaded hole is inserted inside. The No. 1 lead screw is fixed to the No. 2 mounting plate through a bracket that is rotatably connected to it. Multiple lead screws are connected to the common drive assembly mounted on the first mounting plate.

[0007] Furthermore, the co-drive assembly includes a transmission disk rotatably mounted on the side of the first mounting disk away from the second mounting disk. A second gear ring and a first gear ring are fixed on both sides of the transmission disk, and a second gear is coaxially fixed at one end of a plurality of first lead screws away from the center of the second mounting disk. The second gear meshes with the second gear ring. A first transmission rod is rotatably mounted on the side of the first mounting plate away from the second mounting plate. A first gear that meshes with a first gear ring is coaxially fixed on the first transmission rod. The first transmission rod is connected to the end of the stroke device mounted on the main shaft via a co-drive assembly.

[0008] Furthermore, the stroke start and end co-drive assembly includes a third transmission rod coaxially rotatably mounted in the main shaft, and a second transmission rod is also rotatably mounted on the main shaft. The second and third transmission rods are connected by a bevel gear set. Both the No. 2 transmission rod and the No. 1 transmission rod are equipped with a No. 1 universal joint. The two No. 1 universal joints are connected by a No. 1 spline rod and a spline tube. The No. 1 spline rod and the spline tube are axially slidingly connected. A second spline rod is rotatably mounted on one side of the frame. Two spline sleeves are slidably mounted on the second spline rod. The spline sleeves are rotatably mounted on the slide block. The spline sleeves are connected to the third transmission rod through a helical gear set.

[0009] Furthermore, the flipping mechanism includes a first worm gear coaxially fixed on the main shaft, and a first worm gear meshing with the first worm gear is rotatably mounted on the slide block; The slide block is also rotatably mounted with a No. 4 transmission rod, which is connected to the No. 1 worm gear through a No. 2 universal joint. A No. 3 gear is also coaxially fixed on the No. 4 transmission rod. The inner wall of the frame is fixed with a rack plate that meshes with the No. 3 gear.

[0010] Furthermore, the translation mechanism includes two bidirectional lead screws rotatably mounted in the frame, the two bidirectional lead screws being connected by a transmission chain, and a limiting roller for limiting the transmission chain is fixed in the frame; Both ends of the bidirectional lead screw are fitted with threaded sleeves, which are fixed to the slide block.

[0011] Furthermore, the welding mechanism includes two support seats fixed inside the frame, each support seat having a sliding plate slidably mounted on it, and each sliding plate having a C-shaped clamp fixed on one side of its opposite side; the sliding plates and clamps have through grooves. A constraint ring is formed by two clamping components; A movable bracket is installed on the outer wall of the constraint ring, and a welding gun is fixed at the end of the movable bracket. The welding gun is perpendicular to the center of the constraint ring. A No. 5 transmission rod is rotatably mounted on the movable bracket. A No. 4 gear is coaxially fixed at both ends of the No. 5 transmission rod. The No. 4 gear meshes with a No. 3 gear ring set on the clamp. A motor is also fixed on the movable bracket. A No. 2 worm gear is coaxially fixed on the output shaft of the motor. The No. 2 worm gear meshes with a No. 2 worm wheel coaxially fixed on the No. 5 transmission rod. Two slide plates are connected to a feeding assembly mounted on the frame, and the feeding assembly engages with gear number four.

[0012] Furthermore, the feeding assembly includes a second lead screw fixed to both sides of the slide plate, and a driven roller threadedly fitted onto the second lead screw; Two No. 1 conveyor rollers are rotatably mounted on the frame. The two No. 1 conveyor rollers are connected by a synchronous belt. The driven roller is located between the two No. 1 conveyor rollers and inside the synchronous belt. The driven roller is engaged with one side of the synchronous belt. The driven roller is rotatably mounted on the frame via a limiting seat. Guide rods are fixed on both sides of the synchronous belt. Force generating components are slidably mounted on the guide rods. The force generating components are fixed to the force-bearing blocks fixed at the bottom of the synchronous belt. Springs are sleeved on the guide rods. The bottom of the support base is also fixed with a limiting material feeding component.

[0013] Furthermore, both ends of the main shaft are coaxially fixed with angle limiting discs, which cooperate with limiting force-bearing components fixed on the slide block; The angle limiting disc includes a disc body, with a top block fixed to the edge of the disc body, and the top block cooperates with the limiting force-bearing component.

[0014] The present invention also provides a rotary welding method for pressure vessels, using the aforementioned rotary welding apparatus for pressure vessels, comprising the following steps: Step 1: The translation mechanism drives the two main spindles and slide to move in opposite directions, moving the gripping mechanism to the feeding station; during the movement, the flipping mechanism drives the main spindles and gripping mechanism to flip 180°; after reaching the end of the stroke, the gripping mechanism clamps the workpiece to complete the material handling. Step 2: The translation mechanism switches its drive direction, driving the gripping mechanisms of the two workpieces to move relative to each other; during the movement, the gripping mechanisms rotate 180° in the opposite direction so that the welding surfaces of the two workpieces are facing each other; continue moving until the two workpieces are coaxially connected. Step 3: During the relative motion of the spindle, the feeding assembly drives the two clamping parts to dock and form a constraint ring, which coaxially positions the workpiece; the welding mechanism is started, and the welding torch rotates around the constraint ring to complete the circumferential welding at the docking point of the two workpieces. Step 4: After welding is completed, the translation mechanism drives the gripping mechanism to move in the opposite direction; the constraint ring releases the workpiece from its position, and the gripping mechanism releases the workpiece; the workpiece falls to the limit conveyor belt and is transported to the next process by the limit conveyor belt.

[0015] The present invention has the following beneficial effects: I. This pressure vessel rotary welding device uses a stroke start and end drive assembly with a single motor to synchronously drive the first transmission rod of the two gripping mechanisms to rotate. Compared with the existing dual drive mode, it avoids the problems of difficult parameter matching and inconsistent speed or torque during long-term operation of dual drive equipment. It realizes synchronous clamping of multiple moving plates and is self-locking throughout the process. It can adapt to workpieces of different diameters and greatly improves the clamping stability and the consistency of weld joint quality.

[0016] 2. The pressure vessel rotary welding device is linked with the relative or opposite movement of the slide by the flipping action. The flipping is automatically triggered by the meshing of the No. 3 gear and the rack plate. Combined with the angle limit plate, the flipping angle is precisely limited to 180°. At the same time, it shares the force of the No. 1 worm gear and the No. 1 worm. Compared to the traditional step-by-step operation of first translating and then flipping, the process time is shortened; and after flipping, the clamping parts are suspended in the air and the support points are far away from the welding position, which increases the installation space of the welding mechanism and solves the problem of limited equipment layout when welding small-diameter workpieces.

[0017] 3. The pressure vessel rotary welding device adopts a welding scheme of coaxial correction of the constraint ring and rotation of the welding torch around the workpiece. The constraint ring is formed by the docking of two clamps to force coaxial correction of the workpiece docking surface; at the same time, the welding torch rotates around the fixed workpiece to complete the ring welding. Compared to existing workpiece rotation and welding torch fixing modes, this completely avoids the problem of slight coaxial misalignment caused by centrifugal force and dynamic balance differences when the workpiece rotates, thus meeting the stringent requirements for workpiece precision in subsequent processing of automated production lines.

[0018] IV. In this rotary welding device for pressure vessels, the unloading component uses the cooperation of a damping sleeve and a spring to achieve the timing control of first releasing the gripping mechanism and then separating the clamping parts, ensuring that the gripping mechanism and the workpiece are completely separated before the clamping parts separate to form a sufficient unloading gap. Compared to the traditional synchronous clamping and release design, this design eliminates the risk of workpieces being bumped and scratched by the clamps during the falling process, thus improving the yield of finished products.

[0019] Of course, any product implementing this invention does not necessarily need to achieve all of the advantages described above at the same time. Attached Figure Description

[0020] Figure 1 This is a schematic diagram of the overall structure of the present invention; Figure 2 for Figure 1 Floor plan; Figure 3 for Figure 1 Exploded view; Figure 4 This is a schematic diagram of the gripping mechanism in this invention; Figure 5 for Figure 4 A structural diagram from another direction; Figure 6 for Figure 4 Another structural diagram from another angle; Figure 7 for Figure 6 Enlarged view of the local structure at point A; Figure 8 This is a schematic diagram of the feeding assembly in this invention; Figure 9 For the present invention Figure 8 Enlarged view of the local structure at point B; Figure 10 for Figure 8 Exploded view; Figure 11 for Figure 10 A structural diagram from another direction; Figure 12 for Figure 11 A schematic diagram of the middle section structure; Figure 13 for Figure 12 A magnified view of a section at point C; Figure 14 This is a schematic diagram of the internal structure of the clamp component in this invention.

[0021] In the diagram: 1. Frame; 101. Support base; 2. Main shaft; 201. Support arm; 202. Mounting plate No. 1; 203. Transmission rod No. 1; 204. Gear No. 1; 205. Transmission disc; 206. Universal joint No. 1; 207. Splined tube; 208. Splined rod No. 1; 209. Transmission rod No. 2; 2010. Bevel gear set; 2011. Transmission rod No. 3; 2012. Helical gear set; 2013. 1. Gear Ring No. 1; 2. Gear Ring No. 2; 2. Slide; 2. Spline Sleeve; 2. Worm Gear No. 1; 2. Mounting Plate No. 2; 2. Movable Plate; 2. Roller; 2. Bracket; 2. Gear No. 2; 2. Lead Screw No. 1; 2. Angle Limiting Plate; 2. Limiting Force Component; 2. Worm Gear No. 1; 2. Gear Ring No. 2; 2. No. 2 Universal joint; 2028, No. 4 drive rod; 2029, No. 3 gear; 2030, threaded sleeve; 2031, rack plate; 2032, No. 2 spline rod; 2033, protective housing; 3, sliding plate; 301, No. 2 lead screw; 302, synchronous belt; 303, No. 1 conveyor roller; 304, driven roller; 305, limit seat; 306, force-bearing block; 307, spring; 308, force-generating component; 309 3010. Guide rod; 3011. Motor; 3012. Clamping part; 3013. Movable bracket; 3014. Welding torch; 3015. No. 3 gear ring; 3016. No. 4 gear; 3017. No. 2 worm gear; 3018. No. 2 worm; 4. Limiting feeding part; 5. Bidirectional lead screw; 501. Transmission chain; 502. Limiting roller; 6. Limiting conveyor belt; 601. No. 2 conveyor roller. Detailed Implementation

[0022] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0023] In the description of this invention, it should be understood that the terms "opening", "upper", "lower", "thickness", "top", "middle", "length", "inner", "around", etc., which indicate orientation or positional relationship, are only for the convenience of describing this invention and simplifying the description, and do not indicate or imply that the components or elements referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as limiting this invention.

[0024] The following is based on Figures 1-14 This invention describes a rotary welding apparatus for pressure vessels provided in an embodiment of the present invention.

[0025] like Figures 1-14As shown, the present invention provides a technical solution: a pressure vessel rotary welding device, a frame 1, characterized in that it further includes two main shafts 2, both ends of which are rotatably mounted with slides 2015, the main shafts 2 are slidably mounted on the frame 1 through the slides 2015, and both main shafts 2 are equipped with gripping mechanisms. The translation mechanism, which is installed on the frame 1 and connected to the slide 2015, drives the slide 2015, the main shaft 2 and the gripping mechanism to move relative to or in opposite directions. The flipping mechanism, which is installed on the frame 1 and connected to the main shaft 2, drives the main shaft 2 and the gripping mechanism to flip 180° when they move relative to or opposite to each other. A welding mechanism is installed between the two spindles 2 to perform ring welding on the two workpieces carried by the gripping mechanism.

[0026] In this embodiment of the invention, both ends of the frame 1 are provided with feeding devices, which provide the required welding workpieces to both ends of the frame 1. The relative or opposite movement of the slide block 2015, the main shaft 2, and the gripping mechanism is achieved through the translation mechanism. The relative movement is the docking state, and the opposite movement is the material picking state. In the material handling state, the rotating mechanism drives the spindle 2 and the gripping mechanism to move to the opposite state. When the spindle 2 and the gripping mechanism move to the end of their stroke, the gripping mechanism grips the workpiece on the feeding device. Then, the spindle 2 and the gripping mechanism carry the workpieces in relative motion and rotate 180° during the relative motion so that the welding surfaces of the two workpieces are facing each other. After the rotation, the two workpieces continue to move to achieve docking. After docking, the welding mechanism welds the gap between the two workpieces circumferentially.

[0027] The gripping mechanism includes a first mounting plate 202 disposed on the opposite or opposite side of the two main shafts 2, and the first mounting plate 202 is fixed to the main shaft 2 by two support arms 201; Mounting plate 2018 is fixed on the side of mounting plate 202 away from spindle 2, and a support frame is formed by mounting plate 202 and mounting plate 2018. Multiple movable plates 2019 are circumferentially slidably installed between the second mounting plate 2018 and the first mounting plate 202. The ends of the multiple movable plates 2019 are all facing the center of the second mounting plate 2018. The end of the movable plate 2019 away from the center of the second mounting plate 2018 has a threaded hole, and a first lead screw 2023 that is threaded into the threaded hole is inserted inside. The first lead screw 2023 is fixed to the second mounting plate 2018 through a bracket 2021 that is rotatably connected to it. Multiple lead screws 2023 are connected to the common drive assembly mounted on mounting plate 202.

[0028] In this embodiment of the invention, multiple lead screws 2023 are synchronously driven to rotate by a common drive assembly. When the lead screws 2023 rotate, they can drive multiple movable plates 2019 to move synchronously toward or away from the center of the mounting plate 2018 by means of the threaded engagement with the threaded hole. When the movable plate 2019 moves toward the center of the second installation plate 2018, it is in a grasping state; when it moves away from the center of the second installation plate 2018, it is in a released grasping state. To accommodate different types of welding mechanisms, rollers 2020 can be selectively installed on the end of the movable plate 2019 facing the center of the second mounting plate 2018. Without rollers 2020 installed, the workpiece is in a fixed state after being clamped by the movable plate 2019 and cannot be rotated by external force. With rollers 2020 installed, the workpiece is in contact with the rollers 2020 during clamping, and the workpiece is in a rotating clamping state and can be rotated by external force.

[0029] The co-drive assembly includes a transmission disk 205 rotatably mounted on the side of the first mounting disk 202 away from the second mounting disk 2018. A second gear ring 2014 and a first gear ring 2013 are fixed on both sides of the transmission disk 205, and a second gear 2022 is coaxially fixed at one end of a plurality of first lead screws 2023 away from the center of the second mounting disk 2018. The second gear 2022 meshes with the second gear ring 2014. A first transmission rod 203 is rotatably mounted on the side of the first mounting plate 202 away from the second mounting plate 2018. A first gear 204 that meshes with a first gear ring 2013 is coaxially fixed on the first transmission rod 203. The first transmission rod 203 is connected to the stroke start and end drive assembly mounted on the main shaft 2.

[0030] In this embodiment of the invention, since there is relative or reverse motion in the gripping mechanism, the stroke start and end co-drive assembly can drive the first transmission rod 203 to rotate at both the start and end of the stroke. When the first transmission rod 203 rotates, it will drive the first gear 204 to rotate synchronously, and then drive the transmission disk 205 and the second gear ring 2014 to rotate through the meshing of the first gear 204 and the first gear ring 2013; when the second gear ring 2014 rotates, it will drive multiple first lead screws 2023 to rotate synchronously through the meshing of the second gear 2022. Compared with existing technologies, this driving and gripping method has the advantage of being able to drive multiple moving plates simultaneously and achieve self-locking at any position in the stroke, thereby being able to clamp workpieces of different diameters with excellent clamping stability.

[0031] The protective casing 2033 is fixed on the side of the second installation plate 2018 away from the first installation plate 202.

[0032] The stroke start and end co-drive assembly includes a third transmission rod 2011 coaxially rotatably mounted in the main shaft 2, and a second transmission rod 209 is also rotatably mounted on the main shaft 2. The second transmission rod 209 and the third transmission rod 2011 are connected by a bevel gear set 2010. A universal joint 206 is installed on both the second transmission rod 209 and the first transmission rod 203. The two universal joints 206 are connected by a spline rod 208 and a spline tube 207. The spline rod 208 and the spline tube 207 are axially slidingly connected. A second spline rod 2032 is rotatably mounted on one side of the frame 1. Two spline sleeves 2016 are slidably mounted on the second spline rod 2032. The spline sleeves 2016 are rotatably mounted on the slide block 2015. The spline sleeves 2016 are connected to the third transmission rod 2011 through the helical gear set 2012. In this embodiment of the invention, a No. 1 motor is fixed on the frame 1. The output shaft of the No. 1 motor is connected to the No. 2 spline rod 2032 through a transmission component. When the No. 1 motor is working, its output shaft drives the No. 2 spline rod 2032 to rotate through the transmission component. When the No. 2 spline rod 2032 rotates, it drives the two spline sleeves 2016 to rotate synchronously. When the spline sleeves 2016 rotate, they drive the No. 3 transmission rod 2011 to rotate through the helical gear set 2012. When the No. 3 transmission rod 2011 rotates, it drives the No. 2 transmission rod 209 to rotate through the bevel gear set 2010. When the No. 2 transmission rod 209 rotates, one of the No. 1 universal joints 206 drives the other No. 1 universal joint 206 to rotate through the No. 1 spline rod 208 and the spline tube 207, thereby driving the No. 1 transmission rod 203 to rotate. The resulting effect is that the movable plate 2019 can synchronously drive the rotation of the two first transmission rods 203 at either the end or the beginning of the stroke. In contrast to existing technologies, which involve installing drive devices on both clamping mechanisms; In dual-drive mode, matching the parameters of the two drive devices is difficult, and long-term use can easily lead to inconsistencies in speed or torque, resulting in clamping deviation. This invention achieves synchronous rotation of two transmission rods 203 by using only one set of stroke start and end drive components in conjunction with a single motor. This reduces hardware costs and debugging difficulty while ensuring a high degree of coordination in the clamping mechanism's actions, thereby guaranteeing the quality and stability of the welded joint.

[0033] In addition, reducing the number of drive units simplifies the equipment maintenance process, reduces later operation and maintenance costs, and is more suitable for large-scale industrial production scenarios.

[0034] In summary, this invention effectively achieves high efficiency, precision, and stability in the circumferential welding of pressure vessel workpieces through the coordinated operation of multiple mechanisms; it can quickly complete the entire process of workpiece picking, precise docking, and reliable welding; and its single-motor drive design avoids the offset problem of traditional dual-drive clamping, ensuring stable weld joint quality. At the same time, it is adaptable to workpieces of different diameters and various clamping requirements, significantly reducing equipment costs and maintenance difficulty.

[0035] The flipping mechanism includes a first worm gear 2017 coaxially fixed on the main shaft 2, and a first worm 2026 meshing with the first worm gear 2017 is rotatably mounted on the slide 2015. The slide block 2015 is also rotatably mounted with a fourth transmission rod 2028, which is connected to a first worm gear 2026 via a second universal joint 2027. A third gear 2029 is also coaxially fixed on the fourth transmission rod 2028. The inner wall of the frame 1 is fixed with a rack plate 2031 that meshes with the third gear 2029.

[0036] In this embodiment of the invention, the two slide blocks 2015 and the main shaft 2 are driven to move in opposite or opposite directions by the translation mechanism. When the slide blocks 2015 move, they will drive the third gear 2029 to move synchronously. When the third gear 2029 meshes with the rack plate 2031 and continues to move, it drives the third gear 2029 and the fourth transmission rod 2028 to rotate. When the fourth transmission rod 2028 rotates, it drives the first worm wheel 2017 to rotate through the first worm gear 2026. Conversely, when the reverse motion is performed, it will drive the main shaft 2 to rotate in the opposite direction; This enables the two spindles 2 and the gripping mechanism mounted on the spindles 2 to rotate relative to each other during relative motion and to rotate in opposite directions during opposite motion. Compared to existing technologies, which mostly use the relative or opposite movements of two clamps to achieve material handling and docking, for workpieces with small diameters, the space between the two clamps is extremely small when the workpiece is clamped and moved relative to each other to the end of the stroke. Such welding equipment usually adopts the method of "workpiece rotation and welding gun fixation". However, the main drawback of this method is that when the two clamps are in the welding state, the space between them is too small, which is not conducive to the installation of dynamic welding equipment. The "workpiece rotation, welding gun fixation" method has another drawback: since the two workpieces are in a separate state, although the clamping will constrain the workpieces, when rotating synchronously, the centrifugal force and the inconsistent dynamic balance of the two workpieces will cause a slight offset when the workpieces rotate, causing the two workpieces to be in a non-concentric state. Although this slight offset does not affect the sealing of the workpieces, it will cause problems in subsequent processing on an automated production line.

[0037] Please see Figure 1 The present invention adopts a flip-and-connection method, which puts the clamping components in a suspended state and sets the two support positions far away from the welding position, thereby increasing the space between the two gripping mechanisms, making it easier to install the welding mechanism, and also providing sufficient space for the dynamic welding of the welding mechanism. Secondly, the present invention adopts a welding method of "fixing the workpiece and rotating the welding gun around the workpiece", which avoids the slight offset problem that occurs when the workpiece rotates, thereby preventing the two workpieces from being in a non-concentric state. It should also be noted that the reverse state operation process in this embodiment is as follows: first, horizontal movement is performed, then flipping is performed, and then horizontal movement continues; the flipping action is only performed in the middle of the horizontal movement, and both ends are kept in a horizontal movement state, so that the material picking and docking are both in a horizontal movement state. In addition, the flipping action is achieved through the cooperation of the No. 1 worm gear 2026 and the No. 1 worm wheel 2017, making the flipping process smoother and avoiding the problem of workpiece displacement caused by inertia and centrifugal force due to excessive flipping speed.

[0038] The translation mechanism includes two bidirectional lead screws 5 rotatably mounted in the frame 1, the two bidirectional lead screws 5 being connected by a transmission chain 501, and a limiting roller 502 for limiting the transmission chain 501 is fixed in the frame 1. Both ends of the bidirectional lead screw 5 are fitted with threaded sleeves 2030, and the threaded sleeves 2030 are fixed to the slide block 2015.

[0039] In this embodiment of the invention, a second motor is fixed on the frame 1. The output shaft of the second motor is connected to one of the bidirectional lead screws 5 through a transmission component. When the second motor is working, its output shaft drives one of the bidirectional lead screws 5 to rotate through the transmission component. When one of the bidirectional lead screws 5 rotates, it drives the other bidirectional lead screw 5 to rotate through the transmission chain 501, thereby achieving synchronous driving of the two bidirectional lead screws 5 to rotate.

[0040] When the two bidirectional lead screws 5 rotate, they drive the two threaded sleeves 2030 to move relative to or opposite to each other through threaded engagement with the threaded sleeves 2030 at both ends, thereby driving the slide block 2015 to move relative to or opposite to each other through the threaded sleeves 2030.

[0041] This method of driving the two slides 2015 and the spindle 2 to move in opposite directions has a high degree of synchronization and is low in cost.

[0042] The welding mechanism includes two support seats 101 fixed inside the frame 1. Each support seat 101 is slidably mounted with a slide plate 3. Each slide plate 3 is fixed with a C-shaped clamp 3011 on one side of the opposite side. The slide plate 3 and the clamp 3011 are provided with a passage groove. A constraint ring is formed by two clamping components 3011; A movable bracket 3012 is installed on the outer wall of the constraint ring, and a welding torch 3013 is fixed to the end of the movable bracket 3012. The welding torch 3013 is perpendicular to the center of the constraint ring. A fifth transmission rod 3016 is rotatably mounted on the movable bracket 3012. A fourth gear 3015 is coaxially fixed at both ends of the fifth transmission rod 3016. The fourth gear 3015 meshes with a third gear ring 3014 set on the clamp 3011. A motor 3010 is also fixed on the movable bracket 3012. A second worm gear 3018 is coaxially fixed on the output shaft of the motor 3010. The second worm gear 3018 meshes with a second worm wheel 3017 coaxially fixed on the fifth transmission rod 3016. Two slide plates 3 are connected to a feeding assembly mounted on the frame 1, and the feeding assembly engages with gear 4 3015.

[0043] In this embodiment of the invention, when the two slide blocks 2015 move relative to each other, the feeding assembly drives the two slide plates 3 to move relative to each other so that the two clamps 3011 abut against each other to form a constraint ring. When the gripping mechanism drives the two workpieces to move relative to each other, the mating surfaces of the two workpieces are inserted into the constraint ring. The constraint ring constrains the mating surfaces of the two workpieces, making the two workpieces concentric. When the motor 3010 is working, it drives the second worm gear 3018 to rotate through its output shaft. The second worm gear 3018 drives the second worm wheel 3017 and the fifth transmission rod 3016 to rotate. When the fourth gear 3015 rotates, it drives the movable bracket 3012 and the welding torch 3013 to rotate around the constraint ring through meshing with the third gear ring 3014, so that the two workpieces can be welded through the welding torch 3013.

[0044] The slot is used for the movement of the movable support 3012 and the welding torch 3013 during rotation.

[0045] It should also be noted that since the two clamps 3011 are joined to form a ring, the movable bracket 3012 rotates on its outer wall. When the two clamps 3011 are separated, the movable bracket 3012 is on one of the clamps 3011, which does not affect the opposite movement of the two slide plates 3.

[0046] The feeding assembly includes a second lead screw 301 fixed on both sides of the slide plate 3, and a driven roller 304 threadedly engaged with the second lead screw 301. Two first conveyor rollers 303 are rotatably mounted on the frame 1. The two first conveyor rollers 303 are connected by a synchronous belt 302. The driven roller 304 is located between the two first conveyor rollers 303 and inside the synchronous belt 302. The driven roller 304 cooperates with one side of the inside of the synchronous belt 302. The driven roller 304 is rotatably mounted on the frame 1 via the limiting seat 305. Guide rods 309 are fixed on both sides of the synchronous belt 302. A force-generating component 308 is slidably mounted on the guide rod 309. The force-generating component 308 is fixed to the force-receiving block 306 fixed at the bottom of the synchronous belt 302. A spring 307 is sleeved on the guide rod 309. The bottom of the support base 101 is also fixed with a limiting material feeding component 4.

[0047] In this embodiment of the invention, when the two slide blocks 2015 move relative to each other, they continue to move after contacting the force-generating component 308 in their movement path, so as to push the force-generating component 308 to move synchronously. When the force-generating component 308 moves, it drives the force-receiving block 306 to move, so that the synchronous belt 302 can convey. When the driven roller 304 conveys, it drives the driven roller 304 to rotate through the cooperation with the driven roller 304. When the driven roller 304 rotates, it drives the slide plate 3 to slide along the axial direction of the second lead screw 301 through the threaded cooperation with the second lead screw 301, that is, it drives the two slide plates 3 to move relative to each other. In this process, the force-generating component 308 pulls up the spring 307 when it moves, allowing the spring 307 to store elastic potential energy. When the two slide blocks 2015 move in opposite directions, the elastic potential energy of the spring 307 is released, driving the force-generating component 308 to move in the opposite direction. The reverse movement of the force-generating component 308 corresponds to the reverse rotation of the driven roller 304, thereby realizing the opposite movement of the two slide blocks 3. When the two slide blocks 3 move in opposite directions, the two clamping components 3011 separate, and at the same time, the gripping mechanism releases the workpiece, allowing the welded workpiece to fall into the limiting unloading component 4. The limiting unloading component 4 is provided with a buffer layer to offset the collision when the workpiece falls, causing the workpiece to dent. It should be noted that the sliding sleeve of the force-generating component 308 is a damping sliding sleeve, which makes the sliding engagement between the force-generating component 308 and the guide rod 309 a uniform sliding. When the force-generating component 308 is driven to slide by the two sliding blocks 2015, the sliding blocks 2015 slide at a uniform speed, thus preventing damage to the damping sliding sleeve due to excessive speed. When the two sliding blocks 2015 move in opposite directions, the elastic potential energy of the spring 307 is released to drive the force-generating component 308 to move in the same direction. At this time, the damping sliding sleeve plays a damping role, making the movement speed of the force-generating component 308 slower than that of the sliding blocks 2015. The effect achieved is that when unloading, the gripping mechanism must first release the workpiece clamp. After the two gripping mechanisms move in opposite directions until they are separated from the workpiece, the two clamping parts 3011 move in opposite directions until the gap between them is sufficient for the workpiece to fall.

[0048] Secondly, the limit seat 305 also serves to limit the stroke of the force block 306 and limit the synchronous belt 302, so that the synchronous belt 302 does not disengage from the driven roller 304 during conveying. The inner wall of the clamp 3011 is provided with a wedge-shaped surface so that when two workpieces are mated, a certain degree of error is allowed. The error can be corrected by the wedge-shaped surface so that the workpieces are coaxial when inserted into the clamp 3011.

[0049] Furthermore, a second conveyor roller 601 is rotatably installed inside and outside the frame 1. The two second conveyor rollers 601 are connected by a limiting conveyor belt 6. Multiple sets of positioning plates are fixed at equal intervals along the conveying path on the limiting conveyor belt 6. When the welded workpiece falls into the limiting unloading part 4, the limiting unloading part 4 guides the workpiece to fall onto the limiting conveyor belt 6. The limiting conveyor belt 6 then transports the welded workpiece to the next process.

[0050] Both ends of the main shaft 2 are coaxially fixed with angle limiting disks 2024, and the angle limiting disks 2024 cooperate with the limiting force-bearing component 2025 fixed on the slide block 2015. The angle limiting disc 2024 includes a disc body, with a top block fixed to the edge of the disc body, and the top block cooperates with the limiting force-bearing component 2025.

[0051] In this embodiment of the invention, when the spindle 2 rotates, it drives the angle limiting disk 2024 to rotate synchronously. The top block of the angle limiting disk 2024 cooperates with the limiting force member 2025 to limit its rotation angle, so that the spindle 2 can only rotate 180° clockwise or 180° counterclockwise.

[0052] Secondly, after the spindle 2 rotates, it can provide support for the angle of the spindle 2, so that the force for maintaining the angle is not fully applied to the first worm gear 2017 and the first worm 2026.

[0053] During operation, motor number two drives the double-acting lead screw 5 to rotate. The double-acting lead screw 5, via transmission chain 501, drives another double-acting lead screw 5 to rotate synchronously. This, in turn, drives the threaded sleeve 2030 to move the slide 2015, main shaft 2, and gripping mechanism in opposite directions. During this movement, slide 2015 drives gear number three 2029 to mesh with rack plate 2031. Gear number three 2029 drives transmission rod number four 2028 to rotate. Transmission rod number four 2028, via universal joint number two 2027, drives worm gear number one 2026 to rotate. Worm gear number one 2026 drives worm wheel number one worm 2017 and main shaft 2 to rotate 180°. Angle limit plate 2024 and limit force-bearing component 2... 025, in coordination with limiting the rotation angle of spindle 2, when the gripping mechanism reaches the end of its stroke, motor 1 drives spline rod 2032 to rotate, which in turn drives spline sleeve 2016 to rotate. Spline sleeve 2016, through helical gear set 2012, drives transmission rod 2011 to rotate, which in turn drives transmission rod 2011 through bevel gear set 2010 to rotate transmission rod 209. Transmission rod 209, through universal joint 206, spline rod 208, and spline sleeve 207, drives transmission rod 203 to rotate, which in turn drives gear 204 to rotate. Gear 204, in turn, drives gear ring 2013 and... The transmission disc 205 rotates, driving the second gear ring 2014 to rotate. The second gear ring 2014 drives the second gear 2022 and the first lead screw 2023 to rotate. The first lead screw 2023 drives the movable plate 2019 to move towards the center of the second mounting plate 2018, thus gripping the workpiece on the feeding equipment. Subsequently, the bidirectional lead screw 5 drives the slide 2015 and the main shaft 2 to move relative to each other. During the movement, the main shaft 2 rotates 180° again so that the welding surfaces of the two workpieces are facing each other. At the same time, the slide 2015 pushes the force-generating component 308 to move. The force-generating component 308 drives the force-receiving block 306 and the synchronous belt 302 to move. The synchronous belt 302 drives the driven roller 304 to rotate. The moving roller 304 drives the sliding plate 3 to move relative to each other via the second lead screw 301, causing the two clamping parts 3011 to assemble and form a constraint ring. The gripping mechanism carries the workpiece and continues to move relative to each other, inserting the mating surfaces of the two workpieces into the constraint ring. The clamping parts 3011 perform coaxial correction on the workpieces. Then, the motor 3010 drives the second worm gear 3018 to rotate, which in turn drives the second worm wheel 3017 and the fifth transmission rod 3016 to rotate. The fifth transmission rod 3016 drives the fourth gear 3015 to rotate, which meshes with the third gear ring 3014 to drive the movable bracket 3012 and the welding torch 3013 to rotate around the constraint ring, completing the annular welding of the two workpieces.After welding, the bidirectional lead screw 5 drives the slide block 2015 to move in opposite directions. The spring 307 releases its elastic potential energy, causing the force-generating component 308 to move in the opposite direction, thereby driving the slide plate 3 and the clamp component 3011 to separate in opposite directions. At the same time, the first motor drives the first lead screw 2023 to rotate in the opposite direction, driving the movable plate 2019 away from the center of the second mounting plate 2018, thus releasing the workpiece. The workpiece falls into the limiting unloading component 4, and after being guided by the limiting mechanism, it falls onto the limiting conveyor belt 6. The second conveyor roller 601 drives the limiting conveyor belt 6 to move, transporting the welded workpiece to the next process.

[0054] The present invention also provides a rotary welding method for pressure vessels, using the aforementioned rotary welding apparatus for pressure vessels, comprising the following steps: Step 1: The translation mechanism drives the two main spindles 2 and the slide 2015 to move in opposite directions, which in turn moves the gripping mechanism to the feeding station. During the movement, the flipping mechanism drives the main spindles 2 and the gripping mechanism to flip 180°. After reaching the end of the stroke, the gripping mechanism clamps the workpiece and completes the material handling. Step 2: The translation mechanism switches its drive direction, driving the gripping mechanisms of the two workpieces to move relative to each other; during the movement, the gripping mechanisms rotate 180° in the opposite direction so that the welding surfaces of the two workpieces are facing each other; continue moving until the two workpieces are coaxially connected. Step 3: During the relative motion of spindle 2, the unloading assembly drives the two clamping parts 3011 to dock and form a constraint ring, which coaxially positions the workpiece; the welding mechanism is started, and the welding gun 3013 rotates around the constraint ring to complete the circumferential welding at the docking point of the two workpieces. Step 4: After welding is completed, the translation mechanism drives the gripping mechanism to move in the opposite direction; the constraint ring releases the workpiece from its position, and the gripping mechanism releases the workpiece; the workpiece falls to the limiting conveyor belt 6 and is transported to the next process by the limiting conveyor belt 6.

[0055] It should be noted that, in this document, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such process, method, article, or apparatus.

[0056] The preferred embodiments of the present invention disclosed above are merely illustrative of the invention. These preferred embodiments do not exhaustively describe all details, nor do they limit the invention to the specific implementations described. Clearly, many modifications and variations can be made based on the content of this specification. This specification selects and specifically describes these embodiments to better explain the principles and practical applications of the invention, thereby enabling those skilled in the art to better understand and utilize the invention. The invention is limited only by the claims and their full scope and equivalents.

Claims

1. A pressure vessel rotary welding device, a frame (1), characterized in that, Also include: Two main shafts (2), both ends of two main shafts (2) are rotatably installed with sliding seat (2015), main shaft (2) is slidably installed on rack (1) through sliding seat (2015), both main shafts (2) are installed with grabbing mechanism; Translation mechanism, installed on the rack (1) and connected with the sliding seat (2015), the sliding seat (2015) and the main shaft (2) and the grabbing mechanism are driven by the translation mechanism to move oppositely or reversely; Turnover mechanism, installed on the rack (1) and connected with the main shaft (2), the main shaft (2) and the grabbing mechanism are driven by the turnover mechanism to turn (180) ° when moving oppositely or reversely; Welding mechanism, installed between two main shafts (2), two workpieces carried by the grabbing mechanism are ring welded by the welding mechanism.

2. A pressure vessel rotary welding apparatus according to claim 1, wherein The grabbing mechanism includes a first mounting disc (202) arranged on the opposite or opposite side of the two main shafts (2), and the first mounting disc (202) is fixed with the main shaft (2) through two supporting arms (201); The first mounting disc (202) is fixed with the second mounting disc (2018) away from the main shaft (2), and the supporting frame is formed by the first mounting disc (202) and the second mounting disc (2018); A plurality of movable plates (2019) are slidably installed between the second mounting disc (2018) and the first mounting disc (202) at equal intervals, the end of the movable plate (2019) is away from the center of the second mounting disc (2018), and the end of the movable plate (2019) is away from the center of the second mounting disc (2018). Threaded hole is opened, its inside is inserted with a first lead screw (2023) matched with the threaded hole, the first lead screw (2023) is fixed with the second mounting disc (2018) through the support (2021) rotatably connected with it. A plurality of first lead screws (2023) are connected with a common drive assembly installed on the first mounting disc (202).

3. A pressure vessel rotary welding apparatus according to claim 2, wherein The common drive assembly includes a transmission disc (205) rotatably installed on the side of the first mounting disc (202) away from the second mounting disc (2018), the transmission disc (205) is fixed with a second gear ring (2014) and a first gear ring (2013) on both sides respectively, a plurality of first lead screws (2023) are coaxially fixed with a second gear (2022) at the end away from the center of the second mounting disc (2018), and the second gear (2022) is engaged with the second gear ring (2014). The first mounting disc (202) is rotatably installed with a first transmission rod (203) away from the second mounting disc (2018), the first transmission rod (203) is coaxially fixed with a first gear (204) engaged with the first gear ring (2013), and the first transmission rod (203) is connected with a stroke start and end same drive assembly installed on the main shaft (2).

4. A pressure vessel rotary welding apparatus according to claim 3, wherein The stroke start and end same drive assembly includes a third transmission rod (2011) coaxially rotatably installed in the main shaft (2), and a second transmission rod (209) is also rotatably installed on the main shaft (2), and the second transmission rod (209) and the third transmission rod (2011) are connected through a bevel gear set (2010). The second transmission rod (209) and the first transmission rod (203) are provided with a first universal joint (206), the two first universal joints (206) are connected through a first spline rod (208) and a spline cylinder (207), and the first spline rod (208) and the spline cylinder (207) are in axial sliding connection; One side of the rack (1) is rotatably provided with a second spline rod (2032), the second spline rod (2032) is slidably provided with two spline sleeves (2016), the spline sleeves (2016) are rotatably arranged on sliding seats (2015), and the spline sleeves (2016) are connected with the third transmission rod (2011) through bevel gear sets (2012).

5. A pressure vessel rotary welding apparatus according to claim 2, wherein The overturning mechanism comprises a first worm wheel (2017) coaxially fixed on the main shaft (2), and the sliding seat (2015) is rotatably provided with a first worm (2026) engaged with the first worm wheel (2017); The sliding seat (2015) is further rotatably provided with a fourth transmission rod (2028), the fourth transmission rod (2028) is connected with the first worm (2026) through a second universal joint (2027), and the fourth transmission rod (2028) is further coaxially provided with a third gear (2029); The inner wall of the rack (1) is fixedly provided with a rack plate (2031) matched with the third gear (2029).

6. A pressure vessel rotary welding apparatus according to claim 5, wherein The translation mechanism comprises two bidirectional screw rods (5) rotatably arranged in the rack (1), the two bidirectional screw rods (5) are connected through a transmission chain (501), and the rack (1) is fixedly provided with a limiting roller (502) for limiting the transmission chain (501); The two ends of the bidirectional screw rod (5) are provided with threaded sleeves (2030), and the threaded sleeves (2030) are fixed with the sliding seat (2015).

7. A pressure vessel rotary welding apparatus as claimed in claim 2, wherein The welding mechanism comprises two supporting seats (101) fixed in the rack (1), two sliding plates (3) are slidably arranged on the two supporting seats (101), and the opposite sides of the two sliding plates (3) are fixedly provided with C-shaped clamp members (3011); through grooves are formed in the sliding plates (3) and the clamp members (3011); The two clamp members (3011) form a constraint ring; A movable support (3012) is arranged on the outer wall of the constraint ring, the movable support (3012) is fixedly provided with a welding gun (3013) at the end, and the welding gun (3013) is perpendicular to the center of the constraint ring; A fifth transmission rod (3016) is rotatably arranged on the movable support (3012), fourth gears (3015) are coaxially fixed at the two ends of the fifth transmission rod (3016), the fourth gears (3015) are engaged with third gear rings (3014) arranged on the clamp members (3011), a motor (3010) is further fixed on the movable support (3012), a second worm (3018) is coaxially fixed on the output shaft of the motor (3010), and the second worm (3018) is engaged with a second worm wheel (3017) coaxially fixed on the fifth transmission rod (3016); The two sliding plates (3) are connected with a blanking assembly arranged on the rack (1).

8. A pressure vessel rotary welding apparatus according to claim 7, wherein The blanking assembly comprises a second lead screw (301) fixed on both sides of the sliding plate (3), and a driven roller (304) is sleeved on the second lead screw (301) and threadedly matched with the second lead screw (301); The rack (1) is rotationally provided with two first conveying rollers (303), the two first conveying rollers (303) are connected through a synchronous belt (302), the driven roller (304) is located between the two first conveying rollers (303) and in the synchronous belt (302), and the driven roller (304) is matched with an inner side of the synchronous belt (302); The driven roller (304) is rotationally provided on the rack (1) through a limiting seat (305), the synchronous belt (302) is fixed with a guide rod (309) on both sides, a force element (308) is slidingly installed on the guide rod (309), the force element (308) is fixed with a stress block (306) fixed at the bottom of the synchronous belt (302), and the guide rod (309) is sleeved with a spring (307); The supporting seat (101) is further fixed with a limiting blanking element (4) at the bottom.

9. A pressure vessel rotary welding apparatus as defined in claim 6 wherein, The main shaft (2) is coaxially fixed with an angle limiting disc (2024) at both ends, and the angle limiting disc (2024) is matched with a limiting stress element (2025) fixed on the sliding seat (2015). The angle limiting disc (2024) comprises a disc body, and a top block is fixed at the edge of the disc body and matched with the limiting stress element (2025).

10. A method of pressure vessel rotary welding using the pressure vessel rotary welding apparatus according to any one of claims 1 to 9, characterized by, The method comprises the following steps: Step one, the translation mechanism drives the two main shafts (2) and the sliding seat (2015) to move reversely, drives the grabbing mechanism to move to the feeding station, reversely turns the main shaft (2) and the grabbing mechanism (180)° in the middle of the movement, clamps the workpiece after reaching the end of the stroke, and completes the material taking; Step two, the translation mechanism switches the driving direction to drive the two clamping workpieces to move relatively; reversely turn the grabbing mechanism (180)° in the middle of the movement, so that the two workpiece welding surfaces are opposite; continue to move to the coaxial butt joint of the two workpieces; Step three, during the relative movement of the main shaft (2), the blanking assembly drives the two clamp elements (3011) to form a constraint ring to coaxially position the workpiece; start the welding mechanism, and the welding gun (3013) rotates around the constraint ring to complete the circumferential welding of the butt joint of the two workpieces; Step four, after the welding is completed, the translation mechanism drives the grabbing mechanism to move reversely; the constraint ring releases the positioning of the workpiece, and the grabbing mechanism releases the workpiece; the workpiece falls to the limiting conveying belt (6) and is conveyed to the next process by the limiting conveying belt (6).

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