Large hydrogen balloon tank automatic welding device and welding method thereof

Abstract

The present application relates to the technical field of automatic welding, and discloses a large hydrogen balloon tank automatic welding device and a welding method thereof, the automatic welding device comprising: an automatic welding machine, a welding seam detection module being arranged at the outer end of the welding torch head of the automatic welding machine in a high position, the welding seam detection module being provided with a real-time attitude solving unit for dynamically correcting the spatial coordinate parameters of the welding path; the welding seam detection module comprising: a turntable seat fixedly sleeved to the outside of the welding torch head through a rigid connecting piece; a swing arm assembly symmetrically distributed on both sides of the welding torch head and connected with the turntable seat to form a rotary pair, the swing arm assembly having a rotation angle range of ±90°; and a scanning unit group comprising two independent scanning modules respectively fixedly arranged at the end detection positions of the double swing arm assemblies; the welding seam detection module provided with the real-time attitude solving unit is integrated at the welding torch head, and the double swing arm assemblies and the scanning unit group are matched, so that the synchronous scanning of the welded area and the to-be-welded area is realized.

Description

Technical Field

[0001] This invention relates to the field of automatic welding, and more specifically, to an automatic welding device and welding method for large hydrogen balloon canisters. Background Technology

[0002] As a key container for storing high-pressure hydrogen, the manufacturing quality of large hydrogen spherical tanks directly affects the safety and reliability of energy storage. The construction of spherical tanks typically involves a large amount of high-intensity on-site welding work. These welds are often distributed on complex curved surfaces, and the welding quality requirements are extremely high.

[0003] With the development of industrial automation technology, automatic welding machines have begun to be applied in the manufacturing of spherical tanks. However, existing automatic welding devices still have significant technical shortcomings in practical applications: First, due to the complex spherical structure of the spherical tank surface, and the potential for thermal deformation or assembly errors in the workpiece during welding, the preset welding path deviates from the actual weld position. This makes it difficult to dynamically correct the spatial position of the welding torch during welding, easily leading to defects such as weld misalignment or incomplete fusion. Therefore, we propose an automatic welding device and method for large hydrogen balloon tanks. Summary of the Invention

[0004] This invention provides an automatic welding device and welding method for large hydrogen balloon canisters, solving the technical problem in related technologies where workpieces may have thermal deformation or assembly errors during the welding process, resulting in deviations between the preset welding path and the actual weld position, making it difficult to dynamically correct the spatial position of the welding torch during the welding process, and easily leading to defects such as weld misalignment or incomplete fusion.

[0005] The first aspect of the present invention provides an automatic welding device for large hydrogen balloon canisters, comprising: an automatic welding machine, wherein a weld detection module is integrated at a high position on the outer end of the welding torch head of the automatic welding machine, and the weld detection module is equipped with a real-time attitude calculation unit for dynamically correcting the spatial coordinate parameters of the welding path;

[0006] The weld inspection module includes:

[0007] The turntable base is rigidly fitted onto the outside of the welding torch head via a rigid connecting component;

[0008] The swing arm assembly is symmetrically distributed on both sides of the welding torch head and connected to the turntable seat to form a rotating pair. The rotation angle range of the swing arm assembly is ±90°.

[0009] The scanning unit group contains two independent scanning modules, which are fixed at the end detection position of the double swing arm assembly, and the scanning direction is parallel to the axis of the welding torch head.

[0010] The power control module, with a built-in servo motor and closed-loop control system, is used to precisely control the rotation angle of the double swing arm assembly.

[0011] The auxiliary air blowing system is located near the detection position at the end of the double swing arm assembly. Its air blowing direction is towards the working area of ​​the welding gun head, and it sprays high-pressure gas vertically downward to form an air curtain isolation layer.

[0012] The power control module receives weld feature data from the scanning module in real time and dynamically adjusts the rotation angle of the swing arm assembly, so that the left scanning module continuously scans the welded area and the right scanning module continuously scans the weld area to be welded. The system algorithm module calculates the weld trajectory matching degree and automatically corrects the spatial position deviation between the welding gun head and the unwelded weld.

[0013] The high-pressure air curtain isolation layer of the auxiliary blowing system effectively blocks the optical interference of welding sparks to the scanning module.

[0014] Furthermore, the swing arm assembly includes a main swing arm, and a circular rotating ring is fixedly disposed at the center of the main swing arm. The inner wall of the rotating ring is fixedly provided with internal teeth, which are rotatably disposed in the turntable seat.

[0015] Furthermore, a limiting groove is provided on the outer wall of the turntable base, and the main swing arm rotates along the limiting groove. The power control module includes a drive motor assembly, which is installed inside the turntable base. The end rotation output of the drive motor assembly meshes with the internal gear through a gear set to control the main swing arm to rotate around the welding torch head.

[0016] Furthermore, a secondary swing arm is threaded through the end of the main swing arm, and the secondary swing arm and the main swing arm together form a telescopic structure. An assembly head is fixedly installed at the end of the secondary swing arm away from the rotating ring, and the scanning module is fixed on the assembly head. The scanning module is connected to the system through a data cable.

[0017] Furthermore, a piston is fixedly installed at one end of the auxiliary swing arm inside the main swing arm, and a tension band is arrayed on one side of the piston. A pressure supply pipe is connected to the upper wall of the main swing arm.

[0018] Furthermore, the internal spaces of the main swing arm are interconnected, and the supply end of the pressure supply pipe is connected to an external air pump assembly to pressurize the internal space of the main swing arm, control the sliding of the piston, and extend the secondary swing arm.

[0019] Furthermore, the auxiliary air blowing system includes an air jet nozzle, which is fixed at the end of the auxiliary swing arm. The air jet direction of the nozzle is the same as that of the welding gun head, and a cooling pipe is connected to the supply end of the nozzle.

[0020] Furthermore, an external box is connected to the end of the cooling pipe away from the jet nozzle. The external box contains a high-pressure gas box and a liquid storage chamber. The output end of the high-pressure gas box is connected to the cooling pipe through a valve.

[0021] Furthermore, the high-pressure gas box stores low-temperature nitrogen gas, and the liquid storage chamber is connected to the cooling pipe through a thin pipe. When nitrogen gas is used for cooling and spraying, a small portion of the liquid enters the cooling pipe and comes into contact with the low-temperature nitrogen gas, forming ice sand that is sprayed onto the weld.

[0022] The first aspect of this invention provides a welding method for an automatic welding device for large hydrogen balloon canisters, comprising the following steps:

[0023] S1. Move the automatic welding device to the starting position of the weld seam to be welded in the large hydrogen balloon tank, and align the welding torch head with the weld seam.

[0024] S2. Start the auxiliary blowing system to spray high-pressure gas to form an air curtain isolation layer. At the same time, start the scanning module. The left scanning module scans the welded area and the right scanning module scans the area to be welded to obtain weld feature data.

[0025] S3. The power control module dynamically adjusts the rotation angle of the swing arm assembly based on the weld feature data fed back by the scanning module, and calculates the weld trajectory matching degree through the system algorithm module to automatically correct the spatial position deviation between the welding gun head and the unwelded weld.

[0026] S4. Start the automatic welding machine to perform welding. During the welding process, the real-time attitude calculation unit continuously corrects the spatial coordinate parameters of the welding path, while the auxiliary air blowing system continues to work to block welding spark interference.

[0027] S5. After welding is completed, turn off the automatic welding machine and auxiliary air blowing system, reset the swing arm assembly, and remove the automatic welding device.

[0028] The beneficial effects of this invention are as follows:

[0029] This invention integrates a weld detection module with a real-time attitude calculation unit into the welding torch head, and, in conjunction with a dual-arm assembly and scanning unit group, achieves synchronous scanning of the welded area and the area to be welded. The power control module dynamically adjusts the arm angle based on the scanning data, and the system can calculate the weld trajectory matching degree in real time and automatically correct the welding torch position. This effectively solves the problem of weld deviation caused by thermal deformation or assembly errors in the welding of curved surfaces of large spherical tanks, and significantly improves welding accuracy and quality.

[0030] The unique auxiliary air blowing system forms a vertically downward high-pressure air curtain isolation layer at the end of the swing arm. This air curtain effectively blocks welding sparks and fumes from splashing upwards to the optical lens of the scanning module, avoiding optical interference and physical contamination, and ensuring the long-term stability and data reliability of the detection module in harsh welding environments. Attached Figure Description

[0031] Figure 1 This is a schematic diagram of the overall structure of the present invention;

[0032] Figure 2 This is a schematic diagram of the automatic welding machine structure of the present invention;

[0033] Figure 3 This is a schematic diagram of the turntable base structure of the present invention;

[0034] Figure 4 This is a schematic diagram of the rotating ring structure of the present invention;

[0035] Figure 5 This is a schematic diagram of the main swing arm structure of the present invention;

[0036] Figure 6 This is a schematic diagram of the internal structure of the main swing arm of the present invention;

[0037] Figure 7 This is the invention Figure 6 Enlarged view of point A in the middle;

[0038] Figure 8 This is a schematic diagram of the internal structure of the peripheral box of the present invention.

[0039] In the diagram: 11. Automatic welding machine; 2. Weld seam inspection module; 21. Turntable base; 22. Main swing arm; 23. Secondary swing arm; 24. Assembly head; 25. Scanning module; 26. Data cable; 27. Limiting groove; 28. Cooling pipe; 29. ​​Drive motor assembly; 31. Rotary ring; 32. Internal gear; 33. Pressure supply pipe; 34. Piston; 35. Tensioning belt; 41. Air nozzle; 42. Peripheral box; 43. High-pressure air box; 44. Valve; 45. Liquid storage chamber. Detailed Implementation

[0040] The subject matter described herein will now be discussed with reference to exemplary embodiments. It should be understood that these embodiments are discussed only to enable those skilled in the art to better understand and implement the subject matter described herein, and changes may be made to the function and arrangement of the elements discussed without departing from the scope of this specification. Various processes or components may be omitted, substituted, or added as needed in the examples. Furthermore, features described in some examples may be combined in other examples.

[0041] Example 1

[0042] like Figures 1-8 As shown, an automatic welding device for a large hydrogen balloon can includes: an automatic welding machine 11, and a weld detection module 2 is integrated at a high position on the outer end of the welding torch head of the automatic welding machine 11. The weld detection module 2 is equipped with a real-time attitude calculation unit for dynamically correcting the spatial coordinate parameters of the welding path.

[0043] Weld inspection module 2 includes:

[0044] Turntable base 21 is fixedly sleeved on the outside of welding gun head by a rigid connecting member;

[0045] The swing arm assembly is symmetrically distributed on both sides of the welding torch head and is connected to the turntable seat 21 to form a rotating pair. The rotation angle range of the swing arm assembly is ±90°.

[0046] The scanning unit group includes two independent scanning modules 25, which are fixed at the end detection positions of the double swing arm assembly, and the scanning direction is parallel to the axis of the welding torch head.

[0047] The power control module, with a built-in servo motor and closed-loop control system, is used to precisely control the rotation angle of the double swing arm assembly.

[0048] The auxiliary air blowing system is located near the detection position at the end of the double swing arm assembly. Its air blowing direction is towards the working area of ​​the welding gun head, and it sprays high-pressure gas vertically downward to form an air curtain isolation layer.

[0049] The power control module receives weld feature data from the scanning module 25 in real time, dynamically adjusts the rotation angle of the swing arm assembly, so that the left scanning module 25 continuously scans the welded area and the right scanning module 25 continuously scans the weld area to be welded, and calculates the weld trajectory matching degree through the system algorithm module to automatically correct the spatial position deviation between the welding gun head and the unwelded weld.

[0050] The high-pressure air curtain isolation layer of the auxiliary blowing system effectively blocks the optical interference of welding sparks to the scanning module 25.

[0051] The swing arm assembly includes a main swing arm 22, and a circular rotating ring 31 is fixedly disposed at the center of the main swing arm 22. An internal tooth 32 is fixedly provided on the inner wall of the rotating ring 31, and the internal tooth 32 is rotatably disposed in the turntable seat 21.

[0052] The outer wall of the turntable base 21 is provided with a limiting groove 27, and the main swing arm 22 rotates along the limiting groove 27. The power control module includes a drive motor assembly 29, which is installed inside the turntable base 21. The end rotation output of the drive motor assembly 29 meshes with the internal gear 32 through a gear set to control the main swing arm 22 to rotate around the welding gun head.

[0053] A secondary swing arm 23 is provided at the end of the main swing arm 22. The secondary swing arm 23 and the main swing arm 22 form a telescopic structure. An assembly head 24 is fixedly provided at the end of the secondary swing arm 23 away from the rotating ring 31. The scanning module 25 is fixed on the assembly head 24. The scanning module 25 is connected to the system through the data cable 26.

[0054] A piston 34 is fixedly installed at one end of the auxiliary swing arm 23 inside the main swing arm 22. A tension band 35 is arranged on one side of the piston 34. A pressure supply pipe 33 is connected to the upper wall of the main swing arm 22.

[0055] The internal spaces of the main swing arm 22 of the pressure supply pipe 33 are interconnected, and the supply end of the pressure supply pipe 33 is connected to the external air pump assembly to pressurize the internal space of the main swing arm 22, control the sliding of the piston 34, and extend the auxiliary swing arm 23.

[0056] The auxiliary air blowing system includes an air jet 41, which is fixed at the end of the auxiliary swing arm 23. The air jet direction of the air jet 41 is the same as that of the welding gun head. The supply end of the air jet 41 is connected to a cooling pipe 28.

[0057] The end of the cooling pipe 28 away from the jet nozzle 41 is connected to an external device box 42. The external device box 42 is equipped with a high-pressure gas box 43 and a liquid storage chamber 45. The output end of the high-pressure gas box 43 is connected to the cooling pipe 28 through a valve 44.

[0058] The high-pressure gas box 43 stores low-temperature nitrogen gas. The liquid storage chamber 45 is connected to the cooling pipe 28 through a thin pipe. When nitrogen gas is used for cooling and spraying, a small portion of the liquid enters the cooling pipe 28 and comes into contact with the low-temperature nitrogen gas, forming ice sand that is sprayed onto the weld.

[0059] The core technology lies in its high-precision, real-time closed-loop control system integrated into the welding torch head of the automatic welding machine, enabling intelligent identification, dynamic tracking, and adaptive correction welding of weld seams in large spherical tanks. Its specific working principle is as follows:

[0060] System initialization and module deployment:

[0061] The welding torch head of the automatic welding machine 11 is aligned with the starting welding position. At this time, the weld detection module 2 integrated on the outer end of the welding torch head is activated. The turntable seat 21 is fixed to the welding torch head by a rigid connector, serving as the reference for the entire detection module. The symmetrically distributed double swing arm assembly (including the main swing arm 22 and the auxiliary swing arm 23) is driven by the power control module (drive motor assembly 29), and through the gear set meshing with the internal gear 32, it drives the rotating ring 31 to rotate within the limiting groove 27, so that the two independent scanning modules 25 are aligned with the area to be welded (right side) and the welded area (left side) respectively. The initial setting of the swing arm angle is between ±30° and ±60° (adjusted according to the preset weld width).

[0062] Real-time weld scanning and data acquisition:

[0063] After welding begins, the two scanning modules 25 operate independently at high frequencies (e.g., 100Hz sampling rate):

[0064] Right-side scanning module 25: Continuously scans the area to be welded in front of the welding torch head. Its scanning direction is parallel to the axis of the welding torch head, acquiring real-time three-dimensional feature data such as the spatial position, width, and bevel angle of the unwelded weld.

[0065] Left scanning module 25: continuously scans the welded area behind the welding torch head to obtain quality feature data such as weld bead shape, height, presence of undercut or porosity.

[0066] Dynamic attitude calculation and path correction:

[0067] All scan data is transmitted in real time via data cable 26 to the system algorithm module equipped with a real-time attitude calculation unit. This unit runs a weld trajectory matching model based on spatial coordinate transformation. Its core correction algorithm can be simplified to the following formula:

[0068] ;

[0069] in:

[0070] Let X, Y, Z be the spatial position deviation vector that the welding torch tip needs to be corrected at time t.

[0071] At time t, the instantaneous position deviation between the actual weld centerline measured by the right-side scanning module 25 and the theoretically preset trajectory.

[0072] , , These are the proportional, integral, and derivative control parameters (preset experimentally, for example: =0.85, =0.05, =0.20).

[0073] The data from the left scanning module 25 is used as a feedback verification quantity to correct the integral term. To prevent error accumulation.

[0074] Based on the calculation results, the attitude calculation unit sends instructions to the robotic arm drive system of the automatic welding machine 11 to dynamically correct the spatial coordinate parameters of the welding torch head (such as left and right swing amplitude, extension length, walking speed, etc.) to ensure that the welding torch is always accurately aligned with the center line of the unwelded weld, with the deviation controlled within ±0.5mm.

[0075] Adaptive adjustment of the swing arm assembly:

[0076] The closed-loop control system of the power control module dynamically adjusts the rotation angle (range ±90°) of the main swing arm 22 and the extension length of the auxiliary swing arm 23 based on the weld feature data (such as weld width changes) fed back by the scanning module 25. The auxiliary swing arm 23 is connected to an external air pump through the pressure supply pipe 33 to pressurize the inner cavity of the main swing arm 22, pushing the piston 34 and the tension band 35 to achieve stepless extension and retraction adjustment, so that the scanning module 25 is always kept at the optimal detection distance (e.g., 25mm ± 2mm from the workpiece surface).

[0077] The operation of the auxiliary air blowing system:

[0078] During the welding process, the auxiliary air blowing system is activated simultaneously. High-pressure gas (or low-temperature nitrogen) enters the cooling pipe 28 from the high-pressure gas box 43 in the peripheral box 42 via valve 44, and is finally ejected vertically downward from the jet nozzle 41, forming a high-pressure air curtain isolation layer in the welding torch head working area. This air curtain (pressure approximately 0.4-0.6 MPa) effectively blows away splashing sparks and fumes from the optical lens of the scanning module 25, ensuring the purity of the scanning data.

[0079] When using cryogenic nitrogen, a small amount of liquid (such as water or coolant) in the liquid storage chamber 45 is drawn into the cooling pipe 28 through a thin pipe. It mixes with cryogenic nitrogen (about -196°C) to instantly form "ice sand" (solid carbon dioxide or ice crystal particles), which is sprayed onto the weld that has just been welded to achieve rapid cooling, refine the grains, and improve the mechanical properties of the weld.

[0080] Process Analysis:

[0081] Module A: Weld Inspection and Scanning Module 25.

[0082] Composition: turntable base 21, main swing arm 22, auxiliary swing arm 23, scanning module 25.

[0083] Function: Responsible for physical positioning and collecting front and rear three-dimensional topographic data of the weld.

[0084] Process: Initialize positioning → Extend the swing arm to the preset angle → Left and right scanning modules 25 synchronously collect data → Data encoding and transmission.

[0085] Module B: Dynamics Control and Attitude Calculation Module.

[0086] Composition: drive motor assembly 29, internal gear 32, closed-loop control system, attitude calculation unit.

[0087] Function: Drives the swing arm to rotate and extend, and executes core deviation calculation and correction commands.

[0088] Process: Receive scan data → Extract feature points (weld edge, center line) → Calculate deviation → Substitute into the PID formula → Output correction amount → Drive the welding torch robotic arm to move → Simultaneously adjust the swing arm angle.

[0089] Module C: Auxiliary air blowing and cooling module.

[0090] Composition: jet nozzle 41, cooling pipe 28, external enclosure 42, containing high-pressure gas box 43 and liquid storage chamber 45.

[0091] Function: Creates an air curtain to protect the optical system and can selectively achieve rapid "slush" cooling.

[0092] Process: Welding start → Open valve 44 → High-pressure gas / low-temperature nitrogen output → Form vertical air curtain → (Optional) Suction of liquid into storage chamber 45 → Form ice slush spray → Cool weld.

[0093] Module D: Automatic Welding Execution Module.

[0094] Components: welding torch head, robotic arm, welding power source.

[0095] Function: Receive correction instructions and perform precise welding.

[0096] Process: Receiving → Adjust position → Perform welding → Real-time status feedback.

[0097] The design of dual scanning modules 25, symmetrically distributed on both sides, achieves closed-loop control of "forward prediction + backward verification". Combined with real-time attitude calculation unit and PID algorithm, the welding path deviation can be dynamically corrected to within ±0.5mm, which significantly improves the welding quality consistency of large curvature and long weld seam structures such as large hydrogen balloon tanks, and effectively avoids defects such as "deviation" and "welding deviation".

[0098] The swing arm assembly features a ±90° rotation angle range and a telescopic main swing arm 22 and auxiliary swing arm 23, enabling the scanning module 25 to flexibly adjust its detection posture. The closed-loop system of the power control module can adjust the scanning angle and distance in real time according to the weld width and bevel shape, perfectly adapting to the complex weld trajectory of the spherical tank with varying cross-sections and curvatures.

[0099] Example 2

[0100] A welding method for an automated welding device for large hydrogen balloon canisters includes the following steps:

[0101] S1. Move the automatic welding device to the starting position of the weld seam to be welded in the large hydrogen balloon tank, and align the welding torch head with the weld seam.

[0102] S2. Start the auxiliary blowing system to spray high-pressure gas to form an air curtain isolation layer. At the same time, start the scanning module 25. The left scanning module 25 scans the welded area and the right scanning module 25 scans the area to be welded to obtain weld feature data.

[0103] S3. The power control module dynamically adjusts the rotation angle of the swing arm assembly based on the weld feature data fed back by the scanning module 25, and calculates the weld trajectory matching degree through the system algorithm module to automatically correct the spatial position deviation between the welding gun head and the unwelded weld.

[0104] S4. Start the automatic welding machine 11 to perform welding. During the welding process, the real-time attitude calculation unit continuously corrects the spatial coordinate parameters of the welding path, while the auxiliary air blowing system continues to work to block welding spark interference.

[0105] S5. After welding is completed, turn off the automatic welding machine 11 and the auxiliary air blowing system, reset the swing arm assembly, and remove the automatic welding device.

[0106] The embodiments of the present invention have been described above, but the present invention is not limited to the specific embodiments described above. The specific embodiments described above are merely illustrative and not restrictive. Those skilled in the art can make many other forms based on the guidance of the present embodiments, all of which are within the protection scope of the present embodiments.

Claims

1. A large hydrogen balloon tank automatic welding device characterized by, The utility model relates to an automatic welding machine (11) which is provided with a welding seam detection module (2) at the outer end of the welding torch head, the welding seam detection module (2) being provided with a real-time attitude calculation unit for dynamically correcting the spatial coordinate parameters of the welding path. The welding seam detection module (2) comprises: a turntable seat (21) fixedly arranged on the outside of the welding torch head by a rigid connecting member; a swing arm assembly symmetrically arranged on both sides of the welding torch head and connected with the turntable seat (21) in a rotary pair, the swing arm assembly having a rotation angle range of ±90°; a scanning unit group comprising two independent scanning modules (25) fixedly arranged at the detection positions of the two swing arm assemblies respectively, the scanning directions being parallel to the axis of the welding torch head; a power control module comprising a servo motor and a closed-loop control system for accurately controlling the rotation angle of the swing arm assembly; an auxiliary air blowing system arranged near the detection positions of the two swing arm assemblies, the air blowing direction being towards the working area of the welding torch head, and high-pressure gas being vertically sprayed downwards to form a gas curtain isolation layer; The power control module dynamically adjusts the rotation angle of the swing arm assembly by receiving the welding seam feature data of the scanning modules (25) in real time, so that the left scanning module (25) continuously scans the welded welding seam area, the right scanning module (25) continuously scans the welding seam area to be welded, and the system algorithm module calculates the welding seam trajectory matching degree and automatically corrects the spatial position deviation of the welding torch head and the unwelded welding seam. The high-pressure gas curtain isolation layer of the auxiliary air blowing system effectively blocks the optical interference of the welding spark on the scanning modules (25). The auxiliary air blowing system comprises a gas jet (41) fixed at the end position of the auxiliary swing arm (23), the gas jet direction of the gas jet (41) being the same as that of the welding torch head, and the supply end of the gas jet (41) being connected with a cooling pipe (28). The end of the cooling pipe (28) away from the gas jet (41) is connected with an external box (42), the inside of the external box (42) being provided with a high-pressure gas box (43) and a liquid storage chamber (45) respectively, and the output end of the high-pressure gas box (43) being connected with the cooling pipe (28) through a valve (44). The high-pressure gas box (43) stores low-temperature nitrogen, and the liquid storage chamber (45) is connected with the cooling pipe (28) through a small pipeline, so that a small amount of liquid enters the cooling pipe (28) to contact the low-temperature nitrogen when nitrogen gas is sprayed out, and ice slurry is sprayed onto the welding seam. The swing arm assembly comprises a main swing arm (22), the center position of the main swing arm (22) being fixedly provided with a circular ring-shaped rotating ring (31), the inner wall of the rotating ring (31) being fixedly provided with internal teeth (32), and the internal teeth (32) being rotatably arranged in the turntable seat (21). ​ The outer wall of the rotating disc base (21) is provided with a limiting groove (27), the main swing arm (22) rotates along the limiting groove (27), the power control module comprises a driving motor assembly (29), the driving motor assembly (29) is installed in the inside of the rotating disc base (21), the terminal rotating output end of the driving motor assembly (29) is meshed with the inner gear (32) through a gear set, for controlling the main swing arm (22) to rotate with the welding torch head as the center, and a secondary swing arm (23) is arranged at the terminal end of the main swing arm (22). One end of the secondary swing arm (23) located in the inside of the main swing arm (22) is fixedly provided with a piston (34), and the piston (34) is provided with a plurality of tension belts (35) on one side.

2. The automatic welding device for a large hydrogen tank of claim 1, wherein The secondary swing arm (23) and the main swing arm (22) constitute a telescopic structure, one end of the secondary swing arm (23) away from the rotating ring (31) is fixedly provided with an assembling head (24), the scanning module (25) is fixed on the assembling head (24), and the scanning module (25) is connected with the system through data wires (26).

3. The apparatus according to claim 2, wherein The inner space of the main swing arm (22) of the pressure supply pipe (33) is in communication, and the supply end of the pressure supply pipe (33) is connected with an external air pump assembly, for pressurizing the inner space of the main swing arm (22), controlling the sliding of the piston (34), and making the secondary swing arm (23) elongate.

4. A welding method using the automatic welding apparatus for a large hydrogen tank according to any one of claims 1 to 3, characterized by, The method comprises the following steps: S1, moving the automatic welding device to the starting position of the to-be-welded weld of the large hydrogen balloon tank, so that the welding torch head is aligned with the weld; S2, starting the auxiliary gas blowing system to spray high-pressure gas to form a gas curtain isolation layer, and starting the scanning module (25), the left scanning module (25) scans the welded area, and the right scanning module (25) scans the to-be-welded area to obtain weld characteristic data; S3, the power control module dynamically adjusts the rotation angle of the swing arm assembly according to the weld characteristic data fed back by the scanning module (25), and calculates the weld trajectory matching degree through a system algorithm module, and automatically corrects the spatial position deviation of the welding torch head and the unwelded weld; S4, starting the automatic welding machine (11) to weld, the real-time posture solving unit continuously corrects the spatial coordinate parameters of the welding path during the welding process, and the auxiliary gas blowing system continuously works to block the welding spark interference; S5, after the welding is completed, the automatic welding machine (11) and the auxiliary gas blowing system are turned off, the swing arm assembly is reset, and the automatic welding device is removed.

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