Automatic assembling and welding device for steel pipe tower components and welding method thereof

Abstract

The application discloses a kind of steel pipe tower component automatic assembly welding device, it is related to extra-high voltage steel pipe tower processing site technical field, including processing platform, the two sides of processing platform are distributed with multiple telescopic rods one, the middle part of processing platform is distributed with multiple telescopic rods two, the top of telescopic rod one is fixedly connected with fixed frame one, the top of fixed frame one is fixedly connected with welding roller frame, the side of fixed frame one mutually close is provided with adjusting clamp, the top of telescopic rod two is fixedly connected with welding guide base, the side of welding guide base is connected power sleeve plate by ball turntable, by automatic positioning, self-adapting swing welding and whole-process intelligent detection integrated design, fundamentally solve the problem that traditional steel pipe tower assembly welding is not accurate, gap is difficult to control, welding quality is unstable, greatly improve welding precision and product pass rate;According to the swing speed of automatic adjustment of weld state, ensure that weld root penetration, molten pool form is neat, weld strength and appearance quality is up to standard.

Description

Technical Field

[0001] This invention relates to the field of ultra-high voltage steel pipe tower processing technology, specifically to an automatic assembly and welding device for steel pipe tower components and its welding method. Background Technology

[0002] In the construction of infrastructure such as power transmission and communication networks, steel pipe towers have been widely used due to their advantages such as high strength, good stability, and small footprint. However, the manufacturing process of steel pipe towers, especially the assembly and welding of tower pipe components, has long faced many technical challenges, which have seriously restricted the improvement of production efficiency and product quality.

[0003] From the perspective of weld gaps, the traditional assembly and welding of steel pipe tower components mainly relies on manual operation. When assembling tower pipes, workers find it difficult to precisely control the joint gaps between components, resulting in inconsistent weld gap widths. Gaps that are too wide increase the consumption of welding materials and are prone to defects such as porosity and slag inclusions during welding; gaps that are too narrow may cause poor fusion, affecting the mechanical properties of the welded joint. At the same time, errors during manual assembly make it easy for misalignment to occur at the joints of tower pipes, further increasing the difficulty of weld gap control, posing a significant challenge to subsequent welding operations, and creating potential hazards to the overall structural safety of the steel pipe tower.

[0004] In tower pipe docking and positioning, traditional methods typically employ simple clamps for fixation or rely entirely on worker experience for alignment. This approach suffers from low positioning accuracy and poor stability. Due to the large size and weight of tower pipes, they are prone to shifting during assembly, leading to deviations in the docking position. Inaccurate positioning not only significantly increases welding difficulty but also affects the overall installation accuracy and structural stability of the steel pipe tower. Furthermore, traditional positioning clamps have poor versatility; frequent clamp changes are required for tower pipe components of different specifications and shapes, increasing production costs and reducing production efficiency.

[0005] Regarding oscillating welding technology, traditional steel pipe tower welding operations mostly employ straight-line welding. This method struggles to guarantee weld penetration and quality when facing wide weld gaps. The narrow molten pool in straight-line welding fails to fully fill the gap, easily leading to insufficient weld strength. While some companies have attempted to introduce oscillating welding equipment, existing devices are often complex in structure, cumbersome to operate, and lack precise adjustment of oscillation parameters. They cannot be flexibly adjusted according to the actual width of the weld gap, the material of the tower pipe, and other factors, resulting in inconsistent weld quality. Furthermore, traditional oscillating welding equipment has poor compatibility with assembly fixtures, making it difficult to achieve integrated assembly and welding operations, further impacting production continuity and efficiency.

[0006] The patent publication (announcement) number CN120533377B, entitled "An Automatic Assembly and Welding Device and Welding Method for Steel Pipe Tower Components," addresses the problems of difficulty in controlling weld gaps, low positioning accuracy of tower pipe docking, and poor oscillating welding effects in the traditional assembly and welding process of steel pipe tower components. Through in-depth analysis of existing technologies, a solid background basis was provided for the development of this patented technology, aiming to solve long-standing technical problems in the industry and promote the upgrading and development of steel pipe tower manufacturing technology.

[0007] Therefore, there is a need to provide an automatic assembly and welding device for steel pipe tower components and a welding method thereof. Summary of the Invention

[0008] To address the problems existing in the prior art, the present invention provides an automatic assembly and welding device and welding method for steel pipe tower components, aiming to solve the aforementioned technical problems.

[0009] To achieve the above objectives, the present invention provides the following technical solution: an automatic assembly and welding device for steel pipe tower components, comprising a processing platform, multiple sets of telescopic rods I distributed on both sides of the processing platform, and multiple sets of telescopic rods II distributed in the middle of the processing platform. A fixing frame I is fixedly connected to the top of the telescopic rods I, and a welding roller frame is fixedly connected to the top of the fixing frame I. Adjusting clamps are provided on the sides of the fixing frames I that are close to each other. A welding guide base is fixedly connected to the top of the telescopic rods II. A power sleeve plate is connected to one side of the welding guide base via a ball bearing turntable. The outer surface of the power sleeve plate that overlaps with the guide base is configured with a threaded structure, and the outer surface of the power sleeve plate away from the guide base is configured with a smooth surface. A bracket I is fixedly connected to the smooth surface. A drive motor I is connected to the outer surface of the guide base. The drive motor I is connected to a drive gear via a bearing base, and the drive gear meshes with the threaded structure. A support plate I is connected to the top of the bracket I. An adjustment through hole I is opened in the middle of the support plate I. Guide rail assemblies I are distributed on the surfaces of the support plate I on both sides of the adjustment through hole I. A drive motor II is fixedly connected to the upper side of the guide rail assembly I. The output end of the drive motor II is detachably connected to a variable... The lead screw, a variable lead screw, is connected to the guide rail assembly 1 via a bearing base on the side away from the drive motor 2. A ball bearing slider 1 is slidably connected to the variable lead screw. The sliding direction of the ball bearing slider 1 is limited by guide rods on both sides. The guide rods are fixedly connected to the guide rail assembly 1 via fixed bases on both sides. The bottom of the ball bearing slider 1 is connected to a connecting rod 1 that passes through an adjustment through-hole 1. The bottom of the connecting rod 1 is connected to a telescopic rod 4 via a fixed plate 1. The movable end of the bottom of the telescopic rod 4 is connected to a fixed plate 2. A welding torch is clamped and fixed on one side of the bottom of the fixed plate 2 via a bracket 2. The bottom of the fixed plate 2 is further... One side is fixedly connected to bracket three. The bottom of bracket three is rotatably connected to a laser camera via a rotating shaft. The guide rail assembly one is connected to telescopic rod three on the side near drive motor two. The welding gun is adjusted to start welding from the top of the weld seam by telescopic rod three. The upper part of the welding roller frame supports the tower pipe and is pushed by telescopic rod five to make the weld seam of the tower pipe at the bottom of the welding gun. A laser position sensor is set on the surface of the processing platform at the bottom of the weld seam. The gap between the laser position sensors is adjusted by guide rail assembly two to adapt to the welding requirements of different pipe diameters. Guide rail assembly two is fixedly connected to the surface of the processing platform.

[0010] Preferably, the guide rail assembly includes a guide rail, a slide plate, and a slide plate. The support plates on both sides of the adjustment through hole are provided with guide rails. The upper part of the guide rail near the bracket is slidably connected to the slide plate, and the upper part of the guide rail on the other side is slidably connected to the slide plate. The upper part of the slide plate is fixedly connected to the drive motor. The end face of the slide plate away from the slide plate is connected to the telescopic rod. The upper part of the slide plate is connected to the variable lead screw through the bearing base. Both sides of the slide plate and the slide plate are connected to guide rods through the fixing plate. The two sides of the ball slider are fixedly connected to the connecting rod. The side of the connecting rod away from the ball slider is sleeved with the guide rod.

[0011] Preferably, the variable lead screw is connected to the output end of the second drive motor by a threaded installation and is fixed by screws.

[0012] Preferably, the surface of the variable lead screw above the adjustment through hole adopts a multi-segment lead structure. The welding torch is adjusted to the welding top, and the ball slider slides on the multi-segment lead structure at a cyclical gradual speed change from small to large and then back to small. Through the cyclical gradual speed change sliding method, the ball slider drives the welding torch to swing and weld at the tower pipe weld, so as to ensure that the weld root is fully penetrated and achieve good shape, while controlling the molten pool shape.

[0013] Preferably, the two sides of the fixed frame 1 are connected to the telescopic rod 5 through the support sleeve, and the telescopic rod 5 on both sides of the fixed frame 1 is connected to the push plate 1. The push plate pushes the tower tube to the top of the laser position sensor, and the laser position sensor detects the position of the tower tube.

[0014] Preferably, the fixed frame has six telescopic rods symmetrically connected on one side of each other, and the six telescopic rods are connected to each other by an adjusting clamp.

[0015] Preferably, the guide rail assembly two includes a rack guide rail, a drive motor three, and a mounting plate one. The rack guide rail is arranged along the center line of the processing platform length direction. The mounting plate one is symmetrically arranged on the upper part of the rack guide rail. The drive motor three is fixedly connected to the internal slot of the mounting plate one. The drive motor three is meshed with the rack guide rail. Laser position sensors are connected at the center of the mounting plates one that are close to each other. The distance between the two laser position sensors is adjusted by the drive motor three meshing with the rack guide rail to correspond to tower pipes of different diameters.

[0016] A welding method for an automatic assembly and welding device for steel pipe tower components, comprising the following steps: Step 1: Determine the vertical height H1 from the center of the power sleeve plate or guide base to the processing platform, determine the pipe diameter h1 of the processing tower pipe, determine the initial lifting height h2 of the welding roller frame, and calculate the lifting height H2 of the telescopic rods on both sides, that is, satisfy H1-h1-h2=H2. The lifting height of the telescopic rods is H2, so that the center of the tower pipe and the center of the power sleeve plate or guide base are on the same horizontal line, ensuring the welding quality of the tower pipe weld. Step 2: The telescopic rods on both sides drive the push plate to push the tower tubes to the top of the laser position sensor. The laser position sensor detects the position of the tower tubes. Once the position is accurately in place, the pushing of the tower tubes stops. The telescopic rods on both sides drive the adjusting fixture to press down the tower tubes and fix them on the welding roller frame to ensure the position of the tower tubes is fixed during welding. Step 3: The welding torch and laser camera are positioned directly above the tower tube weld. The laser camera scans and positions the tower tube weld gap, ensuring that the width of the laser camera is greater than the width of the weld gap to ensure a deviation in the circumferential scanning of the weld gap. The drive motor engages with the threaded structure on the power sleeve plate, driving the power sleeve plate and the support to rotate circumferentially, which in turn drives the laser camera to scan the tower tube weld gap circumferentially, detecting the weld gap spacing and the integrity of the weld gap. Step 4: After the laser camera scans the circumferential gap of the tower pipe weld seam, the drive motor 2 is finely adjusted to ensure that the ball bearing slider 1 is completely in the starting position of the uniform speed lead segment. The telescopic rod 3 is used to adjust the sliding of the slide plates 1 and 2 and the guide rail 1. The laser camera scans to determine that the welding torch is above the welding top. The telescopic rod 4 extends and retracts downward to make the welding torch contact the edge of the weld seam, pre-igniting the welding torch. Then, the drive motor 2 is started to drive the variable lead screw, so that the ball bearing slider 1 changes from uniform speed lead to accelerated lead and then back to uniform speed lead on the multi-segment lead structure, realizing that the uniform speed lead segment corresponds to the welding top position. At the same time as the drive motor 2 is started, the drive motor 1 engages with the drive power sleeve to make the welding torch perform circular motion for welding, realizing that the welding torch tilts downward from one side of the welding top and moves towards the other side of the welding top.

[0017] Step 5: During the welding process, the laser camera synchronously scans the welding fusion quality to avoid bulging or missing welds. After the power sleeve completes one rotation, the telescopic rod four extends and retracts upwards, lifting the welding torch. The drive motor one engages with the threaded structure on the power sleeve again, driving the laser camera to scan and inspect the welding quality of the weld seam again. After the quality inspection is confirmed, the clamp is adjusted to release the clamping and fixing of the tower tube. With the retraction of one telescopic rod five and the extension of the other telescopic rod five, the welded tower tube is pushed out by the push plates on both sides. Then, the welded tower tube is transferred out by the robotic arm or crane.

[0018] In summary, the present invention provides an automatic assembly and welding device and welding method for steel pipe tower components, achieving the following beneficial effects: This invention fundamentally solves the problems of inaccurate positioning, difficult gap control, and unstable welding quality in traditional steel pipe tower assembly and welding by integrating automatic positioning, adaptive oscillating welding, and intelligent detection throughout the entire process, thereby significantly improving welding accuracy and product qualification rate.

[0019] By adopting laser positioning and an adjustable automatic clamping structure, the coaxiality of tower tube docking and the alignment accuracy of weld seams are significantly improved, effectively avoiding misalignment and offset. One set of tooling is compatible with multiple specifications of tower tubes, eliminating the need for frequent clamp changes, reducing production costs and improving positioning stability.

[0020] By relying on the variable lead screw, precise and controllable oscillation welding can be achieved. The oscillation speed can be automatically adjusted according to the weld condition to ensure root penetration, regular molten pool shape, weld strength and appearance quality meet the standards, reduce defects such as porosity, slag inclusion, and lack of fusion, and improve the utilization rate of welding materials.

[0021] The entire equipment automates the assembly, welding, and testing process, enabling continuous and efficient operation with low reliance on manual labor. It significantly shortens the processing time for a single workpiece, is suitable for large-scale production of ultra-high voltage steel pipe towers, and promotes the industry's upgrade towards intelligence and efficiency. Attached Figure Description

[0022] Figure 1 This is a schematic diagram of the structure of the present invention; Figure 2 This is a schematic diagram of the power sleeve plate and guide rail assembly II of the present invention; Figure 3 This is a schematic diagram of the drive structure of a pair of power sleeves for the drive motor of the present invention; Figure 4 This is a schematic diagram of the variable lead screw driving structure for the laser camera and welding torch of the present invention; Figure 5 This is a schematic diagram of the drive structure of the drive motor with two pairs of variable lead screws of the present invention; Figure 6 This is a schematic diagram of the telescopic rod three-pair welding gun fine-tuning structure of the present invention; In the diagram: 1. Processing platform; 2. Telescopic rod one; 3. Telescopic rod two; 4. Fixing frame one; 5. Welding roller frame; 6. Adjusting fixture; 7. Welding guide base; 11. Power sleeve plate; 12. Threaded structure; 13. Bracket one; 14. Drive motor one; 15. Drive gear; 16. Support plate one; 17. Adjusting through hole one; 21. Guide rail assembly one; 22. Drive motor two; 23. Variable lead screw; 24. Ball slider one; 25. Guide rod; 26. Connecting rod one; 27. Fixing plate one; 31. Telescopic rod four; 32. Fixing plate two; 33. Bracket two; 34. Welding torch; 35. Bracket three; 36. Laser camera; 37. Telescopic rod three; 41. Telescopic rod five; 42. Laser position sensor; 43. Guide rail assembly two; 44. Guide rail one; 45. Slide plate one; 46. Slide plate two; 47. Connecting rod two; 51. Push plate one; 52. Telescopic rod six; 53. Rack guide rail; 54. Drive motor three; 55. Mounting plate one. Detailed Implementation

[0023] 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.

[0024] Example 1, as Figures 1 to 6 As shown: This embodiment provides an automatic assembly and welding device for steel pipe tower components, including a processing platform 1. The processing platform 1 provides a stable support foundation for the overall device. Multiple sets of telescopic rods 1-2 are distributed on both sides of the platform, and multiple sets of telescopic rods 2-3 are evenly distributed in the middle. Both telescopic rods 1-2 and telescopic rods 2-3 adopt an electric telescopic structure, which can realize precise height adjustment and adapt to the assembly and welding requirements of tower pipes with different diameters.

[0025] The top of telescopic rod 12 is fixedly connected to fixed frame 14. A welding roller frame 5 is fixedly installed on the top of fixed frame 14. The welding roller frame 5 is used to support the sliding of the tower tube, allowing the tower tubes on both sides to move closer together. Telescopic rod 62 is symmetrically connected to the side of fixed frame 14 where they are close together. Adjusting clamps 6 are connected between telescopic rods 62. Adjusting clamps 6 adopt an arc-shaped clamping surface design, ensuring high contact with the outer wall of the tower tube. Driven by telescopic rod 62, the tower tube can be quickly clamped and released, ensuring that the tower tube does not shift or shake during welding, thus improving the stability of the assembly positioning.

[0026] The top of the telescopic rod 2 3 is fixedly connected to the welding guide base 7. One side of the welding guide base 7 is connected to the power sleeve plate 11 through a ball bearing turntable. The ball bearing turntable can reduce the frictional resistance of the circumferential rotation of the power sleeve plate 11 and improve the rotation accuracy. The outer surface of the power sleeve plate 11 that partially overlaps with the welding guide base 7 is set as a threaded structure 12. The outer surface of the power sleeve plate 11 away from the welding guide base 7 is a smooth surface. The bracket 13 is fixedly connected to the smooth surface. The outer surface of the welding guide base 7 is connected to the drive motor 14. The drive motor 14 is connected to the drive gear 15 through the bearing base. The drive gear 15 is meshed with the threaded structure 12. After the drive motor 14 is started, the drive gear 15 and the threaded structure 12 mesh and drive the power sleeve plate 11 and the bracket 13 to perform a 360° circumferential rotation, so as to realize the continuous welding of the welding torch 34 along the circumferential seam of the tower pipe.

[0027] like Figure 5 As shown, the top of bracket 13 is connected to support plate 16. An adjustment through hole 17 is opened in the middle of support plate 16. Guide rail assemblies 21 are distributed on the surfaces of support plate 16 on both sides of the adjustment through hole 17. Guide rail assembly 21 includes guide rail 44, slide plate 45, and slide plate 46. Guide rail 44 is distributed on the surfaces of support plate 16 on both sides of the adjustment through hole 17. The upper part of guide rail 44 near bracket 13 is slidably connected to slide plate 45, and the upper part of guide rail 44 on the other side is slidably connected to slide plate 46. Drive motor 22 is fixedly connected to the upper part of slide plate 45. Telescopic rod 37 is connected to the end face of slide plate 45 away from slide plate 46. A variable lead screw 23 is connected to the upper part of slide plate 46 through a bearing base. The variable lead screw 23 is connected to the output end of drive motor 22 by a threaded installation and is reinforced with screws to prevent loosening during transmission.

[0028] like Figure 5 As shown, the surface of the variable lead screw 23 above the adjustment through hole 17 adopts a multi-segment lead structure, including a constant speed lead segment and an acceleration lead segment. The constant speed lead segment and the acceleration lead segment are alternately distributed on the surface, which can realize the cyclical gradual speed sliding of the ball slider 24. The slide plates 45 and 46 are both connected to the guide rods 25 through the fixed plate 3. The ball slider 24 is slidably connected to the variable lead screw 23. The two sides of the ball slider 24 are respectively fixedly connected to the connecting rods 47. The side of the connecting rod 47 away from the ball slider 24 is sleeved with the guide rod 25. The guide rod 25 can limit the sliding direction of the ball slider 24, prevent it from deflecting, and ensure the swing accuracy.

[0029] The bottom of the ball-bearing slider 24 is connected to a connecting rod 26 that passes through the adjusting through hole 17. The bottom of the connecting rod 26 is connected to a telescopic rod 31 via a fixing plate 27. The movable end of the telescopic rod 31 is connected to a fixing plate 32. One side of the bottom of the fixing plate 32 is clamped and fixed by a bracket 33. The angle of the welding gun 34 is finely adjustable to adapt to different weld angle requirements. The other side of the bottom of the fixing plate 32 is fixedly connected to a bracket 35. The bottom of the bracket 35 is rotatably connected to a laser camera 36. The laser camera 36 can realize real-time scanning and detection of weld width, misalignment, and fusion quality, providing data support for welding parameter adjustment.

[0030] like Figure 6 As shown, the guide rail assembly 1 21 is connected to the telescopic rod 37 on the side near the drive motor 22. The telescopic rod 37 can extend and retract to adjust the sliding plate 1 45 and the sliding plate 2 46 to slide along the guide rail 1 44, thereby adjusting the initial welding position of the welding gun 34 and ensuring that the welding gun 34 starts welding from the top of the weld.

[0031] like Figure 1 As shown, the upper part of the welding roller frame 5 supports the tower tube. The two sides of the fixed frame 4 are connected to the telescopic rod 41 through the support sleeve. The telescopic rod 41 is connected to the push plate 51. The push plate 51 adopts a flexible contact surface to avoid scratching the outer wall of the tower tube during the pushing process. The telescopic rod 41 pushes the push plate 51 to accurately push the tower tube to the welding position, so that the weld seam of the tower tube is aligned with the bottom of the welding gun 34.

[0032] like Figure 2As shown, laser position sensors 42 are installed on the surface of the processing platform 1 at the bottom of the weld. The gap between the laser position sensors 42 is adjusted by the guide rail assembly 43 to adapt to the needs of welds with different pipe diameters. The guide rail assembly 43 is fixedly connected to the surface of the processing platform 1 and includes a rack guide rail 53, a drive motor 54, and a mounting plate 55. The rack guide rail 53 is arranged along the center line of the length direction of the processing platform 1. The mounting plates 55 are symmetrically arranged on the upper part of the rack guide rail 53. The drive motor 54 is fixedly connected to the slot inside the mounting plate 55. The drive motor 54 meshes with the rack guide rail 53. The laser position sensors 42 are connected at the center of the mounting plates 55 that are close to each other. The drive motor 54 drives the laser position sensors 42 to move along the rack guide rail 53, accurately adjusting the gap between the two laser position sensors 42 to adapt to the positioning detection of tower pipes with different diameters. Example

[0033] This embodiment provides a welding method for an automatic assembly and welding device for steel pipe tower components, based on the device described in Embodiment 1. The specific steps are as follows: Step 1: Determine the vertical height H1 from the center of the power sleeve plate 11 or welding guide base 7 to the processing platform 1, enter the pipe diameter value h1 of the tower pipe to be processed, determine the initial lifting height h2 of the welding roller frame 5, calculate the lifting height H2 of the telescopic rod 2 using the formula H1-h1-h2=H2, control the telescopic rod 2 to lift to the target height, so that the center of the tower pipe is on the same horizontal line as the center of the power sleeve plate 11 and the welding guide base 7, eliminate the influence of height deviation on the welding quality of the weld, ensure that the relative position of the welding torch 34 and the weld is constant, and achieve precise adjustment of the height of the tower pipe welding joint.

[0034] Step 2: Activate the telescopic rods 41 on both sides, which drive the push plate 51 to push the tower tube synchronously, pushing the tower tubes to be welded on both sides above the laser position sensor 42. The laser position sensor 42 detects the position of the tower tube in real time. When the weld seam of the tower tube is accurately aligned with the welding position, the feedback signal controls the telescopic rod 41 to stop pushing. Then activate the telescopic rod 52, which drives the adjusting clamp 6 to press down and clamp the tower tube, and firmly fix the tower tube on the welding roller frame 5 to avoid tower tube displacement and misalignment during the welding process, thus realizing the tower tube assembly and positioning.

[0035] Step 3: Control the welding torch 34 and laser camera 36 to move directly above the tower pipe weld. Adjust the scanning width of the laser camera 36 to be larger than the actual weld spacing to ensure no deviation in the circumferential scan. Start the drive motor 14, which drives the power sleeve 11, bracket 13 and laser camera 36 to rotate circumferentially through the meshing of the drive gear 15 and the threaded structure 12. The laser camera 36 performs a 360° full circumferential scan of the tower pipe weld to obtain data such as weld spacing, misalignment, and integrity, providing a basis for subsequent welding parameter adjustment.

[0036] Step 4: After the laser camera 36 completes the scan, start the drive motor 22 for fine-tuning, so that the ball slider 24 moves precisely to the starting position of the uniform speed lead segment of the multi-segment lead structure; adjust the position of the guide rail assembly 21 by extending and retracting the telescopic rod 37, and combine the positioning data of the laser camera 36 to adjust the welding torch 34 to be directly above the top of the weld; start the telescopic rod 31 to extend and retract downwards, so that the welding torch 34 contacts the edge of the weld, pre-ignite the welding torch 34, and then start the drive motor 22 and drive motor 14 simultaneously.

[0037] Drive motor 22 drives variable lead screw 23 to rotate, which in turn drives ball slider 24 to slide gradually along the multi-segment lead structure at a constant speed → acceleration → constant speed. This drives welding torch 34 to achieve precise oscillating welding. The constant speed lead segment corresponds to welding at the top of the weld, ensuring full penetration at the root of the weld. The acceleration lead segment is adapted to fill the wide gap in the middle of the weld, controlling the shape of the molten pool and the quality of the weld formation. Drive motor 14 drives power sleeve 11 to rotate circumferentially, causing welding torch 34 to move in a circular motion along the tower pipe circumferential seam, realizing continuous welding from the top of one weld inclined downwards toward the top of the other weld.

[0038] Step 5: During the welding process, the laser camera 36 synchronously scans the weld fusion state and monitors in real time for quality defects such as bulging, incomplete welding, porosity, and slag inclusions. If any abnormality is found, the machine can be stopped and adjusted in time. After the power sleeve plate 11 completes one rotation and the tower tube circumferential weld is completed, the control telescopic rod 41 extends and retracts upward to lift the welding torch 34. The drive motor 14 is started again to drive the laser camera 36 to perform a second full-circumference scan of the weld. After confirming that the welding quality is qualified, the control adjustment fixture 6 is released from clamping. Through the coordinated action of the retraction of one telescopic rod 51 and the extension of the other telescopic rod 51, the push plate 51 is driven to push the welded tower tube out of the processing position. Finally, the finished tower tube is transferred to the next process by a robotic arm or crane.

[0039] The method described in this embodiment solves the problems of difficult gap control, low positioning accuracy, and unstable welding quality in traditional manual welding by integrating automatic positioning, precise oscillating welding, and real-time quality inspection. It significantly improves the assembly and welding efficiency and product qualification rate of steel pipe tower components and is suitable for batch processing of steel pipe tower components of different specifications.

[0040] The embodiments described in this invention are for illustrative purposes only and do not constitute a limitation on the scope of the claims. Other substantially equivalent substitutions that can be conceived by those skilled in the art are all within the scope of protection of this invention.

Claims

1. An automatic assembly and welding device for steel pipe tower components, characterized in that, The processing platform (1) includes a processing platform (1), with multiple sets of telescopic rods (2) distributed on both sides of the processing platform (1), and multiple sets of telescopic rods (3) distributed in the middle of the processing platform (1). The top of the telescopic rods (2) is fixedly connected to a fixing frame (4), and the top of the fixing frame (4) is fixedly connected to a welded roller frame (5). An adjusting clamp (6) is provided on the side of the fixing frame (4) that is close to each other. The top of the telescopic rods (3) is fixedly connected to a welded guide base (7). One side of the welded guide base (7) is connected to a power sleeve plate (11) through a ball bearing turntable. The outer surface of the power sleeve plate (11) that partially overlaps with the guide base (7) is set with a threaded structure (12). The outer surface of the power sleeve plate (11) on the side away from the guide base (7) is set with a smooth surface. A bracket (13) is fixedly connected to the sliding surface. A drive motor (14) is connected to the outer surface of the guide base (7). The drive motor (14) is connected to the drive gear (15) through the bearing base. The drive gear (15) is meshed with the threaded structure (12). A support plate (16) is connected to the top of the bracket (13). An adjustment through hole (17) is opened in the middle of the support plate (16). Guide rail assemblies (21) are distributed on the surface of the support plate (16) on both sides of the adjustment through hole (17). A drive motor (22) is fixedly connected to the upper side of the guide rail assembly (21). A variable lead screw (23) is detachably connected to the output end of the drive motor (22). The variable lead screw (23) is far away from the drive motor (22). The side is connected to the guide rail assembly 1 (21) via the bearing base. A ball slider 1 (24) is slidably connected on the variable lead screw (23). The two sides of the ball slider 1 (24) are limited in sliding direction by the guide rod (25). The two sides of the guide rod (25) are fixedly connected to the guide rail assembly 1 (21) via the fixed base. The bottom of the ball slider 1 (24) is connected to the connecting rod 1 (26) that passes through the adjustment through hole 1 (17). The bottom of the connecting rod 1 (26) is connected to the telescopic rod 4 (31) via the fixed plate 1 (27). The movable rod end of the bottom of the telescopic rod 4 (31) is connected to the fixed plate 2 (32). The bottom side of the fixed plate 2 (32) is clamped and fixed by the bracket 2 (33). The bottom side of the fixed plate 2 (32) is fixed. Connect bracket three (35), the bottom of bracket three (35) is connected to laser camera (36) by rotating shaft, guide rail assembly one (21) is connected to telescopic rod three (37) on the side near drive motor two (22), the telescopic rod three (37) is adjusted by telescopic rod three (37) to start welding from the top of the weld seam, the upper part of the welding roller frame (5) carries the tower pipe and is pushed by telescopic rod five (41) to make the weld seam of the tower pipe at the bottom of the welding gun (34), the surface of the processing platform (1) at the bottom of the weld seam is equipped with laser position sensor (42), the gap between laser position sensors (42) is adjusted by guide rail assembly two (43) to adapt to the weld seam requirements of different pipe diameters, and guide rail assembly two (43) is fixedly connected to the surface of processing platform (1).

2. The automatic assembly and welding device for steel pipe tower components according to claim 1, characterized in that, The guide rail assembly 1 (21) includes guide rail 1 (44), slide plate 1 (45) and slide plate 2 (46). The support plate 1 (16) on both sides of the adjustment through hole 1 (17) is provided with guide rail 1 (44). The upper part of guide rail 1 (44) near bracket 1 (13) is slidably connected to slide plate 1 (45), and the upper part of guide rail 1 (44) on the other side is slidably connected to slide plate 2 (46). The upper part of slide plate 1 (45) is fixedly connected to drive motor 2 (22). The end face of slide plate 1 (45) away from slide plate 2 (46) is connected to telescopic rod 3 (37). The upper part of slide plate 2 (46) is connected to variable lead screw 23 through bearing base. The sides of slide plate 1 (45) and slide plate 2 (46) are connected to guide rod 25 through fixed plate 3. The sides of ball slider 1 (24) are fixedly connected to connecting rod 2 (47). The side of connecting rod 2 (47) away from ball slider 1 (24) is sleeved with guide rod 25.

3. The automatic assembly and welding device for steel pipe tower components according to claim 1, characterized in that, The variable lead screw (23) is connected to the output end of the drive motor (22) by a threaded installation and is fixed by screws.

4. The automatic assembly and welding device for steel pipe tower components according to claim 1, characterized in that, The variable lead screw (23) above the adjustment through hole (17) adopts a multi-segment lead structure. The welding gun (34) is adjusted to the welding top. The ball slider (24) slides on the multi-segment lead structure in a cyclical gradual speed change from small to large and then back to small. By sliding in a cyclical gradual speed change manner, the ball slider (24) drives the welding gun (34) to swing and weld at the tower pipe weld, so as to ensure that the root of the weld is fully melted and achieves good formation, while controlling the shape of the molten pool.

5. The automatic assembly and welding device for steel pipe tower components according to claim 1, characterized in that, The two sides of the fixed frame 1 (4) are connected to the telescopic rod 5 (41) through the support sleeve. The telescopic rod 5 (41) on both sides of the fixed frame 1 (4) is connected to the push plate 1 (51). The push plate 1 (51) pushes the tower tube to the top of the laser position sensor (42). The laser position sensor (42) detects the position of the tower tube.

6. The automatic assembly and welding device for steel pipe tower components according to claim 1, characterized in that, The fixed frame 1 (4) is symmetrically connected to the telescopic rods 6 (52) on the side that are close to each other, and the telescopic rods 6 (52) are connected to each other by adjusting clamps (6).

7. The automatic assembly and welding device for steel pipe tower components according to claim 1, characterized in that, The guide rail assembly 2 (43) includes a rack guide rail (53), a drive motor 3 (54) and a mounting plate 1 (55). The rack guide rail (53) is arranged along the center line of the length direction of the processing platform (1). The mounting plate 1 (55) is symmetrically arranged on the upper part of the rack guide rail (53). The drive motor 3 (54) is fixedly connected to the slot in the mounting plate 1 (55). The drive motor 3 (54) is meshed with the rack guide rail (53). The laser position sensor (42) is connected at the center of the mounting plates 1 (55) that are close to each other. The distance between the two laser position sensors (42) is adjusted according to the tower pipes of different diameters by driving the drive motor 3 (54) to mesh with the rack guide rail (53).

8. A welding method for an automatic assembly and welding device for steel pipe tower components, characterized in that, According to any one of claims 1 to 7, the automatic assembly and welding device for steel pipe tower components comprises the following welding method steps: Step 1: Determine the vertical height H1 from the center of the power sleeve plate (11) or guide base (7) to the processing platform (1), determine the pipe diameter h1 of the processed tower pipe, determine the initial lifting height h2 of the welding roller frame (5), calculate the lifting height H2 of the telescopic rods (2) on both sides, that is, satisfy H1-h1-h2=H2, and the height of the telescopic rods (2) is H2, so as to realize that the center of the tower pipe and the center of the power sleeve plate (11) or guide base (7) are on the same horizontal line, and ensure the welding quality of the tower pipe weld. Step 2: The telescopic rods five (41) on both sides drive the push plate one (51) to push the tower tube, so that the tower tube on both sides is pushed above the laser position sensor (42). The laser position sensor (42) detects the position of the tower tube. After the position is accurately in place, the pushing of the tower tube is stopped. The telescopic rod six (52) drives the adjusting clamp (6) to press down the tower tube, so that the tower tube is fixed on the welding roller frame (5) to ensure the position of the tower tube is fixed during welding. Step 3: The welding torch (34) and the laser camera (36) are positioned directly above the tower pipe weld seam. The laser camera (36) scans and positions the tower pipe weld seam, ensuring that the width of the laser camera (36) is greater than the width of the weld seam gap, so that there is no deviation in the circumferential scanning of the weld seam. The drive motor (14) engages with the threaded structure (12) on the power sleeve plate (11), driving the power sleeve plate (11) and the support (13) to rotate circumferentially, driving the laser camera (36) to scan the tower pipe weld seam circumferentially, and detecting the weld seam gap and the integrity of the weld seam. Step 4: After the laser camera (36) scans the circumferential gap of the tower pipe weld, the drive motor (22) is finely adjusted to make the ball slider (24) fully positioned at the beginning of the uniform speed lead section. The telescopic rod (37) is used to adjust the sliding of the slide plate (45), slide plate (46) and guide rail (44). The laser camera (36) scans to determine that the welding torch (34) is above the weld top. The telescopic rod (31) extends and retracts downward to make the welding torch (34) contact the edge of the weld gap, thus pre-igniting the welding torch (34). Welding, then start the second drive motor (22) to drive the variable lead screw (23), so that the ball slider (24) is in a constant speed lead conversion, acceleration lead conversion and then constant speed lead conversion on the multi-segment lead structure, so that the constant speed lead segment corresponds to the welding top position. At the same time as starting the second drive motor (22), the first drive motor (14) engages with the drive power sleeve (11) to make the welding gun (34) perform circular motion for welding, so that the welding gun (34) is tilted downward from one side of the welding top to the other side of the welding top for welding. Step 5: During the welding process, the laser camera (36) performs synchronous scanning of the welding fusion quality to avoid bulging or missing weld quality problems. After the power sleeve plate (11) completes one rotation, the telescopic rod four (31) extends and retracts upward to lift the welding gun (34). The drive motor one (14) engages with the thread structure (12) on the power sleeve plate (11) again to drive the laser camera (36) to scan and detect the welding quality of the weld gap again. After the quality is confirmed, the clamp (6) is adjusted to release the clamping and fixing of the tower tube. The tower tube is pushed out by the push plates one (51) on both sides through the retraction of one side telescopic rod five (41) and the extension of the other side telescopic rod five (41). The welded tower tube is then transported out by the robotic arm or crane.

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