Automatic plasma arc welding machine for tube sheet welding

Abstract

The application relates to the technical field of plasma arc welding machines, and discloses an automatic plasma arc welding machine for pipe plate welding, which can realize active feeding of a welding track in cooperation with a workpiece to be welded, can realize complete full-process welding operation, can be adapted to various specifications of pipe plate workpieces, can complete precise pressing and adaptation of the workpiece, can adaptively generate corresponding welding tracks in cooperation with various servo driving structures, has strong adaptability, is widely applicable, greatly improves practicability and universality, and comprises a welding head, a composite support table and a pressing and welding assembly, the pressing and welding assembly comprises a lifting frame, the lifting frame is installed on the composite support table, a rotating frame is rotationally installed in the lifting frame, two pulley frames are slidably connected in the rotating frame, a first servo motor and a second servo motor are respectively installed on the lifting frame and the rotating frame, the first servo motor is used for rotationally driving the rotating frame relative to the lifting frame, the second servo motor is used for driving the relative movement of the two pulley frames, and auxiliary wheels are rotationally connected in the two pulley frames.

Description

Technical Field

[0001] This invention relates to the field of plasma arc welding machine technology, and specifically to an automatic plasma arc welding machine for tube sheet welding. Background Technology

[0002] As is well known, pipes and plates are widely used in various fields of production and life as common profiles. In actual industrial production, pipes and plates are usually standard models. Therefore, in the application of pipes and plates, it is inevitable to carry out corresponding welding operations according to the actual application environment and scenario. In order to facilitate the welding operation of pipes and plates, this solution proposes an automatic plasma arc welding machine for pipe-plate welding.

[0003] A search revealed Chinese patent application CN202220968420.9, which discloses a safety-protected automatic tube sheet welding machine. The general description includes a tube sheet welding machine body, with electrical wires connected to the front of the body. One end of the wires, away from the body, is electrically connected to a welding head. An upper mounting seat and a lower mounting seat are movably fitted onto the outer surface of the welding head. A fixing bolt passes through the top of the upper mounting seat, and a fixing plate is welded to the bottom of the lower mounting seat. Adjustment mechanisms are fixedly connected to the four corners of the bottom of the fixing plate. A base is welded to the bottom of each adjustment mechanism, and a movable plate is fixedly connected to the adjustment mechanism. During use, when it is necessary to fix the welding head, the welding head is... The welding head is placed on top of the lower mounting base. After placement, the upper mounting base is placed on top of the welding head. The fixing bolts are inserted into the upper mounting base and screwed into the threaded groove on top of the lower mounting base. The fixing bolts secure the upper mounting base to the top of the lower mounting base, thus fixing the welding head. When the height of the welding head needs to be adjusted, the screw is rotated by handwheel. The screw drives the moving plate to move, and the moving plate drives the sliding column to slide on the inner wall of the housing. The sliding column drives the extension rod and the column to move, thus adjusting the height of the adjustment mechanism. After adjustment, the welding head is placed in the position to be welded, and the tube sheet welding machine body is started. The tube sheet welding machine body starts the welding head, and the welding head welds the tube sheet.

[0004] While the existing technical solutions described above can achieve the fixation of the welding head, their overall functionality is limited to this. They do not address how to improve the welding efficiency and quality of pipes or plates. The overall technical solutions need further optimization, and both functionality and practicality need to be further enhanced. Summary of the Invention

[0005] To address the shortcomings of existing technologies, this invention provides an automatic plasma arc welding machine for tube sheet welding. It can actively feed the welding trajectory in conjunction with the workpiece to be welded, realizing the entire welding process. It can also adapt to various specifications of tube sheet workpieces, achieving precise pressing and fitting of the workpiece. With the help of various servo drive structures, it adaptively generates corresponding welding trajectories. It has strong adaptability and wide applicability, greatly improving the practicality and versatility of the equipment.

[0006] To achieve the above objectives, the present invention provides the following technical solution: an automatic plasma arc welding machine for tube sheet welding, comprising a welding head, a composite support platform, and a pressure welding assembly. The pressure welding assembly includes a lifting frame, which is mounted on the composite support platform. A rotating frame is rotatably mounted inside the lifting frame. Two pulley frames are slidably connected inside the rotating frame. A first servo motor and a second servo motor are respectively mounted on the lifting frame and the rotating frame. The first servo motor is used to drive the rotation of the rotating frame relative to the lifting frame, and the second servo motor is used to drive the two pulley frames to move relative to each other. An auxiliary wheel is rotatably connected inside each of the two pulley frames. A cantilever linkage arm is rotatably connected inside the rotating frame. The welding head is mounted on the cantilever linkage arm. A third servo motor is mounted on the rotating frame. The third servo motor is used to adjust the rotation of the cantilever linkage arm relative to the rotating frame.

[0007] Preferably, the cantilever linkage arm includes a swivel frame, which is rotatably installed inside a rotating frame. A rotating shaft is rotatably connected inside the swivel frame. An installation cylinder and a linkage gear are respectively fixedly connected to both ends of the rotating shaft. A lifting rod is slidably connected inside the installation cylinder. The welding head is installed at the bottom end of the lifting rod. An electric adjusting rod is installed at the top end of the installation cylinder. The telescopic end of the electric adjusting rod is connected to the lifting rod. An end face gear is meshed and driven by the linkage gear. The end face gear is fixedly connected inside the rotating frame.

[0008] Preferably, the composite support platform includes a frame, a movable frame slidably connected within the frame, two guide sleeves fixedly connected to the movable frame, lifting columns slidably fitted within each guide sleeve, both lifting columns fixedly connected to the lifting frame, and a synchronizing rod fixedly connected to the bottom end of each lifting column. An electric drive rod is installed within the movable frame, and the telescopic end of the electric drive rod is connected to the synchronizing rod. The frame is rotatably connected to an adjusting screw, two planar support frames, and two support roller frames. The frame is equipped with a fourth servo motor, a fifth servo motor, and two sixth servo motors. The fourth servo motor drives the rotation of the adjusting screw. A threaded sleeve is threadedly connected to the external thread of the adjusting screw, and the threaded sleeve is fixedly connected to the movable frame. The output shaft of the fifth servo motor is connected to one of the support roller frames on the right side. The two sixth servo motors together achieve the rotational adjustment of the two planar support frames.

[0009] Preferably, both planar support frames are provided with multiple through-holes, and both support roller frames are provided with multiple support cams, with each of the multiple through-holes matching the multiple support cams.

[0010] Preferably, the platform is fixedly connected to fixed cylindrical frames at both its front and rear ends. Threaded cylinders are rotatably connected within each of the two fixed cylindrical frames. The two threaded cylinders are respectively connected to the output shafts of the two sixth servo motors. A transmission rod is threaded into each of the two threaded cylinders. The two transmission rods are slidably connected to the two fixed cylindrical frames. A transmission frame is fixedly connected to the top of each of the two transmission rods. Each of the two transmission frames has a first opening and a second opening. A first shaft is provided within each of the two first openings. Both first shafts are connected to the left-side planar support frame. A second shaft is provided within each of the two second openings. Both second shafts are connected to the right-side planar support frame.

[0011] Preferably, both ends of the pulley frame are fixedly connected to track blocks, and two track grooves are opened in the rotating frame. The two track blocks are slidably connected in the two track grooves respectively. Both ends of the auxiliary wheel are fixedly connected to shoulder shafts. The pulley frame is provided with a conversion hole that matches the shoulder shaft. A drive gear is fixedly connected to the output shaft of the second servo motor. A spur rack is fixedly connected to the track block. The spur rack meshes with the drive gear for transmission.

[0012] Preferably, drive gear rings are installed on the output shafts of the first servo motor, the fourth servo motor, and the third servo motor, and transmission gear rings are fixedly connected to the outside of the rotating frame, the adjusting screw, and the variator frame, respectively, and the three drive gear rings mesh with the three transmission gear rings for transmission.

[0013] Preferably, two hoisting rails are fixedly connected inside the platform, and two hoisting rail sleeves are fixedly connected on the movable frame, with the two hoisting rail sleeves slidably connected to the two hoisting rails respectively.

[0014] Preferably, two protective frames are fixedly connected to the platform, and the two protective frames are respectively located directly above the two transmission frames.

[0015] Preferably, the auxiliary wheel has a V-shaped groove in the middle and flat pressure-bearing surfaces on both sides. The V-shaped groove is adapted to center and press the circular tube, and the flat pressure-bearing surfaces are adapted to fit and limit the flat workpiece.

[0016] Compared with the prior art, the present invention provides an automatic plasma arc welding machine for tube sheet welding, which has the following beneficial effects: (1). In this invention, the design of the pressure welding component can provide a stable installation position for the cantilever linkage arm, and the cantilever posture of the cantilever linkage arm can be flexibly adjusted to indirectly complete the position and angle adjustment of the welding head, so as to achieve precise alignment between the welding head and the gap to be welded and ensure the accuracy of the welding operation.

[0017] (2). In this invention, the composite support platform can be designed to provide auxiliary support and limit positioning for the target workpiece to be welded. It can be adapted to different types of workpieces to be welded, such as pipes and plates, and can achieve stable support and fixation in various forms. It can effectively meet the welding clamping requirements of different tube and plate workpieces and provide convenience for subsequent welding operations.

[0018] (3) In this invention, the cantilever linkage arm can directly provide an installation position for the welding head, which can ensure the suspension support and precise positioning of the welding head relative to the gap to be welded. At the same time, it can also cooperate with the movement of the rotating frame to form a stable welding trajectory, laying a good foundation for subsequent high-quality, fully automatic welding operations. Attached Figure Description

[0019] Figure 1 This is a three-dimensional structural diagram of the entire invention; Figure 2 For the present invention Figure 1 A magnified schematic diagram of the partial structure at point A in the middle; Figure 3 This is a three-dimensional structural diagram of the cooperation between the lifting frame, rotating frame, and synchronizing rod of the present invention; Figure 4 This is a three-dimensional structural diagram of the cooperation between the adjustment frame, rotating shaft, and mounting cylinder of the present invention; Figure 5 This is a three-dimensional structural diagram of the pulley frame, drive gear, and spur rack of the present invention. Figure 6 This is a three-dimensional structural diagram of the pulley frame, track block, and rack and pinion of the present invention. Figure 7 This is a three-dimensional structural diagram of the movable frame, guide sleeve, and threaded sleeve of the present invention. Figure 8 This is a three-dimensional structural diagram of the lifting frame, lifting column, and synchronizing rod of the present invention. Figure 9 This is a partial cross-sectional three-dimensional structural diagram of the fixed cylinder frame, threaded cylinder, and transmission rod of the present invention. Figure 10 This is a three-dimensional structural diagram of the invention viewed from below. Figure 11 For the present invention Figure 10 A magnified schematic diagram of the local structure at point B; Figure 12This is a bottom-view three-dimensional structural diagram of the rotating frame, adjusting frame, and lifting rod of the present invention. Figure 13 This is a bottom-view three-dimensional structural diagram of the movable frame, guide sleeve, and threaded sleeve of the present invention. Figure 14 This is a schematic diagram of the straight-line welding structure of the plate material of the present invention; Figure 15 This is a schematic diagram of the structure of the pipe and plate of the present invention being assembled and welded together; Figure 16 This is a schematic diagram of the straight welding structure of the pipe material according to the present invention; Figure 17 This is a schematic diagram of the pipe ring welding structure of the present invention.

[0020] In the diagram: 1. Welding head; 2. Lifting frame; 3. Rotating frame; 4. Pulley frame; 5. First servo motor; 6. Second servo motor; 7. Auxiliary wheel; 8. Third servo motor; 9. Adjustment frame; 10. Rotating shaft; 11. Mounting cylinder; 12. Linkage gear; 13. Lifting rod; 14. Electric adjusting rod; 15. End face gear; 16. Platform; 17. Moving frame; 18. Guide sleeve; 19. Lifting column; 20. Synchronizing rod; 21. Electric drive rod; 22. Adjusting screw; 23. Planar support frame; 24. Support roller frame; 25. 26. Fourth servo motor; 27. Fifth servo motor; 28. Sixth servo motor; 29. ​​Threaded sleeve; 30. Through port; 31. Support cam; 32. Fixed cylinder; 33. Threaded cylinder; 34. Transmission rod; 35. Transmission frame; 36. First shaft; 37. Second shaft; 38. Track block; 39. Track groove; 40. Shoulder shaft; 41. Drive gear; 42. Straight rack; 43. Drive gear ring; 44. Transmission gear ring; 45. Lifting track; 46. Lifting track sleeve; 47. Protective frame; 48. V-groove; 49. Flat bearing surface. Detailed Implementation

[0021] 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.

[0022] For examples, please refer to Figures 1-17An automatic plasma arc welding machine for tube sheet welding includes a welding head 1, a composite support platform, and a pressure welding assembly. The pressure welding assembly includes a lifting frame 2, which is mounted on the composite support platform. A rotating frame 3 is rotatably mounted inside the lifting frame 2. Two pulley frames 4 are slidably connected inside the rotating frame 3. A first servo motor 5 and a second servo motor 6 are respectively mounted on the lifting frame 2 and the rotating frame 3. The first servo motor 5 drives the rotation of the rotating frame 3 relative to the lifting frame 2. A drive gear 40 is fixedly connected to the output shaft of the second servo motor 6. A spur rack 41 is fixedly connected to a track block 37. The spur rack 41 meshes with the drive gear 40 for transmission. Motor 6 drives the two pulley frames 4 to move relative to each other. Each pulley frame 4 has an auxiliary wheel 7 rotatably connected inside. Track blocks 37 are fixedly connected to both ends of each pulley frame 4. Two track grooves 38 are provided inside the rotating frame 3, and the two track blocks 37 are slidably connected within the two track grooves 38. Shoulder shafts 39 are fixedly connected to both ends of each auxiliary wheel 7. A mounting hole matching the shoulder shaft 39 is provided inside the pulley frame 4. A V-groove 47 is provided in the middle of the auxiliary wheel 7. Flat bearing surfaces 48 are provided on both sides of the auxiliary wheel 7. The V-groove 47 is suitable for centering and pressing circular pipes, and the flat bearing surfaces 48 are suitable for fitting and limiting flat workpieces. A cantilever linkage is rotatably connected inside the rotating frame 3. The welding head 1 is mounted on a cantilever linkage arm, which includes a rotating frame 9 rotatably mounted inside a rotating frame 3. A rotating shaft 10 is rotatably connected inside the rotating frame 9. A mounting cylinder 11 and a linkage gear 12 are fixedly connected to both ends of the rotating shaft 10, respectively. A lifting rod 13 is slidably connected inside the mounting cylinder 11. The welding head 1 is mounted at the bottom end of the lifting rod 13. An electric adjusting rod 14 is mounted at the top end of the mounting cylinder 11. The telescopic end of the electric adjusting rod 14 is connected to the lifting rod 13. A face gear 15 is meshed and driven by the linkage gear 12 and is fixedly connected inside the rotating frame 3. The cantilever linkage arm allows direct welding of the welding head 1. The installation station ensures the welding head 1 is suspended and precisely positioned relative to the gap to be welded. It also coordinates with the movement of the rotating frame 3 to form a stable welding trajectory, laying a solid foundation for subsequent high-quality, fully automated welding operations. The rotating frame 3 is equipped with a third servo motor 8, which is used to adjust the rotation of the cantilever linkage arm relative to the rotating frame 3. Through the design of the pressure welding component, a stable installation station is provided for the cantilever linkage arm, and the cantilever posture of the cantilever linkage arm can be flexibly adjusted, indirectly completing the position and angle adjustment of the welding head 1, achieving precise alignment between the welding head 1 and the gap to be welded, and ensuring the accuracy of the welding operation.

[0023] It should be further explained that the composite support platform includes a frame 16, a movable frame 17 slidably connected within the frame 16, two lifting rails 44 fixedly connected within the frame 16, two lifting rail sleeves 45 fixedly connected to the movable frame 17, and the two lifting rail sleeves 45 slidably connected to the two lifting rails 44 respectively. Two guide sleeves 18 are fixedly connected to the movable frame 17, and lifting columns 19 are slidably fitted within each guide sleeve 18. Both lifting columns 19 are fixedly connected to the lifting frame 2, and a synchronization rod 20 is fixedly connected to the bottom end of each lifting column 19. An electric drive rod 21 is installed within the movable frame 17, and the telescopic end of the electric drive rod 21 is connected to the synchronization rod 20. An adjusting screw 22, two planar support frames 23, and two support roller frames 2 are rotatably connected to the frame 16. 4. The support frame 16 is equipped with a fourth servo motor 25, a fifth servo motor 26, and two sixth servo motors 27. The fourth servo motor 25 drives the rotation of the adjusting screw 22. The adjusting screw 22 is threadedly connected to a threaded sleeve 28, which is fixedly connected to the moving frame 17. The output shaft of the fifth servo motor 26 is connected to a support roller frame 24 on the right side. The two sixth servo motors 27 work together to adjust the rotation of the two planar support frames 23. Through the design of the composite support platform, auxiliary support and limiting positioning of the target workpiece to be welded can be provided. It can adapt to different types of workpieces to be welded, such as pipes and plates, and achieve stable support and fixation in various forms. It effectively meets the welding clamping requirements of different tube and plate workpieces, and provides convenience for subsequent welding operations. Each of the two planar support frames 23 has multiple through-holes 29, and each of the two support roller frames 24 has multiple support cams 30. The multiple through-holes 29 are matched with the multiple support cams 30. When the planar support frame 23 rotates and falls, the support cams 30 can pass through the through-holes 29 and protrude. When the pipe to be welded needs to be rotated and adjusted, it can be supported by the support cams 30 to facilitate the circumferential welding of the pipe. The front and rear ends of the platform 16 are fixedly connected to fixed cylinder frames 31. Threaded cylinders 32 are rotatably connected inside the two fixed cylinder frames 31. The two threaded cylinders 32 are respectively connected to the output shafts of the two sixth servo motors 27. The two threaded cylinders 32 are threadedly connected to the output shafts of the two sixth servo motors 27. The two drive rods 33 are respectively connected to the two sixth servo motors 27. A fixed cylindrical frame 31 is slidably connected. A transmission frame 34 is fixedly connected to the top of each of the two transmission rods 33. Each transmission frame 34 has a first opening and a second opening. A first shaft 35 is installed inside each of the two first openings, and both first shafts 35 are connected to the left-side planar support frame 23. A second shaft 36 is installed inside each of the two second openings, and both second shafts 36 are connected to the right-side planar support frame 23. Drive gear rings 42 are installed on the output shafts of the first servo motor 5, the fourth servo motor 25, and the third servo motor 8. Transmission gear rings 43 are fixedly connected to the outside of the rotating frame 3, the adjusting screw 22, and the variator frame 9. The three drive gear rings 42 mesh with the three transmission gear rings 43 respectively. Two protective frames 46 are fixedly connected to the platform 16.Two protective frames 46 are located directly above the two transmission frames 34, respectively, providing protection for the transmission frames 34.

[0024] In this embodiment, the welding head 1, the first servo motor 5, the second servo motor 6, the third servo motor 8, the electric adjusting rod 14, the electric drive rod 21, the fourth servo motor 25, the fifth servo motor 26, and the sixth servo motor 27 are all commercially available conventional equipment known to those skilled in the art. Other models can be selected or customized according to actual needs. In this invention, we only use them without improving their structure and function. Their setting method, installation method, and electrical connection method can be easily understood by those skilled in the art by following the instructions for use. Therefore, they will not be described in detail here.

[0025] In summary, the working principle of this automatic plasma arc welding machine for tube sheet welding is as follows: Before formally commencing welding operations, the arc welding machine is first assembled, with the welding head fitted with the arc welding machine. Control circuits are then installed for the arc welding machine, the first servo motor 5, the second servo motor 6, the third servo motor 8, the electric adjusting rod 14, the electric drive rod 21, the fourth servo motor 25, the fifth servo motor 26, and the sixth servo motor 27. Next, a no-load test is performed. Based on the specifications of the circular tube or flat plate to be processed, the fitting and attitude adjustment are completed. During the adjustment process, the two sixth servo motors 27 are activated. The operation drives two threaded cylinders 32 to rotate synchronously within the fixed cylinder frame 31. Through the threaded transmission of the two threaded cylinders 32 and the two transmission rods 33, the two transmission rods 33 are driven to slide vertically synchronously along the two fixed cylinder frames 31, thereby driving the two transmission frames 34 to rise and fall synchronously. Through the cooperation of the first and second shafts with the first and second openings respectively, the two sets of planar support frames 23 are synchronously pulled to complete the rotation adjustment. During conventional plate welding operations, the two sets of planar support frames 23 are adjusted to a horizontal support position. At this time, the support cams 30 on the support roller frame 24 are housed within the planar support frame 23. Below 3, the upper surface of the planar support frame 23 serves as the workpiece bearing surface, which can be used to place the plate to be welded, providing basic support for the plate workpiece. During pipe welding, two sixth servo motors 27 synchronously drive and control the ends of the two planar support frames 23 that are close to each other to lower synchronously, so that the two planar support frames 23 rotate synchronously to adjust to an inclined posture to adapt to the pipe welding conditions. If the pipe welding trajectory is a straight line welding parallel to the centerline, while controlling the planar support frame 23 to form an inclined surface, the support cam 30 is prevented from passing through the passage 29, utilizing the inclined concave structure formed by the cooperation of the two sets of planar support frames 23. The support frame 23 is used to limit the pipe and ensure its stable and centered placement. If the pipe is being welded in a ring, the tilt angle of the planar support frame 23 is further increased so that the support cam 30 protrudes from above the passage 29. At this time, the planar support frame 23 will disengage from the pipe, and the support cam 30 will support the pipe alone. In this state, the fifth servo motor 26 is started to drive the right support roller frame 24 to rotate at a constant speed. The rotation of the right support roller frame 24 drives the support cam 30 on it to rotate synchronously, providing a rotatable support base and rotation driving force for the pipe, thus meeting the rotation operation requirements of the pipe ring welding.

[0026] After the workpiece is initially placed and positioned, the fourth servo motor 25 is started. The drive gear ring 42 on its output shaft meshes with the transmission gear ring 43 on the adjusting screw 22, driving the adjusting screw 22 to rotate precisely. Relying on the threaded transmission structure between the adjusting screw 22 and the threaded sleeve 28, the moving frame 17 is driven to slide laterally along the hoisting track 44 inside the frame 16, causing the welding head 1 to be positioned relative to the welding station to be aligned with the weld gap area of ​​the workpiece. After the initial position calibration is completed, the electric drive rod 21 is started to drive the synchronous rod 20 to move vertically. The synchronous rod 20 pulls the two lifting columns 19 to slide vertically along the two guide sleeves 18 respectively, driving the lifting frame 2 to complete the height adjustment, adapting to the welding of workpieces of different thicknesses or tube sheet workpieces of different specifications. Upon reaching the required height, after the height is adjusted to the correct position, the auxiliary wheel 7 contacts the workpiece and applies pre-pressure positioning. Then, the electric adjusting rod 14 at the top of the mounting cylinder 11 is activated, causing the lifting rod 13 to slide vertically relative to the mounting cylinder 11, thus adjusting the height of the welding head 1 to match the weld gap on the workpiece. After all posture and position calibration processes are completed, plasma arc welding begins. During welding, the fourth servo motor 25 continuously drives the moving frame 17 to feed laterally, achieving linear welding displacement of the welding head 1. Simultaneously, the auxiliary wheel 7 maintains a constant pressure limit on the target part, ensuring the stability of the weld throughout the process and completing continuous welding of the entire weld seam. The linear trajectory welding state of the plate welding is as follows: Figure 14 As shown, the straight-line forming and welding state of the pipe is as follows: Figure 16 As shown.

[0027] If the pipe to be welded is a ring weld, then for the ring weld condition, the first servo motor 5 is started, driving the rotating frame 3 to rotate and adjust by 90 degrees, so that the axis of the auxiliary wheel 7 is parallel to the axis of the support cam 30. Then, the electric drive rod 21 drives the auxiliary wheel 7 to press down, so that it forms a pressure with the pipe. At this time, the fifth servo motor 26 drives the support cam 30 to rotate, which can drive the pipe to rotate smoothly between the support cam 30 and the auxiliary wheel 7. With the help of the welding head 1 in a fixed position, the ring weld operation of the pipe is completed. This operation state is as follows. Figure 17 As shown, for example Figure 15In the butt welding of the pipe and plate shown, the third servo motor 8 needs to be activated to drive the rotating frame 9 to rotate, which in turn drives the rotating shaft 10 inside the rotating frame 9 to rotate synchronously. Through the meshing transmission of the linkage gear 12 and end face gear 15 at the end of the rotating shaft 10, the rotating frame 9 falls while the rotating shaft 10 rotates synchronously, realizing the rotation of the welding head 1 to align with the butt weld of the pipe and plate. Then, the electric adjusting rod 14 is used to adjust the relative distance between the welding head 1 and the butt weld position. Finally, the first servo motor 5 adjusts the angle of the rotating frame 3 relative to the lifting frame 2 to complete the all-around welding operation at the butt weld position of the pipe and plate. Furthermore, throughout the welding operation, the third servo motor 8 can be activated according to the actual specifications of the workpiece. The second servo motor 6 adjusts the distance between the two pulley frames 4 and flexibly adjusts the clamping distance of the two auxiliary wheels 7 to adapt to the clamping and positioning requirements of workpieces of different sizes. In order to realize the identification of the welding status during welding and to provide timely welding feedback based on the specific welding situation, a camera can be installed in a suitable position in the equipment as needed. The information collected by the camera is imported into the central control system. The central control system analyzes and responds in a timely manner, realizing the timely adaptation and adjustment of the welding head 1, the first servo motor 5, the second servo motor 6, the third servo motor 8, the electric adjusting rod 14, the electric drive rod 21, the fourth servo motor 25, the fifth servo motor 26, and the sixth servo motor 27, so as to optimize the welding operation.

[0028] Although embodiments of the invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the appended claims and their equivalents.

Claims

1. An automatic plasma arc welding machine for tube sheet welding, comprising a welding head (1), characterized in that, It also includes a composite support platform and a pressure welding assembly. The pressure welding assembly includes a lifting frame (2), which is installed on the composite support platform. A rotating frame (3) is rotatably installed inside the lifting frame (2). Two pulley frames (4) are slidably connected inside the rotating frame (3). A first servo motor (5) and a second servo motor (6) are respectively installed on the lifting frame (2) and the rotating frame (3). The first servo motor (5) is used to drive the rotation of the rotating frame (3) relative to the lifting frame (2). The second servo motor (6) is used to drive the two pulley frames (4) to move relative to each other. An auxiliary wheel (7) is rotatably connected inside each of the two pulley frames (4). A cantilever linkage arm is rotatably connected inside the rotating frame (3). The welding head (1) is installed on the cantilever linkage arm. A third servo motor (8) is installed on the rotating frame (3). The third servo motor (8) is used to adjust the rotation of the cantilever linkage arm relative to the rotating frame (3). The composite support platform includes a frame (16), a movable frame (17) is slidably connected inside the frame (16), two guide sleeves (18) are fixedly connected to the movable frame (17), and lifting columns (19) are slidably fitted inside the two guide sleeves (18). The two lifting columns (19) are fixedly connected to the lifting frame (2), and a synchronizing rod (20) is fixedly connected to the bottom end of the two lifting columns (19). An electric drive rod (21) is installed inside the movable frame (17), and the telescopic end of the electric drive rod (21) is connected to the synchronizing rod (20). The frame (16) is rotatably connected to an adjusting screw (22), two planar support frames (23) and two support roller frames (24). The frame (16) is equipped with a fourth servo motor (25) and a fifth servo motor. The machine (26) and two sixth servo motors (27), the fourth servo motor (25) is used to drive the rotation of the adjusting screw (22), the adjusting screw (22) is externally threaded with a threaded sleeve (28), the threaded sleeve (28) is fixedly connected to the moving frame (17), the output shaft of the fifth servo motor (26) is connected to a support roller frame (24) on the right side, the two sixth servo motors (27) jointly realize the rotation adjustment of the two planar support frames (23), the two planar support frames (23) are provided with multiple through ports (29), the two support roller frames (24) are provided with multiple support cams (30), and the multiple through ports (29) are respectively matched with the multiple support cams (30).

2. The automatic plasma arc welding machine for tube sheet welding according to claim 1, characterized in that, The cantilever linkage arm includes a swivel frame (9), which is rotatably installed inside the rotating frame (3). A rotating shaft (10) is rotatably connected inside the swivel frame (9). An installation cylinder (11) and a linkage gear (12) are fixedly connected to both ends of the rotating shaft (10). A lifting rod (13) is slidably connected inside the installation cylinder (11). The welding head (1) is installed at the bottom end of the lifting rod (13). An electric adjusting rod (14) is installed at the top end of the installation cylinder (11). The telescopic end of the electric adjusting rod (14) is connected to the lifting rod (13). The linkage gear (12) meshes with and drives an end face gear (15). The end face gear (15) is fixedly connected inside the rotating frame (3).

3. The automatic plasma arc welding machine for tube sheet welding according to claim 2, characterized in that, The platform (16) is fixedly connected to fixed cylinders (31) at both ends. Threaded cylinders (32) are rotatably connected inside each of the two fixed cylinders (31). The two threaded cylinders (32) are respectively connected to the output shafts of the two sixth servo motors (27). Transmission rods (33) are threadedly connected inside each of the two threaded cylinders (32). The two transmission rods (33) are respectively slidably connected to the two fixed cylinders (31). Transmission frames (34) are fixedly connected to the top of each of the two transmission rods (33). Each of the two transmission frames (34) is provided with a first opening and a second opening. A first shaft (35) is provided inside each of the two first openings. The two first shafts (35) are connected to the left-side planar support frame (23). A second shaft (36) is provided inside each of the two second openings. The two second shafts (36) are connected to the right-side planar support frame (23).

4. An automatic plasma arc welding machine for tube sheet welding according to claim 3, characterized in that, Both ends of the pulley frame (4) are fixedly connected to track blocks (37). Two track grooves (38) are opened in the rotating frame (3). The two track blocks (37) are slidably connected in the two track grooves (38). Both ends of the auxiliary wheel (7) are fixedly connected to shoulder shafts (39). The pulley frame (4) is provided with a conversion hole that matches the shoulder shaft (39). The output shaft of the second servo motor (6) is fixedly connected to a drive gear (40). The track block (37) is fixedly connected to a rack (41). The rack (41) meshes with the drive gear (40) for transmission.

5. An automatic plasma arc welding machine for tube sheet welding according to claim 4, characterized in that, The first servo motor (5), the fourth servo motor (25) and the third servo motor (8) are all equipped with drive gear rings (42), and the rotating frame (3), the adjusting screw (22) and the variator frame (9) are all fixedly connected with transmission gear rings (43). The three drive gear rings (42) mesh with the three transmission gear rings (43) respectively.

6. An automatic plasma arc welding machine for tube sheet welding according to claim 5, characterized in that, Two hoisting rails (44) are fixedly connected inside the platform (16), and two hoisting rail sleeves (45) are fixedly connected on the moving frame (17). The two hoisting rail sleeves (45) are slidably connected to the two hoisting rails (44) respectively.

7. An automatic plasma arc welding machine for tube sheet welding according to claim 6, characterized in that, Two protective frames (46) are fixedly connected to the platform (16), and the two protective frames (46) are respectively located directly above the two transmission frames (34).

8. An automatic plasma arc welding machine for tube sheet welding according to claim 7, characterized in that, The auxiliary wheel (7) has a V-groove (47) in the middle and a flat bearing surface (48) on both sides. The V-groove (47) is adapted to center and press the circular pipe, and the flat bearing surface (48) is adapted to fit and limit the flat workpiece.

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