A welding positioning device and method for a cylindrical shell and a hemispherical shell or a cylindrical shell

Abstract

The application discloses a welding positioning device and method for a cylindrical shell and a hemispherical shell or a cylindrical shell, which comprises a welding platform, a welding frame fixedly installed on the welding platform, a welding device installed on the welding frame and capable of moving up and down for welding, two L-shaped sliding seats symmetrically arranged on both sides of the welding frame and capable of moving along the left-right direction, a fixed cylinder vertically penetrating the sliding seat along the left-right direction and fixedly connected with the sliding seat, a supporting positioning assembly installed on the vertical part of the sliding seat and supporting the cylindrical shell from the inside, and a supporting positioning assembly installed on the horizontal part of the sliding seat, supporting the cylindrical shell from the bottom, cooperating with the supporting positioning assembly to coaxially sleeve the cylindrical shell on the outer periphery of the fixed cylinder, and driving the cylindrical shell to rotate during the welding process. The application can complete butt welding of double cylindrical shells and butt welding of a cylindrical shell and a hemispherical shell; the application can be applied to hemispherical shells with different curvatures, and has high welding uniformity, high welding precision and strong applicability.

Description

Technical Field

[0001] This invention belongs to the field of welding tooling technology, and particularly relates to a welding positioning device and method for cylindrical shells and hemispherical shells or cylindrical shells. Background Technology

[0002] In the manufacturing processes of pressure vessels, pipeline engineering, and aerospace structural components, it is frequently necessary to butt weld cylindrical shells together or cylindrical shells to hemispherical shells. Currently, the positioning fixtures for these two butt welding methods are usually designed and used independently. That is, a single fixture can only be used for butt welding of two cylindrical shells, or only for butt welding of a cylindrical shell to a hemispherical shell, and cannot switch between the two butt welding methods on the same fixture. When production tasks require alternating between the two butt welding operations, operators must change different fixtures, which not only increases the cost of purchasing and storing fixtures but also significantly reduces the continuity of welding operations and production efficiency.

[0003] Furthermore, in the welding of cylindrical and hemispherical shells, the curvature of the hemispherical shell changes continuously, and its surface is a non-developable surface. Traditional fixed positioning blocks or rigid adjustable push rods need to be adjusted individually for each type of shell curvature, which is not only time-consuming but also makes it difficult to achieve uniform fit in the welding area. In actual operation, improper curvature matching often leads to local suspension or overpressure, resulting in excessive misalignment of the weld joint and uneven bevel gap, directly affecting the welding quality. Summary of the Invention

[0004] Purpose of the invention: The first purpose of this invention is to provide a welding positioning device that can realize welding operations with two docking methods and weld uniformly a cylindrical shell and a hemispherical shell or a cylindrical shell.

[0005] A second objective of this invention is to provide a method for welding a cylindrical shell and a hemispherical shell.

[0006] A third objective of this invention is to provide a method for welding cylindrical shells together.

[0007] Technical Solution: This invention discloses a welding positioning device for a cylindrical shell and a hemispherical shell or a cylindrical shell, comprising a welding platform, a welding frame fixedly installed on the welding platform, a welding device installed on the welding frame and capable of moving up and down for welding, two L-shaped slides symmetrically arranged on both sides of the welding frame and capable of moving in the left and right directions, a fixed cylinder that penetrates vertically through the slides in the left and right directions and is fixedly connected to the slides, a support positioning component installed on the vertical part of the slides and supporting the cylindrical shell from the inside, a support positioning component installed on the horizontal part of the slides and supporting the cylindrical shell from the bottom, cooperating with the support positioning component to make the cylindrical shell coaxially sleeved on the outer circumference of the fixed cylinder, and driving the cylindrical shell to rotate during the welding process, and a support component installed on one end of the two fixed cylinders facing the welding frame, capable of moving in the left and right directions, for doubly supporting the hemispherical shell from the inside and outside and driving the hemispherical shell to rotate synchronously with the cylindrical shell during the welding process.

[0008] Furthermore, the support positioning assembly includes a first movable rod that slides along the central axis of the fixed cylinder, a first power component installed inside the fixed cylinder for driving the first movable rod to slide, a movable plate located outside the slide block and fixedly connected to one end of the first movable rod extending to the outside of the fixed cylinder, a plurality of sliding blocks arranged in a circular array around the fixed cylinder and slidably mounted on the slide block, a first roller shaft arranged parallel to the fixed cylinder, rotatably mounted on the sliding block and in contact with the inner wall of the cylindrical shell, a second roller shaft arranged perpendicular to the first roller shaft, rotatably mounted on the sliding block and in contact with the end of the cylindrical shell, and a linkage rod hinged between the movable plate and the sliding block, wherein the second roller shaft is located between the slide block and the first roller shaft.

[0009] Furthermore, the first power component includes a first drive motor fixedly installed inside the fixed cylinder, and a first threaded rod fixedly connected to the output shaft of the first drive motor; the first moving rod has an internal thread matching the first threaded rod, and the first moving rod has a first straight groove, and the inner wall of the fixed cylinder is provided with a guide plate that slides along the first straight groove.

[0010] Furthermore, the support and positioning components are provided in two sets, and the two sets of support and positioning components are symmetrically arranged on both sides of the fixed cylinder; the support and positioning components include a first lifting frame fixedly installed on the transverse part of the slide, a first motor fixedly installed on the lifting part of the first lifting frame, and a third roller shaft fixedly connected to the output shaft of the first motor and used to support and drive the cylindrical shell to rotate.

[0011] Furthermore, the support assembly includes a second movable rod that slides along the central axis of the fixed cylinder, a second power component installed inside the fixed cylinder for driving the second movable rod to slide, a second motor located inside the slide block and fixedly connected to one end of the second movable rod extending to the outside of the fixed cylinder, an inner support component disposed on one side of one of the fixed cylinders, connected to the second motor of that fixed cylinder and supporting it from inside the hemispherical shell, and an outer support component disposed on one side of the other fixed cylinder, connected to the second motor of that fixed cylinder and supporting it from outside the hemispherical shell.

[0012] Furthermore, the inner support member includes a first fixed rod fixedly connected to the output shaft of the second motor, an inner support contact rod slidably connected to the connecting groove at the end of the first fixed rod and used to abut against the inner wall of the hemispherical shell, a first spring fixedly connected at both ends to the inner wall of the connecting groove and the inner support contact rod respectively, a first guide slider sliding along the first guide through groove on the first fixed rod and fixedly connected to the inner support contact rod, a plurality of abutment blocks arranged in a ring array on the outer periphery of the first fixed rod and in contact with the inside of the hemispherical shell, a first connecting rod hinged at both ends to the abutment blocks and the first fixed rod respectively, and a second connecting rod hinged at both ends to the abutment blocks and the first guide slider respectively.

[0013] Furthermore, the outer support includes a second fixed rod fixedly connected to the output shaft of the second motor, an outer support contact rod slidably connected to the connecting groove at the end of the second fixed rod and used to abut against the outer wall of the hemispherical shell, a second spring with its two ends fixedly connected to the inner wall of the connecting groove and the outer support contact rod respectively, a second guide slider sliding along the second guide through groove on the second fixed rod and fixedly connected to the outer support contact rod, a plurality of arc-shaped abutment rods distributed in a ring array on the outer periphery of the second fixed rod, one end of which is hinged to the second fixed rod and used to clamp the hemispherical shell from the outside, and a third connecting rod hinged between the abutment rod and the second guide slider.

[0014] Furthermore, it also includes a drive assembly for moving the two slides. The drive assembly includes a third motor fixedly mounted on the welding platform, a bidirectional threaded rod fixedly connected to the output shaft of the third motor, and a guide rod fixedly mounted on the welding platform and parallel to the bidirectional threaded rod. The slides are provided with threaded through slots and are threadedly connected to the bidirectional threaded rod. The threaded connection directions of the two slides to the bidirectional threaded rod are opposite. Both slides are provided with guide through holes and slide along the guide rod. The welding frame is provided with through holes for the bidirectional threaded rod and the guide rod to pass through.

[0015] Based on the same inventive concept, this invention also discloses a method for welding cylindrical shells together, comprising the following steps:

[0016] S1: Hoist one of the cylindrical shells onto the outer periphery of the first roller shaft of the support positioning assembly on one side, and make one end of the cylindrical shell contact the second roller shaft;

[0017] S2: Adjust the first power component of the side support positioning component to make multiple first rollers move outward synchronously, and adjust the hoisting equipment until multiple first rollers abut against the inner wall of the cylindrical shell and support the cylindrical shell, so as to achieve the initial positioning of the cylindrical shell and disconnect the connection between the cylindrical shell and the hoisting equipment.

[0018] S3: Synchronously adjust the first lifting frame of the two sets of support and positioning components on this side, so that the two third roller shafts move upward until the two third roller shafts are locked and support the cylindrical shell;

[0019] S4: Simultaneously start the first motors of the two sets of support and positioning components on this side, so that the first motors drive the cylindrical shell to rotate through the third roller shaft; determine whether the cylindrical shell maintains uniform rotation. If the cylindrical shell maintains uniform rotation, it indicates that the tangential force of the multiple second roller shafts acting on the end of the cylindrical shell is evenly distributed, the friction force of the multiple first roller shafts acting on the inner wall of the cylindrical shell is evenly distributed, the cylindrical shell is coaxial with the fixed cylinder, and the secondary positioning of the cylindrical shell is achieved, proceed to the next step; if the cylindrical shell cannot maintain uniform rotation, it indicates that the cylindrical shell is subjected to uneven force, the cylindrical shell is not coaxial with the fixed cylinder, stop the two first motors, and return to step S3 to adjust the height of the cylindrical shell through the first lifting frame;

[0020] S5: Repeat steps S1 to S4 to install another cylindrical shell onto the support positioning assembly and the supporting positioning assembly on the other side;

[0021] S6: Adjust the third motor to make the two slides move towards each other with the two cylindrical shells until the distance between the two cylindrical shells is the preset welding gap. Then, start the four first motors simultaneously to make the two cylindrical shells rotate synchronously, start the welding equipment, and make the welding equipment weld the two cylindrical shells.

[0022] S7: After welding is completed, stop the first motor and welding equipment, connect the two welded cylindrical shells to the hoisting equipment, start the third motor to move the two slides in opposite directions until the distance between the two slides is sufficient for the hoisting equipment to lift the two cylindrical shells away.

[0023] Based on the same inventive concept, this invention also discloses a method for welding a cylindrical shell and a hemispherical shell, comprising the following steps:

[0024] S1: The cylindrical shell is hoisted onto the outer periphery of the first roller shaft of the support and positioning assembly with the inner support member installed, and one end of the cylindrical shell is brought into contact with the second roller shaft.

[0025] S2: Adjust the first power component of the support and positioning assembly to make multiple first rollers move outward synchronously, and coordinate with the adjustment of the hoisting equipment until multiple first rollers abut against the inner wall of the cylindrical shell and support the cylindrical shell, thereby achieving the initial positioning of the cylindrical shell and releasing the connection between the cylindrical shell and the hoisting equipment;

[0026] S3: Synchronously adjust the first lifting frame of the two sets of supporting positioning components on both sides of the supporting positioning component, so that the two third roller shafts move upward until the two third roller shafts are locked and support the cylindrical shell;

[0027] S4: Synchronously adjust the first motors of the two sets of supporting and positioning components, so that the first motor drives the cylindrical shell to rotate through the third roller shaft; determine whether the cylindrical shell maintains uniform rotation. If the cylindrical shell maintains uniform rotation, it indicates that the tangential force acting on the end of the cylindrical shell by the multiple second roller shafts is evenly distributed, the friction force acting on the inner wall of the cylindrical shell by the multiple first roller shafts is evenly distributed, the cylindrical shell is coaxial with the fixed cylinder, and the secondary positioning of the cylindrical shell is achieved, proceed to the next step; if the cylindrical shell cannot maintain uniform rotation, it indicates that the cylindrical shell is subjected to uneven force, the cylindrical shell is not coaxial with the fixed cylinder, stop the two first motors, and return to step S3 to adjust the height of the cylindrical shell through the first lifting frame;

[0028] S5: Hoist the hemispherical shell between the inner and outer supports, align the annular weld between the hemispherical shell and the cylindrical shell, drive the second power component connected to the inner support, so that the second moving rod moves the inner support towards the hemispherical shell. The inner support contact rod contacts the inner wall of the hemispherical shell and is subjected to force, causing multiple abutment blocks to move outward synchronously, so that multiple abutment blocks abut against the inner wall of the hemispherical shell and support the hemispherical shell. The second moving rod continues to move the inner support towards the outer support, and the outer support contact rod contacts the outer wall of the hemispherical shell and is subjected to force, so that multiple abutment rods abut against the outer wall of the hemispherical shell and clamp the hemispherical shell. Stop the second power component and disconnect the connection between the hemispherical shell and the hoisting equipment.

[0029] S6: Adjust the third motor to make the two slides move towards each other until the distance between the cylindrical shell and the welding equipment is the preset distance. Then, start the two sets of second power components simultaneously, so that the two second moving rods, inner support and outer support carry the hemispherical shell and move towards the cylindrical shell simultaneously until the distance between the hemispherical shell and the cylindrical shell is the preset welding gap.

[0030] S7: Simultaneously start the two second motors and the two first motors located on the same side as the inner support, so that the hemispherical shell and the cylindrical shell rotate synchronously, start the welding equipment, and let the welding equipment weld the hemispherical shell and the cylindrical shell.

[0031] S8: After welding is completed, stop the second motor, the first motor and the welding equipment. Connect the welded hemispherical shell and cylindrical shell to the hoisting equipment. Adjust the two sets of second power components to separate the inner and outer support components from the hemispherical shell. Start the third motor to move the two slides in opposite directions until the distance between the two slides is sufficient for the hoisting equipment to lift the hemispherical shell and cylindrical shell away.

[0032] Beneficial Effects: Compared with the prior art, the present invention has the following significant advantages: The support positioning component, the bearing positioning component, and the support component of the present invention not only do not interfere with each other, but their fixing devices also cooperate with each other. On the one hand, the present invention can simultaneously support cylindrical shells and hemispherical shells; on the other hand, it can meet the needs of actual welding operations. That is, the present invention can complete both butt welding of double cylindrical shells and butt welding of cylindrical shells and hemispherical shells. The inner and outer support components of the present invention can be applied to hemispherical shells with different curvatures, solving the problem of difficult positioning of hemispherical shells with varying curvatures in the prior art. This is beneficial to improving welding uniformity and welding accuracy, and the overall applicability is strong. Attached Figure Description

[0033] Figure 1 This is a schematic diagram of the structure of the present invention;

[0034] Figure 2 For the present invention Figure 1 Enlarged view of the A-structure in the middle;

[0035] Figure 3 This is another structural schematic diagram of the present invention;

[0036] Figure 4 For the present invention Figure 3 Enlarged view of the B-structure;

[0037] Figure 5 This is a top view of the present invention;

[0038] Figure 6 For the present invention Figure 5 Sectional view at CC;

[0039] Figure 7 This is a structural schematic diagram of the support and positioning component and the inner support member of the present invention;

[0040] Figure 8 This is a schematic diagram of the structure of the first movable rod and the movable plate of the present invention;

[0041] Figure 9 This is a schematic diagram of the structure of the first and second moving rods of the present invention;

[0042] Figure 10 This is a schematic diagram of the internal support member of the present invention;

[0043] Figure 11 This is a schematic diagram of the structure of the first fixing rod of the present invention;

[0044] Figure 12 This is a schematic diagram of the structure of the external support member of the present invention. Detailed Implementation

[0045] The technical solution of the present invention will be further described below with reference to the accompanying drawings.

[0046] Example 1

[0047] This invention discloses a welding positioning device for a cylindrical shell and a hemispherical shell or a cylindrical shell, such as... Figure 1 , Figure 3 , Figure 5 and Figure 6 As shown, the assembly includes a welding platform 1, a welding frame 2, a welding device 3, a slide 4, a fixed cylinder 5, a support and positioning assembly, a bearing and positioning assembly, a support assembly, and a drive assembly. The welding frame 2 is fixedly mounted on the welding platform 1. The welding device 3 is mounted on the welding frame 2. The welding device 3 is used for welding and can move up and down to accommodate cylindrical shells or hemispherical shells of different diameters. The welding device 3 is selected from mature welding equipment in the prior art; preferably, such as... Figure 1 As shown, a second lifting frame 10 is installed on the welding frame 2, and the welding equipment 3 is installed on the lifting part of the second lifting frame 10. The second lifting frame 10 uses existing mature lifting equipment. The slide 4 is L-shaped, and two slides 4 are provided. The two slides 4 are symmetrically arranged on both sides of the welding frame 2. The drive assembly is installed on the welding platform 1, and the drive assembly drives the two slides 4 to move in the left and right direction on the welding platform 1. The fixed cylinder 5 penetrates the vertical part of the slide 4 vertically in the left and right direction, and the fixed cylinder 5 is fixedly connected to the slide 4. The support positioning assembly is installed on the vertical part of the slide 4, and the support positioning assembly supports it from inside the cylindrical shell; the support positioning assembly is installed on the horizontal part of the slide 4, and the support positioning assembly supports it from the bottom of the cylindrical shell. The support positioning assembly and the support positioning assembly cooperate to make the cylindrical shell coaxially sleeved on the outer circumference of the fixed cylinder 5, and the support positioning assembly drives the cylindrical shell to rotate during the welding process, cooperating with the welding equipment 3 to realize circumferential welding. The support assembly is installed on one end of the two fixed cylinders 5 facing the welding frame 2. The support assembly is used to provide double support for the hemispherical shell from the inside and outside and to drive the hemispherical shell to rotate synchronously with the cylindrical shell during the welding process. The support assembly can also drive the hemispherical shell to move in the left and right directions.

[0048] like Figure 1 , Figure 3 , Figures 5 to 9As shown, the support and positioning assembly includes a first moving rod 61, a first power component, a moving plate 62, a sliding block 63, a first roller shaft 64, a second roller shaft 65, and a linkage rod 66. The first moving rod 61 is installed inside the solid sleeve 5 and slides along the central axis of the fixed cylinder 5; the first power component is installed inside the fixed cylinder 5 and is used to drive the first moving rod 61 to slide. The moving plate 62 is located outside the slide block 4, and one end of the first moving rod 61 extending outside the fixed cylinder 5 is fixedly connected to the moving plate 62. Multiple sliding blocks 63 are provided, and the multiple sliding blocks 63 are arranged in a circular array around the fixed cylinder 5. The slide block 4 has a groove that matches the sliding block 63, and the sliding block 63 is slidably installed on the slide block 4 through the groove. The first roller shaft 64 is arranged parallel to the fixed cylinder 5 and is rotatably installed on the sliding block 63. In use, the multiple first roller shafts 64 abut against the inner wall of the cylindrical shell, thereby supporting it from the inside of the cylindrical shell. The second roller shaft 65 is located between the slide block 4 and the first roller shaft 64. The second roller shaft 65 is perpendicular to the first roller shaft 64 and is rotatably mounted on the sliding block 63. During use, the end of the cylindrical shell contacts the second roller shaft 65. The linkage rod 66 is hinged between the moving plate 62 and the sliding block 63.

[0049] like Figure 7 and Figure 9 As shown, the first power component includes a first drive motor 67, a first threaded rod 68, and a first linear groove 69. The first drive motor 67 is fixedly installed inside the fixed cylinder 5. The first threaded rod 68 is located inside the fixed cylinder 5 and is fixedly connected to the output shaft of the first drive motor 67. The first moving rod 61 has an internal thread that matches the first threaded rod 68. The first threaded rod 68 is threadedly connected to the first moving rod 61 through the internal thread, and the first moving rod 61 has a first linear groove 69. The inner wall of the fixed cylinder 5 is provided with a guide plate (not shown in the figure) that slides along the first linear groove 69. In use, the first drive motor 67 drives the first threaded rod 68 to rotate, causing the first moving rod 61 to move along the guide plate.

[0050] like Figure 1 and Figure 3 As shown, two sets of support and positioning components are provided, and the two sets of support and positioning components are symmetrically arranged on both sides of the fixed cylinder 5. The support and positioning components include a first lifting frame 71, a first motor 72, and a third roller shaft 73. The first lifting frame 71 is fixedly installed on the transverse part of the slide block 4, and the first lifting frame 71 uses existing mature lifting equipment. The first motor 72 is fixedly installed on the lifting part of the first lifting frame 71, and the third roller shaft 73 is rotatably installed on the lifting part of the first lifting frame 71. The output shaft of the first motor 72 is fixedly connected to the central shaft of the third roller shaft 73. The third roller shaft 73 is used to support and drive the cylindrical shell to rotate.

[0051] During the installation of the cylindrical shell, the cylindrical shell is hoisted onto the outer periphery of multiple first rollers 64 using hoisting equipment, and one end of the cylindrical shell is brought into contact with the second roller 65. The first power component is adjusted to move the first moving rod 61 towards the moving plate 62. During the movement of the moving plate 62 and the first moving rod 61, the moving plate 62 drives multiple sliding blocks 63 to move outward synchronously via the linkage rod 66, causing the multiple first rollers 64 to move outward synchronously. The hoisting equipment is adjusted in coordination with the outward movement of the first rollers 64 until all the first rollers 64 are in contact with and support the inner wall of the cylindrical shell. Since the multiple first rollers 64 are arranged in a circular array on the outer periphery of the fixed cylinder 5, when all the first rollers 64 are in contact with the inner wall of the cylindrical shell, it indicates that the cylindrical shell and the fixed cylinder 5 are coaxially aligned, achieving initial positioning of the cylindrical shell, and the connection between the hoisting equipment and the cylindrical shell is released. Adjust the support and positioning component to support the bottom of the cylindrical shell, and then adjust the support and positioning component again to drive the cylindrical shell to rotate. During the rotation of the cylindrical shell, its end is subjected to tangential force from multiple second roller shafts 65 and frictional force from multiple first roller shafts 64. When the cylindrical shell is coaxially sleeved on the outer circumference of the fixed cylinder 5, the tangential force and frictional force on the end of the cylindrical shell are evenly distributed, and the cylindrical shell can maintain a uniform rotation speed. When the cylindrical shell cannot maintain a uniform rotation speed, it indicates that the cylindrical shell is subjected to uneven force, and there is a situation where the first roller shaft 64 does not contact the inner wall of the cylindrical shell. At this time, it is necessary to adjust the support and positioning component together until the cylindrical shell is coaxially sleeved with the fixed cylinder 5.

[0052] However, in practical applications, during the initial positioning process, due to operator experience or other reasons, the cylindrical shell may not be coaxially fitted onto the outer circumference of the fixed cylinder. There may be instances where the first roller 64 does not contact the inner wall of the cylindrical shell. Therefore, a support and positioning assembly is needed to further adjust the position of the cylindrical shell to ensure that the cylindrical shell and the fixed cylinder are coaxially positioned. During the initial positioning process, due to the weight of the cylindrical shell itself, the uppermost first roller 64 will inevitably be in close contact with the inner wall of the cylindrical shell. The first roller 64 that is not in contact with the inner wall of the cylindrical shell must be the lowermost first roller 64 (there is a gap between the lowermost first roller 64 and the inner wall of the cylindrical shell). Furthermore, before the initial positioning of the cylindrical shell is achieved and the hoisting equipment is released, the first rollers 64 on both sides will also contact the inner wall of the cylindrical shell to support it. This indicates that the diameter of the center of the circle formed by the distribution of multiple first rollers 64 is smaller than the inner diameter of the cylindrical shell, and the center of the fixed sleeve 5 is located directly above the center of the cylindrical shell. At this time, the two sets of first lifting frames 71 are simultaneously controlled, so that the third roller shaft 73 drives the cylindrical shell to move upward. The first power component is controlled again, so that multiple first roller shafts 64 move outward synchronously again and support the inner wall of the cylindrical shell. The two first motors 72 are started again, and it is observed whether the cylindrical shell maintains a uniform speed rotation. If the cylindrical shell still cannot rotate at a uniform speed, the two sets of first lifting frames 71 and first power components are repeated until the cylindrical shell maintains a uniform speed rotation.

[0053] Preferably, two servo motors are installed on the sliding block 63, and the output shafts of the two servo motors are fixedly connected to the central shafts of the first roller shaft 64 and the second roller shaft 65, respectively. In use, before starting the first motor 72, the servo motors on the sliding block 63 can be started synchronously. The servo motors drive the cylindrical shell to rotate, and it is observed whether the cylindrical shell maintains a uniform rotation speed. That is, before starting the first motor 17, a preliminary detection of the position of the cylindrical shell is added, which helps to improve the accuracy of the final coaxial setting of the cylindrical shell and the fixed cylinder 5.

[0054] like Figures 1 to 6 As shown, the support assembly includes a second moving rod 81, a second power component, a second motor 82, an inner support component, and an outer support component. The second moving rod 81 is installed inside the fixed cylinder 5 and slides along the central axis of the fixed cylinder 5. The second power component is installed inside the fixed cylinder 5 and is used to drive the second moving rod 81 to slide. Figure 5 , Figure 6 and Figure 9 As shown, the second moving rod 81 is located inside the slide block 4, and the first moving rod 61 is located outside the slide block 4. The second moving rod 81 and the first moving rod 61 do not interfere with each other, and the first power component and the second power component do not interfere with each other. The second motor 82 is located inside the slide block 4, and the second motor 82 is fixedly connected to one end of the second moving rod 81 extending to the outside of the fixed cylinder 5. An inner support component is provided on one side of one of the fixed cylinders 5, and the inner support component is connected to the second motor 82 of that fixed cylinder 5, and the inner support component supports it from inside the hemispherical shell. An outer support component is provided on one side of the other fixed cylinder 5, and the outer support component is connected to the second motor 82 of that fixed cylinder 5, and the outer support component supports it from outside the hemispherical shell.

[0055] like Figure 9 As shown, the second power component includes a second drive motor 815, a second threaded rod 816, and a second straight groove 817. The second drive motor 815 is fixedly installed inside the fixed cylinder 5. The second threaded rod 816 is located inside the fixed cylinder 5 and is fixedly connected to the output shaft of the second drive motor 815. The second moving rod 81 has an internal thread that matches the second threaded rod 816. The second threaded rod 816 is threadedly connected to the second moving rod 81 through the internal thread, and the second moving rod 81 has a second straight groove 817. The inner wall of the fixed cylinder 5 is provided with a guide plate (not shown in the figure) that slides along the second straight groove 817. In use, the second drive motor 815 drives the second threaded rod 816 to rotate, causing the second moving rod 81 to move along the guide plate.

[0056] like Figure 10 and Figure 11As shown, the inner support component includes a first fixed rod 83, an inner support contact rod 84, a first spring 85, a first guide slider 86, an abutment block 87, a first connecting rod 88, and a second connecting rod 89. The first fixed rod 83 is fixedly connected to the output shaft of the second motor 82. A connecting groove is provided at the end of the first fixed rod 83 away from the second motor 82. The inner support contact rod 84 is slidably connected to the first fixed rod 83 through the connecting groove and is used to abut against the inner wall of the hemispherical shell. The first spring 85 is located in the connecting groove, and both ends of the first spring 85 are fixedly connected to the inner wall of the connecting groove and the inner support contact rod 84, respectively. A first guide groove 818 communicating with the connecting groove is provided on the first fixed rod 83. The first guide slider 86 slides along the first guide groove 818 and is fixedly connected to the inner support contact rod 84. Multiple contact blocks 87 are provided, and the multiple contact blocks 87 are arranged in a circular array around the outer periphery of the first fixed rod 83. The contact blocks 87 are in contact with the inside of the hemispherical shell. The number of first guide sliders 86, first connecting rods 88, and second connecting rods 89 are the same as the number of contact blocks 87. The two ends of the first connecting rods 88 are hinged to the contact blocks 87 and the first fixed rod 83, respectively. The two ends of the second connecting rods 89 are hinged to the contact blocks 87 and the first guide sliders 86, respectively. In use, the inner support contact rod 84 first contacts the inner wall of the hemispherical shell, and the inner support contact rod 84 is pressed against the first spring 85, and moves the first guide slider 86 towards the second motor 82, so that the multiple contact blocks 87 move outward synchronously. When the contact blocks 87 abut against the inner wall of the hemispherical shell, the first guide slider 86 moves to the limit position, and the multiple contact blocks 87 support and fix the hemispherical shell from the inside. The inner support component of the present invention, through the cooperation of a first fixing rod 83, an inner support contact rod 84, a first spring 85, a first guide slider 86, an abutment block 87, a first connecting rod 88, and a second connecting rod 89, can be used for hemispherical shells with different curvatures.

[0057] like Figure 4 and Figure 12As shown, the outer support includes a second fixed rod 810, an outer support contact rod 811, a second spring, a second guide slider 812, an abutment rod 813, and a third connecting rod 814. The second fixed rod 810 is fixedly connected to the output shaft of the second motor 82. A connecting groove is provided at the end of the second fixed rod 810 away from the second motor 82. The outer support contact rod 811 is slidably connected to the second fixed rod 810 through the connecting groove and is used to abut against the outer wall of the hemispherical shell. The second spring is located in the connecting groove, and both ends of the second spring are fixedly connected to the inner wall of the connecting groove and the outer support contact rod 811, respectively. A second guide groove 819 communicating with the connecting groove is provided on the second fixed rod 810. The second guide slider 812 slides along the second guide groove 819 and is fixedly connected to the outer support contact rod 811. Multiple abutment rods 813 are provided, arranged in a circular array around the outer periphery of the second fixed rod 810. Each abutment rod 813 is arc-shaped, with one end hinged to the second fixed rod 810 and the other end used to clamp the hemispherical shell from the outside. The number of second guide sliders 812 and third connecting rods 814 are the same as the number of abutment blocks 87. The third connecting rods 814 are hinged between the abutment rods 813 and the second guide sliders 812. In use, the outer support contact rod 811 first abuts against the outer wall of the hemispherical shell. The outer support contact rod 811 compresses the second spring and drives the second guide slider 812 to move towards the second motor 82, causing the multiple abutment rods 813 to simultaneously retract inward and clamp the fixed hemispherical shell. The outer support component of this invention, through the cooperation of the second fixed rod 810, the outer support contact rod 811, the second spring, the second guide slider 812, the abutment rods 813, and the third connecting rods 814, can be used for hemispherical shells with different curvatures.

[0058] During the installation of the hemispherical shell, a hoisting device is used to hoist the hemispherical shell between the inner and outer supports, aligning the annular weld between the hemispherical shell and the cylindrical shell. The second power component connected to the inner support is then driven, causing the second moving rod 81 to move the inner support towards the outer support. The inner support contact rod 84 is at the foremost position and first contacts the inner wall of the hemispherical shell. The contact force between the inner support contact rod 84 and the inner wall of the hemispherical shell causes multiple abutment blocks 87 to move outward synchronously, so that all multiple abutment blocks 87 abut against and support the inner wall of the hemispherical shell. The second moving rod 81 continues to move the inner support towards the outer support. The outer support contact rod 811 first contacts the outer wall of the hemispherical shell. The force on the outer support contact rod 811 causes multiple abutment rods 813 to retract inward synchronously until the multiple abutment rods 813 clamp and fix the hemispherical shell, at which point the second power component is shut off.

[0059] This invention can simultaneously fix a cylindrical shell and a hemispherical shell onto the welding device of this application. The fixing devices for the two shells (support positioning component, bearing positioning component, and support component) not only do not interfere with each other, but also cooperate with each other to meet the needs of actual welding operations. Furthermore, this invention can complete both butt welding of double cylindrical shells and butt welding of a cylindrical shell and a hemispherical shell, while solving the problem of difficult positioning of hemispherical shells with varying curvature in the prior art. This is beneficial to improving welding uniformity and welding accuracy, and the invention has strong overall applicability.

[0060] The drive assembly includes a third motor 9, a bidirectional threaded rod 91, and a guide rod 92. The third motor 9 is fixedly mounted on the welding platform 1. The bidirectional threaded rod 91 is rotatably mounted on the welding platform 1, and the output shaft of the third motor 9 is fixedly connected to the central shaft of the bidirectional threaded rod 91. Slides 4 have threaded slots and are threadedly connected to the bidirectional threaded rod 91, with the threaded connections of the two slides 4 to the bidirectional threaded rod 91 in opposite directions; that is, the threaded directions of the threaded slots of the two slides 4 are opposite. The guide rod 92 is fixedly mounted on the welding platform 1 and parallel to the bidirectional threaded rod 91. Both slides 4 have guide holes, and the slides slide along the guide rod 92 through these guide holes. The welding frame 2 has through holes through which the bidirectional threaded rod 91 and the guide rod 92 pass. When the third motor 9 starts in the forward direction, the two slides 4 move towards each other; when the third motor 9 starts in the reverse direction, the two slides 4 move away from each other.

[0061] When welding two cylindrical shells, first start the third motor 9 in reverse to move the two slide blocks 4 in opposite directions until the distance between the two slide blocks 4 is sufficient for hoisting the cylindrical shells. Use hoisting equipment to coaxially mount the two cylindrical shells onto the outer circumference of the fixed cylinders 5 on the left and right sides. Start the third motor 9 in the forward direction to move the two slide blocks 4 towards each other until the distance between the two cylindrical shells is the preset welding gap. Simultaneously start the four first motors 72 to rotate the two cylindrical shells synchronously, and start the welding equipment 3 to weld the two cylindrical shells. After welding is completed, stop the first motors 72 and the welding equipment 3, connect the two welded cylindrical shells to the hoisting equipment, start the third motor 9 to move the two slide blocks 4 in opposite directions until the distance between the two slide blocks 4 is sufficient for the hoisting equipment to lift the two cylindrical shells away.

[0062] When welding the cylindrical shell and the hemispherical shell, the third motor 9 can be started in reverse to move the two slides 4 in opposite directions until the distance between the two slides 4 is convenient for hoisting the cylindrical shell and the hemispherical shell; the cylindrical shell is coaxially fitted onto the outer circumference of the fixed cylinder 5 equipped with the inner support member using hoisting equipment; the hemispherical shell is hoisted between the inner support member and the outer support member using hoisting equipment, and the annular weld between the hemispherical shell and the cylindrical shell is aligned; the support assembly is adjusted so that the inner support member supports the hemispherical shell from the inside and the outer support member supports the hemispherical shell from the outside; the third motor 9 is adjusted so that the two slides... 4. Move towards each other until the distance between the cylindrical shell and the welding equipment 3 is the preset distance. Then, simultaneously start the two sets of second power components, so that the two second moving rods 81, the inner support and the outer support, along with the hemispherical shell, move towards the cylindrical shell until the distance between the hemispherical shell and the cylindrical shell is the preset welding gap. Simultaneously start the two second motors 82 and the two first motors 72 located on the same side as the inner support, so that the hemispherical shell and the cylindrical shell rotate synchronously. Start the welding equipment 3 to weld the hemispherical shell and the cylindrical shell. After welding is completed, stop the second motors 82, the first motors 72 and the welding equipment 3. Connect the welded hemispherical shell and the cylindrical shell to the hoisting equipment. Adjust the two sets of second power components to separate the inner and outer support from the hemispherical shell. Start the third motor 9 to move the two sliding blocks 4 in opposite directions until the distance between the two sliding blocks 4 is sufficient for the hoisting equipment to lift the hemispherical shell and the cylindrical shell away.

[0063] Example 2

[0064] This invention discloses a method for welding cylindrical shells together, comprising the following steps:

[0065] S1: One of the cylindrical shells is suspended on the outer periphery of the first roller 64 of the support positioning assembly on one side, and one end of the cylindrical shell is brought into contact with the second roller 65.

[0066] Before hoisting the cylindrical shell, the third motor 9 can be started in reverse to make the two slide blocks 4 move in opposite directions until the distance between the two slide blocks 4 is convenient for hoisting the cylindrical shell.

[0067] S2: Adjust the first power component of the side support positioning component to make multiple first roller shafts 64 move outward synchronously, and coordinate with the adjustment of the hoisting equipment until multiple first roller shafts 64 all abut against the inner wall of the cylindrical shell and support the cylindrical shell, thereby achieving the initial positioning of the cylindrical shell and releasing the connection between the cylindrical shell and the hoisting equipment.

[0068] The method of controlling the first power component is as follows: start the first drive motor 67, so that the first drive motor 67 drives the first moving rod 61 to move towards the moving plate 62. During the movement of the moving plate 62 and the first moving rod 61, the moving plate 62 drives multiple sliding blocks 63 to move outward synchronously through the linkage rod 66, so that multiple first roller shafts 64 move outward synchronously.

[0069] Since multiple first rollers 64 are arranged in a ring array on the outer periphery of the fixed cylinder 5, when multiple first rollers 64 are in contact with the inner wall of the cylindrical shell, it indicates that the cylindrical shell and the fixed cylinder 5 are coaxially arranged, thus achieving the initial positioning of the cylindrical shell.

[0070] S3: Synchronously adjust the first lifting frame 71 of the two sets of supporting and positioning components on this side, so that the two third roller shafts 73 move upward until the two third roller shafts 73 are locked and support the cylindrical shell.

[0071] S4: Simultaneously start the first motor 72 of the two sets of supporting and positioning components on this side, so that the first motor 72 drives the cylindrical shell to rotate through the third roller shaft 73; determine whether the cylindrical shell maintains uniform rotation. If the cylindrical shell maintains uniform rotation, it indicates that the tangential force of the multiple second roller shafts 65 acting on the end of the cylindrical shell is evenly distributed, the friction force of the multiple first roller shafts 64 acting on the inner wall of the cylindrical shell is evenly distributed, the cylindrical shell is coaxial with the fixed cylinder 5, and the secondary positioning of the cylindrical shell is achieved, and proceed to the next step; if the cylindrical shell cannot maintain uniform rotation, it indicates that the cylindrical shell is subjected to uneven force, the cylindrical shell is not coaxial with the fixed cylinder 5, stop the two first motors 72, and return to step S3 to adjust the height of the cylindrical shell through the first lifting frame 71.

[0072] In practical applications, during the initial positioning process in step S2, due to operator experience or other reasons, the cylindrical shell may not be coaxially fitted onto the outer circumference of the fixed cylinder. There may be instances where the first roller 64 does not contact the inner wall of the cylindrical shell. Therefore, it is necessary to return to step S3 and adjust the height of the cylindrical shell using the first lifting frame 71 to ensure that the cylindrical shell and the fixed cylinder are coaxially positioned. During the initial positioning process, due to the weight of the cylindrical shell itself, the uppermost first roller 64 will inevitably be in close contact with the inner wall of the cylindrical shell. The first roller 64 that is not in contact with the inner wall of the cylindrical shell must be the lowermost first roller 64 (there is a gap between the lowermost first roller 64 and the inner wall of the cylindrical shell). Furthermore, before the initial positioning of the cylindrical shell is achieved and the lifting equipment is released, the first rollers 64 on both sides will also contact the inner wall of the cylindrical shell to support it. This indicates that the diameter of the center of the circle formed by the distribution of multiple first rollers 64 is smaller than the inner diameter of the cylindrical shell, and the center of the fixed sleeve 5 is located directly above the center of the cylindrical shell. At this point, return to step S3 and synchronously adjust the two sets of first lifting frames 71 to make the third roller shaft 73 drive the cylindrical shell to move upward. Adjust the first power component again so that multiple first roller shafts 64 move outward synchronously again and support themselves on the inner wall of the cylindrical shell. Start the two first motors 72 again and observe whether the cylindrical shell maintains a uniform rotation speed. If the cylindrical shell still cannot rotate at a uniform speed, return to step S3 again and adjust the height of the cylindrical shell through the first lifting frame 71 until the cylindrical shell maintains a uniform rotation speed.

[0073] S5: Repeat steps S1 to S4 to install another cylindrical shell onto the support positioning assembly and the supporting positioning assembly on the other side.

[0074] S6: Adjust the third motor 9 to make the two slide blocks 4 move towards each other with the two cylindrical shells until the distance between the two cylindrical shells is the preset welding gap. Then, start the four first motors 72 simultaneously to make the two cylindrical shells rotate synchronously and start the welding equipment 3 to weld the two cylindrical shells.

[0075] S7: After welding is completed, stop the first motor 72 and welding equipment 3, connect the two welded cylindrical shells to the hoisting equipment, start the third motor 9 to make the two slides 4 move in opposite directions until the distance between the two slides 4 is sufficient for the hoisting equipment to lift the two cylindrical shells away.

[0076] Example 3

[0077] This invention discloses a welding method for a cylindrical shell and a hemispherical shell, comprising the following steps:

[0078] S1: The cylindrical shell is hoisted onto the outer periphery of the first roller 64 of the support and positioning assembly with the inner support member, and one end of the cylindrical shell is brought into contact with the second roller 65.

[0079] Before hoisting the cylindrical shell, the third motor 9 can be started in reverse to make the two slide blocks 4 move in opposite directions until the distance between the two slide blocks 4 is convenient for hoisting the cylindrical shell and the hemispherical shell.

[0080] S2: Adjust the first power component of the support and positioning assembly to make multiple first roller shafts 64 move outward synchronously, and coordinate with the adjustment of the hoisting equipment until multiple first roller shafts 64 all abut against the inner wall of the cylindrical shell and support the cylindrical shell, thereby achieving the initial positioning of the cylindrical shell and releasing the connection between the cylindrical shell and the hoisting equipment.

[0081] The method of controlling the first power component is as follows: start the first drive motor 67, so that the first drive motor 67 drives the first moving rod 61 to move towards the moving plate 62. During the movement of the moving plate 62 and the first moving rod 61, the moving plate 62 drives multiple sliding blocks 63 to move outward synchronously through the linkage rod 66, so that multiple first roller shafts 64 move outward synchronously.

[0082] Since multiple first rollers 64 are arranged in a ring array on the outer periphery of the fixed cylinder 5, when multiple first rollers 64 are in contact with the inner wall of the cylindrical shell, it indicates that the cylindrical shell and the fixed cylinder 5 are coaxially arranged, thus achieving the initial positioning of the cylindrical shell.

[0083] S3: Synchronously adjust the first lifting frame 71 of the two sets of supporting positioning components on both sides of the supporting positioning component, so that the two third roller shafts 73 move upward until the two third roller shafts 73 are stuck and support the cylindrical shell.

[0084] S4: Synchronously adjust the first motors 72 of the two sets of supporting and positioning components, so that the first motors 72 drive the cylindrical shell to rotate through the third roller shaft 73; determine whether the cylindrical shell maintains uniform rotation. If the cylindrical shell maintains uniform rotation, it indicates that the tangential force of the multiple second roller shafts 65 acting on the end of the cylindrical shell is evenly distributed, the friction force of the multiple first roller shafts 64 acting on the inner wall of the cylindrical shell is evenly distributed, the cylindrical shell is coaxial with the fixed cylinder 5, and the secondary positioning of the cylindrical shell is achieved, proceed to the next step; if the cylindrical shell cannot maintain uniform rotation, it indicates that the cylindrical shell is subjected to uneven force, the cylindrical shell is not coaxial with the fixed cylinder 5, stop the two first motors 72, return to step S3 to adjust the height of the cylindrical shell through the first lifting frame 71.

[0085] In practical applications, during the initial positioning process in step S2, due to operator experience or other reasons, the cylindrical shell may not be coaxially fitted onto the outer circumference of the fixed cylinder. There may be instances where the first roller 64 does not contact the inner wall of the cylindrical shell. Therefore, it is necessary to return to step S3 and adjust the height of the cylindrical shell using the first lifting frame 71 to ensure that the cylindrical shell and the fixed cylinder are coaxially positioned. During the initial positioning process, due to the weight of the cylindrical shell itself, the uppermost first roller 64 will inevitably be in close contact with the inner wall of the cylindrical shell. The first roller 64 that is not in contact with the inner wall of the cylindrical shell must be the lowermost first roller 64 (there is a gap between the lowermost first roller 64 and the inner wall of the cylindrical shell). Furthermore, before the initial positioning of the cylindrical shell is achieved and the lifting equipment is released, the first rollers 64 on both sides will also contact the inner wall of the cylindrical shell to support it. This indicates that the diameter of the center of the circle formed by the distribution of multiple first rollers 64 is smaller than the inner diameter of the cylindrical shell, and the center of the fixed sleeve 5 is located directly above the center of the cylindrical shell. At this point, return to step S3 and synchronously adjust the two sets of first lifting frames 71 to make the third roller shaft 73 drive the cylindrical shell to move upward. Adjust the first power component again so that multiple first roller shafts 64 move outward synchronously again and support themselves on the inner wall of the cylindrical shell. Start the two first motors 72 again and observe whether the cylindrical shell maintains a uniform rotation speed. If the cylindrical shell still cannot rotate at a uniform speed, return to step S3 again and adjust the height of the cylindrical shell through the first lifting frame 71 until the cylindrical shell maintains a uniform rotation speed.

[0086] S5: Hoist the hemispherical shell between the inner and outer supports, align the annular weld between the hemispherical shell and the cylindrical shell, drive the second power component connected to the inner support, causing the second moving rod 81 to move the inner support towards the hemispherical shell. The inner support contact rod 84 contacts the inner wall of the hemispherical shell and is subjected to force, causing multiple abutment blocks 87 to move outward synchronously, so that multiple abutment blocks 87 abut against the inner wall of the hemispherical shell and support the hemispherical shell. The second moving rod 81 continues to move the inner support towards the outer support, and the outer support contact rod 811 contacts the outer wall of the hemispherical shell and is subjected to force, causing multiple abutment rods 813 to abut against the outer wall of the hemispherical shell and clamp the hemispherical shell. Stop the second power component and disconnect the connection between the hemispherical shell and the hoisting equipment.

[0087] The second power component is driven by starting the second drive motor 815, which causes the second threaded rod 816 to drive the second moving rod 81 to move.

[0088] When the inner support moves toward the hemispherical shell, the inner support contact rod 84 is at the foremost position and first contacts the inner wall of the hemispherical shell. The inner support contact rod 84 is pressed by the first spring 85 and moves the first guide slider 86 toward the second motor 82, so that multiple abutment blocks 87 move outward synchronously. When the abutment blocks 87 abut against the inner wall of the hemispherical shell, the first guide slider 86 moves to the limit position, and the multiple abutment blocks 87 support and fix the hemispherical shell from the inside.

[0089] When the second moving rod 81 moves the inner support and hemispherical shell toward the outer support, the outer support contact rod 811 first abuts against the outer wall of the hemispherical shell. The outer support contact rod 811 is compressed by the force of the second spring and drives the second guide slider 812 to move toward the direction of the second motor 82, so that the multiple abutting rods 813 simultaneously retract inward and clamp and fix the hemispherical shell.

[0090] S6: Adjust the third motor 9 to make the two slide blocks 4 move towards each other until the distance between the cylindrical shell and the welding equipment 3 is the preset distance. Then, start the two sets of second power components simultaneously so that the two second moving rods 81, the inner support and the outer support carry the hemispherical shell and move towards the cylindrical shell simultaneously until the distance between the hemispherical shell and the cylindrical shell is the preset welding gap.

[0091] S7: Simultaneously start the two second motors 82 and the two first motors 72 located on the same side as the inner support, so that the hemispherical shell and the cylindrical shell rotate synchronously, and start the welding equipment 3 to weld the hemispherical shell and the cylindrical shell.

[0092] S8: After welding is completed, stop the second motor 82, the first motor 72 and the welding equipment 3, connect the welded hemispherical shell and cylindrical shell to the hoisting equipment, adjust the two sets of second power components to separate the inner and outer support components from the hemispherical shell, start the third motor 9 to make the two slides 4 move in opposite directions until the distance between the two slides 4 is sufficient for the hoisting equipment to lift the hemispherical shell and cylindrical shell away.

Claims

1. A welding positioning device for a cylindrical shell and a hemispherical shell or a cylindrical shell, characterized in that: The assembly includes a welding platform (1), a welding frame (2) fixedly mounted on the welding platform (1), a welding device (3) mounted on the welding frame (2) and capable of moving up and down for welding, two L-shaped slides (4) symmetrically arranged on both sides of the welding frame (2) and capable of moving in the left and right directions, a fixed cylinder (5) that penetrates vertically through the slide (4) in the left and right directions and is fixedly connected to the slide (4), a support positioning component mounted on the vertical part of the slide (4) and supporting it from the inside of the cylindrical shell, a support positioning component mounted on the horizontal part of the slide (4) and supporting it from the bottom of the cylindrical shell, cooperating with the support positioning component to make the cylindrical shell coaxially sleeved on the outer circumference of the fixed cylinder (5) and driving the cylindrical shell to rotate during the welding process, and a support component mounted on one end of the two fixed cylinders (5) facing the welding frame (2), capable of moving in the left and right directions, used to double support the hemispherical shell from the inside and outside and drive the hemispherical shell to rotate synchronously with the cylindrical shell during the welding process.

2. The welding positioning device for a cylindrical shell and a hemispherical shell or a cylindrical shell according to claim 1, characterized in that: The support and positioning assembly includes a first movable rod (61) that slides along the central axis of the fixed cylinder (5), a first power member installed inside the fixed cylinder (5) and used to drive the first movable rod (61) to slide, a movable plate (62) located outside the slide block (4) and fixedly connected to one end of the first movable rod (61) extending to the outside of the fixed cylinder (5), a plurality of sliding blocks (63) arranged in a circular array around the fixed cylinder (5) and slidably installed on the slide block (4), a first roller shaft (64) arranged parallel to the fixed cylinder (5), rotatably installed on the sliding block (63) and in contact with the inner wall of the cylindrical shell, a second roller shaft (65) arranged perpendicular to the first roller shaft (64), rotatably installed on the sliding block (63) and in contact with the end of the cylindrical shell, and a linkage rod (66) hinged between the movable plate (62) and the sliding block (63), and the second roller shaft (65) is located between the slide block (4) and the first roller shaft (64).

3. The welding positioning device for a cylindrical shell and a hemispherical shell or a cylindrical shell according to claim 2, characterized in that: The first power component includes a first drive motor (67) fixedly installed inside the fixed cylinder (5), and a first threaded rod (68) fixedly connected to the output shaft of the first drive motor (67); the first moving rod (61) is provided with an internal thread matching the first threaded rod (68), and the first moving rod (61) is provided with a first straight groove (69); the inner wall of the fixed cylinder (5) is provided with a guide plate that slides along the first straight groove (69).

4. The welding positioning device for a cylindrical shell and a hemispherical shell or a cylindrical shell according to claim 1, characterized in that: The support and positioning components are provided in two sets, and the two sets of support and positioning components are symmetrically arranged on both sides of the fixed cylinder (5); the support and positioning components include a first lifting frame (71) fixedly installed on the transverse part of the slide (4), a first motor (72) fixedly installed on the lifting part of the first lifting frame (71), and a third roller shaft (73) fixedly connected to the output shaft of the first motor (72) and used to support and drive the cylindrical shell to rotate.

5. The welding positioning device for a cylindrical shell and a hemispherical shell or a cylindrical shell according to claim 1, characterized in that: The support assembly includes a second movable rod (81) that slides along the central axis of the fixed cylinder (5), a second power member installed inside the fixed cylinder (5) and used to drive the second movable rod (81) to slide, a second motor (82) located inside the slide block (4) and fixedly connected to one end of the second movable rod (81) extending to the outside of the fixed cylinder (5), an inner support member disposed on one side of one of the fixed cylinders (5), connected to the second motor (82) of the fixed cylinder (5) and supporting it from the inside of the hemispherical shell, and an outer support member disposed on one side of the other fixed cylinder (5), connected to the second motor (82) of the fixed cylinder (5) and supporting it from the outside of the hemispherical shell.

6. The welding positioning device for a cylindrical shell and a hemispherical shell or a cylindrical shell according to claim 5, characterized in that: The inner support includes a first fixed rod (83) fixedly connected to the output shaft of the second motor (82), an inner support contact rod (84) slidably connected to the connecting groove at the end of the first fixed rod (83) and used to abut against the inner wall of the hemispherical shell, a first spring (85) fixedly connected at both ends to the inner wall of the connecting groove and the inner support contact rod (84) respectively, a first guide slider (86) sliding along the first guide through groove (818) opened on the first fixed rod (83) and fixedly connected to the inner support contact rod (84), a plurality of abutment blocks (87) distributed in a ring array on the outer periphery of the first fixed rod (83) and in contact with the inside of the hemispherical shell, a first connecting rod (88) hinged at both ends to the abutment block (87) and the first fixed rod (83) respectively, and a second connecting rod (89) hinged at both ends to the abutment block (87) and the first guide slider (86) respectively.

7. The welding positioning device for a cylindrical shell and a hemispherical shell or a cylindrical shell according to claim 5, characterized in that: The external support includes a second fixed rod (810) fixedly connected to the output shaft of the second motor (82), an external support contact rod (811) slidably connected to the connecting groove at the end of the second fixed rod (810) and used to abut against the outer wall of the hemispherical shell, a second spring fixedly connected at both ends to the inner wall of the connecting groove and the external support contact rod (811) respectively, a second guide slider (812) slidably along the second guide through groove (819) on the second fixed rod (810) and fixedly connected to the external support contact rod (811), a plurality of annular arrays distributed on the outer periphery of the second fixed rod (810), one end of which is hinged to the second fixed rod (810) and used to clamp the hemispherical shell from the outside, and a third connecting rod (814) hinged between the contact rod (813) and the second guide slider (812).

8. The welding positioning device for a cylindrical shell and a hemispherical shell or a cylindrical shell according to claim 1, characterized in that: It also includes a drive assembly for moving two slides (4), the drive assembly including a third motor (9) fixedly mounted on the welding platform (1), a bidirectional threaded rod (91) fixedly connected to the output shaft of the third motor (9), and a guide rod (92) fixedly mounted on the welding platform (1) and parallel to the bidirectional threaded rod (91); the slides (4) are provided with threaded through slots and are threadedly connected to the bidirectional threaded rod (91), and the threaded connection directions of the two slides (4) and the bidirectional threaded rod (91) are opposite, and both slides (4) are provided with guide through holes and slide along the guide rod (92); the welding frame (2) is provided with through holes for the bidirectional threaded rod (91) and the guide rod (92) to pass through.

9. A method for welding cylindrical shells together, characterized in that: Includes the following steps, S1: Hoist one of the cylindrical shells onto the outer periphery of the first roller (64) of the support positioning assembly on one side, and make one end of the cylindrical shell contact the second roller (65); S2: Adjust the first power component of the side support positioning component to make multiple first roller shafts (64) move outward synchronously, and coordinate with the adjustment of the hoisting equipment until multiple first roller shafts (64) all abut against the inner wall of the cylindrical shell and support the cylindrical shell, realize the initial positioning of the cylindrical shell, and release the connection between the cylindrical shell and the hoisting equipment; S3: Synchronously adjust the first lifting frame (71) of the two sets of support and positioning components on this side, so that the two third roller shafts (73) move upward until the two third roller shafts (73) are locked and support the cylindrical shell; S4: Simultaneously start the first motor (72) of the two sets of support and positioning components on this side, so that the first motor (72) drives the cylindrical shell to rotate through the third roller (73); determine whether the cylindrical shell maintains uniform rotation. If the cylindrical shell maintains uniform rotation, it indicates that the tangential force of multiple second rollers (65) acting on the end of the cylindrical shell is evenly distributed, the friction force of multiple first rollers (64) acting on the inner wall of the cylindrical shell is evenly distributed, the cylindrical shell is coaxial with the fixed cylinder (5), and the secondary positioning of the cylindrical shell is achieved, and proceed to the next step; if the cylindrical shell cannot maintain uniform rotation, it indicates that the cylindrical shell is subjected to uneven force, the cylindrical shell is not coaxial with the fixed cylinder (5), stop the two first motors (72), and return to step S3 to adjust the height of the cylindrical shell through the first lifting frame (71); S5: Repeat steps S1 to S4 to install another cylindrical shell onto the support positioning assembly and the supporting positioning assembly on the other side; S6: Adjust the third motor (9) to make the two slides (4) move towards each other with the two cylindrical shells until the distance between the two cylindrical shells is the preset welding gap, and then start the four first motors (72) to make the two cylindrical shells rotate synchronously, turn on the welding equipment (3), and make the welding equipment (3) weld the two cylindrical shells. S7: After welding is completed, stop the first motor (72) and welding equipment (3), connect the two welded cylindrical shells to the hoisting equipment, start the third motor (9) to make the two slides (4) move in opposite directions until the distance between the two slides (4) is sufficient for the hoisting equipment to lift the two cylindrical shells away.

10. A method for welding a cylindrical shell and a hemispherical shell, characterized in that: Includes the following steps, S1: The cylindrical shell is hoisted onto the outer periphery of the first roller shaft (64) of the support and positioning assembly with the inner support member, and one end of the cylindrical shell is brought into contact with the second roller shaft (65). S2: Adjust the first power component of the support and positioning component to make multiple first roller shafts (64) move outward synchronously, and adjust the hoisting equipment until multiple first roller shafts (64) all abut against the inner wall of the cylindrical shell and support the cylindrical shell, realize the initial positioning of the cylindrical shell, and release the connection between the cylindrical shell and the hoisting equipment; S3: Synchronously adjust the first lifting frame (71) of the two sets of supporting positioning components on both sides of the supporting positioning component, so that the two third roller shafts (73) move upward until the two third roller shafts (73) are stuck and support the cylindrical shell; S4: Synchronously adjust the first motor (72) of the two sets of supporting and positioning components so that the first motor (72) drives the cylindrical shell to rotate through the third roller (73); determine whether the cylindrical shell maintains uniform rotation. If the cylindrical shell maintains uniform rotation, it indicates that the tangential force of multiple second rollers (65) acting on the end of the cylindrical shell is evenly distributed, the friction force of multiple first rollers (64) acting on the inner wall of the cylindrical shell is evenly distributed, the cylindrical shell is coaxial with the fixed cylinder (5), and the cylindrical shell is positioned twice. Proceed to the next step. If the cylindrical shell cannot maintain uniform rotation, it indicates that the cylindrical shell is subjected to uneven force and the cylindrical shell is not coaxial with the fixed cylinder (5). Stop the two first motors (72) and return to step S3 to adjust the height of the cylindrical shell through the first lifting frame (71). S5: Hoist the hemispherical shell between the inner support and the outer support, and align the annular weld between the hemispherical shell and the cylindrical shell. Drive the second power component connected to the inner support, so that the second moving rod (81) moves the inner support towards the hemispherical shell. The inner support contact rod (84) contacts the inner wall of the hemispherical shell and is subjected to force, causing multiple abutment blocks (87) to move outward synchronously. This causes multiple abutment blocks (87) to abut against the inner wall of the hemispherical shell and support the hemispherical shell. The second moving rod (81) continues to move the inner support towards the outer support. The outer support contact rod (811) contacts the outer wall of the hemispherical shell and is subjected to force, causing multiple abutment rods (813) to abut against the outer wall of the hemispherical shell and clamp the hemispherical shell. Turn off the second power component and disconnect the connection between the hemispherical shell and the hoisting equipment. S6: Adjust the third motor (9) to make the two slide blocks (4) move towards each other until the distance between the cylindrical shell and the welding equipment (3) is the preset distance. Then, start the two sets of second power components simultaneously so that the two second moving rods (81), the inner support and the outer support carry the hemispherical shell and move towards the cylindrical shell simultaneously until the distance between the hemispherical shell and the cylindrical shell is the preset welding gap. S7: Simultaneously start two second motors (82) and two first motors (72) located on the same side as the inner support, so that the hemispherical shell and the cylindrical shell rotate synchronously, and start the welding equipment (3) to weld the hemispherical shell and the cylindrical shell; S8: After welding is completed, stop the second motor (82), the first motor (72) and the welding equipment (3), connect the welded hemispherical shell and cylindrical shell to the hoisting equipment, adjust the two sets of second power components to separate the inner and outer support components from the hemispherical shell, start the third motor (9) to make the two slides (4) move in opposite directions until the distance between the two slides (4) is sufficient for the hoisting equipment to lift the hemispherical shell and cylindrical shell away.

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