Automatic welding machine for pressure vessels and welding method thereof

Abstract

The present application belongs to the technical field of pressure vessels, and particularly relates to a pressure vessel automatic welding machine and a welding method thereof. The welding method comprises the following steps: adjusting the machine, starting the floating mode of the longitudinal centering assembly, and making the upper clamping part of the longitudinal centering assembly in a floating state; placing parts, longitudinally floating centering, converting the positioning center, starting the measuring mode of the longitudinal centering assembly, and judging whether the pressure vessel meets the welding requirements; if the welding requirements are met, welding is performed; if the welding requirements are not met, the equipment first independently checks and solves the problem, and then judges again whether the welding requirements are met; if the welding requirements are met, the welding is started after strengthening the solution; if the welding requirements are not met, the machine is stopped and an alarm is given to require manual intervention. Through a series of automatic production processes, the present application can meet the requirements of automation while meeting the welding quality, and improve the welding quality and the welding automation rate.

Description

Technical Field

[0001] This invention belongs to the field of pressure vessel technology, and particularly relates to an automatic pressure vessel welding machine and its welding method. Background Technology

[0002] Pressure vessels are typically used to store high-pressure gases or liquids, thus requiring high sealing performance. Most pressure vessels are cylindrical structures, and when the volume is large, they are often welded together from multiple cylindrical sections. The reliability of the welding process is crucial to ensuring the overall sealing performance of the pressure vessel meets the standards. However, current production processes are usually completed by manual welding, which is time-consuming and labor-intensive, resulting in low work efficiency. Furthermore, manual welding is prone to errors and manufacturing defects, affecting product quality and safety.

[0003] In the prior art, a welding machine with publication number CN219649016U uses two drive rollers to support the pressure vessel. One of the drive rollers rotates to drive the vessel to rotate, and the welding torch is fixed to weld the rotating pressure vessel. However, this method of positioning the pressure vessel uses the outer circle of the pressure vessel as the positioning reference. During the rotation of the pressure vessel, there will be vibration, which will lead to problems such as poor welding quality, such as incomplete welds. Therefore, a welding clamping method disclosed in the pressure vessel welding machine with patent number KR1020250110378A has been developed. This method uses a transverse centering component and a longitudinal centering component to adjust the position of the pressure vessel so that the axis is on the same straight line as the rotation center of the rotating clamping component. In this way, the positioning reference can be transformed into rotational welding with the axis of the pressure vessel as the center. This method can improve welding accuracy and reduce problems such as incomplete welds.

[0004] However, this positioning and clamping method is greatly affected by the diameter and roundness of the pressure vessel. At the same time, if there is a problem with clamping misalignment, it will not be easy to detect, which will lead to poor welding quality. Summary of the Invention

[0005] The purpose of this invention is to address the aforementioned technical problems by providing an automatic welding machine for pressure vessels and its welding method, thereby improving welding quality and automation rate.

[0006] In view of this, the present invention provides an automatic welding method for pressure vessels, comprising the following steps: S1: Adjust the machine, using standard parts to adjust the positions of the transverse centering assembly, longitudinal centering assembly, and rotary clamping assembly; S2: Activate the floating mode of the longitudinal centering component, so that the upper clamping part of the longitudinal centering component is in a floating state; S3: Place the parts, place the pressure vessel onto the lateral alignment assembly, and laterally align the pressure vessel; S4: Longitudinal floating centering, the upper and lower clamping parts of the longitudinal centering assembly move closer to each other and raise the parts until the upper and lower clamping parts stop moving when they reach the position when the machine is adjusted; S5: Change the positioning center, rotate the clamping assembly to clamp the pressure vessel from both ends, and simultaneously rotate the pressure vessel circumferentially. S6: The longitudinal centering component starts the measurement mode. The lower clamping part of the longitudinal centering component makes way, and the measurement mode of the longitudinal centering component starts at the same time. S7: The rotating clamping assembly rotates the pressure vessel circumferentially, while the longitudinal centering assembly judges whether the pressure vessel meets the welding requirements. S8: If the welding requirements are met, welding will proceed. If the welding requirements are not met, the equipment will first perform troubleshooting and resolution on its own. After troubleshooting and resolution, the equipment will again determine whether the welding requirements are met. If the welding requirements are met, reinforcement measures will be taken before welding begins. If the welding requirements are not met, the equipment will stop and alarm, requiring manual intervention.

[0007] Furthermore, a standard part is a part whose diameter is within the allowable tolerance range.

[0008] Furthermore, an automatic pressure vessel welding machine suitable for the above welding method includes: A lateral alignment assembly, comprising two support rollers respectively disposed on both sides below the pressure vessel; The longitudinal alignment assembly includes an upper clamping member and a lower clamping member respectively disposed on the upper and lower sides of the pressure vessel, and also includes a longitudinal alignment drive assembly for driving the upper clamping member and the lower clamping member to move closer or further apart from each other. A rotating clamping assembly is used to clamp the pressure vessel from both ends and rotate the pressure vessel circumferentially. A welding robot used for welding a rotating pressure vessel; The two support rollers are symmetrical about the rotation center of the rotating clamping assembly in the transverse direction, and the upper clamping member and the lower clamping member are symmetrical about the rotation center of the rotating clamping assembly in the longitudinal direction.

[0009] Furthermore, the upper clamping member includes an upper clamping seat and an upper clamping plate disposed on the upper clamping seat, and the lower clamping member includes a lower clamping seat and a lower clamping plate disposed on the lower clamping seat. The longitudinal alignment assembly includes: Adjustment mode: In adjustment mode, the position between the upper clamping seat and the upper clamping plate is fixed, and the position between the lower clamping seat and the lower clamping plate is fixed. In clamping mode, the position between the upper clamping seat and the upper clamping plate floats, while the position between the lower clamping seat and the lower clamping plate is fixed. In measurement mode, the position between the upper clamping seat and the upper clamping plate floats, the lower clamping plate retracts into the lower clamping seat, and the measuring head of the measuring component inside the lower clamping seat extends out of the lower clamping seat simultaneously.

[0010] The upper clamping member switches between the adjustment mode and the clamping mode via a first switching structure, while the lower clamping member switches between the clamping mode and the measurement mode via a second switching structure.

[0011] Furthermore, the first switching structure includes: The first switching motor is fixedly mounted on the upper clamping seat; The first switching cam is disposed in the upper clamping seat and connected to the output end of the first switching motor. The first slide groove is formed on the upper clamping seat, and the upper clamping plate is slidably disposed in the first slide groove; The first guide hole is formed inside the upper clamping seat and communicates with the first slide groove; The first guide post is slidably disposed in the first groove and is fixedly connected to the upper clamping plate. The first spring is sleeved outside the first guide post, with one end of the first spring abutting against the bottom of the first sliding groove and the other end connected to the upper clamping plate. In the machine adjustment mode, the protruding section of the first switching cam abuts against the upper clamping plate to keep the upper clamping plate fixed. In the clamping mode, the protruding section of the first switching cam moves away from the upper clamping plate, and the first spring always has the tendency to keep the upper clamping plate in the machine adjustment mode.

[0012] Furthermore, the second switching structure includes: The second slide groove is formed on the lower clamping seat, and the lower clamping plate is slidably disposed in the second slide groove; The second switching motor is fixedly mounted on the lower clamping seat; The second switching gear is located in the lower clamping seat and is connected to the output end of the second switching motor. There are two switching racks, which are respectively located on both sides of the second switching gear and mesh with the second switching gear. The lower clamping plate and the measuring component are respectively located at one end of the two switching racks facing the upper clamping plate. The lower clamping plate has a second guide hole, and the measuring head of the measuring component is slidably disposed in the second guide hole. In the clamping mode, the lower clamping plate is higher than the lower clamping seat, and the measuring head is located in the second guide hole. In the measuring mode, the lower clamping plate is retracted into the lower clamping seat, and the measuring head extends out of the second guide hole.

[0013] Furthermore, the measurement component includes: The measuring head is slidably positioned within the second guide hole; A measuring slide groove is formed inside the lower clamping seat; The first slide plate is slidably set in the measuring slide groove, and one end of the switching rack facing the upward clamping plate extends into the measuring slide groove and is fixedly connected to the first slide plate. The second slide plate is slidably disposed in the measuring groove and is fixedly connected to one end of the measuring head. The second spring is disposed between the first slide plate and the second slide plate and its two ends are respectively connected to the first slide plate and the second slide plate; A distance sensor is disposed on a first skateboard and is used to measure the distance between the first skateboard and the second skateboard.

[0014] Furthermore, it also includes an autonomous resolution component for troubleshooting cleaning issues on the surface of the support roller and the pressure vessel surface in contact with the support roller. The autonomous resolution component includes: The mounting base, on which the support roller is rotatably mounted; A position adjustment assembly is used to drive two mounting seats, along with support rollers, to move closer to or further away from each other. An adjusting gear, which is fixedly connected to the central shaft of the support roller; An adjusting rack, which meshes with an adjusting gear and is positioned along the direction of movement of the support roller.

[0015] Furthermore, the position adjustment component includes: A drive motor, which is fixedly installed; A drive screw is connected to the output end of a drive motor. The drive screw includes two symmetrically arranged threaded segments with opposite directions of rotation. Two mounting seats are symmetrically arranged and are respectively helically connected to the two threaded segments. A guide rod, which is parallel to the drive screw and slidably mounted on the mounting seat.

[0016] Furthermore, it also includes enhanced slag removal components, which include: A guide pin is fixedly connected to a non-center portion of the end face of the adjusting gear. A reinforcing block is provided with a reinforcing groove. A guide pin passes through the reinforcing groove and slides against the two side walls of the reinforcing groove. The distance between the other two side walls of the reinforcing groove is greater than the outer diameter of the adjusting gear. Extension rods: Extension rods extend outward from both sides of the reinforcing block; A reinforcing frame is fixedly connected to a mounting base, and an extension rod is slidably connected to the reinforcing frame through the frame. The reinforcing brush is fixedly connected to the vertical plates at both ends of the extension rod. The slag removal brush is located on the mounting base below the support roller.

[0017] The beneficial effects of this invention are: 1. Compared with traditional rigid clamping, floating clamping can adapt to the workpiece diameter tolerance, avoid deformation of thin-walled pressure vessels, ensure the integrity of the workpiece shape, screen out unqualified working conditions in advance, avoid defects such as false welding, missing welding, and uneven weld from the source, significantly reduce the defect rate and rework cost, eliminate the need for frequent manual monitoring and debugging, reduce human operation errors, and improve the continuous operation capability of the production line.

[0018] 2. This three-stage mode-switching structure breaks through the inherent defects of traditional clamping devices that "can only clamp, cannot measure, and cannot adapt to tolerances." For the first time, it integrates rigid datum adjustment, flexible clamping, and online measurement functions on the same longitudinal centering component, achieving multi-functionality and high process integration, and greatly simplifying the equipment structure and layout. The adjustment mode adopts a fully rigid fixed design to ensure accurate and deviation-free datum setting, providing a unified standard for mass production. The clamping mode adopts an asymmetrical structure of "floating upper part and fixed lower part," which uses floating to compensate for workpiece diameter errors and prevent clamping deformation, while using lower fixing to ensure longitudinal centering accuracy, taking into account both clamping reliability and workpiece protection, and solving the long-standing industry pain points of pressure vessel clamping: "clamping too loosely and easily causing eccentricity, clamping too tightly and easily causing deformation." In the measurement mode, the clamping plate retraction and measuring head extension are completed synchronously, without additional driving and waiting time. The measurement posture switching is fast and shock-free, realizing pre-welding quality control before welding, avoiding fatal defects such as incomplete welding, misaligned welding, and uneven weld from the root, and significantly improving the first-pass yield and production stability.

[0019] 3. By fine-tuning the spacing of the support rollers and driving the support rollers to rotate, the contact position between the workpiece and the support rollers is changed, avoiding clamping misalignment caused by surface impurities and welding slag. Clamping errors can be automatically corrected without manual adjustment. Compared with the passive handling method of traditional pressure vessel welding equipment that only has alarm prompts and relies entirely on manual troubleshooting, this system achieves fully closed-loop autonomous control with automatic diagnosis, automatic correction, and automatic re-judgment of clamping defects.

[0020] 4. This enhanced slag removal component breaks through the inherent mode of traditional welding equipment that can only passively clean and cannot clean slag in conjunction with the movement of the mechanism. It couples the support roller rotation, lateral centering adjustment, screw cleaning, and gear transmission into a self-driven, self-reciprocating enhanced slag removal system, without the need to add an independent slag removal motor and control program. Attached Figure Description

[0021] Figure 1 This is a flowchart of the welding method; Figure 2 It is a 3D diagram of a welding machine; Figure 3 This is a side view of the welding machine removing the welding robot; Figure 4 This is the front view of the welding machine removing the welding robot; Figure 5 This is a top view of the welding machine removing welding robots and pressure vessel parts; Figure 6 This is a cross-sectional view in the upper clamping plate adjustment mode; Figure 7 This is a cross-sectional view in the clamping mode of the upper clamping plate; Figure 8 This is a cross-sectional view in the lower clamping plate clamping mode; Figure 9 This is a cross-sectional view in the lower clamping plate measurement mode; Figure 10 This is a schematic diagram of the enhanced slag removal component.

[0022] The markings in the diagram are as follows: 1. Lateral centering assembly; 2. Longitudinal centering assembly; 3. Rotary clamping assembly; 4. Upper clamping member; 5. Part; 6. Lower clamping member; 7. Support roller; 8. Longitudinal centering drive assembly; 9. Welding robot; 10. Upper clamping seat; 11. Upper clamping plate; 12. Measuring assembly; 13. First switching motor; 14. First switching cam; 15. First slide groove; 16. First guide hole; 17. First guide post; 18. First spring; 19. Second slide groove; 20. Second switching motor; 21. Second switching gear 22. Switching rack; 23. Second guide hole; 24. Lower clamping seat; 25. Lower clamping plate; 26. Measuring head; 27. Measuring slide; 28. First slide plate; 29. ​​Second slide plate; 30. Second spring; 31. Distance sensor; 32. Mounting seat; 33. Adjusting gear; 34. Adjusting rack; 35. Drive motor; 36. Drive screw; 37. Guide rod; 38. Guide pin; 39. Reinforcing block; 40. Reinforcing groove; 41. Extension rod; 42. Reinforcing frame; 43. Reinforcing brush; 44. Slag removal brush. Detailed Implementation

[0023] The technical solutions of the embodiments of this application will be clearly described below with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of this application. All other embodiments obtained by those skilled in the art based on the embodiments of this application are within the scope of protection of this application.

[0024] In the description of this application, it should be noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to limit the exemplary embodiments according to this application. For ease of description, the dimensions of the various parts shown in the drawings are not drawn to actual scale. Techniques, methods, and devices known to those skilled in the art may not be discussed in detail, but where appropriate, such techniques, methods, and devices should be considered part of the specification. In all examples shown and discussed herein, any specific values ​​should be interpreted as merely exemplary and not as limitations. Therefore, other examples of exemplary embodiments may have different values. It should be noted that similar reference numerals and letters in the following drawings denote similar items; therefore, once an item is defined in one drawing, it need not be further discussed in subsequent drawings.

[0025] It should be noted that the terms "first," "second," etc., used in the specification and claims of this application are used to distinguish similar objects and not to describe a specific order or sequence. It should be understood that such use of data can be interchanged where appropriate so that embodiments of this application can be implemented in orders other than those illustrated or described herein, and the objects distinguished by "first," "second," etc., are generally of the same class and are not limited in number; for example, a first object can be one or more. Furthermore, in the specification and claims, "and / or" indicates at least one of the connected objects, and the character " / " generally indicates that the preceding and following objects are in an "or" relationship.

[0026] It should be noted that in the description of this application, the directional terms such as "front, back, up, down, left, right", "horizontal, vertical, horizontal" and "top, bottom" indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this application and simplifying the description. Unless otherwise stated, these directional terms do not indicate or imply that the device or element referred to must have a specific orientation or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation on the scope of protection of this application. The directional terms "inner" and "outer" refer to the inner and outer contours relative to the outline of each component itself.

[0027] It should be noted that, in this application, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes that element. Furthermore, it should be noted that the scope of the methods and apparatuses in the embodiments of this application is not limited to performing functions in the order shown or discussed, but may also include performing functions substantially simultaneously or in the reverse order, depending on the functions involved. For example, the described methods may be performed in a different order than described, and various steps may be added, omitted, or combined. Additionally, features described with reference to certain examples may be combined in other examples.

[0028] Example 1 like Figure 1 As shown, an automatic welding method for pressure vessels includes the following steps: S1: Adjust the machine by using standard part 5 to adjust the positions of the transverse centering assembly 1, the longitudinal centering assembly 2, and the rotating clamping assembly 3; S2: Activate the floating mode of the longitudinal centering component 2, so that the upper clamping part 4 of the longitudinal centering component 2 is in a floating state; S3: Place part 5 and place the pressure vessel onto the transverse alignment assembly 1 to achieve transverse alignment of the pressure vessel; S4: Longitudinal floating centering, the upper clamping part 4 and the lower clamping part 6 of the longitudinal centering component 2 move closer to each other and raise the part 5 until the upper clamping part 4 and the lower clamping part 6 move to the position when the machine is adjusted and stop moving. S5: Change the positioning center, rotate the clamping assembly 3 to clamp the pressure vessel from both ends, and at the same time rotate the pressure vessel circumferentially. S6: The longitudinal centering component 2 starts the measurement mode, and the lower clamping part 6 of the longitudinal centering component 2 makes way at the same time the measurement mode of the longitudinal centering component 2 is started; S7: The rotating clamping assembly 3 rotates the pressure vessel circumferentially, and the longitudinal centering assembly 2 judges whether the pressure vessel meets the welding requirements. S8: If the welding requirements are met, welding will proceed. If the welding requirements are not met, the equipment will first perform troubleshooting and resolution on its own. After troubleshooting and resolution, the equipment will again determine whether the welding requirements are met. If the welding requirements are met, reinforcement measures will be taken before welding begins. If the welding requirements are not met, the equipment will stop and alarm, requiring manual intervention.

[0029] During machine setup, the upper clamping member 4 of the longitudinal alignment component 2 remains stationary. During normal processing, the longitudinal alignment component 2 switches to floating mode, allowing the upper clamping member 4 a certain displacement space. This ensures that the pressure vessel diameter fluctuates within the tolerance range, preventing the pressure vessel wall from being flattened due to rigid clamping. Compared to traditional rigid clamping, floating clamping can adapt to workpiece diameter tolerances, avoiding deformation of thin-walled pressure vessels and ensuring the integrity of the workpiece's shape. Furthermore, the measurement mode of the longitudinal alignment component 2 determines whether the pressure vessel meets welding requirements, preventing poor welding quality due to improper clamping or dimensional inconsistencies in part 5. This reduces the workload of scrapping or rework after welding, allowing for early screening of non-conforming conditions and preventing defects such as incomplete welds, missed welds, and uneven welds from the source, significantly reducing the defect rate and rework costs. Moreover, the equipment can autonomously troubleshoot and resolve issues when welding requirements are not met before requiring manual intervention, eliminating the need for frequent manual monitoring and adjustments, reducing human error, and improving the continuous operation capability of the production line. This series of automated production processes not only meets the requirements of welding quality but also the requirements of automation, thereby improving both welding quality and the rate of welding automation.

[0030] Standard part 5 refers to part 5 whose diameter is within the allowable tolerance range. When adjusting the machine, standard part 5 is used, and a pressure vessel with a diameter within the tolerance range is selected. Furthermore, the adjustment distance of the longitudinal centering component 2 is based on the minimum diameter requirement. The clamping stroke is set using the minimum acceptable diameter as a reference, ensuring that in floating mode, workpieces with diameters within the tolerance range can be reliably clamped without being squeezed or deformed. This guarantees the stable implementation of the floating clamping function and allows for batch processing of workpieces of the same specification but different tolerance dimensions, thus fulfilling the floating mode requirement of the longitudinal centering component 2.

[0031] Example 2 like Figure 2-5 As shown, an automatic pressure vessel welding machine suitable for the above welding method includes: Lateral alignment component 1, the lateral alignment component 1 includes two support rollers 7 respectively disposed on both sides below the pressure vessel; The longitudinal alignment component 2 includes an upper clamping member 4 and a lower clamping member 6 respectively disposed on the upper and lower sides of the pressure vessel, and also includes a longitudinal alignment drive component 8 for driving the upper clamping member 4 and the lower clamping member 6 to move closer or further away from each other. Rotary clamping assembly 3 is used to clamp the pressure vessel from both ends and rotate the pressure vessel circumferentially. Welding robot 9, which is used to weld a rotating pressure vessel; Among them, the two support rollers 7 are symmetrical about the rotation center of the rotating clamping assembly 3 in the transverse direction, and the upper clamping member 4 and the lower clamping member 6 are symmetrical about the rotation center of the rotating clamping assembly 3 in the longitudinal direction.

[0032] Example 3 like Figure 6-9 As shown, the upper clamping member 4 includes an upper clamping seat 10 and an upper clamping plate 11 disposed on the upper clamping seat 10; the lower clamping member 6 includes a lower clamping seat 24 and a lower clamping plate 25 disposed on the lower clamping seat 24; the longitudinal alignment assembly 2 includes: In the machine adjustment mode, the positions of the upper clamping seat 10 and the upper clamping plate 11 are fixed, and the positions of the lower clamping seat 24 and the lower clamping plate 25 are also fixed. In the clamping mode, the position between the upper clamping seat 10 and the upper clamping plate 11 floats, while the position between the lower clamping seat 24 and the lower clamping plate 25 is fixed. In measurement mode, the position between the upper clamping seat 10 and the upper clamping plate 11 floats, the lower clamping plate 25 retracts into the lower clamping seat 24, and the measuring head 26 of the measuring component 12 in the lower clamping seat 24 extends out of the lower clamping seat 24 simultaneously.

[0033] The upper clamping member 4 switches between the machine adjustment mode and the clamping mode through a first switching structure, and the lower clamping member 6 switches between the clamping mode and the measurement mode through a second switching structure.

[0034] The measuring component 12 measures the change in the outer circumference position of the pressure vessel during one rotation of the pressure vessel while the rotating clamping component 3 rotates the pressure vessel circumferentially. If the change is too large, it indicates that the diameter roundness of the pressure vessel is unqualified or that it was misaligned during clamping, which will affect the final welding quality and lead to problems such as incomplete welding. The longitudinal alignment component 2 automatically switches between three modes according to process requirements: In the machine adjustment mode, the first switching structure locks the upper clamping plate 11 and the upper clamping seat 10 into a rigid unit, and the second switching structure locks the lower clamping plate 25 and the lower clamping seat 24 into a rigid unit. The whole machine completes positioning calibration with a fixed reference, ensuring the consistency of the reference for subsequent clamping and measurement; When entering the clamping mode, the first switching structure releases the rigid constraint between the upper clamping plate 11 and the upper clamping seat 10, allowing the upper clamping plate 11 to float slightly radially, while the lower clamping plate 25 remains fixed to the lower clamping seat 24, forming an "upper floating, lower fixed" state. The flexible clamping posture is adapted to the diameter tolerance of the pressure vessel. When entering the measurement mode, the lower clamping plate 25 is retracted into the lower clamping seat 24 under the drive of the second switching structure, making room for measurement. At the same time, the measuring head 26 of the measuring component 12 extends outward and abuts against the outer wall of the pressure vessel. The upper clamping plate 11 continues to float, which does not interfere with the rotation of the workpiece and provides stable radial support for measurement. The three modes are switched in sequence without interfering with each other.

[0035] This three-stage mode-switching structure breaks through the inherent defects of traditional clamping devices that "can only clamp, cannot measure, and cannot adapt to tolerances." For the first time, it integrates rigid datum adjustment, flexible clamping, and online measurement functions on the same longitudinal centering component 2, achieving multi-functionality and high process integration, and greatly simplifying the equipment structure and layout. The adjustment mode adopts a fully rigid fixed structure to ensure accurate and deviation-free datum setting, providing a unified standard for mass production. The clamping mode adopts an asymmetrical structure of "floating upper and fixed lower," which uses floating to compensate for workpiece diameter errors and prevent clamping deformation, while using lower fixing to ensure longitudinal centering accuracy, taking into account both clamping reliability and workpiece protection, and solving the long-standing industry pain points of pressure vessel clamping: "clamping too loosely and easily becoming eccentric, clamping too tightly and easily deforming." In the measurement mode, the retraction of the clamping plate 25 and the extension of the measuring head 26 are completed synchronously, without additional driving or waiting time. The measurement posture switching is fast and shock-free, realizing pre-welding quality control before welding, avoiding fatal defects such as incomplete welding, misaligned welding, and uneven weld from the root, and significantly improving the first-pass yield and production stability.

[0036] like Figure 6-7 As shown, the first switching structure includes: The first switching motor 13 is fixedly mounted on the upper clamping seat 10; The first switching cam 14 is disposed in the upper clamping seat 10 and connected to the output end of the first switching motor 13. The first slide groove 15 is formed on the upper clamping seat 10, and the upper clamping plate 11 is slidably disposed in the first slide groove 15. The first guide hole 16 is formed inside the upper clamping seat 10 and communicates with the first slide groove 15. The first guide post 17 is slidably disposed in the first slide groove 15 and is fixedly connected to the upper clamping plate 11. The first spring 18 is sleeved outside the first guide post 17. One end of the first spring 18 abuts against the bottom of the first slide groove 15, and the other end is connected to the upper clamping plate 11. In the machine adjustment mode, the protruding section of the first switching cam 14 abuts against the upper clamping plate 11 to keep the upper clamping plate fixed. In the clamping mode, the protruding section of the first switching cam 14 moves away from the upper clamping plate 11, and the first spring 18 always has the tendency to keep the upper clamping plate 11 in the machine adjustment mode.

[0037] After the machine is adjusted, it needs to be switched to the clamping mode so that the position between the upper clamping seat 10 and the upper clamping plate 11 can fluctuate. This ensures that the diameter of the pressure vessel can fluctuate within the tolerance range without being rigidly clamped and causing the pressure vessel wall to be flattened. Specifically, the first switching motor 13 is started, which causes the first switching cam 14 to rotate and move the protruding part of the first switching cam 14 away from the upper clamping plate 11. In this way, the cam does not press against the upper clamping plate 11, so the diameter of the pressure vessel can fluctuate within the tolerance range without being rigidly clamped. In addition, the first spring 18 also has spring pressure. The spring provides flexible clamping force, which not only ensures that the workpiece is stably clamped without shaking, but also adapts to small changes in the diameter of the workpiece, avoiding rigid extrusion that causes the workpiece to be dented or deformed. At the same time, it ensures the coaxiality of the clamping so that the pressure vessel can also be clamped well.

[0038] like Figure 8-9 As shown, the second switching structure includes: The second slide groove 19 is formed on the lower clamping seat 24, and the lower clamping plate 25 is slidably disposed in the second slide groove 19. The second switching motor 20 is fixedly mounted on the lower clamping seat 24; The second switching gear 21 is disposed in the lower clamping seat 24 and connected to the output end of the second switching motor 20. There are two switching racks 22, which are respectively located on both sides of the second switching gear 21 and mesh with the second switching gear 21. The lower clamping plate 25 and the measuring component 12 are respectively located at one end of the two switching racks 22 facing the upper clamping plate 11. The lower clamping plate 25 has a second guide hole 23. The measuring head 26 of the measuring component 12 is slidably disposed in the second guide hole 23. In the clamping mode, the lower clamping plate 25 is higher than the lower clamping seat 24, and the measuring head 26 is located in the second guide hole 23. In the measuring mode, the lower clamping plate 25 is housed in the lower clamping seat 24, and the measuring head 26 extends out of the second guide hole 23.

[0039] After the rotating clamping assembly 3 clamps the pressure vessel from both ends, the longitudinal centering assembly 2 needs to activate the measurement mode to measure whether part 5 meets the welding requirements under this clamping state. The specific working process of activating the measurement mode is as follows: the second switching motor 20 is activated, causing the switching rack 22 connected to the lower clamping plate 25 to move away from the upper clamping plate 11, while the switching rack 22 connected to the measuring assembly 12 moves towards the upper clamping plate 11, so that the measuring head 26 extends out of the second guide hole 23 and can contact the outer wall of the pressure vessel. The gear rack synchronously drives the lower clamping plate 25 to retract and the measuring head 26 to extend, realizing rapid switching between the clamping position and the measuring position. The switching action is precise and synchronized, avoiding interference and improving the efficiency of mode conversion and the accuracy of detection.

[0040] The measurement component 12 includes: Measuring head 26 is slidably disposed within the second guide hole 23; Measuring groove 27 is formed inside the lower clamping seat 24; The first slide plate 28 is slidably disposed in the measuring slide groove 27, and one end of the switching rack 22 facing the upper clamping plate 11 extends into the measuring slide groove 27 and is fixedly connected to the first slide plate 28. The second slide plate 29 is slidably disposed in the measuring groove 27, and the second slide plate 29 is fixedly connected to one end of the measuring head 26; The second spring 30 is disposed between the first slide plate 28 and the second slide plate 29 and its two ends are respectively connected to the first slide plate 28 and the second slide plate 29. Distance sensor 31 is disposed on the first slide plate 28 and is used to measure the distance between the first slide plate 28 and the second slide plate 29.

[0041] The specific working process of the measuring component 12 is as follows: In the measuring mode, if the distance sensor 31 measures that the change in distance between the first slide plate 28 and the second slide plate 29 is greater than one-third of the standard weld depth, it is determined that the welding conditions are not met.

[0042] Example 4 like Figure 4 and- Figure 10 As shown, it also includes an autonomous resolution component, which is used to investigate cleanliness issues on the surface of the support roller 7 and the surface of the pressure vessel in contact with the support roller 7. The autonomous resolution component includes: The support roller 7 is rotatably mounted on the mounting base 32; A position adjustment assembly is used to drive the two mounting seats 32 to move closer to or further away from the support rollers 7; Adjusting gear 33, which is fixedly connected to the central shaft of support roller 7; Adjusting rack 34, which meshes with adjusting gear 33 and is arranged along the moving direction of support roller 7.

[0043] After the measuring component 12 determines that the welding conditions are not met, the autonomous resolution component intervenes to troubleshoot and resolve the issue. The position adjustment component activates, causing the mounting base 32 to move slightly along with the support rollers 7. This slightly changes the distance between the two support rollers 7. Due to the action of the adjusting gear 33 and the adjusting rack 34, the support rollers 7 rotate synchronously. Because the movement distance of the support rollers 7 is small, the pressure vessel can still be placed on the two support rollers 7 after it descends. However, the contact point between the pressure vessel and the support rollers 7 changes. If this change indicates that the welding conditions are met, then part 5 itself is not problematic and can be welded. By fine-tuning the spacing of the support rollers 7 and causing them to rotate, the contact position between the workpiece and the support rollers 7 is changed, avoiding clamping misalignment caused by surface impurities and weld slag. Clamping errors are automatically corrected without manual adjustment. Compared to traditional pressure vessel welding equipment that only provides alarm prompts and relies entirely on manual troubleshooting, the autonomous resolution component achieves a fully closed-loop autonomous control system with automatic diagnosis, correction, and re-judgment of clamping defects.

[0044] The position adjustment component includes: Drive motor 35, which is fixedly installed; A drive screw 36 is connected to the output end of a drive motor 35. The drive screw 36 includes two symmetrically arranged threaded segments with opposite directions of rotation. Two mounting seats 32 are symmetrically arranged and are respectively helically connected to the two threaded segments. Guide rod 37, which is parallel to the drive screw 36 and slidably mounted on the mounting base 32.

[0045] The specific working process of the position adjustment component is as follows: the drive motor 35 starts, and the two mounting seats 32 slide symmetrically along the length of the drive screw 36, moving closer or further away.

[0046] It also includes an enhanced slag removal component, which includes: Guide pin 38, which is fixedly connected to the non-center part of the end face of adjusting gear 33; A reinforcing block 39 is provided with a reinforcing groove 40. A guide pin 38 is inserted into the reinforcing groove 40 and slidably connected to the two side walls of the reinforcing groove 40. The distance between the other two side walls of the reinforcing groove 40 is greater than the outer diameter of the adjusting gear 33. Extension rod 41: Extension rods 41 extend outward from both sides of the reinforcing block 39; A reinforcing frame 42 is fixedly connected to a mounting base 32, and an extension rod 41 is inserted into the reinforcing frame 42 and slidably connected to the reinforcing frame 42. Reinforced brush 43 is fixedly connected to the vertical plates at both ends of extension rod 41; A slag removal brush 44 is installed on the mounting base 32 below the support roller 7.

[0047] By independently resolving the component issues and altering the positioning surface for centering and positioning part 5, if this operation satisfies the welding conditions, then part 5 itself is not the problem; the issue lies in the clamping. In this case, the slag removal component needs to be strengthened to remove weld slag and other debris from the support roller 7. If the welding conditions are not met, the slag removal component needs to be strengthened to remove weld slag and other debris from both the support roller 7 and the position adjustment component. This process is repeated to thoroughly investigate any problems with the transverse centering component 1. The working process of the enhanced slag removal component is as follows: The position adjustment component is activated, causing the mounting seat 32, carrying the support roller 7, to move to its limit position. After reaching the limit position, the drive motor 35 rotates in the opposite direction. This results in the two mounting seats 32, carrying the support roller 7, sliding symmetrically along the length of the drive screw 36, repeatedly approaching and moving away. The adjusting gear 33 and adjusting rack 34 will continue to work, and the support roller 7 will rotate continuously. During this rotation, it is cleaned by the slag removal brush 44 below the support roller 7. Furthermore, the rotation of the adjusting gear 33 causes the guide pin 38 to move, causing the reinforcing groove 40 to move laterally back and forth. This creates a reciprocating brushing action of the extension rod 41 carrying the reinforcing brush 43 on the surface of the drive screw 36, thus enhancing slag removal. After the enhanced slag removal component completes its processing, measurements are taken to determine if the welding conditions are met. If they are met, the welding process begins; otherwise, manual intervention is required. This enhanced slag removal component breaks through the inherent mode of traditional welding equipment that can only passively clean and cannot clean slag in conjunction with the movement of the mechanism. It couples the self-rotation of the support roller 7, the lateral centering adjustment, the lead screw cleaning, and the gear transmission into a self-driven, self-reciprocating enhanced slag removal system, without the need to add an independent slag removal motor and control program.

[0048] The embodiments of this application have been described above with reference to the accompanying drawings. Unless otherwise specified, the embodiments and features in the embodiments of this application can be combined with each other. This application is not limited to the specific embodiments described above. The specific embodiments described above are merely illustrative and not restrictive. Those skilled in the art can make many other forms under the guidance of this application without departing from the spirit and scope of the claims, and all of these forms are within the protection scope of this application.

Claims

1. A welding method for a pressure vessel, characterized in that... This includes the following steps: S1: Adjust the machine by using standard parts (5) to adjust the positions of the transverse centering assembly (1), the longitudinal centering assembly (2), and the rotating clamping assembly (3); S2: Activate the floating mode of the longitudinal centering component (2) so that the upper clamping part (4) of the longitudinal centering component (2) is in a floating state; S3: Place part (5) and place the pressure vessel onto the transverse alignment assembly (1) to align the pressure vessel laterally; S4: Longitudinal floating centering, the upper clamping part (4) and the lower clamping part (6) of the longitudinal centering component (2) move closer to each other to raise the part (5) until the upper clamping part (4) and the lower clamping part (6) move to the position when the machine is adjusted and stop moving; S5: Change the positioning center and rotate the clamping assembly (3) to clamp the pressure vessel from both ends and rotate the pressure vessel circumferentially. S6: The longitudinal centering component (2) starts the measurement mode, and the lower clamping part (6) of the longitudinal centering component (2) makes way while the measurement mode of the longitudinal centering component (2) is started; S7: The rotating clamping assembly (3) rotates the pressure vessel circumferentially, and the longitudinal centering assembly (2) judges whether the pressure vessel meets the welding requirements; S8: If the welding requirements are met, welding will proceed. If the welding requirements are not met, the equipment will first perform troubleshooting and resolution on its own. After troubleshooting and resolution, the equipment will again determine whether the welding requirements are met. If the welding requirements are met, reinforcement measures will be taken before welding begins. If the welding requirements are not met, the equipment will stop and alarm, requiring manual intervention.

2. The welding method for a pressure vessel according to claim 1, characterized in that, The standard part (5) is the part (5) whose diameter is within the allowable tolerance range.

3. An automatic pressure vessel welding machine, applicable to the welding method for a pressure vessel as described in claim 1, characterized in that, include: Lateral alignment assembly (1), the lateral alignment assembly (1) includes two support rollers (7) respectively disposed on both sides below the pressure vessel. The longitudinal alignment component (2) includes an upper clamping member (4) and a lower clamping member (6) respectively disposed on the upper and lower sides of the pressure vessel, and also includes a longitudinal alignment drive component (8) for driving the upper clamping member (4) and the lower clamping member (6) to move closer or further away from each other. Rotary clamping assembly (3) is used to clamp the pressure vessel from both ends and rotate the pressure vessel circumferentially. Welding robot (9), the welding robot (9) is used to weld a rotating pressure vessel; Among them, the two support rollers (7) are symmetrical about the rotation center of the rotating clamping assembly (3) in the transverse direction, and the upper clamping member (4) and the lower clamping member (6) are symmetrical about the rotation center of the rotating clamping assembly (3) in the longitudinal direction.

4. The automatic pressure vessel welding machine according to claim 3, characterized in that, The upper clamping member (4) includes an upper clamping seat (10) and an upper clamping plate (11) disposed on the upper clamping seat (10); the lower clamping member (6) includes a lower clamping seat (24) and a lower clamping plate (25) disposed on the lower clamping seat (24); the longitudinal centering assembly (2) includes: In the machine adjustment mode, the position between the upper clamping seat (10) and the upper clamping plate (11) is fixed, and the position between the lower clamping seat (24) and the lower clamping plate (25) is fixed. In the clamping mode, the position between the upper clamping seat (10) and the upper clamping plate (11) floats, while the position between the lower clamping seat (24) and the lower clamping plate (25) is fixed. In measurement mode, the position between the upper clamping seat (10) and the upper clamping plate (11) floats, the lower clamping plate (25) retracts into the lower clamping seat (24), and the measuring head (26) of the measuring component (12) in the lower clamping seat (24) extends out of the lower clamping seat (24) simultaneously. The upper clamping member (4) switches between the machine adjustment mode and the clamping mode through a first switching structure, and the lower clamping member (6) switches between the clamping mode and the measurement mode through a second switching structure.

5. The automatic pressure vessel welding machine according to claim 4, characterized in that, The first switching structure includes: The first switching motor (13) is fixedly mounted on the upper clamping seat (10); The first switching cam (14) is located inside the upper clamping seat (10) and connected to the output end of the first switching motor (13); The first slide groove (15) is formed on the upper clamping seat (10), and the upper clamping plate (11) is slidably disposed in the first slide groove (15); The first guide hole (16) is opened in the upper clamping seat (10) and communicates with the first slide groove (15); The first guide post (17) is slidably disposed in the first slide groove (15) and is fixedly connected to the upper clamping plate (11); The first spring (18) is sleeved outside the first guide post (17). One end of the first spring (18) abuts against the bottom of the first slide groove (15), and the other end is connected to the upper clamping plate (11). In the machine adjustment mode, the protruding section of the first switching cam (14) abuts against the upper clamping plate (11) to keep the upper clamping plate fixed. In the clamping mode, the protruding section of the first switching cam (14) moves away from the upper clamping plate (11), and the first spring (18) always has the tendency to keep the upper clamping plate (11) in the machine adjustment mode.

6. The automatic pressure vessel welding machine according to claim 4, characterized in that, The second switching structure includes: The second slide groove (19) is opened on the lower clamping seat (24), and the lower clamping plate (25) is slidably disposed in the second slide groove (19); The second switching motor (20) is fixedly mounted on the lower clamping seat (24); The second switching gear (21) is located inside the lower clamping seat (24) and connected to the output end of the second switching motor (20); There are two switching racks (22), which are respectively located on both sides of the second switching gear (21) and mesh with the second switching gear (21). The lower clamping plate (25) and the measuring component (12) are respectively located at one end of the two switching racks (22) facing the upper clamping plate (11). The lower clamping plate (25) has a second guide hole (23). The measuring head (26) of the measuring component (12) is slidably disposed in the second guide hole (23). In the clamping mode, the lower clamping plate (25) is higher than the lower clamping seat (24), and the measuring head (26) is located in the second guide hole (23). In the measuring mode, the lower clamping plate (25) is housed in the lower clamping seat (24), and the measuring head (26) extends out of the second guide hole (23).

7. The automatic pressure vessel welding machine according to claim 6, characterized in that, The measurement component (12) includes: Measuring head (26) is slidably disposed within the second guide hole (23); Measuring slide (27), which is formed inside the lower clamping seat (24); The first slide plate (28) is slidably set in the measuring slide groove (27), and one end of the switching rack (22) facing the upper clamping plate (11) extends into the measuring slide groove (27) and is fixedly connected to the first slide plate (28); The second slide plate (29) is slidably disposed in the measuring groove (27), and the second slide plate (29) is fixedly connected to one end of the measuring head (26); The second spring (30) is disposed between the first slide plate (28) and the second slide plate (29) and its two ends are respectively connected to the first slide plate (28) and the second slide plate (29); A distance sensor (31) is disposed on the first slide plate (28) and is used to measure the distance between the first slide plate (28) and the second slide plate (29).

8. An automatic pressure vessel welding machine according to claim 4, characterized in that, It also includes an autonomous resolution component for troubleshooting cleaning issues on the surface of the support roller (7) and the pressure vessel surface in contact with the support roller (7), the autonomous resolution component comprising: The mounting base (32) is on which the support roller (7) is rotatably mounted; Position adjustment assembly, used to drive two mounting seats (32) to move closer to or further away from each other with support rollers (7); Adjusting gear (33), which is fixedly connected to the central shaft of support roller (7); Adjusting rack (34), which meshes with adjusting gear (33) and is arranged along the moving direction of support roller (7).

9. An automatic pressure vessel welding machine according to claim 8, characterized in that, The position adjustment component includes: A drive motor (35) is fixedly installed; The drive screw (36) is connected to the output end of the drive motor (35). The drive screw (36) includes two symmetrically arranged threaded segments with opposite directions of rotation. Two mounting seats (32) are symmetrically arranged and are respectively helically connected to the two threaded segments. The guide rod (37) is parallel to the drive screw (36) and is slidably disposed on the guide rod (37) with respect to the mounting seat (32).

10. An automatic pressure vessel welding machine according to claim 9, characterized in that, It also includes an enhanced slag removal component, which includes: Guide pin (38), which is fixedly connected to the non-center part of the end face of the adjusting gear (33); A reinforcing block (39) is provided with a reinforcing groove (40). A guide pin (38) passes through the reinforcing groove (40) and slides against the two side walls of the reinforcing groove (40). The distance between the other two side walls of the reinforcing groove (40) is greater than the outer diameter of the adjusting gear (33). Extension rod (41), extension rods (41) extend outward from both sides of the reinforcing block (39). A reinforcing frame (42) is fixedly connected to a mounting base (32), and an extension rod (41) is inserted inside the reinforcing frame (42) and slidably connected to the reinforcing frame (42). The reinforcing brush (43) is fixedly connected to the vertical plates at both ends of the extension rod (41); A slag removal brush (44) is provided on the mounting base (32) below the support roller (7).

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