An automated loading and unloading welding device for tower structure components

Abstract

This invention discloses an automatic loading and unloading welding device for tower structures, relating to the technical field of wind turbine tower welding equipment. It includes an angle adjustment mechanism, a clamping mechanism, and a welding mechanism. The angle adjustment mechanism comprises a rotary motor and an adjustment table. The output end of the rotary motor is connected to the adjustment table via a rotating shaft. The adjustment table is equipped with a second hydraulic cylinder. A first support assembly is located on the side of the second hydraulic cylinder near the adjustment table, and a second support assembly is located at the output end of the second hydraulic cylinder. The angle adjustment mechanism includes a first hydraulic cylinder, a rotary motor, an adjustment table, a second hydraulic cylinder, a first support assembly, and a second support assembly. When welding of the tower is required, the output of the first hydraulic cylinder lowers the adjustment table to a position coaxial with the tower. The operation of the second hydraulic cylinder extends the first and second support assemblies into the tower. The extension and retraction of the second hydraulic cylinder is divided into two parts, i.e., the second support assembly extends to the side closer to the smaller diameter of the tower.

Description

Technical Field

[0001] This invention relates to the field of wind turbine tower welding equipment technology, specifically an automatic loading and unloading tower structural component welding device. Background Technology

[0002] In the field of metal cutting and welding equipment manufacturing, especially in the research and development of specialized welding equipment for large wind turbine structural components, the entire manufacturing lifecycle of modern wind turbine generators places stringent requirements on process equipment. As the core structural component supporting the entire rotor and nacelle and bearing extreme wind loads and alternating stresses, the manufacturing precision and welding quality of the wind turbine tower directly determine the overall operational stability and anti-towering safety of the wind turbine generator. With the rapid evolution of the global wind power industry towards deep-sea and high-tower onshore wind power, the physical dimensions of the tower are showing a dramatic increase.

[0003] The longitudinal seam welding of wind turbine towers involves a large heat input, making them highly susceptible to shrinkage deformation. This can lead to excessive ellipticity of the tower sections, uneven ends, or overall straightness deviations. If the deformation gets out of control, it will directly affect the accuracy of subsequent circumferential seam assembly and the elevation angle requirements for the wind turbine nacelle installation, and may even reduce the structural load-bearing capacity. Uneven shrinkage in the weld thickness direction causes the weld position to be concave or convex radially, forming local sharp edges, which is the most common deformation defect in longitudinal seams. The tower is a cylindrical structure with a radially tapered change. The circumferential shrinkage of the weld causes deformation of the entire cylinder, resulting in excessive diameter differences at the same cross-section. Large-diameter, thin-walled, thick-walled sections will also collapse and deform under their own weight, further exacerbating roundness deviations.

[0004] Therefore, a mechanism is needed that can provide different internal and external support and clamping forces according to the changes in the tower diameter during the welding process, so as to avoid the tower weld position from being concave inward or convex outward in the radial direction, forming local sharp edges. Summary of the Invention

[0005] The purpose of this invention is to provide an automatic loading and unloading tower structure welding device. By applying different internal and external support forces and clamping forces according to the change of tower diameter during the welding process, the weld position of the tower is prevented from being concave inward or convex outward along the radial direction, thus avoiding the formation of local sharp edges.

[0006] To achieve the above objectives, the present invention provides the following technical solution: An automatic loading and unloading tower structure welding device includes an angle adjustment mechanism, a clamping mechanism, and a welding mechanism. The angle adjustment mechanism includes a rotary motor and an adjustment table. The output end of the rotary motor is connected to the adjustment table via a rotating shaft. The adjustment table is equipped with a second hydraulic cylinder. A first support assembly is located on the side of the second hydraulic cylinder near the adjustment table, and a second support assembly is located at the output end of the second hydraulic cylinder. The angle adjustment mechanism includes a first hydraulic cylinder, a rotary motor, an adjustment table, a second hydraulic cylinder, a first support assembly, and a second support assembly. When welding of the tower is required, the output of the first hydraulic cylinder lowers the adjustment table to a position coaxial with the tower. The operation of the second hydraulic cylinder extends the first and second support assemblies into the tower. The extension and retraction of the second hydraulic cylinder is divided into two ends: the second support assembly extends to the side closer to the smaller diameter of the tower, while the first support assembly extends to the side closer to the larger diameter of the tower. A pneumatic rod is installed at the upper end of the clamping mechanism. The output end of the pneumatic rod is connected to the support rod. A first electric push rod is installed on the side of the support rod near the main body of the device, and a clamping plate is installed at the output end of the first electric push rod. The clamping mechanism is located on the side of the main body of the device near the carrier vehicle. The clamping mechanism is equipped with a telescopic rod to facilitate the adjustment of the pneumatic rod moving longitudinally along the tower cylinder (not marked in the figure). The output of the pneumatic rod drives the support rod to move downward, which in turn drives the first electric push rod and the clamping plate to move downward toward the tower cylinder. When it approaches the two sides where the diameter of the tower cylinder is smaller, the first electric push rod operates, driving the clamping plate to act on both sides of the tower cylinder. The contact surface between the clamping plate and the tower cylinder is set as a concave arc surface. Both the first support assembly and the second support assembly are equipped with hydraulic rods (not marked in the figure). At this time, the hydraulic rod operates to drive its support surface to support the inside of the tower cylinder. In this embodiment, both the first support assembly and the second support assembly are equipped with four support surfaces, mainly supporting the inside of the tower cylinder up, down, left, and right. The rotary motor drives the adjustment table to form a certain deflection angle, thereby causing the first support assembly and the second support assembly to deflect the tower cylinder, adjusting the angle of the weld during the welding process.

[0007] Internal supports prevent large-diameter, thin-walled, thick-walled cylindrical sections from collapsing and deforming under their own weight, which would further exacerbate roundness deviations. Smaller diameter sections are stabilized through a combination of internal supports and external clamping, preventing insufficient weight from affecting welding efficiency. Furthermore, the internal supports and external clamping allow for continuous adjustment of the angle between weld seams of different diameters and their vertical cross-sections during welding, preventing radial inward or outward convexity of the weld seam and the formation of sharp edges that could negatively impact weld quality.

[0008] Preferably, the welding mechanism is located on one side of the main body of the device. The welding mechanism includes a lifting platform and a welding torch. The welding mechanism achieves welding of the tower at different angles by adjusting the displacement in the extension direction of the tower and the vertical height. A distance sensor reads the relative distance to the weld in real time and feeds the signal back to the controller, forming a closed loop. During the welding process, the carrier vehicle remains stationary, and the rotary motor drives the adjusting platform to rotate slowly according to the welding speed command. The adjusting platform causes the tower to deflect around its axis at a corresponding angle through the second hydraulic cylinder and the support assembly. At this time, the weld is deflected relative to the welding torch. The rotation angle of the rotary motor is continuously adjusted so that the tangential surface of the weld always forms an angle conducive to weld formation with the vertical plane, avoiding defects such as concave, convex, and undercut welds caused by the molten pool flowing down in overhead or vertical welding positions. The distance sensor can detect the radial runout caused by ellipticity or diameter change during the rotation of the tower in real time and transmit the signal to the lifting platform and the second electric push rod respectively. The lifting platform quickly compensates for the height change, and the second electric push rod adjusts the extension of the welding torch to ensure that the arc length is constant and the welding wire is always accurately aligned with the center of the weld.

[0009] Preferably, the lifting platform is equipped with a second electric push rod, the output end of which is equipped with a welding gun, and the welding gun is equipped with a distance sensor. The output end of the distance sensor is in the same direction as the welding head output of the welding gun. The lower end of the lifting platform is equipped with a telescopic rod (not marked in the figure), which is used to adjust the height of the welding gun at its end. The second electric push rod is used to adjust the distance between the welding gun and the weld.

[0010] Preferably, the welding mechanism also includes a stepper motor, the output end of which is equipped with a lead screw. The stepper motor serves as the power output of the welding mechanism, driving the welding torch to move along the extension direction of the tower. When welding the tower, the distance sensor calculates the distance to the weld seam, the height of the welding torch is adjusted by the lifting platform, the second electric push rod drives the welding torch and the distance sensor forward, and the stepper motor drives the welding torch to move horizontally and uniformly along the lead screw via a slider. The diameter of the tower and the angle of the weld seam are constantly changing. Through the action of the distance sensor, the height of the welding torch and its displacement along the Y-axis of the tower are constantly changing, enabling the welding torch to adapt to the changes in the weld seam in real time and improving welding efficiency.

[0011] Preferably, the upper end of the angle adjustment mechanism is provided with a first hydraulic cylinder. The first hydraulic cylinder serves as the height output mechanism of the angle adjustment mechanism. The first hydraulic cylinder outputs the height of the adjustment platform so that the adjustment platform can always be kept on the central axis of the tower.

[0012] Preferably, there are two first electric push rods, each equipped with a clamping plate. The two first electric push rods are positioned on both sides of the tower along its Y-axis. The extension of the two first electric push rods causes the clamping plates to act on the tower. The contact surface of the clamping plates is designed with a concave structure to enable them to act on the tower more effectively.

[0013] Preferably, the support surface of the first support component is configured as an arc-shaped convex plate structure, and the support surface of the second support component is configured as an arc-shaped convex plate structure. The first and second support components extend by hydraulic rods so that the support surface of the arc-shaped convex plate structure acts on the inside of the tower, thereby providing support to the inside of the tower.

[0014] Preferably, the main body of the device is equipped with a gantry frame, and the angle adjustment mechanism is mounted on the gantry frame. Motors are mounted on both sides of the gantry frame (not shown in the figure) to facilitate the movement of the gantry frame along its track on the main body of the device. When welding of the tower is required, the gantry frame drives the angle adjustment mechanism to move along the side of the main body of the device closer to the clamping mechanism. The angle adjustment mechanism causes the first support component and the second support component to extend into the tower, lifting the tower onto the carrier on the main body of the device. At the same time, the angle adjustment mechanism first pre-adjusts the weld seam of the tower so that the weld seam faces the side of the welding mechanism.

[0015] Preferably, a carrying carriage is provided on the side of the main body of the device near the clamping mechanism. The contact surface between the carrying carriage and the tower is set as a concave contact surface to facilitate the welding and placement of the tower. In addition, the carrying carriage has an automatic locking function, locking during welding and moving under the action of the gantry and angle adjustment mechanism during loading and unloading.

[0016] Compared with the prior art, the beneficial effects of the present invention are: This method effectively improves welding quality and eliminates deformation defects. By combining an angle adjustment mechanism with a clamping mechanism, it completely solves the problems of collapse deformation and out-of-roundness deviation caused by the self-weight of large-diameter thin-walled tower sections in a horizontal position, ensuring that the tower sections maintain an ideal geometric shape throughout the welding process. The angle adjustment mechanism adjusts the angle between the weld cut surface and the vertical plane by adjusting the rotation of the tower weld, keeping the molten pool in a favorable position that prevents it from flowing. This fundamentally avoids the generation of radial concavity, convexity, and local sharp edges in the weld, resulting in a uniform and smooth weld formation.

[0017] The first and second support components in the angle adjustment mechanism both use independently driven hydraulic rods. The clamping mechanism has longitudinal movement and height adjustment capabilities, enabling the device to flexibly adapt to the welding requirements of tower structure components with different diameters, wall thicknesses, and tapers. The internal and external double support and the adjustable angle design ensure wide applicability from thick walls to thin walls and from small diameters to large diameters. Attached Figure Description

[0018] Figure 1 This is a schematic diagram of the overall structure of the device of the present invention; Figure 2 This is a schematic side view of the overall structure of the device of the present invention; Figure 3This is a schematic diagram of the angle adjustment mechanism of the present invention; Figure 4 This is a cross-sectional view of the clamping mechanism of the present invention; Figure 5 This is a schematic diagram of the welding mechanism of the present invention; Figure 6 This is a schematic diagram of the welding gun of the present invention; Figure 7 This is a schematic diagram of the structure of the clamping plate of the present invention; Figure 8 This is a top view of the first support component of the present invention.

[0019] In the diagram: 1. Main body of the device; 2. Angle adjustment mechanism; 21. First hydraulic cylinder; 22. Rotary motor; 23. Adjustment table; 24. Second hydraulic cylinder; 25. First support assembly; 26. Second support assembly; 3. Clamping mechanism; 31. Pneumatic rod; 32. First electric push rod; 33. Support rod; 34. Clamping plate; 4. Welding mechanism; 41. Lifting platform; 42. Second electric push rod; 43. Welding gun; 44. Distance sensor; 45. Stepper motor; 46. Lead screw; 5. Gantry frame; 6. Carrier vehicle. Detailed Implementation

[0020] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0021] Example 1: As Figure 1 As shown, the present invention provides a technical solution for an automatic loading and unloading tower structure welding device.

[0022] A support carriage 6 is installed on one side of the main body 1 of the device. The support carriage 6 is equipped with a set of rollers to support the tower. The tower to be welded is placed horizontally on the support carriage 6 and can move smoothly along the longitudinal direction of the tower with the support carriage 6. The welding gun 43 is installed on the main body 1 of the device and located above the support carriage 6, with its welding head output direction facing the weld seam to be welded on the tower. During the welding operation, the tower is first clamped and positioned on the support carriage 6 so that the weld seam is directly below the welding gun 43; the support carriage 6 is started to move the tower in a straight line at a uniform speed, while the welding gun 43 ignites the arc and applies welding to complete the continuous welding of the longitudinal seam of the tower.

[0023] Example 2: Figures 1-8 As shown, the present invention provides a technical solution for an automatic loading and unloading tower structure welding device.

[0024] The system includes an angle adjustment mechanism 2, a clamping mechanism 3, and a welding mechanism 4. The angle adjustment mechanism 2 includes a rotary motor 22 and an adjustment table 23. The output end of the rotary motor 22 is connected to the adjustment table 23 via a rotating shaft. The adjustment table 23 is equipped with a second hydraulic cylinder 24. A first support component 25 is provided on the side of the second hydraulic cylinder 24 near the adjustment table 23, and a second support component 26 is provided at the output end of the second hydraulic cylinder 24. The angle adjustment mechanism 2 includes a first hydraulic cylinder 21, a rotary motor 22, an adjustment table 23, a second hydraulic cylinder 24, a first support component 25, and a second support component 26. When welding is required on the tower, the output of the first hydraulic cylinder 21 lowers the adjustment table 23 to a position coaxial with the tower. The operation of the second hydraulic cylinder 24 extends the first support component 25 and the second support component 26 into the tower. The extension and retraction of the second hydraulic cylinder 24 is divided into two ends: the second support component 26 extends to the side closer to the smaller diameter of the tower, while the first support component 25 extends to the side closer to the larger diameter of the tower. A pneumatic rod 31 is provided at the upper end of the clamping mechanism 3. The output end of the pneumatic rod 31 is connected to the support rod 33. A first electric push rod 32 is provided on the side of the support rod 33 near the main body 1 of the device. A clamping plate 34 is provided at the output end of the first electric push rod 32. The clamping mechanism 3 is located on the side of the main body 1 near the carrier 6. The clamping mechanism 3 is provided with a telescopic rod that facilitates the adjustment of the pneumatic rod 31 along the longitudinal direction of the tower. It is not marked in the figure. The output of the pneumatic rod 31 drives the support rod 33 to move downward, which in turn drives the first electric push rod 32 and the clamping plate 34 to move downward toward the tower. When it approaches the two sides where the diameter of the tower is smaller, the first electric push rod 32 works, which drives the clamping plate 34 to act on both sides of the tower. The contact surface between the clamping plate 34 and the tower is set as a concave arc surface. Both the first support assembly 25 and the second support assembly 26 are equipped with hydraulic rods, which are not marked in the figure. At this time, the hydraulic rods work to drive their support surfaces to support the inside of the tower. In this embodiment, both the first support assembly 25 and the second support assembly 26 are equipped with four support surfaces, which mainly support the inside of the tower from top to bottom and left to right. The rotary motor 22 drives the adjustment table 23 to form a certain deflection angle, so that the first support assembly 25 and the second support assembly 26 drive the tower to deflect, thereby adjusting the angle of the weld during the welding process.

[0025] Internal supports prevent large-diameter, thin-walled, thick-walled cylindrical sections from collapsing and deforming under their own weight, which would further exacerbate roundness deviations. Smaller diameter sections are stabilized through a combination of internal supports and external clamping, preventing insufficient weight from affecting welding efficiency. Furthermore, the internal supports and external clamping allow for continuous adjustment of the angle between weld seams of different diameters and their vertical cross-sections during welding, preventing radial inward or outward convexity of the weld seam and the formation of sharp edges that could negatively impact weld quality.

[0026] Specifically, in the initial state, the first hydraulic cylinder 21 retracts, placing the adjusting platform 23 in a high position; the piston rod of the second hydraulic cylinder 24 retracts, and the hydraulic rods of the first support assembly 25 and the second support assembly 26 are fully retracted; the longitudinal telescopic rod and pneumatic rod 31 of the clamping mechanism 3 return to their positions, the welding gun 43 retracts to the standby position, and the carrying vehicle 6 is positioned in the loading area. The large-diameter end of the tower faces the angle adjusting mechanism 2 until the large-diameter end face of the tower reaches the predetermined set position, making the central axis of the tower basically coincide with the rotation center of the adjusting platform 23. Next, the piston rod of the first hydraulic cylinder 21 extends downward, causing the adjusting platform 23 to slowly descend. When the adjusting platform 23 descends to the set height, the horizontal axes of the first support assembly 25 and the second support assembly 26 are coaxial with the central axis of the tower. Subsequently, the piston rods of the two second hydraulic cylinders 24 extend outward simultaneously, smoothly sending the first support assembly 25 and the second support assembly 26 into the inner cavity of the tower.

[0027] Since the large-diameter cylindrical section is at the rear and the small-diameter cylindrical section is at the front, the first support assembly 25 precisely enters the interior of the large-diameter cylindrical section, while the second support assembly 26 extends into the interior of the small-diameter cylindrical section. Once in position, the hydraulic rods on the first and second support assemblies 25 and 26 actuate, radially pushing the arc-shaped convex plate outwards. The support surface tightly adheres to the inner wall of the tower, generating a uniform clamping force, effectively eliminating the ellipticity deviation and collapse deformation caused by the weight of the large-diameter thin-walled cylindrical section. Simultaneously with the establishment of internal support, the longitudinal telescopic rod of the clamping mechanism 3 moves above the small-diameter cylindrical section, and the pneumatic rod 31 drives the support rod 33 downwards, causing the clamping plate 34 to reach the corresponding positions on both sides of the outer side of the tower. Subsequently, the first electric push rod 32 extends, and the concave arc surface of the clamping plate 34 presses against the outer wall of the tower, forming a force seal with the internal second support assembly 26.

[0028] Preferably, the welding mechanism 4 is located on one side of the main body 1 of the device. The welding mechanism 4 includes a lifting platform 41 and a welding gun 43. The welding mechanism 4 can achieve welding of the tower at different angles by adjusting the displacement in the extension direction of the tower and the height in the vertical direction.

[0029] Preferably, the lifting platform 41 is provided with a second electric push rod 42, the output end of the second electric push rod 42 is provided with a welding gun 43, the welding gun 43 is provided with a distance sensor 44, the output end of the distance sensor 44 is in the same direction as the welding head output of the welding gun 43; the lower end of the lifting platform 41 is provided with a telescopic rod (not marked in the figure), which is used to adjust the height of the welding gun 43 at its end, and the second electric push rod 42 is used to adjust the distance between the welding gun 43 and the weld.

[0030] Preferably, the welding mechanism 4 further includes a stepper motor 45, the output end of which is equipped with a lead screw 46. The stepper motor 45 serves as the power output of the welding mechanism 4, driving the welding gun 43 to move along the extension direction of the tower. When welding the tower, the distance sensor 44 calculates the distance to the weld seam, and the height of the welding gun 43 is adjusted by the lifting platform 41. The second electric push rod 42 drives the welding gun 43 and the distance sensor 44 to move forward, and the stepper motor 45 drives the welding gun 43 to move horizontally and uniformly along the lead screw 46 via the slider. The diameter of the tower and the angle of the weld seam are constantly changing. Through the action of the distance sensor 44, the height of the welding gun 43 and its displacement along the Y-axis of the tower are constantly changing, enabling the welding gun 43 to adapt to the changes in the weld seam in real time and improve welding efficiency.

[0031] Specifically, at the start of welding, the distance sensor 44 reads the relative distance to the weld seam in real time and feeds the signal back to the controller. During welding, the carrier vehicle 6 remains stationary, and the rotary motor 22 drives the adjusting table 23 to rotate slowly according to the welding speed command. The adjusting table 23 causes the tower to deflect around its axis at a corresponding angle through the second hydraulic cylinder 24 and the support assembly. At this time, the weld seam deflects relative to the welding gun 43, and the rotation angle of the rotary motor 22 is continuously adjusted so that the tangential plane where the weld seam is located always forms an angle that is conducive to weld formation with the vertical plane, avoiding defects such as concave, convex, and undercut caused by the molten pool flowing down in overhead or vertical welding positions. The distance sensor 44 can detect the radial runout caused by ellipticity or diameter change during the rotation of the tower in real time and transmit the signal to the lifting platform 41 and the second electric push rod 42 respectively. The lifting platform 41 quickly compensates for the height change, and the second electric push rod 42 adjusts the extension of the welding gun to ensure that the arc length is constant and the welding wire is always accurately aligned with the center of the weld seam. The stepper motor 45 drives the welding gun 43 to move in a uniform linear motion along the lead screw 46 via the slider. At the same time, the distance sensor 44, the lifting platform 41, and the second electric push rod 42 work together to complete a high-quality longitudinal weld.

[0032] Preferably, the upper end of the angle adjustment mechanism 2 is provided with a first hydraulic cylinder 21. The first hydraulic cylinder 21 serves as the height output mechanism of the angle adjustment mechanism 2. The first hydraulic cylinder 21 outputs the height of the adjustment platform 23 so that the adjustment platform 23 can always be kept on the central axis of the tower.

[0033] Preferably, there are two first electric push rods 32, each of which is equipped with a clamping plate 34. The two first electric push rods 32 are placed on both sides of the tower along its Y-axis direction. The extension of the two first electric push rods 32 drives the clamping plate 34 to act on the tower. The contact surface of the clamping plate 34 is set with a concave structure so that it can act on the tower better.

[0034] Preferably, the support surface of the first support component 25 is configured as an arc-shaped convex plate structure, and the support surface of the second support component 26 is configured as an arc-shaped convex plate structure. The first support component 25 and the second support component 26 extend by hydraulic rods so that the support surface of the arc-shaped convex plate structure acts on the inside of the tower, thereby providing support to the inside of the tower.

[0035] Preferably, the main body 1 of the device is provided with a gantry frame 5, and the angle adjustment mechanism 2 is provided on the gantry frame 5. Motors are provided on both sides of the gantry frame 5 (not shown in the figure) to facilitate the movement of the gantry frame 5 along its track on the main body 1 of the device. When welding of the tower is required, the gantry frame 5 drives the angle adjustment mechanism 2 to move along the side of the main body 1 near the clamping mechanism 3. The angle adjustment mechanism 2 acts to extend the first support component 25 and the second support component 26 into the tower, lifting the tower onto the carrier 6 on the main body 1 of the device. At the same time, the angle adjustment mechanism first pre-adjusts the weld seam of the tower so that the weld seam faces the side of the welding mechanism 4.

[0036] Preferably, a carrying carriage 6 is provided on the side of the main body 1 near the clamping mechanism 3. The contact surface between the carrying carriage 6 and the tower is set as a concave contact surface to facilitate the welding and placement of the tower. In addition, the carrying carriage 6 has an automatic locking function, which locks during welding and moves under the action of the gantry 5 and the angle adjustment mechanism 2 during loading and unloading.

[0037] The working principle of this invention is as follows: The gantry frame 5 drives the angle adjustment mechanism 2 to place the tower on the transport vehicle. The second hydraulic cylinder 24 of the angle adjustment mechanism 2 sends the first support assembly 25 and the second support assembly 26 into the tower. Through multi-point radial hydraulic support, the inner wall of the tower is tightened, effectively compensating for the self-weight collapse deformation of the large-diameter thin-walled section and restoring and maintaining the ideal roundness. The clamping mechanism 3 applies symmetrical clamping force to the outside of the small-diameter section of the tower, forming a force seal with the internal support, further improving the overall rigidity. During welding, the rotary motor 22 drives the adjustment table 23 to rotate slowly, causing the tower to deflect, thereby changing the angle between the weld cut surface and the vertical direction, ensuring that the molten pool is always in a gravity position conducive to forming. The welding torch 43 moves along the weld under the drive of the stepper motor 45 and the lead screw 46. The distance sensor 44 measures the distance between the welding torch and the weld in real time. The height and extension of the welding torch are dynamically adjusted by the lifting platform 41 and the second electric push rod 42 to keep the arc length constant and adapt to the continuous welding of curved surfaces with varying diameters. The six-carrying vehicle works together to automatically load and unload materials and move between weld seams. The entire device achieves high-quality automated operation of large variable diameter towers from clamping to welding.

[0038] It will be apparent to those skilled in the art that the present invention is not limited to the details of the exemplary embodiments described above, and that the invention can be implemented in other specific forms without departing from its spirit or essential characteristics. Therefore, the embodiments should be considered in all respects as exemplary and non-limiting, and the scope of the invention is defined by the appended claims rather than the foregoing description. Thus, all variations falling within the meaning and scope of equivalents of the claims are intended to be included within the present invention. No reference numerals in the claims should be construed as limiting the scope of the claims.

Claims

1. An automatic loading and unloading tower structure welding device, comprising an angle adjustment mechanism (2), a clamping mechanism (3), and a welding mechanism (4), characterized in that: The angle adjustment mechanism (2) includes a rotary motor (22) and an adjustment table (23). The output end of the rotary motor (22) is connected to the adjustment table (23) via a rotating shaft. The adjustment table (23) is provided with a second hydraulic cylinder (24). A first support component (25) is provided on the side of the second hydraulic cylinder (24) near the adjustment table (23). A second support component (26) is provided at the output end of the second hydraulic cylinder (24). The upper end of the clamping mechanism (3) is provided with a pneumatic rod (31), the output end of the pneumatic rod (31) is connected to the support rod (33), the support rod (33) is provided with a first electric push rod (32) on the side near the main body (1) of the device, and the output end of the first electric push rod (32) is provided with a clamping plate (34).

2. The automatic loading and unloading tower structure welding device according to claim 1, characterized in that: The welding mechanism (4) is located on one side of the main body (1) of the device, and the welding mechanism (4) includes a lifting platform (41) and a welding gun (43).

3. The automatic loading and unloading tower structure welding device according to claim 2, characterized in that: The lifting platform (41) is equipped with a second electric push rod (42), and the output end of the second electric push rod (42) is equipped with a welding gun (43). The welding gun (43) is equipped with a distance sensor (44), and the sensing end of the distance sensor (44) is in the same direction as the welding head output of the welding gun (43).

4. The automatic loading and unloading tower structure welding device according to claim 3, characterized in that: The welding mechanism (4) also includes a stepper motor (45), and the output end of the stepper motor (45) is provided with a lead screw (46).

5. The automatic loading and unloading tower structure welding device according to claim 1, characterized in that: The upper end of the angle adjustment mechanism (2) is provided with a first hydraulic cylinder (21).

6. The automatic loading and unloading tower structure welding device according to claim 5, characterized in that: There are two first electric push rods (32), and each of the two first electric push rods (32) is equipped with a clamp (34).

7. The automatic loading and unloading tower structure welding device according to claim 6, characterized in that: The support surface of the first support component (25) is configured as an arc-shaped convex plate structure, and the support surface of the second support component (26) is configured as an arc-shaped convex plate structure.

8. The automatic loading and unloading tower structure welding device according to claim 1, characterized in that: The main body (1) of the device is provided with a gantry frame (5), and the angle adjustment mechanism (2) is provided on the gantry frame (5).

9. The automatic loading and unloading tower structure welding device according to claim 8, characterized in that: The main body (1) of the device is provided with a carrier (6) on the side near the clamping mechanism (3).

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