A vertical welding assembly line system for a storage tank cylinder segment girth joint

Abstract

The application discloses a kind of storage tank cylinder segment ring slit vertical welding assembly assembly line system, belong to the field of carrying rocket processing technology, the system includes tooling frame and external AGV transfer trolley, preset operation well on tooling frame, gantry is set up on operation well, track is symmetrically arranged on the upper surface of tooling frame and inside gantry, transfer tray is slidably connected on track, the bottom of operation well is installed with rotary table, lifting support is erected in the inside of rotary table, lifting mechanism is slidably connected in the inner wall of gantry, truss mechanism is connected on lifting mechanism by bearing seat, further include outer pressure module and welding mechanism, and all be installed with inner support on lifting support and truss mechanism.The whole layout of vertical assembly line is used in the application, cylinder segment automation transfer, end face pretreatment, accurate butt joint positioning, ring seam welding and on-line detection are integrated in the same production system, realize multi-process continuous, automated operation, effectively reduce the positioning error accumulation caused by multi-station transfer, repeated clamping.

Description

Technical Field

[0001] This invention belongs to the field of launch vehicle processing technology, specifically relating to a vertical welding assembly line system for circumferential seams of storage tank sections. Background Technology

[0002] The rocket propellant tank is a core thin-walled component of a liquid launch vehicle that carries propellant. It is assembled from multiple thin-walled cylindrical sections and has the structural characteristics of large size, weak stiffness, and easy deformation. Its assembly and welding quality directly affects the overall structural reliability of the rocket.

[0003] Currently, the circumferential welding of tank sections mainly adopts a horizontal assembly method, with the tank axis in a horizontal position and thin-walled sections being joined laterally. Under the influence of gravity, large-diameter sections are prone to bending deformation, making it difficult to guarantee dimensional accuracy. At the same time, the horizontal layout has low space utilization, and repeated clamping at multiple stations can easily accumulate machining errors, making it difficult to meet the requirements of high-precision, mass production.

[0004] To overcome the above-mentioned defects, improve the assembly accuracy of large-diameter tanks, suppress welding deformation, and improve the level of production automation, the development of a vertical layout cylindrical section circumferential seam welding assembly line system to achieve integrated continuous operation of multiple processes has become an important technological development direction in this field. Summary of the Invention

[0005] The purpose of this section is to outline some aspects of embodiments of the present invention and to briefly describe some preferred embodiments. Simplifications or omissions may be made in this section, as well as in the abstract and title of this application, to avoid obscuring the purpose of these documents; however, such simplifications or omissions should not be construed as limiting the scope of the invention.

[0006] To address the problems mentioned in the background section, the present invention adopts the following technical solution.

[0007] A vertical welding assembly line system for circumferential seams of storage tank sections includes a tooling frame and an external AGV transfer vehicle. An operating well is pre-installed on the tooling frame, and a gantry frame is mounted on the operating well. Tracks are symmetrically arranged on the upper surface of the tooling frame and inside the gantry frame, with transfer trays slidably connected to the tracks. A turntable is installed at the bottom of the operating well, and a lifting support is mounted inside the turntable. A third external pressure module is mounted on the turntable and outside the lifting support. A lifting mechanism is slidably connected to the inner wall of the gantry frame, and a truss mechanism is connected to the lifting mechanism via bearing seats. A first external pressure module is connected below the truss mechanism, and a second external pressure module is connected to the lower end of the first external pressure module. The two are connected by a first cylinder. Internal supports are installed on both the lifting support and the truss mechanism. A welding mechanism is also installed inside the operating well. A drive assembly is located at the bottom of the turntable, which can drive the lifting support, the third external pressure module, the internal supports, and the assembled tank section to rotate circumferentially around its own axis for welding. The entire mechanism is fixed inside the operating well. It adopts a circumferential seam processing method with workpiece rotation and fixed processing equipment. The first and second external pressure modules adopt a double-layer telescopic structure with inner and outer nesting. Together with the third external pressure module and the upper and lower sets of inner supports, it forms a multi-dimensional positioning support system with internal and external coordination. The first cylinder section to be welded is transported to the transfer pallet by an AGV transfer vehicle. The transfer pallet transports the first cylinder section to the gantry. The lifting mechanism drives the truss mechanism to descend. The inner supports on the truss mechanism support the first cylinder section and lower it. When the first cylinder section descends, the first cylinder simultaneously pushes the second external pressure module to descend synchronously, effectively constraining the first cylinder section. When the first cylinder section descends to the third external pressure module, it is supported and fixed by the inner supports on the lifting bracket. The third external pressure module simultaneously constrains the outside of the first cylinder section to prevent deformation. Through the above operations, the second and third cylinder sections are lowered to the designated positions in sequence, and then welded by the welding mechanism.

[0008] Preferably, the outer diameter of the first external pressure module is adapted to the inner diameter of the second external pressure module. The first cylinder is mounted on the first external pressure module, and the output end of the first cylinder is hinged to the second external pressure module. The lower surface of the second external pressure module is provided with multiple first piano key pressure plate assemblies in a circumferential manner to achieve auxiliary positioning and attitude maintenance after the cylinder segments are connected. The upper surface of the third external pressure module is provided with multiple second piano key pressure plate assemblies in a circumferential manner. The first piano key pressure plate assemblies and the second piano key pressure plate assemblies are symmetrically arranged up and down along the connecting circumferential seam, and together they form a radial and axial composite constraint on the cylinder segment connecting area, limiting the radial offset, circumferential rotation and local deformation between the cylinder segments.

[0009] Preferably, the turntable has multiple assembly slots arranged in a circular pattern. A screw jack is slidably connected in the assembly slot. A force sensor is installed at the output end of the screw jack, and a lifting tray is provided on the force sensor's force-bearing surface. The screw jacks are evenly distributed along the circumference of the turntable and use a multi-point synchronous lifting method to complete the connection of the cylinder section and precise adjustment of its vertical position. The first cylinder section descends from the operating well to the turntable and is connected by the lifting tray. The force sensor collects load data in real time for cylinder section positioning confirmation and overload protection.

[0010] Preferably, the lifting support includes a third support frame, a second support frame, and a first support frame. The bottom of the third support frame is provided with a chassis, which is fixed on the turntable. The top of the third support frame is connected to a third connecting plate. The second support frame is mounted on the third connecting plate, and the upper surface of the third connecting plate is connected to a second connecting plate. The first support frame is mounted on the second connecting plate, and the upper surface of the first support frame is connected to a first connecting plate. The diameters of the third support frame, the second support frame, and the first support frame gradually decrease and are arranged in a nested manner, which can be adapted to the total height of different numbers of cylinder segments after combination by graded lifting. The inner support on the lifting support is installed on the third connecting plate.

[0011] Preferably, the lower surface of the first connecting plate is provided with a plurality of second cylinders in a circumferential manner, the output end of the second cylinders being hinged to the second connecting plate, and the lower surface of the second connecting plate is provided with a plurality of third cylinders in a circumferential manner, the output end of the third cylinders being hinged to the chassis; the second cylinders and the third cylinders are evenly distributed along the circumference, and can synchronously drive the corresponding support frame to complete the graded lifting action. After the lifting is in place, it can be used with through bolts to realize the rigid connection between the support frames at each level, and reliably transfer the welding load to the turntable.

[0012] Preferably, the inner support consists of an assembled outer ring and a non-removable inner ring, connected by an external expansion module. The assembled outer ring is composed of multiple arc-shaped single plates. The diameter of the assembled outer ring is adjusted by pushing the single plates through the external expansion module. The assembled outer rings of different diameters are used to support the tank cylinder sections of the corresponding inner diameter. The arc-shaped single plates of the assembled outer ring integrate weld backing channels, which can connect the protective gas supply system and the cooling circulation system, providing forming support, gas protection and continuous cooling to the back of the weld during the welding process.

[0013] Preferably, the external expansion module includes a mounting clip, with symmetrically arranged slides on the upper surface of the mounting clip. Slide rails are slidably connected to the slides, and a stop plate is connected to a pair of slide rails. A drop plate is mounted on the lower surface of the mounting clip, and a fixed sleeve is rotatably connected to the drop plate by a pin. A cylinder is fitted inside the fixed sleeve. The output end of the cylinder passes through the mounting clip and the stop plate in sequence and is hinged to an H-shaped connecting rod and an irregular connecting rod. The other end of the H-shaped connecting rod is connected to the mounting clip through a short shaft, and the other end of the irregular connecting rod is rotatably connected to a pin joint, which is fixed to the stop plate. The mounting clip and the stop plate are provided with a first waist hole and a second waist hole in sequence for the output end of the cylinder to pass through. The mounting clip is installed on a non-removable inner ring, and the front end of its stop plate is fixed to the inner side wall of the assembled outer ring. The external expansion module adopts a linkage-type force-increasing drive structure, which converts the linear motion of the cylinder into the radial translation of the stop plate, ensuring that the tension force at each point of the assembled outer ring is uniform.

[0014] Preferably, the welding mechanism includes a column guide rail, a transition plate slidably connected to the column guide rail, a crossbeam slidably connected to the transition plate, a welding installation assembly mounted on one end of the crossbeam, and a welding device mounted on the welding installation assembly; the welding installation assembly adopts a modular quick-change structure, which can quickly change the welding gun or laser cutting head according to process requirements, and complete the fixed-size cutting, burr removal and circumferential welding operations of the end face to be joined of the cylinder section in the same station.

[0015] Preferably, a first motor is installed on the top of the column guide rail. The drive end of the first motor passes through the top of the column guide rail and is connected to a lead screw. The rear surface of the adapter plate is provided with a screw hole block that matches the lead screw. A pair of guide blocks are provided on the adapter plate. A crossbeam guide rail is provided on the surface of the crossbeam. The guide blocks are slidably connected to the crossbeam guide rail. A rack of equal length is provided on the surface of the crossbeam and below the crossbeam guide rail. A gear is provided on the side of the adapter plate opposite to the inner wall of the crossbeam. The gear meshes with the rack. A second motor is installed on the central shaft of the gear and is fixed on the end face of the adapter plate. Both the first motor and the second motor are servo driven and can accurately adjust the height and radial position of the welding and installation components respectively. They work together with the rotation of the turntable to achieve continuous and stable processing of the entire circumferential seam.

[0016] Preferably, the welding and installation assembly is equipped with a vision recognition module. The vision recognition module forms a closed-loop control with the whole machine control system. It can collect data on end face contour, butt gap, misalignment and weld formation status in real time throughout the entire process of cylinder section end face cutting, butt assembly and circumferential welding. It can also dynamically correct the cutting trajectory, butt posture and welding torch movement parameters to achieve intelligent detection and online compensation throughout the entire processing process.

[0017] Compared with the prior art, the beneficial effects of the present invention are as follows: (1) The present invention adopts a vertical assembly line layout, which integrates the automated transfer of cylinder sections, end face pretreatment, precise docking and positioning, circumferential welding and online detection into the same production system, realizing continuous and automated operation of multiple processes, effectively reducing the accumulation of positioning errors caused by multi-station transfer and repeated clamping, significantly improving production efficiency and processing consistency, and adapting to the mass production needs of large-diameter launch vehicle tanks. Furthermore, the welding and installation components integrate a vision recognition module and form a closed-loop control with the whole machine control system. It can collect end face contour, docking gap, misalignment and weld formation status data in real time throughout the end face cutting, cylinder section docking and circumferential welding process, dynamically correct the cutting trajectory, docking posture and welding gun movement parameters, realize intelligent detection and online compensation throughout the processing process, and further ensure assembly accuracy and weld formation quality.

[0018] (2) In this invention, the double-layer telescopic external pressure structure composed of the first external pressure module and the second external pressure module, together with the third external pressure module, the upper and lower sets of internal supports and the piano key pressure plate assembly arranged symmetrically, form a multi-dimensional constraint system with internal and external coordination. It positions and supports the cylinder section from multiple dimensions of radial, axial and circumferential, effectively offsetting the deformation caused by the cylinder section's own weight and welding heat input, and greatly improving the assembly accuracy and welding process stability of the large-diameter thin-walled cylinder section.

[0019] (3) The lifting support in this invention adopts a three-level nested structure, which can quickly adapt to the total height after different numbers of cylinder segments are combined through the graded lifting action, and the equipment has strong versatility; after the lifting is in place, the support frame of each level is rigidly connected by through bolts, which can reliably transfer the load during the welding process to the turntable and the foundation, significantly improving the overall structural rigidity and operational reliability of the entire welding fixture.

[0020] (4) The welding mechanism in this invention adopts a modular quick-change welding installation component, which can quickly change the welding gun or laser cutting head according to the process requirements, and continuously complete the fixed-size cutting of the end face of the cylinder section, the removal of burrs and the circumferential welding operation at the same station; the circumferential welding method of rotating the workpiece and fixing the processing equipment effectively reduces the motion inertia of the equipment, improves the accuracy of the weld trajectory and the processing stability, and reduces the complexity of system control. Attached Figure Description

[0021] Figure 1 This is a perspective view of the vertical welding assembly line system for the circumferential seam of the storage tank section in this invention.

[0022] Figure 2 This is a perspective view of the circumferential welder fixture in this invention.

[0023] Figure 3 This is a perspective view of the hoisting component in this invention.

[0024] Figure 4 This is a perspective view of the ground module of the circumferential welding fixture in this invention.

[0025] Figure 5 This is an assembly diagram of the external pressure module and its lifting bracket in this invention.

[0026] Figure 6 This is an exploded view of the external pressure module in this invention.

[0027] Figure 7 This is a perspective view of the retractable external pressure module in this invention.

[0028] Figure 8 This is an assembly diagram of the lifting bracket and its internal support in this invention.

[0029] Figure 9 This is a three-dimensional structural diagram of the lifting support in this invention.

[0030] Figure 10 The three-dimensional representation of the circumferential seam welding and cutting module in this invention Figure 1 .

[0031] Figure 11 The three-dimensional representation of the circumferential seam welding and cutting module in this invention. Figure 2 .

[0032] Figure 12 This is a diagram of the internal support structure in this invention.

[0033] Figure 13 This invention relates to the three-dimensional structure of the external expansion module. Figure 1 .

[0034] Figure 14 This invention relates to the three-dimensional structure of the external expansion module. Figure 2 .

[0035] Figure 15 This is a three-dimensional structural diagram of the transfer platform in this invention.

[0036] Figure 16 This is a structural diagram of the lifting mechanism in this invention.

[0037] The correspondence between the labels and component names in the attached figures is as follows: 100. Tooling rack; 101. AGV transfer vehicle; 102. Track; 103. Transfer pallet; 200. Gantry frame; 201. Lifting mechanism; 202. Truss mechanism; 300. First external pressure module; 301. First cylinder; 400. Second external pressure module; 401. First key pressure plate assembly; 500. Third external pressure module; 501. Second key pressure plate assembly; 600. Turntable; 600a. Assembly slot; 601. Screw jack; 601a. ​​Force sensor; 602. Lifting pallet; 700. Lifting bracket; 701. First support frame; 701a. First connecting plate; 701b. Second cylinder; 702. Second support frame; 702a. Second connecting plate; 702b. Third cylinder; 703. Third support frame; 703a, third connecting plate; 703b, chassis; 800, inner support; 801, non-removable inner ring; 802, outer expansion module; 802a, mounting clip; 802b, first waist hole; 802c, slide block; 802d, vertical plate; 802e, fixing sleeve; 802f, abutment plate; 802g, pin joint; 802h, second waist hole; 802i, slide rail; 802j, cylinder; 802k, H-shaped connecting rod; 802l, irregular connecting rod; 803, assembly outer ring; 900, welding mechanism; 901, column guide rail; 901a, first motor; 901b, adapter plate; 901c, second motor; 902, crossbeam; 902a, crossbeam guide rail; 902b, rack; 903, welding installation assembly. Detailed Implementation

[0038] To make the above-mentioned objects, features and advantages of the present invention more apparent and understandable, the specific embodiments of the present invention will be described in detail below with reference to the accompanying drawings.

[0039] Many specific details are set forth in the following description in order to provide a full understanding of the invention. However, the invention may also be practiced in other ways different from those described herein, and those skilled in the art can make similar extensions without departing from the spirit of the invention. Therefore, the invention is not limited to the specific embodiments disclosed below.

[0040] Secondly, the term "one embodiment" or "embodiment" as used herein refers to a specific feature, structure, or characteristic that may be included in at least one implementation of the present invention. The phrase "in one embodiment" appearing in different places throughout this specification does not necessarily refer to the same embodiment, nor is it a single or selective embodiment that mutually excludes other embodiments. The present invention provides the following embodiments.

[0041] See Figure 1-7This embodiment provides a vertical welding assembly line system for circumferential seams of storage tank sections. The system includes a tooling frame 100 and an external AGV transfer vehicle 101. An operating well is pre-installed on the tooling frame 100, and a gantry frame 200 is mounted on the operating well. Tracks 102 are symmetrically arranged on the upper surface of the tooling frame 100 and inside the gantry frame 200. Transfer trays 103 are slidably connected to the tracks 102. The AGV transfer vehicle 101 automatically transports the storage tank sections to be processed to designated workstations. The transfer trays 103 carry the tank sections and complete horizontal transport and workstation alignment within the welding workstation range along the tracks 102. This, combined with subsequent workstation structures, completes the connection and transfer between the tank sections and the welding workstations, achieving automated transport of the tank sections between various workstations. The bottom of the operating well... A turntable 600 is installed, with a lifting support 700 mounted inside. A third external pressure module 500 is located on the turntable 600 and outside the lifting support 700. A drive assembly is installed at the bottom of the turntable 600, which can drive the lifting support 700, the third external pressure module 500, the internal support 800, and the clamped cylindrical section to rotate circumferentially around its own axis. This, combined with a fixed welding mechanism 900, forms a circumferential seam processing method where the workpiece rotates and the processing equipment is fixed. This effectively reduces the moment of inertia of the processing equipment, improves the accuracy of the weld trajectory and processing stability, and reduces the complexity of system control. A lifting mechanism 201 is slidably connected to the inner wall of the gantry frame 200. The gantry frame 200 serves as the load-bearing foundation for the upper hoisting and driving, and is formed by the connection of columns and beams to form an overall frame structure. A linear motion mechanism is installed on the column to cooperate with the lifting mechanism 201, enabling the lifting mechanism 201 to move vertically up and down along the column direction. This provides a motion basis for the lifting, lowering, docking, and separation of the storage tank section during the welding and assembly process. A truss mechanism 202 is connected to the lifting mechanism 201 via bearing seats. The main structure of the lifting mechanism 201 is arranged in a cross shape, with two sets of inner and outer annular support structures. The inner annular support structure is used to install the bearing seats to achieve the rotational connection of the truss mechanism 202, while the outer annular support structure enhances the overall load-bearing capacity and structural stability. The four ends of the lifting mechanism 201 are respectively connected to the column motion structure of the gantry 200, ensuring guiding accuracy and motion stability during the lifting process. Furthermore, the gantry 200 can... A hoisting mechanism and a lifting mechanism 201 are provided to provide lifting power to the lifting mechanism 201. A first external pressure module 300 is connected to the lower part of the truss mechanism 202. A second external pressure module 400 is connected to the lower end of the first external pressure module 300. The two are connected by a first cylinder 301. The first external pressure module 300 and the second external pressure module 400 adopt a double-layer structure with inner and outer sleeves. The first external pressure module 300 is set on the inner side to form the basic support structure of the outer wall of the cylinder section. The second external pressure module 400 is sleeved on the outer side of the first external pressure module 300. Under the driving action of the first cylinder 301, it can move telescopically along the axial direction of the cylinder section to switch the support position according to the welding conditions of the combined cylinder sections of different heights, so as to realize the external support and positioning of combined cylinder sections of different lengths.When welding short combined cylinder sections, the second external pressure module 400 is in a retracted state to reduce the axial dimension of the equipment and avoid spatial interference. When welding long combined cylinder sections, the second external pressure module 400 extends to form a double-layer external pressure support, which improves the overall support stiffness of the long combined cylinder section and reduces radial deformation and assembly offset caused by the cylinder section's own weight and welding heat input. The lifting bracket 700 and the truss mechanism 202 are both equipped with internal supports 800. The upper and lower sets of internal supports 800 provide radial expansion support from the inner walls of the upper and lower cylinder sections, respectively. Together with the outer first external pressure module 300, second external pressure module 400, and third external pressure module 500, they form a multi-dimensional positioning support system that coordinates internal and external forces, effectively improving the assembly accuracy of large-diameter tank cylinder sections and reducing welding deformation. The operating well is also equipped with a welding mechanism 900. The first cylindrical section to be welded is transported to a transfer pallet 103 via an AGV transfer vehicle 101. The transfer pallet 103 transports the first cylindrical section to the gantry 200. The lifting mechanism 201 drives the truss mechanism 202 to descend. The first cylindrical section is supported and lowered by the inner support 800 on the truss mechanism 202. As the first cylindrical section descends, the first cylinder 301 simultaneously pushes the second external pressure module 400 to descend, effectively constraining the first cylindrical section. When the first cylindrical section descends to the third external pressure module 500, it is supported and fixed by the inner support 800 on the lifting bracket 700. The third external pressure module 500 simultaneously constrains the outer side of the first cylindrical section to prevent deformation. Through the above operations, the second and third cylindrical sections are lowered to the designated positions in sequence, and then welded by the welding mechanism 900.

[0042] See Figure 5-7 In this embodiment, the outer diameter of the first external pressure module 300 is adapted to the inner diameter of the second external pressure module 400. The first cylinder 301 is installed on the first external pressure module 300, and the output end of the first cylinder 301 is hinged to the second external pressure module 400. The lower surface of the second external pressure module 400 is provided with multiple first piano key pressure plate assemblies 401 in a circumferential manner to achieve auxiliary positioning and posture maintenance after the cylinder segments are joined. The upper surface of the third external pressure module 500 is provided with multiple second piano key pressure plate assemblies 501 in a circumferential manner. The first piano key pressure plate assemblies 401 and the second piano key pressure plate assemblies 501 are symmetrically arranged up and down along the joint circumferential seam to jointly form a radial and axial composite constraint on the cylinder segment joint area, limiting the radial offset, circumferential rotation and local deformation between the cylinder segments. On the basis of the annular inner support mechanism tightening to keep the joint area in contact, the two sets of piano key pressure plates apply auxiliary constraints from the outer wall to further improve the stability of the joint area and suppress local deformation during the welding process.

[0043] See Figure 6 , Figure 15 as well as Figure 16In this embodiment, multiple assembly slots 600a are arranged in a circular pattern within the turntable 600. A screw jack 601 is slidably connected within the assembly slot 600a. A force sensor 601a is installed at the output end of the screw jack 601, and a lifting tray 602 is provided on the force-bearing surface of the force sensor 601a. ​​The screw jacks 601 are evenly distributed around the turntable 600 and use a multi-point synchronous lifting method to complete the connection of the cylinder section and the precise adjustment of the vertical position. The first cylinder section descends from the operating well onto the turntable 600 and is connected via the lifting tray 602. The force sensor 601a collects load data in real time for cylinder section positioning confirmation and overload protection. After the cylindrical section to be processed is transported to the welding station by the transfer pallet, the screw jack 601 drives the lifting pallet 602 to rise, match the height of the transfer pallet, and support the cylindrical section to be processed. Then, the lifting pallet 602 is driven to descend so that the cylindrical section is smoothly placed on the turntable 600. Through the precise displacement control of the screw jack 601, the precise position adjustment of the lower cylindrical section in the vertical direction can be realized, and the axial gap and docking posture between the two cylindrical sections can be adjusted so that the docking end face, the central axis, and the circumferential seam feature position match each other, thereby improving the assembly accuracy of the cylindrical section.

[0044] See Figure 8 and Figure 9The lifting bracket 700 in this embodiment includes a third support frame 703, a second support frame 702, and a first support frame 701. The bottom of the third support frame 703 is provided with a base plate 703b, which is fixed on the turntable 600. The top of the third support frame 703 is connected to a third connecting plate 703a. The second support frame 702 is mounted on the third connecting plate 703a, and the upper surface of the third connecting plate 703a is connected to the second connecting plate 702a. The first support frame 701 is mounted on the second connecting plate 702a, and the upper surface of the first support frame 701 is connected to the first connecting plate 701a. The diameters of the third support frame 703, the second support frame 702, and the first support frame 701 gradually decrease and are arranged in a nested manner. The total height after different numbers of cylindrical sections are combined can be adapted by graded lifting. The inner support 800 on the lifting bracket 700 is installed on the third connecting plate 703a. In the initial state and non-welding conditions, both the first support frame 701 and the second support frame 702 are in a retracted state and fitted inside the third support frame 703, reducing the overall height of the equipment and facilitating the transfer and unloading of cylinder sections. When welding two cylinder sections, the second support frame 702 can be raised to the preset height to meet the workstation height requirements. When welding three or more cylinder sections continuously, the first support frame 701 and the second support frame 702 rise synchronously to accommodate higher combined cylinder heights, demonstrating the equipment's versatility. The lower surface of the first connecting plate 701a is... Multiple second cylinders 701b are arranged in a circular pattern. The output end of the second cylinder 701b is hinged to the second connecting plate 702a. Multiple third cylinders 702b are arranged in a circular pattern on the lower surface of the second connecting plate 702a. The output end of the third cylinders 702b is hinged to the chassis 703b. The second cylinders 701b and third cylinders 702b are evenly distributed circumferentially and can synchronously drive the corresponding support frame to complete the staged lifting action. After lifting to the correct position, they can be used with through bolts to achieve a rigid connection between the support frames at each level, reliably transferring the welding load to the turntable 600. After the support frames at each level are rigidly connected, they form an integrated vertical rigid support assembly, which can sequentially transfer the axial load, radial load, and circumferential load generated during the welding process to the ground foundation through the lifting bracket and the turntable, realizing the stable transfer of load during the welding assembly process and improving the overall equipment's operational reliability and structural stability.

[0045] See Figure 12 In this embodiment, the inner support 800 is composed of an assembled outer ring 803 and a non-removable inner ring 801, which are connected by an external expansion module 802. The assembled outer ring 803 is composed of multiple arc-shaped single plates. The diameter of the assembled outer ring 803 is adjusted by pushing the single plates through the external expansion module 802. The assembled outer rings 803 with different diameters are used to support the tank cylinder section with the corresponding inner diameter.

[0046] It is worth noting that, in the actual implementation, this embodiment integrates a weld backing channel within the arc-shaped single plate of the outer ring 803. This channel connects the shielding gas supply system and the cooling circulation system, providing forming support, gas protection, and continuous cooling to the back of the weld during welding. During welding, the shielding gas is delivered to the back of the weld through the backing channel, reducing oxidation and stabilizing the welding arc. Simultaneously, the cooling medium circulates within the backing channel, continuously cooling the welding area, reducing the impact of welding heat input on the internal support mechanism, and improving the service life of the backing structure and the internal support mechanism. The shielding gas and cooling medium can be supplied separately according to preset zones, achieving zoned control of the welding process and improving welding quality and process stability. The inner support 800 is initially in a retracted state to avoid interference with the inner wall of the cylinder section. After the adjacent cylinder sections are axially connected, the outer expansion module 802 expands outward radially to form uniform contact with the inner wall of the cylinder section, providing radial support to the cylinder section and restoring the docking area to the designed roundness, thereby improving the coaxiality of the cylinder sections and the assembly accuracy of the circumferential seam. After the circumferential seam welding is completed, the inner support 800 retracts again to provide space for the transfer of the welded combined cylinder and the next cycle of welding operations.

[0047] See Figure 13 and Figure 14 In this embodiment, the external expansion module 802 includes a mounting clip 802a. A slide block 802c is symmetrically arranged on the upper surface of the mounting clip 802a. A slide rail 802i is slidably connected to the slide block 802c. A stop plate 802f is connected to a pair of slide rails 802i. A vertical piece 802d is mounted on the lower surface of the mounting clip 802a. A fixing sleeve 802e is rotatably connected to the vertical piece 802d via a pin. A cylinder 802j is fitted inside the fixing sleeve 802e. The output end of the cylinder 802j passes sequentially through the mounting clip 802a and the stop plate 802f and is hinged to an H-shaped connecting rod 802k and an irregularly shaped connecting rod 802l. The other end of the H-shaped connecting rod 802k is connected via a short shaft. On the mounting clip 802a, the other end of the irregular connecting rod 802l is rotatably connected to a pin plate 802g, and the pin plate 802g is fixed on the abutment plate 802f. The mounting clip 802a and the abutment plate 802f are sequentially provided with a first waist hole 802b and a second waist hole 802h for the output end of the cylinder 802j to pass through. The mounting clip 802a is installed on the non-removable inner ring 801, and the front end of its abutment plate 802f is fixed on the inner side wall of the assembled outer ring 803. The outer expansion module 802 adopts a linkage-type force-increasing drive structure to convert the linear motion of the cylinder 802j into the radial translation of the abutment plate 802f, ensuring that the tension force at each point of the assembled outer ring 803 is uniform. The slide block 802c and slide rail 802i work together to provide precise guidance for the radial movement of the backing plate 802f, ensuring the straightness of the outward expansion action; the linkage structure can amplify the tensioning force output by the cylinder, achieve sufficient internal support force with a smaller cylinder thrust, and at the same time ensure that the circumferential outward expansion modules move synchronously, the tensioning force is evenly distributed, and avoids local deformation of the cylinder section.

[0048] See Figure 10 and Figure 11 The welding mechanism 900 in this embodiment includes a column guide rail 901, a transition plate 901b slidably connected to the column guide rail 901, a crossbeam 902 slidably connected to the transition plate 901b, a welding installation assembly 903 assembled at one end of the crossbeam 902, and a welding device assembled on the welding installation assembly 903. The welding installation assembly 903 adopts a modular quick-change structure, which can quickly change the welding gun or laser cutting head according to process requirements, and complete the fixed-size cutting, burr removal and circumferential welding operations of the end face to be joined of the cylinder section in the same station. The modular quick-change structure eliminates the need to replace the entire machining mechanism; switching between cutting and welding functions is achieved simply by changing the end effector. This reduces workpiece transfer and repeated clamping between processes, minimizes the accumulation of positioning errors, and improves processing efficiency. Furthermore, a first motor 901a is mounted on the top of the column guide rail 901. The drive end of the first motor 901a passes through the top of the column guide rail 901 and is connected to a lead screw. The rear surface of the adapter plate 901b has screw holes that fit the lead screw. A pair of guide blocks are provided on the adapter plate 901b. A crossbeam guide rail 902a is provided on the surface of the crossbeam 902, and the guide blocks are slidably connected to the crossbeam guide rail 902a. A rack 902b of equal length is provided on the surface of the crossbeam 902 and below the crossbeam guide rail 902a. A gear is provided on the side of the adapter plate 901b opposite to the inner wall of the crossbeam 902, and this gear meshes with the rack 902b. A second motor 901c is mounted on the spindle and fixed to the end face of the adapter plate 901b. Both the first motor 901a and the second motor 901c are servo driven, which can precisely adjust the height and radial position of the welding installation component 903. Together with the rotation of the turntable 600, they achieve continuous and stable processing of the entire circumferential seam. The first motor 901a drives the adapter plate 901b to rise and fall along the column guide rail 901 through a lead screw drive, thereby adjusting the height of the welding installation component 903 to adapt to different height welds and end face processing positions. The second motor 901c drives the crossbeam 902 to extend and retract horizontally through a gear and rack drive, adjusting the radial position of the welding installation component 903 relative to the cylinder section to adapt to the processing requirements of cylinder sections with different diameters. The servo drive method has high positioning accuracy and fast response speed, and can be used in conjunction with the control system to achieve dynamic adjustment of processing parameters.

[0049] It is important to note that, in existing technologies and actual processing, the welding assembly 903 in this embodiment integrates a vision recognition module. This module forms a closed-loop control system with the overall machine control system, enabling real-time acquisition of end-face contour, butt joint gap, misalignment, and weld formation data throughout the entire process of cylinder segment end-face cutting, butt joint assembly, and circumferential welding. It also dynamically corrects the cutting trajectory, butt joint posture, and welding torch movement parameters, achieving intelligent detection and online compensation throughout the entire processing. During cylinder segment end-face cutting, the vision recognition module acquires end-face contour, cutting position, and processing dimensions in real time, dynamically correcting the cutting trajectory to ensure end-face processing accuracy. During cylinder segment butt jointing, it continuously detects the cylinder segment's central axis, butt joint gap, misalignment, and relative posture, providing real-time feedback to the control system for dynamic adjustment of the lifting mechanism, lifting tray, and positioning mechanism, achieving high-precision assembly of the cylinder segments. During circumferential welding, it detects the weld position, welding torch posture, and weld formation status in real time, monitoring the relative position between the welding torch and the weld online, and compensating for welding parameters and welding torch position in real time based on the detection results, ensuring the stability of the welding process and the quality of the weld formation.

[0050] The above description, in conjunction with specific embodiments, provides a further detailed explanation of the present invention. It should not be construed that the specific implementation of the present invention is limited to these descriptions. For those skilled in the art, several simple deductions or substitutions can be made without departing from the concept of the present invention, and all such deductions or substitutions should be considered to fall within the scope of protection defined by the claims submitted herein.

Claims

1. A vertical welding assembly line system for circumferential seams of storage tank sections, comprising a tooling frame (100) and an external AGV transfer vehicle (101), wherein an operating well is pre-set on the tooling frame (100), a gantry frame (200) is mounted on the operating well, and rails (102) are symmetrically arranged on the upper surface of the tooling frame (100) and inside the gantry frame (200), and a transfer tray (103) is slidably connected on the rails (102), characterized in that: A turntable (600) is installed at the bottom of the operating well. A lifting support (700) is installed inside the turntable (600). A third external pressure module (500) is installed on the turntable (600) and outside the lifting support (700). A lifting mechanism (201) is slidably connected to the inner wall of the gantry (200). A truss mechanism (202) is connected to the lifting mechanism (201) through a bearing seat. A first external pressure module (300) is connected to the lower part of the truss mechanism (202). A second external pressure module (400) is connected to the lower end of the first external pressure module (300). The two are connected by a first cylinder (301). Both the lifting bracket (700) and the truss mechanism (202) are equipped with inner supports (800). A welding mechanism (900) is also installed inside the operating well. A drive assembly is provided at the bottom of the turntable (600). The turntable (600) can drive the lifting bracket (700), the third external pressure module (500), the inner supports (800), and the clamped cylinder section to rotate circumferentially around their own axis. The welding mechanism (900) is fixed inside the operating well, using workpiece rotation and processing equipment fixation. In the circumferential seam processing method, the first external pressure module (300) and the second external pressure module (400) adopt a double-layer telescopic structure with inner and outer nesting. Together with the third external pressure module (500) and the upper and lower sets of inner supports (800), they form a multi-dimensional positioning support system with inner and outer coordination. The first cylindrical section to be welded is transported to the transfer pallet (103) by the AGV transfer vehicle (101). The transfer pallet (103) transports the first cylindrical section to the gantry (200). The lifting mechanism (201) drives the truss mechanism (202) to descend. The inner supports on the truss mechanism (202) lower the section. (800) The first cylinder section is lifted and lowered. When the first cylinder section is lowered, the first cylinder (301) pushes the second external pressure module (400) to descend synchronously, effectively constraining the first cylinder section. When the first cylinder section descends to the third external pressure module (500), it is supported and fixed by the inner support (800) on the lifting bracket (700). The third external pressure module (500) simultaneously constrains the outer side of the first cylinder section to prevent deformation. Through the above operations, the second and third cylinder sections are lowered to the designated position in sequence, and then welded by the welding mechanism (900).

2. The vertical welding assembly line system for the circumferential seam of the storage tank section according to claim 1, characterized in that: The outer diameter of the first external pressure module (300) is adapted to the inner diameter of the second external pressure module (400). The first cylinder (301) is installed on the first external pressure module (300), and the output end of the first cylinder (301) is hinged to the second external pressure module (400). The lower surface of the second external pressure module (400) is provided with multiple first piano key pressure plate assemblies (401) in a circular shape to realize auxiliary positioning and attitude maintenance after the cylinder segment docking. The upper surface of the third external pressure module (500) is provided with multiple second piano key pressure plate assemblies (501) in a circular shape. The first piano key pressure plate assembly (401) and the second piano key pressure plate assembly (501) are arranged symmetrically up and down along the docking circumferential seam to jointly form a radial and axial composite constraint on the cylinder segment docking area, restricting the radial offset, circumferential rotation and local deformation between cylinder segments.

3. The vertical welding assembly line system for the circumferential seam of the storage tank section according to claim 1, characterized in that: The turntable (600) is provided with multiple assembly slots (600a) in a circular shape. A screw jack (601) is slidably connected in the assembly slot (600a). A force sensor (601a) is installed at the output end of the screw jack (601), and a lifting tray (602) is provided on the force-bearing surface of the force sensor (601a). The screw jacks (601) are evenly distributed around the turntable (600) and adopt a multi-point synchronous lifting method to complete the connection of the cylinder section and the precise adjustment of the vertical position. The first cylinder section is lowered from the operating well onto the turntable (600) and connected by the lifting tray (602). The force sensor (601a) collects load data in real time for cylinder section positioning confirmation and overload protection.

4. The vertical welding assembly line system for the circumferential seam of the storage tank section according to claim 1, characterized in that: The lifting support (700) includes a third support frame (703), a second support frame (702), and a first support frame (701). The bottom of the third support frame (703) is provided with a chassis (703b), which is fixed on the turntable (600). The top of the third support frame (703) is connected to a third connecting plate (703a). The second support frame (702) is mounted on the third connecting plate (703a), and the upper surface of the third connecting plate (703a) is connected to a second connecting plate. The first support frame (701) is mounted on the second connecting plate (702a), and the upper surface of the first support frame (701) is connected to the first connecting plate (701a); the diameters of the third support frame (703), the second support frame (702) and the first support frame (701) gradually decrease and are arranged in a nested manner, which can be adapted to the total height of different numbers of cylindrical segments by graded lifting and lowering. The inner support (800) on the lifting bracket (700) is installed on the third connecting plate (703a).

5. The vertical welding assembly line system for the circumferential seam of the storage tank section according to claim 4, characterized in that: The lower surface of the first connecting plate (701a) is circumferentially provided with multiple second cylinders (701b). The output end of the second cylinder (701b) is hinged to the second connecting plate (702a). The lower surface of the second connecting plate (702a) is circumferentially provided with multiple third cylinders (702b). The output end of the third cylinder (702b) is hinged to the chassis (703b). The second cylinders (701b) and the third cylinders (702b) are evenly distributed along the circumference and can synchronously drive the corresponding support frame to complete the graded lifting action. After the lifting is in place, it can be used with through bolts to realize the rigid connection between the support frames at each level, and reliably transfer the welding load to the turntable (600).

6. The vertical welding assembly line system for the circumferential seam of the storage tank section according to claim 1, characterized in that: The inner support (800) consists of an assembled outer ring (803) and a non-removable inner ring (801), which are connected by an external expansion module (802). The assembled outer ring (803) is composed of multiple arc-shaped single plates. The diameter of the assembled outer ring (803) is adjusted by pushing the single plates through the external expansion module (802). The assembled outer rings (803) of different diameters are used to support the tank cylinder section with the corresponding inner diameter. The arc-shaped single plates of the assembled outer ring (803) have integrated weld backing channels inside, which can connect the protective gas supply system and the cooling circulation system, providing forming support, gas protection and continuous cooling to the back of the weld during the welding process.

7. The vertical welding assembly line system for the circumferential seam of the storage tank section according to claim 6, characterized in that: The external expansion module (802) includes a mounting clip (802a). A slide block (802c) is symmetrically arranged on the upper surface of the mounting clip (802a). A slide rail (802i) is slidably connected to the slide block (802c). A stop plate (802f) is connected to a pair of slide rails (802i). A vertical plate (802d) is mounted on the lower surface of the mounting clip (802a). A fixed sleeve (802e) is rotatably connected to the vertical plate (802d) by a pin. A cylinder (802j) is sleeved inside the fixed sleeve (802e). The output end of the cylinder (802j) passes sequentially through the mounting clip (802a) and the stop plate (802f) and is hinged to an H-shaped connecting rod (802k) and an irregular connecting rod (802l). The other end of the H-shaped connecting rod (802k) is connected via a short shaft. The other end of the irregular connecting rod (802l) is rotatably connected to the mounting clip (802a), and the pin connecting piece (802g) is fixed on the abutment plate (802f). The mounting clip (802a) and the abutment plate (802f) are sequentially provided with a first waist hole (802b) and a second waist hole (802h) for the output end of the cylinder (802j) to pass through. The mounting clip (802a) is installed on the non-removable inner ring (801), and the front end of its abutment plate (802f) is fixed on the inner side wall of the assembly outer ring (803). The outer expansion module (802) adopts a linkage-type force-increasing drive structure to convert the linear motion of the cylinder (802j) into the radial translation of the abutment plate (802f), ensuring that the tension force at each point of the assembly outer ring (803) is uniform.

8. The vertical welding assembly line system for the circumferential seam of the storage tank section according to claim 1, characterized in that: The welding mechanism (900) includes a column guide rail (901), a transition plate (901b) is slidably connected to the column guide rail (901), a crossbeam (902) is horizontally slidably connected to the transition plate (901b), a welding installation assembly (903) is assembled at one end of the crossbeam (902), and a welding device is assembled on the welding installation assembly (903); the welding installation assembly (903) adopts a modular quick-change structure, which can quickly change the welding gun or laser cutting head according to the process requirements, and complete the fixed-size cutting, burr removal and circumferential welding operations of the end face to be connected of the cylinder section in the same station.

9. The vertical welding assembly line system for the circumferential seam of the storage tank section according to claim 8, characterized in that: A first motor (901a) is mounted on the top of the column guide rail (901). The drive end of the first motor (901a) passes through the top of the column guide rail (901) and is connected to a lead screw. The rear surface of the adapter plate (901b) is provided with a screw hole block that matches the lead screw. A pair of guide blocks are provided on the adapter plate (901b). A beam guide rail (902a) is provided on the surface of the crossbeam (902). The guide blocks are slidably connected to the beam guide rail (902a). A rack (901a) of equal length is provided on the surface of the crossbeam (902) and below the beam guide rail (902a). 02b), the adapter plate (901b) is provided with a gear on the side opposite to the inner wall of the crossbeam (902), the gear meshes with the rack (902b), and a second motor (901c) is installed on the central shaft of the gear. The second motor (901c) is fixed on the end face of the adapter plate (901b); both the first motor (901a) and the second motor (901c) are servo driven, which can accurately adjust the height and radial position of the welding installation assembly (903) respectively, and cooperate with the rotation of the turntable (600) to achieve continuous and stable processing of the entire circumferential seam.

10. The vertical welding assembly line system for the circumferential seam of the storage tank section according to claim 1, characterized in that: The welding installation assembly (903) is equipped with a vision recognition module. The vision recognition module forms a closed-loop control with the whole machine control system. It can collect data on end face contour, butt gap, misalignment and weld formation status in real time during the entire process of cylinder section end face cutting, butt assembly and circumferential welding. It can also dynamically correct the cutting trajectory, butt posture and welding gun movement parameters to realize intelligent detection and online compensation throughout the entire processing process.

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