An automatic working device for welding and polishing of a girth weld of a tank body

Abstract

The application provides an automatic operation device for tank body girth weld welding and polishing, and belongs to the technical field of tank body welding. The automatic operation device for tank body girth weld welding and polishing comprises a roller frame, a tank body is supported on the roller frame, a cross frame type frame is arranged on one side of the roller frame, a work station switching mechanism is installed at the bottom of the cross frame type frame, and a welding module and a polishing module are respectively fixed at the two ends of the transverse cantilever of the cross frame type frame. The welding module and the polishing module are synchronously carried by the cross frame type frame, and the automatic work station switching mechanism composed of a driving motor, a primary helical gear pair, a secondary cylindrical gear, an internal gear ring, a positioning pin shaft and a rotating disc is matched, so that a single roller frame device can complete two processes of tank body girth weld welding and polishing, manual repeated alignment is not needed, the processing rhythm of a 2m large tank body is greatly shortened, and the manual labor intensity is reduced.

Description

Technical Field

[0001] This invention relates to the field of tank welding technology, and more specifically, to an automatic operating device for welding and grinding circumferential welds on tanks. Background Technology

[0002] In the manufacturing process of large-diameter metal tanks, the joining of the cylinders will form a ring weld. The corresponding processing steps include two independent steps: welding and grinding. At present, the mainstream processing mode in the industry is divided into two categories: manual hand-held tool operation and separate automated equipment processing. The manual operation mode is labor-intensive, and the quality of weld formation and grinding fluctuates significantly. Separate welding and grinding equipment are independent of each other. The tank processing requires multiple hoisting, clamping and transportation, making the overall process complicated and the batch production efficiency low. At the same time, the few automated equipment on the market can only realize the single function of welding or grinding, and cannot realize the integrated continuous operation of the two processes.

[0003] Traditional tank weld grinding mechanisms still have many performance shortcomings. Conventional fixed grinding heads are not equipped with reciprocating oscillating contouring structures, which cannot adapt to the width and height deviations of welds. After processing, problems such as missed grinding and local over-grinding are easy to occur, and the surface flatness of the weld is not consistent. Existing grinding devices only have single-dimensional adjustment capabilities and lack independent precision micro-adjustment structures for up and down and left and right. The tilt angle of the grinding head cannot be adjusted, making it difficult to be compatible with various welding bevels such as V-shaped and U-shaped. Summary of the Invention

[0004] To overcome the above deficiencies, the present invention provides an automatic operation device for welding and grinding circumferential welds of tank bodies, which overcomes or at least partially solves the above technical problems.

[0005] This invention is implemented as follows: The present invention provides an automatic operation device for welding and grinding circumferential welds of tank bodies, including a roller frame, on which the tank body is supported, a cross-shaped frame is provided on one side of the roller frame, a work station switching mechanism is installed at the bottom of the cross-shaped frame, and a welding module and a grinding module are respectively fixed at both ends of the transverse cantilever of the cross-shaped frame. The workstation switching mechanism includes a drive motor. The output end of the drive motor is connected to a primary helical gear pair. The primary helical gear pair is coaxially fixed with a secondary cylindrical gear. The secondary cylindrical gear meshes with an internal gear ring. Multiple positioning pins are fixed on the internal gear ring. The upper end of the positioning pins is connected to a rotating disk. The rotating disk is fixedly connected to the bottom end of the cross-shaped frame.

[0006] In a preferred embodiment, the grinding module includes an angle grinder, a ball joint clamping mechanism is provided above the angle grinder, an angle adjustment mechanism is mounted on the outside of the ball joint clamping mechanism, and a spring buffer mechanism is provided between the ball joint clamping mechanism and the mounting base of the angle grinder.

[0007] In a preferred embodiment, the grinding module is provided with a crank-rocker swing mechanism, the output end of which is connected to the ball joint clamping mechanism to drive the angle grinder to reciprocate along the weld width. A magnetoelectric speed sensor is installed at the crank shaft end of the crank-rocker swing mechanism to form a sensor protection module.

[0008] In a preferred embodiment, the grinding module is provided with a double lead screw fine adjustment mechanism at the top. The double lead screw fine adjustment mechanism is fixed to the cantilever end of the cross-shaped frame. The lower end of the double lead screw fine adjustment mechanism is connected to the crank rocker swing mechanism. The double lead screw fine adjustment mechanism has two sets of independent stepping lead screws built in, which respectively realize the independent up-down and left-right displacement fine adjustment of the angle grinder.

[0009] In a preferred embodiment, a vision module is fixed to the front end of the lateral cantilever of the cross-shaped frame. The vision module includes an industrial camera and an image processing unit, and is electrically connected to the dual lead screw fine-tuning mechanism.

[0010] In a preferred embodiment, the grinding head of the angle grinder is covered with a dust collection hood, which is connected to a dust collection pipe to form a dust collection device.

[0011] In a preferred embodiment, the roller frame is equipped with an active drive roller and a passive support roller. The active drive roller is equipped with a drive motor and drives the tank to rotate at a constant speed around its own axis by relying on the friction of the roller.

[0012] In a preferred embodiment, the cross-shaped frame is provided with a vertical lifting slide and a horizontal telescopic cantilever. The vertical lifting slide is used to realize the vertical coarse adjustment of the processing module, and the horizontal telescopic cantilever is used to realize the horizontal coarse adjustment of the processing module.

[0013] In a preferred embodiment, the angle adjustment mechanism includes a hinge seat and a locking bolt, the ball joint clamping mechanism is hinged to the hinge seat, and the locking bolt is used to lock the tilt angle of the ball joint clamping mechanism.

[0014] In a preferred embodiment, a main controller is provided on the outside of the cross-shaped frame. The main controller is electrically connected to the roller frame drive motor, the workstation switching mechanism drive motor, the vision module, the crank rocker swing mechanism drive motor, the stepper motor of the double lead screw fine adjustment mechanism, and the magnetoelectric speed sensor.

[0015] The present invention provides an automatic operating device for welding and grinding circumferential welds of tank bodies, the advantages of which include: 1. This device simultaneously carries welding and grinding modules via a cross-shaped frame, and is equipped with an automatic station switching mechanism consisting of a drive motor, a primary helical gear pair, a secondary cylindrical gear, an internal gear ring, a positioning pin, and a rotating disk. A single roller frame device can complete both welding and grinding processes for the circumferential weld of the tank body, eliminating the need for multiple tank hoisting, secondary clamping, and manual tooling changes. At the same time, the vision module automatically identifies the weld seam, eliminating the need for repeated manual alignment, significantly shortening the batch processing time for 2m large tanks and reducing manual labor intensity.

[0016] 2. The grinding module integrates a crank-rocker swing mechanism, a double screw fine-tuning mechanism, an angle adjustment mechanism, and a spring buffer mechanism. The crank-rocker swing mechanism drives the angle grinder to reciprocate along the weld seam for contour grinding. The 0.1mm-level double screw fine-tuning mechanism achieves precise alignment. The ball joint and angle adjustment mechanism are compatible with various V and U-shaped bevels. The spring buffer mechanism eliminates the rigid impact of grinding, effectively avoiding tank indentations, weld seam incomplete grinding, and local over-grinding problems, and significantly improving the uniformity of weld seam surface flatness.

[0017] 3. By setting a spring buffer mechanism to buffer the grinding impact force, the outer wall of the tank and the grinding disc and spindle of the angle grinder are protected; on the other hand, the crank rocker swing mechanism is equipped with a magnetoelectric speed sensor to form a sensor protection module. When the weld is stuck, it will automatically perform the actions of stopping the machine, retracting the tool and sounding and light alarm, so as to avoid the burnout of the motor and transmission structure; equipped with a dust hood and dust suction pipe to suck up metal dust in real time, eliminate the safety hazards of dust splashing and injuring people and polluting the workshop, and reduce the cost of workpiece scrapping and equipment maintenance. Attached Figure Description

[0018] To more clearly illustrate the technical solutions of the embodiments of the present invention, the accompanying drawings used in the embodiments will be briefly introduced below. It should be understood that the following drawings only show some embodiments of the present invention and should not be regarded as a limitation of the scope. For those skilled in the art, other related drawings can be obtained from these drawings without creative effort.

[0019] Figure 1 is an overall perspective view of the machine provided in an embodiment of the present invention; Figure 2 is a schematic diagram of the internal transmission structure of the workstation switching mechanism provided in the embodiment of the present invention; Figure 3 is a schematic diagram of the main assembly structure of the grinding module provided in an embodiment of the present invention; Figure 4 is a schematic diagram of the structure of a polishing module with a complete dust collection device provided in an embodiment of the present invention; Figure 5 is a schematic diagram of a simplified grinding module structure provided in an embodiment of the present invention.

[0020] In the diagram: 01. Welding module; 02. Grinding module; 03. Tank body; 04. Roller frame; 05. Cross-shaped frame; 06. Rotating disc; 07. Positioning pin; 08. Internal gear ring; 09. Second-stage cylindrical gear; 11. First-stage helical gear pair; 12. Station switching drive motor; 14. Vision module; 15. Double lead screw fine-tuning mechanism; 16. Crank rocker swing mechanism; 17. Sensor protection module; 18. Angle adjustment mechanism; 19. Spring buffer mechanism; 20. Angle grinder; 21. Dust hood; 22. Dust suction pipe; 23. Protective cover. Detailed Implementation

[0021] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, 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, not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0022] Reference Figures 1-5 This invention provides a technical solution: an automatic operation device for welding and grinding circumferential welds of tank bodies, including a roller frame 04, on which a tank body 03 is supported. A cross-shaped frame 05 is set on one side of the roller frame 04, and a station switching mechanism is installed at the bottom of the cross-shaped frame 05. A welding module 01 and a grinding module 02 are respectively fixed at both ends of the horizontal cantilever of the cross-shaped frame 05. A vision module 14 is fixed at the front end of the horizontal cantilever of the cross-shaped frame 05. The vision module 14 includes an industrial camera and an image processing unit. The vision module 14 is electrically connected to a double lead screw fine-tuning mechanism 15. The roller frame 04 is provided with an active drive roller and a driven support roller. The active drive roller is equipped with a drive motor, which drives the tank body 03 to rotate uniformly around its own axis by relying on the friction of the roller. The cross-shaped frame 05... Equipped with a vertical lifting slide and a horizontal telescopic cantilever, the vertical lifting slide is used for vertical coarse adjustment of the processing module, and the horizontal telescopic cantilever is used for horizontal coarse adjustment of the processing module. The vision module 14 industrial camera is aimed at the weld seam of the tank body 03 to collect images in real time. The image processing unit automatically identifies the weld seam coordinates and transmits them to the main controller. The main controller outputs a signal to drive the double screw fine adjustment mechanism 15 to automatically complete the precise alignment of the angle grinder 20 and the welding gun of the welding module 01. No manual visual calibration of the weld seam of the tank body 03 is required throughout the process. The cross-shaped frame 05 lifting slide and telescopic cantilever complete the large-range coarse positioning of the welding module 01 and the grinding module 02. Combined with the double screw fine adjustment of 150.1mm precision fine adjustment, a two-level positioning system of coarse and fine adjustment is formed, which is suitable for the annular weld seams of the tank body 03 with different heights and different axial positions. The workstation switching mechanism includes a workstation switching drive motor 12. The output end of the workstation switching drive motor 12 is connected to a first-stage helical gear pair 11. The first-stage helical gear pair 11 is coaxially fixed with a second-stage cylindrical gear 09. The second-stage cylindrical gear 09 meshes with an internal gear ring 08. Multiple positioning pins 07 are fixed on the internal gear ring 08. The upper end of the positioning pins 07 is connected to a rotating disk 06. The rotating disk 06 is fixedly connected to the bottom end of the cross-shaped frame 05.

[0023] In the above, the power output of the workstation switching drive motor 12 is reduced by the first-stage helical gear pair 11 through the first-stage reversing reduction and the second-stage high-torque reduction of the cylindrical gear 09 and the internal gear ring 08, which drives the rotating disk 06 to rotate 180° as a whole, realizing the automatic interchange of the welding module 01 and the grinding module 02. The rotating disk 06 has a built-in travel limit switch. During the workstation switching stage, the main controller forcibly stops the operation of the roller frame 04 to avoid the grinding module 02 and the welding module 01 from colliding with the cylinder wall of the tank 03. Multiple positioning pins 07 provide multi-point positioning to ensure the positioning accuracy of the rotating disk 06 during workstation switching.

[0024] Grinding module 02 includes an angle grinder 20. A ball joint clamping mechanism is located above the angle grinder 20. An angle adjustment mechanism 18 is mounted on the outside of the ball joint clamping mechanism. A spring buffer mechanism 19 is installed between the ball joint clamping mechanism and the mounting base of the angle grinder 20. Grinding module 02 also includes a crank-rocker swing mechanism 16. The output end of the crank-rocker swing mechanism 16 is connected to the ball joint clamping mechanism, used to drive the angle grinder 20 to reciprocate along the weld width. A magnetoelectric speed transmitter is installed at the end of the crank shaft of the crank-rocker swing mechanism 16. The sensor forms a sensor protection module 17. A protective cover 23 is provided on the outside of the sensor protection module 17 to protect the sensor protection module 17. The top of the grinding module 02 is provided with a double lead screw fine adjustment mechanism 15. The double lead screw fine adjustment mechanism 15 is fixed to the cantilever end of the cross-shaped frame 05. The lower end of the double lead screw fine adjustment mechanism 15 is connected to the crank rocker swing mechanism 16. The double lead screw fine adjustment mechanism 15 has two sets of independent stepping lead screws built in, which respectively realize the independent up and down and left and right displacement fine adjustment of the angle grinder 20.

[0025] In the above, the spring buffer mechanism 19 adopts a compression spring structure. When the grinding head of the angle grinder 20 contacts the weld seam and generates an instantaneous impact, the spring is compressed and floats, completely avoiding rigid impact. The angle adjustment mechanism 18, in conjunction with the ball joint clamping mechanism, can arbitrarily adjust the tilt angle of the angle grinder 20, adapting to the welding bevels of various V-shaped and U-shaped tanks 03. After adjustment, the locking bolt locks the posture of the ball joint clamping mechanism. The crank rocker swing mechanism 16 simulates manual left and right grinding actions, and the swing amplitude completely covers the entire width of the weld seam of the tank 03. The magnetoelectric speed sensor collects the crank shaft speed of the crank rocker swing mechanism 16 in real time. When the measured speed is 30% lower than the rated speed and the duration exceeds 0.3s, the main controller immediately executes three protective actions: stopping the entire machine, the double lead screw fine adjustment mechanism 15 driving the angle grinder 20 to retract the tool upwards, and an audible and visual alarm. This prevents jamming and overload damage to the angle grinder 20 and the transmission components of the crank rocker swing mechanism 16. Two sets of stepper motors independently control the vertical and horizontal lead screws of the double lead screw fine adjustment mechanism 15. The movements of the two sets of lead screws do not interfere with each other, and the single-axis adjustment accuracy can reach 0.1mm. In conjunction with the vision module 14, it completes the precise cutting of the weld seam of the angle grinder 20 and the welding gun of the welding module 01, avoiding the alignment error caused by manual adjustment.

[0026] The grinding head of the angle grinder 20 is covered with a dust hood 21. The dust hood 21 is connected to the dust suction pipe 22 to form a dust suction device. The dust hood 21 completely covers the grinding wheel of the angle grinder 20. The dust suction pipe 22 extends outward to connect to an industrial vacuum cleaner. The negative pressure suctions the metal shavings generated by the grinding module 02 in real time, preventing dust from splashing and scratching the tank 03, injuring operators, and polluting the workshop environment.

[0027] The angle adjustment mechanism 18 includes a hinge seat and a locking bolt. The ball joint clamping mechanism is hinged to the hinge seat. The locking bolt is used to lock the tilt angle of the ball joint clamping mechanism. A main controller is set on the outside of the cross-shaped frame 05. The main controller is electrically connected to the roller frame drive motor, the workstation switching drive motor 12 of the workstation switching mechanism, the vision module 14, the drive motor of the crank rocker swing mechanism 16, the stepper motor of the double screw fine adjustment mechanism 15, and the magnetoelectric speed sensor. The main controller coordinates the linkage timing of all electrical components of the roller frame 04, the workstation switching drive motor 12, the vision module 14, the crank rocker swing mechanism 16, and the double screw fine adjustment mechanism 15 to realize the integrated automatic timing control of tank 03 rotation, cross-shaped frame 05 coarse adjustment, rotating disk 06 workstation rotation, vision module 14 weld seam recognition, double screw fine adjustment mechanism 15 precision fine adjustment, crank rocker swing mechanism 16 contour grinding, and sensor protection module 17 overload protection.

[0028] Specifically, the working process or working principle of the automatic operation device for welding and grinding the circumferential weld of the tank body is as follows: When in use, the 2m diameter tank body 03 to be processed is steadily hoisted and placed on the support surface of the active roller and driven roller of the roller frame 04 using a crane. The drive motor of the roller frame 04 is started, and the tank body 03 is driven to rotate continuously around its own central axis at a uniform speed by relying on the friction between the roller and the outer wall of the tank body 03. The vertical lifting slide and horizontal telescopic cantilever of the cross frame 05 are controlled to move the welding module 01 at one end of the cantilever of the cross frame 05 to the corresponding height and axial position of the circumferential weld of the tank body 03, thus completing the large-range coarse positioning of the processing module. The industrial camera in the front-end vision module 14 of the cross-shaped frame 05 acquires weld seam images in real time. The built-in image processing unit of the vision module 14 automatically calculates the precise coordinates of the weld seam and transmits the coordinate signals to the main controller outside the cross-shaped frame 05. The main controller outputs adjustment commands to drive the double lead screw fine-tuning mechanism 15 to slightly correct the position of the automatic welding torch inside the welding module 01, so that the welding torch is precisely aligned with the weld seam. The welding torch starts and completes the automatic welding operation of the entire circular weld seam as the tank 03 rotates continuously. After the welding process of a single circle of weld seam is completed, the main controller first issues a pause command to shut down the roller frame 04 drive motor, and the tank 03 stops rotating. Then, the station switching drive motor 12 of the station switching mechanism is started. The power of the station switching drive motor 12 is successively reduced by the first-stage helical gear pair 11 through the cross-shaft reversing reduction, the second-stage cylindrical gear 09 meshing with the internal gear ring 08 for a second-stage high-torque reduction, and through multiple The root positioning pin 07 synchronously drives the rotating disk 06 and the cross-shaped frame 05 to rotate 180° together, rotating the grinding module 02 at the other end of the cantilever of the cross-shaped frame 05 to the front of the weld of the tank body 03. The limit switch built into the rotating disk 06 detects the position signal and feeds it back to the main controller. The controller releases the pause command of the roller frame 04, and the tank body 03 resumes uniform rotation. The vision module 14 collects the current weld coordinates for the second time. The main controller drives the double screw fine adjustment mechanism 15 to precisely move down and translate the entire grinding module 02, so that the grinding head of the angle grinder 20 at the bottom of the grinding module 02 fits the weld. The operator loosens the locking bolt of the angle adjustment mechanism 18. The ball joint clamping mechanism mounted on the hinge seat of the angle adjustment mechanism 18 can rotate freely. Adjust the tilt angle of the angle grinder 20 to match the V-shaped / U-shaped welding bevel of the tank body. After the adjustment is completed, tighten the locking bolt to lock the posture of the ball joint clamping mechanism. The crank rocker arm swing mechanism 16 is started with its matching drive motor. The output swing arm of the crank rocker arm swing mechanism 16 reciprocates to push and pull the ball joint clamping mechanism, driving the angle grinder 20 to swing back and forth along the width of the weld, replicating the uniform grinding trajectory of manual grinding. At the moment of contact between the grinding head and the weld bead and height difference, the spring buffer mechanism 19 between the ball joint clamping mechanism and the mounting base of the angle grinder 20 compresses and absorbs the instantaneous rigid impact, preventing damage to the tank 03 and the grinding disc of the angle grinder 20. Simultaneously, the industrial vacuum cleaner is turned on. The dust hood 21 covering the outside of the angle grinder 20 uses the vacuum pipe 22 to suction metal debris generated by grinding through the negative pressure, and the dust is collected in real time. Throughout the grinding operation, the magnetoelectric speed sensor installed at the end of the crankshaft of the crank rocker arm swing mechanism 16 continuously collects the crankshaft speed. The magnetoelectric speed sensor and the main controller together constitute the sensor protection module 17. The controller compares the rated speed of the crankshaft in real time. When the rated speed of the crankshaft is detected, the controller will detect the rated speed of the crankshaft. When the crankshaft speed is 30% lower than the rated speed and this low-speed state lasts for more than 0.3 seconds, the system determines that the grinding head is stuck by the weld protrusion. The main controller simultaneously executes three protection actions: all processing motors of the whole machine stop, the double screw fine adjustment mechanism 15 drives the angle grinder 20 to automatically retract upwards, and the equipment sounds and lights an alarm. The grinding process can only be restarted after the weld fault is manually cleaned and the equipment is reset. The tank 03 rotates completely one full turn, and the grinding operation of the entire circumferential weld is completed. The main controller sequentially shuts down the roller frame 04 drive motor, the crank rocker swing mechanism 16 drive motor, and the industrial vacuum cleaner. It controls the cross-shaped frame 05 to vertically lift the welding module 01 and the grinding module 02 and lift all processing components, detaching them from the outer wall of the tank 03 cylinder. The operator uses a crane to lift and unload the processed tank 03. The entire circumferential weld welding and grinding integrated process is completed, and the next tank 03 can be hoisted for repeated processing.

[0029] It should be noted that the roller frame drive motor, the workstation switching drive motor 12, the automatic welding gun, the industrial camera in the vision module 14, the stepper motor of the double lead screw fine adjustment mechanism 15, the magnetoelectric speed sensor, and the industrial vacuum cleaner are all existing devices or equipment, or devices or equipment that can be implemented by existing technology. Their power supply, specific composition and principle are clear to those skilled in the art, so they will not be described in detail.

Claims

1. An automatic operating device for welding and grinding circumferential welds of tank bodies, comprising a roller frame (04), characterized in that, The roller frame (04) supports the tank body (03). A cross-shaped frame (05) is provided on one side of the roller frame (04). A work station switching mechanism is installed at the bottom of the cross-shaped frame (05). The welding module (01) and the grinding module (02) are fixed at both ends of the horizontal cantilever of the cross-shaped frame (05). The workstation switching mechanism includes a drive motor (12), the output end of which is connected to a first-stage helical gear pair (11). The first-stage helical gear pair (11) is coaxially fixed with a second-stage cylindrical gear (09). The second-stage cylindrical gear (09) meshes with an internal gear ring (08). Multiple positioning pins (07) are fixed on the internal gear ring (08). The upper end of the positioning pins (07) is connected to a rotating disk (06). The rotating disk (06) is fixedly connected to the bottom end of the cross-shaped frame (05).

2. The automatic operation device for welding and grinding circumferential welds of tank bodies according to claim 1, characterized in that, The grinding module (02) includes an angle grinder (20), a ball joint clamping mechanism is provided above the angle grinder (20), an angle adjustment mechanism (18) is assembled on the outside of the ball joint clamping mechanism, and a spring buffer mechanism (19) is provided between the ball joint clamping mechanism and the mounting base of the angle grinder (20).

3. The automatic operation device for welding and grinding circumferential welds of tank bodies according to claim 2, characterized in that, The grinding module (02) is provided with a crank rocker swing mechanism (16). The output end of the crank rocker swing mechanism (16) is connected to the ball joint clamping mechanism, which is used to drive the angle grinder (20) to swing back and forth along the weld width. A magnetoelectric speed sensor is installed at the crank shaft end of the crank rocker swing mechanism (16) to form a sensor protection module (17).

4. An automatic operating device for welding and grinding circumferential welds of tank bodies according to claim 3, characterized in that, The grinding module (02) is provided with a double lead screw fine adjustment mechanism (15) at the top. The double lead screw fine adjustment mechanism (15) is fixed to the cantilever end of the cross-shaped frame (05). The lower end of the double lead screw fine adjustment mechanism (15) is connected to the crank rocker swing mechanism (16). The double lead screw fine adjustment mechanism (15) has two sets of independent stepping lead screws built in, which respectively realize the independent up and down and left and right displacement fine adjustment of the angle grinder (20).

5. An automatic operating device for welding and grinding circumferential welds of tank bodies according to claim 4, characterized in that, The cross-shaped frame (05) has a horizontal cantilever front end fixed vision module (14), which includes an industrial camera and an image processing unit, and is electrically connected to the dual lead screw fine-tuning mechanism (15).

6. An automatic operating device for welding and grinding circumferential welds of tank bodies according to claim 5, characterized in that, The grinding head of the angle grinder (20) is covered with a dust suction hood (21), which is connected to a dust suction pipe (22) to form a dust suction device.

7. An automatic operating device for welding and grinding circumferential welds of tank bodies according to claim 6, characterized in that, The roller frame (04) is equipped with an active drive roller and a passive support roller. The active drive roller is equipped with a drive motor and drives the tank (03) to rotate at a constant speed around its own axis by relying on the friction of the roller.

8. An automatic operating device for welding and grinding circumferential welds of tank bodies according to claim 7, characterized in that, The cross-shaped frame (05) is provided with a vertical lifting slide and a horizontal telescopic cantilever. The vertical lifting slide is used to realize the vertical coarse adjustment of the processing module, and the horizontal telescopic cantilever is used to realize the horizontal coarse adjustment of the processing module.

9. An automatic operating device for welding and grinding circumferential welds of tank bodies according to claim 8, characterized in that, The angle adjustment mechanism (18) includes a hinge seat and a locking bolt. The ball joint clamping mechanism is hinged to the hinge seat, and the locking bolt is used to lock the tilt angle of the ball joint clamping mechanism.

10. An automatic operating device for welding and grinding circumferential welds of tank bodies according to claim 9, characterized in that, A main controller is provided on the outside of the cross-shaped frame (05). The main controller is electrically connected to the roller frame drive motor, the workstation switching mechanism drive motor (12), the vision module (14), the crank rocker swing mechanism (16) drive motor, the double screw fine adjustment mechanism (15) stepper motor, and the magnetoelectric speed sensor.

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