A welding device for tank baffles

Abstract

This utility model relates to the field of welding equipment technology, specifically a welding device for tank baffles. It includes two symmetrically arranged single-sided mechanisms, with the tank located between them. Each single-sided mechanism includes a ground rail, a support component, a displacement component, and a welding component. The support component and the displacement component are slidably mounted on the ground rail, located at opposite ends of the rail. The welding component includes a six-axis industrial robot, a welding torch, a laser weld seam tracker, and a molten pool monitoring camera. The six-axis industrial robot is fixedly mounted on the displacement component, and the welding torch is fixedly mounted on the six-axis industrial robot. The laser weld seam tracker and the molten pool monitoring camera are tilted on either side of the welding torch. This utility model's welding device for tank baffles allows the welding torch to automatically weld the baffle to the inside of the tank, improving welding efficiency. Furthermore, the laser weld seam tracker and the molten pool monitoring camera effectively improve welding accuracy and reduce positioning errors.

Description

Technical Field

[0001] This utility model relates to the field of welding equipment technology, and specifically to a welding device for a tank baffle plate. Background Technology

[0002] Currently, most wave deflectors are welded manually. Welding of wave deflectors is mostly carried out in enclosed or confined spaces (such as inside tanks), limiting manual operation space. The welding process is cumbersome (requiring multiple curved or straight welds around the edge of the wave deflector), resulting in low manual efficiency and difficulty in meeting the needs of large-scale production. For example, data from one company shows that a skilled welder needs more than 90 minutes to weld a single weld on a wave deflector, resulting in extremely low daily output, which cannot meet the demands of large-scale manufacturing. Wave deflectors come in various shapes (round, square, irregular) and must be welded to the curved surface of the tank, resulting in complex weld trajectories. Welders have poor adaptability to complex working conditions, leading to large positioning errors. Furthermore, manual welding operates in harsh environments with high safety risks. Welding processes generate intense light, high temperatures, and fumes (such as arc light which can burn the eyes, and metal fumes containing harmful components like manganese and chromium). Long-term operation can easily lead to occupational diseases in welders (such as pneumoconiosis and photokeratitis). The interior of the tank is a closed space, posing a risk of oxygen deficiency and the accumulation of harmful gases. Manual entry can easily result in suffocation or poisoning accidents, and safety protection measures are costly and have limited effectiveness. Therefore, there is an urgent need for a welding device for tank baffles to solve these problems. Utility Model Content

[0003] To address the technical problems of low efficiency, poor adaptability to complex working conditions, large positioning errors, harsh working environment, and high safety risks associated with manual welding of wave deflectors, this utility model provides a welding device for wave deflectors on tank bodies. The welding torch automatically welds the wave deflector to the inside of the tank, eliminating concerns about worker injury and improving welding efficiency. Furthermore, the inclusion of a laser weld seam tracker and a molten pool monitoring camera effectively improves welding accuracy and reduces positioning errors.

[0004] This utility model provides a welding device for a tank baffle, comprising two symmetrically arranged single-sided mechanisms, with the tank located between the two single-sided mechanisms. Each single-sided mechanism includes a ground rail, a support component, a displacement component, and a welding component. The support component and the displacement component are slidably mounted on the ground rail and are located at opposite ends of the ground rail. The welding component includes a six-axis industrial robot, a welding torch, a laser weld seam tracker, and a molten pool monitoring camera. The six-axis industrial robot is fixedly mounted on the displacement component, and the welding torch is fixedly mounted on the six-axis industrial robot. The laser weld seam tracker and the molten pool monitoring camera are obliquely arranged on both sides of the welding torch, with the molten pool monitoring camera located above the laser weld seam tracker.

[0005] Furthermore, each of the support components includes a support base, two movable seats, and a wheel set. The support base is slidably mounted on a ground rail, and the two movable seats are slidably mounted relative to each other on the support base. The two wheel sets are rotatably mounted on the two movable seats and are arranged symmetrically. Each wheel set includes a wheel frame, a first roller, and a second roller. The wheel frame is rotatably mounted on the movable seat, and the first roller and the second roller are rotatably mounted on the wheel frame. The first roller is located above the second roller, and the first roller and the second roller are arranged in an arc shape.

[0006] Furthermore, a first guide rail and a first rack are fixedly installed on the ground rail, a first guide block is slidably installed on the first guide rail, a support base is fixedly installed on the first guide block, and a first motor is fixedly installed on each support base. The output shaft of the first motor is fixedly connected to a first gear and can drive it to rotate. The first gear and the first rack mesh with each other.

[0007] Furthermore, each of the support bases is fixedly provided with a fixed base, and a photoelectric switch, a first slide rail, and a second motor are fixedly provided on the fixed base. Two first sliders are slidably provided on the first slide rail and slide relative to each other. Two movable seats are respectively fixedly provided on the two first sliders. A lead screw is rotatably provided on the fixed base. The output shaft of the second motor is fixedly connected to the lead screw and can drive it to rotate. A first screw block and a second screw block are threaded on the lead screw and slide relative to each other. Two movable seats are respectively fixedly provided on the first screw block and the second screw block.

[0008] Furthermore, each of the movable seats is fixedly provided with a limiting seat, and a fixed shaft is fixedly provided on the limiting seat. Each of the wheel frames is triangular, and the bottom of each wheel frame is sleeved on the fixed shaft and can rotate. Each of the first rollers and the second rollers is rotatably provided on the top of the wheel frame. Each of the wheel frames is inclinedly provided with a limiting plate on its side, one end of the limiting plate is located inside the limiting seat, and the other end of the limiting plate is located above the limiting seat.

[0009] Furthermore, each of the fixed shafts is rotatably equipped with a drive gear located outside the limiting seat, each of the movable seats is fixedly equipped with a third motor, the output shaft of the third motor is fixedly connected to the drive gear and can drive it to rotate, each of the wheel frames is rotatably equipped with a first transmission gear and a second transmission gear, each of the first rollers is fixedly equipped with a first driven gear, each of the second rollers is fixedly equipped with a second driven gear, the first transmission gear meshes with the drive gear and the first driven gear, and the second transmission gear meshes with the drive gear and the second driven gear.

[0010] Furthermore, it also includes a conductive structure, which includes a vertical plate, a lifting cylinder, and a lifting plate. The vertical plate is fixedly mounted on a support base, and the lifting cylinder is adjustablely mounted on the vertical plate. The telescopic rod of the lifting cylinder is fixedly connected to the lifting plate and can drive it to slide up and down. A tripod is rotatably mounted on the lifting plate, and conductive wheels are rotatably mounted at both ends of the tripod. Conductive wires that contact the conductive wheels are fixedly mounted on both sides of the tripod.

[0011] Furthermore, the displacement assembly includes a column and a cantilever, the column is slidably mounted on the first guide rail of the ground rail, the cantilever is slidably mounted on the column, and the six-axis industrial robot is fixedly mounted on the cantilever.

[0012] Furthermore, a base plate is fixedly installed at the bottom of the column, a second guide block is slidably installed on the first guide rail, the base plate is fixedly installed on the second guide block, a fourth motor is fixedly installed on the base plate, the output shaft of the fourth motor is fixedly connected to the second gear and can drive it to rotate, and the second gear meshes with the first rack on the ground rail.

[0013] Furthermore, a second slide rail and a second rack are fixedly installed on the column, and a second slider is slidably installed on the second slide rail. A side plate is installed at the end of the cantilever away from the six-axis industrial robot. The side plate is fixedly installed on the second slider, and a fifth motor is fixedly installed on the side plate. The output shaft of the fifth motor is fixedly connected to a third gear and can drive it to rotate. The third gear and the second rack mesh. A chain tooth is rotatably installed on the top of the column. A chain is wound around the chain tooth, and the two ends of the chain are fixedly connected to the side plate and the counterweight respectively. The counterweight is located inside the column and below the side plate.

[0014] Compared with the prior art, the present invention has the following beneficial effects:

[0015] The welding device of this invention uses a welding torch to automatically weld the baffle plate to the inside of the tank, eliminating concerns about human injury and improving welding efficiency. Furthermore, the inclusion of a laser weld seam tracker and a molten pool monitoring camera effectively improves welding accuracy and reduces positioning errors. Attached Figure Description

[0016] Figure 1 This is a structural schematic diagram of a welding device for a tank baffle plate according to the present invention;

[0017] Figure 2 This is a schematic diagram of the single-sided mechanism of this utility model;

[0018] Figure 3 This is a utility model Figure 2 Enlarged structural diagram of A in the middle;

[0019] Figure 4 This is a schematic diagram of the structure of the ground track of this utility model;

[0020] Figure 5 This is a utility model Figure 4 Enlarged structural diagram of B in the middle;

[0021] Figure 6 This is a utility model Figure 4 Enlarged schematic diagram of the structure of C;

[0022] Figure 7 This is a structural schematic diagram of the support component of this utility model;

[0023] Figure 8 This is a schematic diagram of the wheel assembly structure of this utility model;

[0024] Figure 9 This is a schematic diagram of the conductive structure of this utility model;

[0025] Figure 10 This is a utility model Figure 9 Enlarged schematic diagram of the structure of D;

[0026] Figure 11 This is a structural schematic diagram of the displacement component of this utility model;

[0027] Figure 12 This is a structural schematic diagram of the column of this utility model;

[0028] Figure 13 This is a schematic diagram of the cantilever structure of this utility model;

[0029] The numbers in the attached diagram are:

[0030] 1. Ground rail; 11. First guide rail; 111. First guide block; 112. Second guide block; 12. First rack; 13. Flexible plug; 2. Support assembly; 3. Displacement assembly; 31. Column; 311. Chain tooth; 312. Chain; 313. Counterweight; 314. Sprocket seat; 315. Rotating shaft; 32. Cantilever; 33. Base plate; 331. Auxiliary gear; 34. Fourth motor; 341. Second gear; 35. Second slide rail; 351. Second slider; 36. Second rack; 37. Side plate; 38. Fifth motor; 381. Third gear; 4. Welding assembly; 41. Six-axis industrial robot; 42. Welding torch; 43. Laser weld seam tracker; 44. Fixing plate; 45. Fixing frame; 5. Support base; 51. First motor; 511. 52. First gear; 53. Fixed seat; 54. Photoelectric switch; 55. First slide rail; 56. First slider; 57. Second motor; 58. Lead screw; 59. First screw block; 50. Second screw block; 51. Through-beam photoelectric generator; 62. Moving seat; 63. Limiting seat; 64. Fixed shaft; 65. Third motor; 66. Drive gear; 77. Wheel set; 78. Wheel frame; 79. Limiting plate; 70. First transmission gear; 71. Second transmission gear; 72. First roller; 72. First driven gear; 73. Second roller; 74. Second driven gear; 85. Conductive structure; 86. Vertical plate; 87. Lifting cylinder; 88. Lifting plate; 89. Triangular frame; 80. Conductive wheel; 81. Conductive wire; 82. Adjusting plate; 9. Tank body. Detailed Implementation

[0031] The present invention will be further described below with reference to the accompanying drawings and specific embodiments.

[0032] like Figures 1-13As shown, a welding device for a tank baffle includes two symmetrically arranged single-sided mechanisms with a space between them. The tank 9 is located between the two single-sided mechanisms, and the baffle needs to be welded inside the tank 9. Each single-sided mechanism includes a ground rail 1, a support component 2, a displacement component 3, and a welding component 4. The ground rail 1 is locked and fixed to the working ground. The support component 2 and the displacement component 3 are both slidably arranged on the ground rail 1 and are located at opposite ends of the ground rail 1. The support component 2 is located at the left end of the ground rail 1 closest to the tank 9. Component 3 is located at the right end of the ground rail 1, away from the tank body 9. The welding assembly 4 is movably mounted on the displacement assembly 3. The welding assembly 4 includes a six-axis industrial robot 41, a welding torch 42, a laser weld seam tracker 43, and a molten pool monitoring camera. The six-axis industrial robot 41 is fixedly mounted on the displacement assembly 3, and the welding torch 42 is fixedly mounted on the six-axis industrial robot 41. The laser weld seam tracker 43 and the molten pool monitoring camera are obliquely mounted on both sides of the welding torch 42, with the molten pool monitoring camera (not shown in the figure) located above the laser weld seam tracker 43. Preferably, a fixing plate 44 is obliquely mounted on the lower part of the welding torch 42. The laser weld seam tracker 43 is locked and fixedly mounted on one end of the fixing plate 44 and is obliquely mounted. A fixing frame 45 is obliquely mounted on the other end of the fixing plate 44, and the molten pool monitoring camera is fixedly mounted on the fixing frame 45.

[0033] The structures of the six-axis industrial robot 41, laser weld seam tracker 43, molten pool monitoring camera, and welding torch 42 are existing technologies and will not be described in detail here. The six-axis industrial robot 41 is a FANUC M-10iD / 12. The six-axis industrial robot 41 features significantly improved motion accuracy (repeatability up to ±0.05mm), load capacity, and flexibility, adapting to the complex trajectory requirements of wave deflector welding. Furthermore, the control system of the six-axis industrial robot 41 supports offline programming and trajectory simulation, enabling pre-planning of welding paths and reducing on-site debugging time. The laser weld seam tracker 43 is a CXZK-RBTA4N-KH. The molten pool monitoring camera is a VD-L12H-YS. The welding torch 42 is a TOPTIG.

[0034] The welding process of the welding device is as follows: First, based on the length and size of the tank 9, two support components 2 slide on two ground rails 1 and adjust themselves to ensure that they can support both ends of the tank 9. Then, according to the welding position of the baffle plate inside the tank 9, two displacement components 3 are activated and move two welding components 4 to the welding position. The two welding components 4 perform welding operations simultaneously. Because there are notches on the baffle plate, the two welding components 4 weld in a forward and backward motion during the welding process. Specifically, the displacement component 3 is activated and moves the six-axis industrial robot 41, welding torch 42, laser weld seam tracker 43, and molten pool monitoring camera to the welding position. The six-axis industrial robot 41 moves the welding torch 42 to align it with the weld seam, and the welding torch 42 welds the baffle plate to the inside of the tank 9, effectively improving welding efficiency. During welding with welding torch 42, laser weld seam tracker 43 and molten pool monitoring camera can identify the relative position of the baffle plate and tank body 9 and the weld seam outline in real time with an accuracy of ±0.02mm, which effectively improves welding efficiency and reduces positioning error.

[0035] Compared to existing welding systems that use a split-type movement and have poor flexibility, this embodiment uses a single-sided ground rail 1. The single-sided ground rail 1 integrates the single-sided support component 2 and displacement component 3 into the same platform through a PLC control cabinet, which can achieve better linkage control and achieve better flexibility.

[0036] In this embodiment, the welding device, with welding torch 42, automatically welds the baffle plate to the inside of the tank 9, eliminating concerns about human injury and improving welding efficiency. Furthermore, the laser weld seam tracker 43 and the molten pool monitoring camera effectively improve welding accuracy and reduce positioning errors.

[0037] In one possible implementation, the support assembly 2 includes a support base 5, two movable seats 6, and a wheel set 7. The support base 5 is slidably mounted on the ground rail 1. The two movable seats 6 are slidably mounted on the support base 5 relative to each other. The two wheel sets 7 are respectively rotatably mounted on the two movable seats 6 and are arranged symmetrically. Each wheel set 7 includes a wheel frame 71, a first roller 72, and a second roller 73. The wheel frame 71 is rotatably mounted on the movable seat 6. The first roller 72 and the second roller 73 are rotatably mounted on the wheel frame 71. The first roller 72 is located above the second roller 73, and the first roller 72 and the second roller 73 are arranged in an arc shape.

[0038] The support base 5 slides on the ground rail 1, thereby driving the support assembly 2 to slide as a whole. The two movable seats 6 slide relative to each other, driving the two wheel sets 7 to slide relative to each other, thereby adjusting the distance between the two wheel sets 7 and ensuring that the two wheel sets 7 can support the ends of tanks 9 of different sizes.

[0039] Specifically, the wheel frame 71 can rotate (i.e., swing left and right) before the tank body 9 is fully pressed against the first roller 72 and the second roller 73, and the wheel frame 71 stops rotating after the tank body 9 is fully pressed against the first roller 72 and the second roller 73.

[0040] The two wheel frames 71 first slide relative to each other according to the size of the tank 9. The two wheel frames 71 move closer or further apart. Before the tank 9 is fully pressed against the first roller 72 and the second roller 73, the two wheel frames 71 rotate to adjust their positions, thereby adjusting the angle of the first roller 72 and the second roller 73. After the tank 9 is fully pressed against the first roller 72 and the second roller 73, the wheel frames 71 stop rotating. Because the first roller 72 is located above the second roller 73 and is arc-shaped, an arc-shaped area is formed between the first roller 72 and the second roller 73 of the two wheel sets 7. Therefore, the first roller 72 and the second roller 73 of the two wheel sets 7 contact the tank wall of the tank 9, fixing the end of the tank 9 and ensuring that the tank 9 does not flip outwards towards the first roller 72. After the welding torch 42 completes a weld, the first roller 72 and the second roller 73 rotate, causing the tank 9 to rotate. The tank 9 rotates to adjust its position, ensuring that the welding torch 42 can continue welding the next weld.

[0041] In one possible implementation, a first guide rail 11 and a first rack 12 are fixedly mounted on the ground rail 1. A first guide block 111 is slidably mounted on the first guide rail 11. A support base 5 is fixedly mounted on the first guide block 111. A first motor 51 is fixedly mounted on each support base 5. The output shaft of the first motor 51 is fixedly connected to and can drive the first gear 511 to rotate. The first motor 51 is fixedly connected to the first gear 511 through a first reducer. The first gear 511 and the first rack 12 mesh. When the first motor 51 starts, it drives the first gear 511 to rotate. Since the first gear 511 and the first rack 12 are meshed, the first gear 511 moves on the first rack 12. At this time, the first guide block 111 slides on the first guide rail 11, and the support base 5 slides back and forth on the ground rail 1.

[0042] In one possible implementation, each support base 5 is fixedly provided with a fixed base 52. A photoelectric switch 53, a first slide rail 54, and a second motor 55 are fixedly provided on the fixed base 52. Two first sliders 541 are slidably provided on the first slide rail 54 and slide relative to each other. Two movable seats 6 are respectively fixedly provided on the two first sliders 541. A lead screw 56 is rotatably provided on the fixed base 52. The output shaft of the second motor 55 is fixedly connected to the lead screw 56 and can drive it to rotate. A first screw block 561 and a second screw block 562 are threaded on the lead screw 56 and slide relative to each other. The lead screw 56 is provided with a first threaded section and a second threaded section with opposite threads. A first screw block 561 is threaded on the first threaded section and a second screw block 562 is threaded on the second threaded section. The two movable seats 6 are respectively fixedly provided on the first screw block 561 and the second screw block 562.

[0043] Based on the length and size of the tank 9, the support base 5 slides on the ground rail 1. After the photoelectric switch 53 detects the end position of the tank 9, the support base 5 stops sliding. The photoelectric switch 53 enables the support component 2 to automatically locate and lock the position of the tank 9. This is controlled by the PLC control cabinet, thereby bringing the end of the tank 9 to the initial welding position. With the laser weld seam tracker 43, the molten pool monitoring camera, the photoelectric switch 53, and the PLC control cabinet, the welding process of the welding device in this embodiment is more intelligent, visualized, and data-driven.

[0044] The second motor 55 starts and drives the lead screw 56 to rotate. After the lead screw 56 rotates, it drives the first screw block 561 and the second screw block 562 to move relative to each other. The first screw block 561 and the second screw block 562 move closer to each other or further away from each other. At this time, the two first sliders 541 slide on the first slide rail 54 and move closer to each other or further away from each other, thereby driving the two moving seats 6 to slide relative to each other and move closer to each other or further away from each other.

[0045] Preferably, each of the support bases 5 is fixedly equipped with a through-beam photoelectric generator 57. After the welding torch 42 finishes welding a weld, the first roller 72 and the second roller 73 rotate, thereby driving the tank 9 to rotate. The tank 9 rotates to adjust its position, and the through-beam photoelectric generator 57 is used to detect the position of the tank 9 after rotation to ensure that the welding torch 42 continues to weld the next weld.

[0046] Preferably, two first bearing seats are fixedly mounted on the fixed base 52, and the two ends of the lead screw 56 pass through the first bearings in the two first bearing seats and are rotatably connected to them. The output shaft of the second motor 55 is fixedly connected to the end of the lead screw 56 that passes through the first bearings via a second reducer.

[0047] In one possible implementation, each of the movable seats 6 is fixedly provided with a limiting seat 61, and a fixed shaft 611 is fixedly provided on the limiting seat 61. Each of the wheel frames 71 is triangular, and the bottom of each wheel frame 71 is sleeved on the fixed shaft 611 and can rotate. Each of the first rollers 72 and the second rollers 73 is rotatably provided on the top of the wheel frame 71. Each of the wheel frames 71 is inclinedly provided with a limiting plate 711 on its side, one end of the limiting plate 711 is located inside the limiting seat 61, and the other end of the limiting plate 711 is located above the limiting seat 61.

[0048] The wheel frame 71 rotates relative to the fixed shaft 611. Specifically, with the tank body 9 as the center, before the tank body 9 is fully pressed against the first roller 72 and the second roller 73, the wheel frame 71 rotates relative to the fixed shaft 611 (i.e., swings left and right). The two wheel frames 71 rotate (inward or outward) towards or away from the tank body 9 to adjust the angle of the first roller 72 and the second roller 73. After the tank body 9 is fully pressed against the first roller 72 and the second roller 73, the wheel frame 71 no longer rotates relative to the fixed shaft 611.

[0049] After the wheel frame 71 is fully pressed against the first roller 72 and the second roller 73, if the wheel frame 71 still wants to rotate outward, the limiting plate 711 will abut against the limiting seat 61. Because the limiting seat 61 blocks the limiting plate 711, the limiting plate 711 cannot rotate outward, thus preventing the wheel frame 71 from rotating outward. The limiting plate 711 and the limiting seat 61 cooperate to limit the rotation range of the wheel frame 71, preventing the wheel frame 71 from rotating outward after it is fully pressed against the first roller 72 and the second roller 73, thereby ensuring that the tank 9 will not tip over to the outside.

[0050] The end of the tank body 9 is placed on the first roller 72 and the second roller 73 of the two wheel sets 7. The first roller 72 is located above the second roller 73 and is arranged in an arc shape. Therefore, the first roller 72 and the second roller 73 of the two wheel sets 7 contact the tank wall of the tank body 9 and fix the end of the tank body 9, and further ensure that the tank body 9 will not tip over to the outside.

[0051] Preferably, the wheel frame 71 includes two wheel plates fixedly connected by reinforcing ribs. The wheel plates are triangular, and a limiting plate 711 is inclinedly disposed between the two wheel plates. A first through hole is provided on the limiting seat 61, and a second through hole is provided at the bottom of each of the two wheel plates. The two ends of the fixing shaft 611 pass through the two second through holes and the first through hole respectively, and are then fixedly connected to the limiting seat 61. The two wheel plates, i.e., the wheel frame 71, rotate relative to the fixing shaft 611 through the second through holes.

[0052] The top of the two wheel plates is provided with two second bearings and a third bearing. The two ends of the axle of the first roller 72 pass through the two second bearings and can rotate. The two ends of the axle of the second roller 73 pass through the two third bearings and can rotate.

[0053] In one possible implementation, each fixed shaft 611 is rotatably equipped with a drive gear 621 located outside the limiting seat 61. A fixed bearing is provided at the end of the fixed shaft 611, and the drive gear 621 is fixedly connected to the fixed bearing and can rotate. Each movable seat 6 is fixedly equipped with a third motor 62. The output shaft of the third motor 62 is fixedly connected to the drive gear 621 through a third reducer and can drive it to rotate. Each wheel frame 71 is rotatably equipped with a first transmission gear 712 and a second transmission gear 713. Each first roller 72 is fixedly connected with a first driven gear 721, and each second roller 73 is fixedly connected with a second driven gear 731. The first transmission gear 712 meshes with the drive gear 621 and the first driven gear 721, and the second transmission gear 713 meshes with the drive gear 621 and the second driven gear 731. The third motor 62 starts and drives the drive gear 621 to rotate on the fixed shaft 611. After the drive gear 621 rotates, it drives the first transmission gear 712, the first driven gear 721, the second transmission gear 713, and the second driven gear 731 to rotate, and the first roller 72 and the second roller 73 rotate.

[0054] The first driven gear 721 is fixedly disposed at the end of the shaft of the first roller 72, and the second driven gear 731 is fixedly disposed at the end of the shaft of the second roller 73.

[0055] Preferably, a first drive shaft and a second drive shaft are fixedly mounted in the middle of one of the wheel plates. A fourth bearing is provided at the end of the first drive shaft, and a first drive gear 712 is fixedly connected to the fourth bearing and can rotate. A fifth bearing is provided at the end of the second drive shaft, and a second drive gear 713 is fixedly connected to the fifth bearing and can rotate. The third motor 62, the driving gear 621, the first drive gear 712, the first driven gear 721, the second drive gear 713, and the second driven gear 731 are all located on the side of one of the wheel plates.

[0056] Preferably, the first motor 51, the wheel frame 71 (i.e., the two wheel plates), the third motor 62, the driving gear 621, the first transmission gear 712 and the first driven gear 721, as well as the second transmission gear 713 and the second driven gear 731 are all provided with covers.

[0057] As one possible implementation, a conductive structure 8 is also included. The conductive structure 8 is located on the side of the wheel plate away from the second motor 55. The conductive structure 8 includes a vertical plate 81, a lifting cylinder 82, and a lifting plate 83. The vertical plate 81 is fixedly mounted on the support base 5. The lifting cylinder 82 is adjustablely mounted on the vertical plate 81. The telescopic rod of the lifting cylinder 82 is fixedly connected to the lifting plate 83 and can drive it to slide up and down. A tripod 84 is rotatably mounted on the lifting plate 83. Conductive wheels 85 are rotatably mounted at both ends of the tripod 84. Conductive wires 86 are fixedly mounted on both sides of the tripod 84, contacting the conductive wheels 85. When the welding torch 42 welds onto the tank 9, the tank 9 may become conductive, so the tank 9 needs to be grounded to ensure welding safety. Depending on the height of the tank 9, when the conductive wheel 85 is not pressed against the tank wall, the tripod 84 can rotate (i.e., swing left and right). The tripod 84 rotates to adjust its position to adjust the angle of the conductive wheel 85. The lifting cylinder 82 is activated, causing the lifting plate 83 and the two conductive wheels 85 to slide up and down. When the conductive wheels 85 are pressed against the tank wall of the tank body 9, the tripod 84 stops rotating, and the two conductive wheels 85 are in contact with the tank wall of the tank body 9. Since one end of the conductive wheel 85 is in contact with the conductive wire 86, and the other end of the conductive wire 86 is artificially grounded, conductivity is achieved. The conductive wheels 85 can rotate without affecting the rotation of the tank body 9 during welding.

[0058] Preferably, the upright plate 81 is provided with screw holes, and the lifting cylinder 82 is fixedly provided with an adjusting plate 87. The adjusting plate 87 is provided with a strip hole, and the bolt passes through the strip hole and is threadedly connected to the screw hole, so that the lifting cylinder 82 is fixed on the upright plate 81. The position of the lifting cylinder 82 can be finely adjusted through the strip hole.

[0059] Preferably, both ends of the tripod 84 are fixedly provided with conductive shafts, and a sixth bearing is rotatably provided on each conductive shaft. The conductive wheel 85 is rotatably connected to the sixth bearing to achieve rotation.

[0060] In one possible implementation, the displacement component 3 includes a column 31 and a cantilever 32. The column 31 is slidably mounted on the first guide rail 11 of the ground rail 1, and the cantilever 32 is slidably mounted on the column 31. The six-axis industrial robot 41 is fixedly mounted on the cantilever 32. The column 31 slides back and forth relative to the tank 9, causing the cantilever 32 to slide back and forth. The cantilever 32 slides up and down relative to the tank 9, causing the six-axis industrial robot 41 to slide up and down. Based on the welding position of the baffle plate inside the tank 9, the six-axis industrial robot 41 slides back and forth and up and down relative to the tank 9, ultimately causing the welding torch 42 to slide back and forth and up and down. The six-axis industrial robot 41 ultimately moves the welding torch 42 to the welding position.

[0061] In one possible implementation, a base plate 33 is fixedly mounted on the bottom of the column 31. A second guide block 112 is slidably mounted on the first guide rail 11. The base plate 33 is fixedly mounted on the second guide block 112. A fourth motor 34 is fixedly mounted on the base plate 33. The output shaft of the fourth motor 34 is fixedly connected to a second gear 341 via a fourth reducer and can drive it to rotate. The second gear 341 meshes with a first rack 12 on the ground rail 1. When the fourth motor 34 starts, it drives the second gear 341 to rotate. Since the second gear 341 meshes with the first rack 12, the second gear 341 moves on the first rack 12. At this time, the second guide block 112 slides on the first guide rail 11, and the base plate 33, i.e., the column 31, slides back and forth on the ground rail 1. A power supply box for supplying power to various components is also provided on the column 31.

[0062] Preferably, an auxiliary gear 331 is rotatably mounted on the base plate 33, and the auxiliary gear 331 also meshes with the first rack 12. The rotation method of the auxiliary gear 331 is prior art and will not be described in detail here. The auxiliary gear 331 further ensures that the base plate 33, i.e., the column 31, slides back and forth stably on the ground rail 1.

[0063] Preferably, flexible plugs 13 are provided at both ends of the ground rail 1. The flexible plugs 13 at both ends protect the support base 5 and the column 31 respectively, while limiting the sliding range of the two and preventing them from sliding off the ground rail 1.

[0064] In one possible implementation, a second slide rail 35 and a second rack 36 are fixedly mounted on the column 31. A second slider 351 is slidably mounted on the second slide rail 35. A side plate 37 is mounted on the end of the cantilever 32 away from the six-axis industrial robot 41. The side plate 37 is fixedly mounted on the second slider 351. A fifth motor 38 is fixedly mounted on the side plate 37. The output shaft of the fifth motor 38 is fixedly connected to a third gear 381 through a fifth reducer and can drive it to rotate. The third gear 381 meshes with the second rack 36. A chain tooth 311 is rotatably mounted on the top of the column 31. A chain 312 (only part of it is shown in the figure) is wound around the chain tooth 311, and the two ends of the chain 312 are fixedly connected to the side plate 37 and the counterweight 313, respectively. The counterweight 313 is located inside the column 31 and below the side plate 37. The fifth motor 38 starts, driving the third gear 381 to rotate. Since the third gear 381 meshes with the second rack 36, the third gear 381 moves on the second rack 36. At this time, the second slider 351 slides on the second slide rail 35, and the side plate 37, i.e., the cantilever 32, slides up and down. When the cantilever 32 slides up and down, the chain teeth 311 and the chain 312 rotate, and the counterweight 313 slides up and down at the same time. The chain 312 and the counterweight 313 prevent the cantilever 32 from falling.

[0065] Preferably, a sprocket seat 314 is fixedly provided on the top of the column 31. The sprocket seat 314 is rotatably provided with a rotating shaft 315 via a seventh bearing. Two chain teeth 311 are fixedly provided on the rotating shaft 315, and a chain 312 is wound around each chain tooth 311.

[0066] Preferably, a wire feeder and a wire holder are fixedly mounted on the cantilever 32. The structure of the wire feeder and the wire holder is existing technology and will not be described in detail here. The wire holder is wound with multiple turns of welding wire, and the wire feeder conveys the welding wire and delivers it to the welding torch 42.

[0067] The embodiments described above are merely preferred embodiments of this utility model and are only used to explain this utility model. They are not intended to limit the scope of implementation of this utility model. For those skilled in the art, other implementation methods can be easily made by substitution or modification based on the technical content disclosed in this specification. Therefore, all changes and improvements made to the principles and process conditions of this utility model should be included within the scope of the patent application of this utility model.

Claims

1. A welding device for a tank body wave plate, comprising two single-sided mechanisms arranged symmetrically, with the tank body (9) located between the two single-sided mechanisms, characterized in that, Each of the single-sided mechanisms includes a ground rail (1), a support assembly (2), a displacement assembly (3), and a welding assembly (4). The support assembly (2) and the displacement assembly (3) are slidably mounted on the ground rail (1) and are located at opposite ends of the ground rail (1). The welding assembly (4) includes a six-axis industrial robot (41), a welding torch (42), a laser weld seam tracker (43), and a molten pool monitoring camera. The six-axis industrial robot (41) is fixedly mounted on the displacement assembly (3). The welding torch (42) is fixedly mounted on the six-axis industrial robot (41). The laser weld seam tracker (43) and the molten pool monitoring camera are tilted on both sides of the welding torch (42), with the molten pool monitoring camera located above the laser weld seam tracker (43).

2. The welding device of claim 1, wherein, Each of the support components (2) includes a support base (5), two movable seats (6) and a wheel set (7). The support base (5) is slidably mounted on the ground rail (1). The two movable seats (6) are slidably mounted on the support base (5) relative to each other. The two wheel sets (7) are respectively rotatably mounted on the two movable seats (6) and are arranged symmetrically. Each wheel set (7) includes a wheel frame (71), a first roller (72) and a second roller (73). The wheel frame (71) is rotatably mounted on the movable seat (6). The first roller (72) and the second roller (73) are rotatably mounted on the wheel frame (71). The first roller (72) is located above the second roller (73) and the first roller (72) and the second roller (73) are arranged in an arc shape.

3. The welding device of claim 2, wherein, A first guide rail (11) and a first rack (12) are fixedly installed on the ground rail (1). A first guide block (111) is slidably installed on the first guide rail (11). A support seat (5) is fixedly installed on the first guide block (111). A first motor (51) is fixedly installed on each support seat (5). The output shaft of the first motor (51) is fixedly connected to the first gear (511) and can drive it to rotate. The first gear (511) and the first rack (12) mesh with each other.

4. The welding device of claim 2, wherein, Each of the support bases (5) is fixedly provided with a fixed base (52). The fixed base (52) is fixedly provided with a photoelectric switch (53), a first slide rail (54), and a second motor (55). The first slide rail (54) is slidably provided with two first sliders (541) and the two first sliders (541) slide relative to each other. The two movable bases (6) are respectively fixedly provided on the two first sliders (541). The fixed base (52) is rotatably provided with a lead screw (56). The output shaft of the second motor (55) is fixedly connected to the lead screw (56) and can drive it to rotate. The lead screw (56) is threaded with a first screw block (561) and a second screw block (562) and the first screw block (561) and the second screw block (562) slide relative to each other. The two movable bases (6) are respectively fixedly provided on the first screw block (561) and the second screw block (562).

5. The welding device of claim 2, wherein, Each of the movable seats (6) is fixedly provided with a limiting seat (61), and a fixed shaft (611) is fixedly provided on the limiting seat (61). Each of the wheel frames (71) is triangular, and the bottom of each of the wheel frames (71) is sleeved on the fixed shaft (611) and can rotate. Each of the first rollers (72) and the second rollers (73) is rotatably provided on the top of the wheel frame (71). Each of the wheel frames (71) is inclinedly provided with a limiting plate (711) on its side. One end of the limiting plate (711) is located inside the limiting seat (61), and the other end of the limiting plate (711) is located above the limiting seat (61).

6. The welding device of claim 5, wherein, Each of the fixed shafts (611) is rotatably provided with a drive gear (621) located outside the limiting seat (61). Each of the movable seats (6) is fixedly provided with a third motor (62). The output shaft of the third motor (62) is fixedly connected to the drive gear (621) and can drive it to rotate. Each of the wheel frames (71) is rotatably provided with a first transmission gear (712) and a second transmission gear (713). Each of the first rollers (72) is fixedly provided with a first driven gear (721). Each of the second rollers (73) is fixedly provided with a second driven gear (731). The first transmission gear (712) meshes with the drive gear (621) and the first driven gear (721). The second transmission gear (713) meshes with the drive gear (621) and the second driven gear (731).

7. The welding device of claim 2, wherein, It also includes a conductive structure (8), which includes a vertical plate (81), a lifting cylinder (82), and a lifting plate (83). The vertical plate (81) is fixedly mounted on the support base (5). The lifting cylinder (82) is adjustablely mounted on the vertical plate (81). The telescopic rod of the lifting cylinder (82) is fixedly connected to the lifting plate (83) and can drive it to slide up and down. A tripod (84) is rotatably mounted on the lifting plate (83). Conductive wheels (85) are rotatably mounted at both ends of the tripod (84). Conductive wires (86) that contact the conductive wheels (85) are fixedly mounted on both sides of the tripod (84).

8. The welding apparatus according to claim 1, characterized in that, The displacement component (3) includes a column (31) and a cantilever (32). The column (31) is slidably mounted on the first guide rail (11) of the ground rail (1). The cantilever (32) is slidably mounted on the column (31). The six-axis industrial robot (41) is fixedly mounted on the cantilever (32).

9. The welding device of claim 8, wherein, A base plate (33) is fixedly installed at the bottom of the column (31). A second guide block (112) is slidably installed on the first guide rail (11). The base plate (33) is fixedly installed on the second guide block (112). A fourth motor (34) is fixedly installed on the base plate (33). The output shaft of the fourth motor (34) is fixedly connected to the second gear (341) and can rotate it. The second gear (341) meshes with the first rack (12) on the ground rail (1).

10. The welding device of claim 8, wherein, A second slide rail (35) and a second rack (36) are fixedly mounted on the column (31). A second slider (351) is slidably mounted on the second slide rail (35). A side plate (37) is provided at the end of the cantilever (32) away from the six-axis industrial robot (41). The side plate (37) is fixedly mounted on the second slider (351). A fifth motor (38) is fixedly mounted on the side plate (37). The output shaft of the fifth motor (38) is connected to... The third gear (381) is fixedly connected and can rotate. The third gear (381) meshes with the second rack (36). The top of the column (31) is rotatably provided with chain teeth (311). A chain (312) is wound around the chain teeth (311) and the two ends of the chain (312) are fixedly connected to the side plate (37) and the counterweight (313) respectively. The counterweight (313) is located inside the column (31) and below the side plate (37).

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