CN-122007730-A - Automatic welding device and welding method for large hydrogen spherical tank

CN122007730ACN 122007730 ACN122007730 ACN 122007730ACN-122007730-A

Abstract

The invention relates to the technical field of automatic welding and discloses an automatic welding device and a welding method of a large-sized hydrogen spherical tank, wherein the automatic welding device comprises an automatic welding machine, a welding seam detection module is arranged at the high position of the outer end of a welding gun head of the automatic welding machine in an integrated manner, and the welding seam detection module is provided with a real-time gesture resolving unit for dynamically correcting space coordinate parameters of a welding path; the welding seam detection module comprises a turntable seat fixedly sleeved outside a welding gun head through a rigid connecting piece, swing arm assemblies symmetrically distributed on two sides of the welding gun head and connected with the turntable seat to form a revolute pair, wherein the rotation angle range of each swing arm assembly is +/-90 degrees, a scanning unit group comprises two independent scanning modules respectively fixedly arranged at the tail end detection positions of each double swing arm assembly, and the welding seam detection module with a real-time gesture calculation unit is integrated on the welding gun head and matched with the double swing arm assemblies and the scanning unit group, so that synchronous scanning of a welded area and a to-be-welded area is realized.

Inventors

ZHANG ZHIYONG
Zheng Meicheng
Feng Tongshu
ZHOU YUCHANG
ZHANG ZHIYI
HAO WENXIN
WU QIANYUAN
ZHANG ZHIQUAN
ZHANG LIANYOU
ZHENG SIWEN
WEI SHIWEN
ZHAO CHENGQUN

Assignees

鞍山钢制压力容器有限公司

Dates

Publication Date: 20260512
Application Date: 20260416

Claims (7)

1. The automatic welding device for the large-sized hydrogen spherical tank is characterized by comprising an automatic welding machine (11), wherein a welding seam detection module (2) is arranged at the high position of the outer end of a welding gun head of the automatic welding machine (11), and the welding seam detection module (2) is provided with a real-time gesture resolving unit for dynamically correcting space coordinate parameters of a welding path; The bead detection module (2) comprises: the turntable seat (21) is fixedly sleeved outside the welding gun head through a rigid connecting piece; swing arm assemblies are symmetrically distributed on two sides of the welding gun head and are connected with a turntable seat (21) to form a revolute pair, and the rotation angle range of the swing arm assemblies is +/-90 degrees; The scanning unit group comprises two independent scanning modules (25) which are respectively and fixedly arranged at the tail end detection positions of the double swing arm assemblies, and the scanning direction is parallel to the axis of the welding gun head; The power control module is internally provided with a servo motor and a closed-loop control system and is used for accurately regulating and controlling the rotation angle of the double-swing-arm assembly; The auxiliary blowing system is arranged near the tail end detection position of the double swing arm assembly, the blowing direction of the auxiliary blowing system faces the welding gun head operation area, and high-pressure air is vertically sprayed downwards to form an air curtain isolation layer; The power control module dynamically adjusts the rotation angle of the swing arm assembly by receiving the welding seam characteristic data of the scanning module (25) in real time, so that the left scanning module (25) continuously scans the welded welding seam area, the right scanning module (25) continuously scans the welding seam area to be welded, and the system algorithm module calculates the matching degree of the welding seam track to automatically correct the spatial position deviation of the welding gun head and the welding seam which is not welded; The high-pressure air curtain isolation layer of the auxiliary blowing system effectively blocks the optical interference of welding sparks on the scanning module (25); The auxiliary blowing system comprises a gas jet (41), the gas jet (41) is fixed at the tail end of the auxiliary swing arm (23), the gas jet direction of the gas jet (41) is the same as that of the welding gun head, and the supply end of the gas jet (41) is connected with a cooling pipe (28); one end of the cooling pipe (28) far away from the air jet (41) is connected with an external box (42), a high-pressure air box (43) and a liquid storage chamber (45) are respectively arranged in the external box (42), and the output end of the high-pressure air box (43) is connected with the cooling pipe (28) through a valve (44); the high-pressure air box (43) stores low-temperature nitrogen, the liquid storage chamber (45) is connected with the cold supply pipe (28) through a tiny pipeline, and when the nitrogen is used for cooling and spraying, a small part of liquid enters the cold supply pipe (28) to contact with the low-temperature nitrogen, so that ice and sand are formed and sprayed onto the welding seam.
2. The automatic welding device for the large hydrogen ball tank according to claim 1, wherein the swing arm assembly comprises a main swing arm (22), a circular rotating ring (31) is fixedly arranged at the center of the main swing arm (22), internal teeth (32) are fixedly arranged on the inner wall of the rotating ring (31), and the internal teeth (32) are rotatably arranged in the turntable seat (21).
3. The automatic welding device for the large-sized hydrogen ball tank according to claim 2, wherein a limit groove (27) is formed in the outer wall of the turntable seat (21), the main swing arm (22) rotates along the limit groove (27), the power control module comprises a driving motor assembly (29), the driving motor assembly (29) is installed in the turntable seat (21), and the tail end rotation output end of the driving motor assembly (29) is meshed with the inner tooth (32) through a gear set and used for controlling the main swing arm (22) to rotate by taking a welding gun head as a circle center.
4. A large-scale hydrogen ball tank automatic welder according to claim 3, characterized in that, the end of main swing arm (22) wears to have vice swing arm (23), vice swing arm (23) and main swing arm (22) both constitute the extending structure, the one end that swivel (31) was kept away from to vice swing arm (23) is fixed and is provided with equipment head (24), scanning module (25) are fixed on equipment head (24), scanning module (25) are connected with the system through data wire (26).
5. The automatic welding device for the large-sized hydrogen ball tank according to claim 4, wherein a piston (34) is fixedly arranged at one end of the auxiliary swing arm (23) positioned in the main swing arm (22), a tightening belt (35) is arranged on one side of the piston (34), and a pressure supply pipe (33) is connected to the upper wall of the main swing arm (22).
6. The automatic welding device for large-sized hydrogen ball tank according to claim 5, wherein the inner spaces of the main swing arms (22) of the pressure supply pipe (33) are mutually communicated, and the supply end of the pressure supply pipe (33) is connected with an external air pump assembly for pressurizing the inner space of the main swing arms (22) and controlling the sliding of the piston (34) to extend the auxiliary swing arms (23).
7. A welding method using the automatic welding device for a large hydrogen balloon as claimed in any one of claims 1 to 6, comprising the steps of: S1, moving an automatic welding device to a to-be-welded welding seam starting position of a large hydrogen ball tank, and enabling a welding gun head to be aligned with a welding seam; S2, starting an auxiliary blowing system, spraying high-pressure gas to form an air curtain isolation layer, starting a scanning module (25) at the same time, scanning a welded area by the left scanning module (25), and scanning an area to be welded by the right scanning module (25) to obtain weld characteristic data; S3, dynamically adjusting the rotation angle of the swing arm assembly by the power control module according to the welding seam characteristic data fed back by the scanning module (25), calculating the matching degree of the welding seam track by the system algorithm module, and automatically correcting the spatial position deviation of the welding gun head and the welding seam which is not welded; s4, starting an automatic welding machine (11) for welding, wherein a real-time attitude resolving unit continuously corrects space coordinate parameters of a welding path in the welding process, and simultaneously, an auxiliary blowing system continuously works to block welding spark interference; S5, after welding is finished, the automatic welding machine (11) and the auxiliary blowing system are closed, the swing arm assembly is reset, and the automatic welding device is removed.

Description

Automatic welding device and welding method for large hydrogen spherical tank Technical Field The invention relates to the field of automatic welding, in particular to an automatic welding device and a welding method for a large-sized hydrogen spherical tank. Background The large-scale hydrogen ball tank is used as a key container for storing high-pressure hydrogen, and the manufacturing quality of the large-scale hydrogen ball tank is directly related to the safety and reliability of energy storage. The construction of spherical tanks typically involves a large number of high strength on-site welding operations, which are often distributed over complex curved surfaces and have extremely high requirements for welding quality. With the development of industrial automation technology, automatic welding machines are beginning to be applied in the field of spherical tank manufacturing. However, the existing automatic welding device still has significant technical defects in practical application, namely, firstly, because the surface of the spherical tank is of a complex spherical structure, and the workpiece may have thermal deformation or assembly errors in the welding process, so that deviation between a preset welding path and an actual welding seam position is caused, the spatial position of a welding gun is difficult to dynamically correct in the welding process, and defects such as welding deviation or unfused and the like are easily caused. Therefore, we propose an automatic welding device and a welding method for a large-scale hydrogen spherical tank. Disclosure of Invention The invention provides an automatic welding device and a welding method for a large hydrogen spherical tank, which solve the technical problems that in the prior art, a workpiece possibly has thermal deformation or assembly errors in the welding process, so that a preset welding path deviates from the actual welding seam position, the spatial position of a welding gun is difficult to dynamically correct in the welding process, and defects such as welding deviation or unfused and the like are easily caused. The invention provides an automatic welding device for a large-scale hydrogen spherical tank, which comprises an automatic welding machine, wherein a welding line detection module is arranged at the high position of the outer end of a welding gun head of the automatic welding machine in an integrated manner, and the welding line detection module is provided with a real-time attitude resolving unit for dynamically correcting space coordinate parameters of a welding path; The weld detection module comprises: the turntable seat is fixedly sleeved outside the welding gun head through a rigid connecting piece; the swing arm assemblies are symmetrically distributed on two sides of the welding gun head and are connected with the turntable seat to form a revolute pair, and the rotation angle range of the swing arm assemblies is +/-90 degrees; The scanning unit group comprises two independent scanning modules which are respectively and fixedly arranged at the tail end detection positions of the double swing arm assemblies, and the scanning direction is parallel to the axis of the welding gun head; The power control module is internally provided with a servo motor and a closed-loop control system and is used for accurately regulating and controlling the rotation angle of the double-swing-arm assembly; The auxiliary blowing system is arranged near the tail end detection position of the double swing arm assembly, the blowing direction of the auxiliary blowing system faces the welding gun head operation area, and high-pressure air is vertically sprayed downwards to form an air curtain isolation layer; The power control module dynamically adjusts the rotation angle of the swing arm assembly by receiving the welding seam characteristic data of the scanning module in real time, so that the left scanning module continuously scans the welded welding seam area, the right scanning module continuously scans the welding seam area to be welded, the welding seam track matching degree calculation is carried out by the system algorithm module, and the spatial position deviation of the welding gun head and the welding seam which is not welded is automatically corrected; The high-pressure air curtain isolation layer of the auxiliary blowing system effectively blocks the optical interference of welding sparks on the scanning module. Further, the swing arm assembly comprises a main swing arm, a circular rotating ring is fixedly arranged at the center of the main swing arm, internal teeth are fixedly arranged on the inner wall of the rotating ring, and the internal teeth are rotatably arranged in the turntable seat. Further, the limiting groove is formed in the outer wall of the turntable seat, the main swing arm rotates along the limiting groove, the power control module comprises a driving motor assembly, the driving motor assembly is installed inside the tur