CN115958275A - Automatic welding process for storage tank - Google Patents

Abstract

The invention belongs to the technical field of storage tank manufacturing, and discloses an automatic welding process for a storage tank. The method comprises the following steps: assembling and mounting a plurality of wall plates on the top layer of the storage tank to form an annular band plate, keeping a preset gap between adjacent wall plates, and performing spot welding connection on vertical seams formed between the wall plates; arranging at least two groups of crawling welding robots uniformly arranged along the circumferential direction of the band plate on the outer side of the band plate, and simultaneously arcing each group of crawling welding robots from the outer side of the band plate to weld corresponding vertical seams so as to realize single-side welding and double-side molding; after one group of belt plates are welded, the corresponding belt plates move upwards for a preset distance, a plurality of wall plates are assembled on the lower sides of the welded belt plates to form the next belt plate, and each group of crawling welding robots arc simultaneously from the outer sides of the belt plates to weld the annular seams formed between the two adjacent groups of belt plates; and detecting the assembly condition and the welding quality of the wall plate in the welding process. The process can improve the welding quality and the welding efficiency.

Description

Automatic welding process for storage tank

Technical Field

The invention relates to the technical field of storage tank manufacturing, in particular to an automatic welding process for a storage tank.

Background

With the rapid development of economy, the storage of petroleum and related products in China is very important, and the vertical storage tank used for storage is one of essential important devices. The welding structures of the storage tanks are various, the using conditions are different, working media generally have the characteristics of high temperature, high pressure, flammability, explosiveness, deep cooling, corrosion and the like, and the welding method has higher requirements on steel for equipment and a welding process. Meanwhile, common petrochemical equipment is large in scale generally, not only is the requirement on safe operation high, but also the equipment is mainly installed and welded on site, and the requirements on welding quality and safety are high.

The main structure of the storage tank is mainly a tank wall which is formed by assembling and welding a plurality of wall plates. At present, the wall plates of the storage tank are mainly welded manually, the manual welding quality is limited by the skill level of a welder, environmental condition factors and the like, the welding quality is unstable, and the welding efficiency is not high.

Therefore, there is a need for an automated tank welding process to solve the above problems.

Disclosure of Invention

The invention aims to provide an automatic welding process for a storage tank, which solves the problems of unstable welding quality and low welding efficiency of manual welding by adopting a crawling welding robot to automatically weld wall plates of the storage tank.

In order to achieve the purpose, the invention adopts the following technical scheme:

automatic welding process of storage tank carries out welded connection to a plurality of wallboards of storage tank based on welding robot that crawls, includes following step:

the wall plates on the top layer of the storage tank are assembled in a group to form an annular band plate, a preset gap is kept between every two adjacent wall plates, and vertical seams formed between the wall plates are connected in a spot welding mode;

arranging at least two groups of crawling welding robots on the outer side of the band plate, wherein each group of crawling welding robots are uniformly arranged at the corresponding vertical seam position along the circumferential direction of the band plate, and each group of crawling welding robots arc simultaneously from the outer side of the band plate to weld the corresponding vertical seams so as to realize single-side welding and double-side forming;

after one group of the band plates are welded, moving the corresponding band plate upwards for a preset distance, assembling a plurality of wall plates on the lower side of the welded band plate to form a next band plate, simultaneously starting arcs from the outer side of the band plate by each group of the crawling welding robots to weld the annular seams formed between two adjacent groups of the band plates, and keeping the crawling welding robots uniformly arranged along the circumferential direction of the band plates in the welding process; detecting the assembly condition and the welding quality of the wall plate in the welding process of the vertical seam and the circular seam;

and repeating the steps until all the strip plates are welded.

As an alternative, the method also comprises the following steps:

before assembling and mounting the wall plates, a plurality of wall plates with preset sizes are cut on a plate by adopting a gantry type plasma cutting machine.

As an alternative, when the wall plates are assembled, the preset gap of the vertical seam or the circular seam welded by the same crawling welding robot is gradually increased along the welding direction according to the welding direction of the welding seam.

Optionally, in the welding process of the vertical seam and the circular seam, a ceramic liner is arranged on the inner sides of the vertical seam and the circular seam, and the ceramic liner blocks and shapes the cladding metal to realize single-side welding and double-side forming.

Alternatively, when the vertical seam is welded, the welding is performed in a bottom-up direction.

Alternatively, the circular seams formed by the adjacent band plates are spot-welded before being welded.

Alternatively, before the crawling welding robot welds the vertical seam and the circular seam, the wall plate group is ground at a T-shaped point generated by time-point welding connection, so that the gradient of the T-shaped point is controlled within 30 degrees.

As an alternative, the crawling welding robot is placed on a crawler-type transfer device for carrying, and the crawler-type transfer device can transfer the crawling welding robot according to the change of a welding station.

As an alternative, the crawling welding robot comprises a robot body, a welding power supply and a cable, wherein the cable is used for connecting the robot body and the welding power supply, the cable is combed before welding, and when the crawling welding robot is arranged, the number of the crawling welding robots required to be set is determined according to the length of the cable and the perimeter of a band plate so as to ensure that the moving range of the crawling welding robot covers the whole perimeter of the band plate.

Alternatively, after welding of the outer side of the strip plate is completed, the welding quality of the inner side of the strip plate is detected, if the welding is unqualified, a plasma gas planer robot is used for back chipping, and after the back chipping, repair welding is carried out from the inner side of the strip plate.

Has the advantages that:

according to the automatic welding process for the storage tank, disclosed by the invention, the crawling welding robot is adopted for welding, the welding precision can be fully ensured, the heating uniformity of a welding parent metal is better, the material fusion process is more stable, and the welding quality and the welding efficiency are greatly improved. When crawling welding robot overall arrangement, arrange at least two sets of crawling welding robot and evenly arrange along the circumference of band plate, and keep evenly arranging along the circumference of band plate in welding process, reduced the deformation that the wallboard uneven leads to of being heated, further improve welding precision and welding quality. In addition, the outer side of the band plate is welded during welding, single-side welding and double-side forming are achieved, repeated welding is not needed to enter the inner side of the band plate, welding efficiency is improved, the stay time of personnel in operation in a closed space is shortened, and injury to operators is reduced as much as possible.

Drawings

FIG. 1 is a schematic structural diagram of a storage tank provided by an embodiment of the invention;

FIG. 2 is a schematic structural diagram of a hydraulic lifting device provided in an embodiment of the present invention;

FIG. 3 is a plan view of the arrangement of the hydraulic lifting device of the embodiment of the present invention;

fig. 4 is a schematic structural diagram of an air supply system according to an embodiment of the present invention.

In the figure:

100. a storage tank; 110. a band plate; 111. wall plates; 120. vertically sewing; 130. performing circular sewing;

1. a crawling welding robot;

2. a hydraulic lifting device; 21. a hydraulic jack; 22. expanding a ring; 23. a lifting bar; 24. a lift head;

3. a gas supply system; 31. a gas collection device; 311. a main gas supply cylinder group; 312. a standby gas cylinder group; 32. a manifold; 33. a shunt tube; 34. a gas collection bag;

4. and a limiting plate.

Detailed Description

The present invention will be described in further detail with reference to the accompanying drawings and examples. It is to be understood that the specific embodiments described herein are merely illustrative of the invention and are not limiting of the invention. It should be further noted that, for the convenience of description, only some structures related to the present invention are shown in the drawings, not all of them.

In the description of the present invention, unless expressly stated or limited otherwise, the terms "connected," "connected," and "fixed" are to be construed broadly, e.g., as meaning permanently connected, removably connected, or integral to one another; can be mechanically or electrically connected; either directly or indirectly through intervening media, either internally or in any other relationship. The specific meanings of the above terms in the present invention can be understood in a specific case to those of ordinary skill in the art.

In the present invention, unless expressly stated or limited otherwise, the recitation of a first feature "on" or "under" a second feature may include the recitation of the first and second features being in direct contact, and may also include the recitation that the first and second features are not in direct contact, but are in contact via another feature between them. Also, the first feature being "on," "above" and "over" the second feature includes the first feature being directly on and obliquely above the second feature, or merely indicating that the first feature is at a higher level than the second feature. A first feature being "under," "below," and "beneath" a second feature includes the first feature being directly under and obliquely below the second feature, or simply meaning that the first feature is at a lesser elevation than the second feature.

In the description of the present embodiment, the terms "upper", "lower", "left", "right", and the like are used based on the orientations and positional relationships shown in the drawings, and are only for convenience of description and simplicity of operation, but do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus, should not be construed as limiting the present invention. Furthermore, the terms "first" and "second" are used only for descriptive purposes and are not intended to have a special meaning.

As shown in fig. 1, tanks 100 for storing petroleum and related products are typically large in scale and have high safety requirements. The tank body of the storage tank 100 is formed by welding a plurality of wall plates 111, wherein the plurality of wall plates 111 form an annular band plate 110, the plurality of annular band plates 110 are sequentially arranged up and down to form a cylindrical tank body, and openings at two ends of the tank body are sealed by a top cover and a bottom plate. The main processing difficulty of the storage tank 100 is the welding processing of the tank body, and the current manual welding mode is limited by the skill level of a welder, environmental condition factors and the like, so that the welding quality is unstable, and the welding efficiency is not high.

For this reason, the present embodiment provides an automatic welding process for a storage tank, which performs welding connection on a plurality of wall plates 111 of the storage tank 100 based on the crawling welding robot 1, and includes the following steps:

assembling and installing a plurality of wall plates 111 on the top layer of the storage tank 100 to form an annular band plate 110, keeping a preset gap between adjacent wall plates 111, and performing spot welding connection on vertical seams 120 formed between the wall plates 111; at least two groups of crawling welding robots 1 are arranged on the outer side of the belt plate 110, and each group of crawling welding robots 1 are uniformly arranged at the corresponding vertical seam 120 position along the circumferential direction of the belt plate 110; each group of crawling welding robots 1 arc simultaneously from the outer side of the strip plate 110 to weld the vertical seams 120 so as to realize single-side welding and double-side forming; after one group of the band plates 110 are welded, moving the corresponding band plate 110 upwards for a preset distance, assembling a plurality of wall plates 111 on the lower side of the welded band plate 110 to form a next band plate 110, simultaneously arcing each group of the crawling welding robots 1 from the outer side of the band plate 110 to weld the annular seams 130 formed between two adjacent groups of the band plates 110, and keeping the crawling welding robots 1 uniformly arranged along the circumferential direction of the band plates 110 in the welding process; detecting the assembly condition and the welding quality of the wall plate 111 in the welding process of the opposite seam 120 and the circular seam 130; the above steps are repeated until the welding of all the band plates 110 is completed.

Through adopting the welding robot 1 of crawling to weld, can fully guarantee welding precision, the welding parent metal homogeneity of being heated is better, and the process that the material fuses is more stable, has improved welding quality and welding efficiency greatly. When crawling welding robot 1 overall arrangement, arrange at least two sets of crawling welding robot 1 and evenly arrange along the circumference of band plate 110, and keep evenly arranging along the circumference of band plate 110 in welding process, reduced wallboard 111 and heated the deformation that uneven leads to, further improve welding precision and welding quality. In addition, the outer side of the band plate is welded during welding, single-side welding and double-side forming are achieved, repeated welding does not need to enter the inner side of the band plate 110, welding efficiency is improved, the staying time of personnel in the closed space is shortened, and injury to operators is reduced as much as possible.

Specifically, the automatic storage tank welding process sequentially includes the steps of blanking of the wall plate 111, pairing of the wall plates 111, layout of the crawling welding robot 1, preparation before welding, robot detection and the like, and the process steps are described in detail below.

(1) Blanking of wall plate 111

Before assembling and mounting the wall plates 111, a plurality of wall plates 111 with preset sizes are cut on the plate by using a gantry type plasma cutting machine. When the panel 111 is cut, the panel is cut obliquely so as to form a groove on the edge of the panel 111.

In the conventional manual welding, the wall plate 111 is blanked by manual scribing, flame cutting or plasma cutting. The deviation of the straightness of the wall plate 111 with the length of 10m after blanking is usually 3mm-8mm, and the deviation of the length of the diagonal is 2mm-10mm. The deviation of wallboard 111 during unloading is great, causes the difficulty for subsequent group to, needs a large amount of adjustment and the work of polishing. In the welding process adopting the crawling welding robot 1 provided in the embodiment, the blanking method of the gantry plasma cutting machine is adopted, so that the size deviation after blanking is effectively controlled, the difficulty is reduced for the subsequent pairing process, and the pairing effect is improved. The gantry plasma cutting machine is a mature device in the prior art, and the detailed structure and the working principle thereof are not described in detail herein.

(2) 111 pairs of wall plates

During the process of installing the wall plate 111 in pair, the wall plate 111 needs to be fixed, and after welding of one band plate 110 is completed, the welded can body needs to be lifted upwards. In this embodiment, as shown in fig. 2, a hydraulic lifting device 2 is provided, the hydraulic lifting device 2 includes a self-locking hydraulic jack 21, a lifting rod 23, a lifting head 24 and an expansion ring 22, the lifting rod 23 is connected to an output end of the hydraulic jack 21, the lifting head 24 is connected to a lower end of the lifting rod 23, the expansion ring 22 is connected to the lifting head 24, and the hydraulic jack 21 can drive the lifting rod 23 and the lifting head 24 to move upward, so as to drive the expansion ring 22 to move upward. The outer diameter of the expansion ring 22 is slightly larger than the inner diameter of the band plate 110, so that an interference fit is formed between the expansion ring 22 and the band plate 110, and the band plate 110 can be driven to move upwards along with the expansion ring 22 when the expansion ring moves upwards. Make hydraulic jack 21 reciprocating motion through hydraulic control system, the lift rod 23 among the hydraulic lifting device 2 accomplishes the promotion when hydraulic jack 21 oil feed, is locked by the card and can not glide when hydraulic jack 21 oil return. The reciprocating motion of the hydraulic jack 21 causes the lifting rod 23 to rise continuously, thereby lifting the assembled and welded can to a height suitable for abutting the next band 110. The number of the hydraulic lifting devices 2 is designed and reasonably arranged according to the specification and the weight of the tank body, so that stable supporting force and moving power can be provided for the tank body. As shown in fig. 3, six hydraulic lifting devices 2 are provided in the present embodiment, and the six hydraulic lifting devices 2 are uniformly spaced and work together to provide a stable supporting force and a lifting force for the belt plate 110.

Further, along the welding direction, there will be a certain contraction in the welding process, so when assembling the wall plate 111, according to the welding direction of the welding seam, the preset gap of one vertical seam 120 or the circumferential seam 130 welded by the same crawling welding robot 1 gradually increases along the welding direction.

The process of assembling the wall plates 111 is to determine the relative positions between the upper and lower adjacent belt plates 110 and the left and right adjacent wall plates 111 on the same belt plate 110, so as to form a weld seam with a certain width between the wall plates 111. The determination of the weld gap is usually done using a gap adjustment device, and finally the position of the wall plate 111 is fixed by spot welding. The patent document CN215510711U discloses a gap adjusting device, which can be applied to adjust the gap between adjacent wall plates 111 in this embodiment, and the detailed structure and operation principle of the gap adjusting device are not described in detail herein. Through adopting above-mentioned clearance adjustment device can accurately control the clearance volume between wallboard 111, provides the assurance for subsequent robot welding.

(3) Layout of crawling welding robot 1

The crawling welding robot 1 is generally composed of a robot body and a welding power supply, and the robot body and the welding power supply are connected by a cable (e.g., a power supply line, a control line, etc.). For convenient transportation to crawling welding robot 1, robot body, cable and welding power all reach the welding station through crawler-type transfer device, crawling welding robot 1 places and carries on crawler-type transfer device, crawler-type transfer device can shift crawling welding robot 1 according to the change of welding station, welded mobility has been increased, the transport of equipment has been reduced. The crawler-type transfer device can be a crawler-type device commonly used in the prior art, and the detailed structure and the working principle of the crawler-type transfer device are not described in detail herein.

When the crawling welding robots 1 are arranged, the number of the crawling welding robots 1 to be set is determined according to the length of the cable and the circumference of the band plate 110, so that the moving range of each group of crawling welding robots 1 can cover the whole circumference of the band plate 110. The arrangement of the crawling welding robot 1 needs to be considered in terms of the number of vertical seams 120 that can be welded by one crawling welding robot 1 and the length of the circular seam 130.

Taking the welding of the circumferential seam 130 with a large welding amount as an example, the operation range of the crawling welding robot 1 is mainly limited by the length of the cable. Considering the influence of signal loss, the length of the cable is usually controlled within 15m, and the range that the crawling welding robot 1 can cover is ± 15m, namely, 30m span can be welded. Considering the influence of other factors of the field environment, such as scaffolds, the height from the ground, and the like, the welding range which can be covered by the crawling welding robot 1 is about 26 m. If the circumferential length of the circumferential seam 130 of the storage tank 100 is 52m, two crawling welding robots 1 can be arranged; if the circumferential length of the circular seam 130 is 104m, four machines are required. In addition, the number of the crawling welding robots 1 can be flexibly increased in consideration of the welding speed of the crawling welding robot 1 and the time required to complete the welding.

In the welding process, the storage tank 100 can lead to the inconsistent deformation because of being heated unevenly, so the mode of arranging along jar body circumference symmetrical arrangement is adopted to the welding robot 1 of crawling, and welding process needs to be switched on simultaneously, arcing to guarantee jar body thermally equivalent, be favorable to guaranteeing welding quality.

(4) Preparation before welding

The circumferential seams 130 are spot welded before the circumferential seams 130 formed by adjacent band plates 110 are welded. Before crawling welding robot 1 and welding vertical joint 120 and circumferential weld 130, polish the butyl point that spot welding connection produced, make the slope control of butyl point within 30, guarantee that crawling welding robot 1 can pass through the butyl point smoothly at the welding in-process of crawling.

The preparation work of robot welding still includes that the welding robot 1 that will crawl lays near the welding seam before the welding to comb the cable, avoid the cable take place to twine and influence the unobstructed nature of crawling welding robot 1 walking in welding process.

In the process of welding the opposite seam 120 and the annular seam 130, ceramic liners are arranged on the inner sides of the vertical seam 120 and the annular seam 130 and used for blocking and shaping cladding metal so as to realize single-side welding and double-side forming. Therefore, before welding, the ceramic liner needs to be mounted on the inner side of the tank body in a sticking mode, and in the welding process, the cladding metal is blocked by the ceramic liner, so that the cladding metal is formed into a smooth surface on the inner side of the tank body, and single-side welding and double-side forming are realized.

Before welding, the weld groove is subjected to oil and rust removal treatment, so that welding pores caused by potential oil pollution influence in the welding process are avoided.

Before welding starts, the gas supply system 3 is also arranged to supply the gas required for welding. In the embodiment, the welding gas adopts a centralized gas supply mode, so that the gas replacement frequency is reduced, and the welding quality is ensured. Specifically, as shown in fig. 4, the gas supply system 3 includes a gas collecting device 31, a collecting main pipe 32 and a plurality of branch pipes 33, the gas is centrally contained in the gas collecting device 31, the collecting main pipe 32 is communicated with the gas collecting device 31, and the plurality of branch pipes 33 are communicated with the collecting main pipe 32 and deliver the gas to each storage tank 100.

Specifically, the gas collecting device 31 includes a plurality of steel cylinders, which store the required gas and are connected to the collecting main 32 through metal hoses, valves and conduits on the steel cylinders. The busbar of the steel cylinder is provided with two outlets, one outlet is normally closed, and a gas filling interface is filled in the whole cylinder; the other outlet is connected to the steel pipe through a high-pressure-resistant metal hose, and the joint of the outlet end of the metal hose and the steel pipe is connected through a screw thread so as to be convenient to detach. The gas output by the steel pipe is divided into two branch pipes 33 by the confluence main pipe 32, and the branch pipes 33 extend towards the centers of the two storage tanks 100 so that one gas collecting device 31 can supply gas for welding the two storage tanks 100. Each shunt pipe 33 is provided with a stop valve which is opened when air is used and closed when air is exchanged to prevent air from flowing backwards. The guide pipe and the shunt pipe 33 are made of carbon steel, the steel pipe is buried under the gas transmission channel in a buried mode, the tail end of the shunt pipe 33 is provided with a gas collecting bag 34, and gas output by a through hole arranged in the gas collecting bag 34 passes through a pressure reducer and a flow meter and then reaches the position of each welding machine through a leather hose. The busbar adopts the double-gas-source structure of the main gas supply cylinder group 311 and the standby gas cylinder group 312, so that the purpose of uninterrupted gas supply is achieved, the gas carrying time is greatly reduced, and the effects of cost reduction, efficiency improvement and quality guarantee are achieved.

(5) Robotic welding

When welding opposite seam 120 and circumferential weld 130, at least two sets of welding robot 1 syntropy of crawling move and weld to make each group creep welding robot 1 and keep evenly spaced state throughout in welding process, make jar body thermally equivalent in welding process, be favorable to preventing that the jar body warp because of being heated inequality.

Preferably, when the vertical seams 120 are welded, the welding is performed in a bottom-up direction, and the circular seam 130 is welded after all the vertical seams 120 on the same strip plate 110 are welded. Welding current is large in the welding arcing process, so that welding materials are easy to deform, and therefore the position of an arcing position needs to be limited or reverse deformation restraint needs to be applied. Therefore, referring to fig. 2, two opposite limiting plates 4 are disposed below the wall plate 111 to be welded, the wall plate 111 is inserted between the two limiting plates 4, and the two limiting plates 4 limit and restrain the wall plate 111 to prevent the wall plate 111 from deforming during welding arcing. Meanwhile, a limiting plate 4 is also arranged on the inner side of the upper end of the wall plate 111, and further the wall plate 111 is blocked and limited.

For deeper welding seams, a multi-layer and multi-pass welding mode can be adopted to weld the same welding seam for multiple times. In the welding process, the crawling welding robot 1 performs crawling welding according to the back-turning reciprocating route, and the time for returning the crawling welding robot 1 is saved, so that the welding efficiency is improved.

Further, the crawling welding robot 1 is generally provided with an information acquisition and transmission function, and can timely transmit data in the welding process back to a central control system, so that the welding quality can be traced and the welding problem can be analyzed conveniently. This is a function commonly possessed by the existing crawling welding robot 1, and detailed description of the specific structure and working principle thereof is omitted here.

The welding method for single-side welding and double-side forming provided by the embodiment has high requirements on the operation skills of welding personnel, for example, the swinging frequency of a welding gun is stable, the manual operation is influenced by a welding position, long-time operation, emotion, physical conditions and other factors, and the technical requirements are difficult to be met by manual operation. And the crawling welding robot 1 automatically welds, and factors such as the swinging frequency of the welding gun and the distance between the welding gun and the base metal can be always kept stable, so that the single-side welding and double-side forming of the storage tank 100 can be realized. The forming mode can reduce the stay time of personnel working in the closed space, and reduce the potential safety hazard and occupational disease injury to operators as far as possible.

Further, after the welding of the outer side of the band plate 110 is completed, the welding quality of the inner side of the band plate 110 is detected. Due to the deviation of the blanking size or the assembly of the wall plates 111, the one-side welding and two-side forming is not successful, that is, the welding quality defect exists on the inner side of the band plate 110. If the welding of the inner side of the band plate 110 is not qualified, a plasma gas gouging robot is used for back chipping, and after the back chipping, repair welding is carried out from the inner side of the band plate 110.

Traditional manual carbon arc gouging has that intensity of labour is big, work efficiency is low, the work load of polishing is big and to the great problem of human harm, and this embodiment is through adopting plasma air gouging robot to carry out the fine more than having solved of mode of air gouging back chipping, is showing the efficiency and the welding quality who have improved the back chipping.

(6) Robot detection

The robot detection comprises two aspects of detection before welding and detection after welding, wherein in the welding process of the opposite seams 120 and the circular seams 130, the assembly condition of the wall plate 111 is detected before welding, and the welding quality is detected after welding. Through getting rid of the welding module on crawling welding robot 1, carry on AUT (Automatic Ultrasonic Testing) detecting system and form new detection robot, realize that the limit crawls and detects, effective compression check-out time, and then improve storage tank 100 welding efficiency.

The important point of the pre-welding detection is the detection of the quality of the wall plate 111 group, and the detection robot is provided with a threshold value of the gap amount and the misalignment amount. When the detection result in the crawling process exceeds the threshold value, the crawling welding robot 1 is timely alarmed and controlled to stop. The post-welding detection mainly aims at detecting the welding quality.

It should be understood that the above-described embodiments of the present invention are merely examples for clearly illustrating the present invention, and are not intended to limit the embodiments of the present invention. Numerous obvious variations, adaptations and substitutions will occur to those skilled in the art without departing from the scope of the invention. And are neither required nor exhaustive of all embodiments. Any modification, equivalent replacement, and improvement made within the spirit and principle of the present invention should be included in the protection scope of the claims of the present invention.

Claims (10)

1. Automatic welding process of storage tank carries out welded connection to a plurality of wallboard (111) of storage tank (100) based on crawling welding robot (1), its characterized in that includes the following step:

a plurality of wall plates (111) on the top layer of the storage tank (100) are installed in a group to form an annular band plate (110), a preset gap is kept between every two adjacent wall plates (111), and vertical seams (120) formed between the wall plates (111) are connected in a spot welding mode;

arranging at least two groups of crawling welding robots (1) on the outer side of the band plate (110), wherein each group of crawling welding robots (1) are uniformly arranged at the position of the corresponding vertical seam (120) along the circumferential direction of the band plate (110), and each group of crawling welding robots (1) arc simultaneously from the outer side of the band plate (110) to weld the corresponding vertical seams (120) so as to realize single-side welding and double-side forming;

after one group of the band plates (110) are welded, moving the corresponding band plates (110) upwards for a preset distance, assembling a plurality of wall plates (111) on the lower side of the welded band plates (110) to form the next band plate (110), simultaneously arcing each group of the crawling welding robots (1) from the outer side of the band plates (110) to weld annular seams (130) formed between two adjacent groups of the band plates (110), and keeping each group of the crawling welding robots (1) uniformly arranged along the circumferential direction of the band plates (110) in the welding process; detecting the assembly condition and the welding quality of the wall plate (111) in the welding process of the vertical seam (120) and the circular seam (130);

repeating the steps until all the strip plates (110) are welded.

2. The automated tank welding process of claim 1, further comprising the steps of:

and before the wall plates (111) are assembled and mounted, cutting a plurality of wall plates (111) with preset sizes on a plate by using a gantry type plasma cutting machine.

3. The automated storage tank welding process according to claim 1, wherein the preset gap of one vertical seam (120) or one circumferential seam (130) welded by the same crawling welding robot (1) is gradually increased in the welding direction according to the welding direction of the welding seam when the wall plates (111) are assembled in pairs.

4. The automatic welding process of the storage tank is characterized in that in the welding process of the vertical seam (120) and the circular seam (130), a ceramic liner is arranged on the inner side of the vertical seam (120) and the circular seam (130), and the ceramic liner carries out barrier shaping on cladding metal so as to realize single-side welding and double-side forming.

5. The automated storage tank welding process of claim 1, wherein the vertical seam (120) is welded in a bottom-up direction.

6. The automated tank welding process according to claim 1, wherein the circumferential seams (130) are spot welded prior to welding the circumferential seams (130) formed adjacent the band plate (110).

7. The automated storage tank welding process according to claim 6, characterized in that a T-point generated by spot welding is ground before the crawling welding robot (1) welds the vertical seam (120) and the circular seam (130), so that the gradient of the T-point is controlled within 30 degrees.

8. The automated welding process for storage tanks according to any one of claims 1 to 7, characterized in that the crawling welding robot (1) is placed on a crawler-type transfer device for carrying, and the crawler-type transfer device can transfer the crawling welding robot (1) according to the change of welding stations.

9. The automated welding process for storage tanks according to any one of claims 1 to 7, characterized in that the crawling welding robot (1) comprises a robot body, a welding power supply and cables, the cables connect the robot body and the welding power supply, the cables are combed before welding is started, and when the crawling welding robot (1) is arranged, the number of the crawling welding robots (1) required to be arranged is determined according to the length of the cables and the perimeter of the band plate (110) so as to ensure that the moving range of each group of the crawling welding robots (1) covers the whole circumference of the band plate (110).

10. The automated storage tank welding process according to any one of claims 1 to 7, characterized in that after the welding of the outer side of the band plate (110) is completed, the welding quality of the inner side of the band plate (110) is detected, if the welding is not qualified, a plasma gouging robot is used for back chipping, and after the back chipping, repair welding is performed from the inner side of the band plate (110).

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