CN109483014B

CN109483014B - Automatic deposition equipment and method applied to outer surface of nozzle of environment-friendly container

Info

Publication number: CN109483014B
Application number: CN201811368450.0A
Authority: CN
Inventors: 蔡晋
Original assignee: Shanghai Fengyun Aviation Technology Co ltd
Current assignee: Shanghai Fengyun Aviation Technology Co ltd
Priority date: 2018-11-16
Filing date: 2018-11-16
Publication date: 2021-01-15
Anticipated expiration: 2038-11-16
Also published as: CN109483014A

Abstract

The invention discloses automatic deposition equipment and a method applied to the outer surface of a nozzle of an environment-friendly container, the equipment comprises a welding box, a mechanical arm, a welding rod box and a rotating device, the controller mechanical arm can realize the rotation, pitching and stretching operations to automatically clamp the welding rod, and the welding rod is matched with the rotating shaft to carry out omnibearing deposition on the outer surface of the nozzle, the three-way valve is used for carrying out air exchange operation on the welding box, so that the whole welding box is in the protective atmosphere of inert gas, the waste of the inert gas in the traditional welding deposition process can be reduced, the problems of oxidized deposited metal and air holes caused by unstable inert gas flow in the welding process can be solved, the nickel-based alloy 690 can be uniformly and completely covered on the outer surface of the environment-friendly container by the automatic equipment, and a residual pressure stress layer is formed on the outer surface of the nozzle, so that the hardness and the corrosion resistance of the outer surface of the nozzle of the environment-friendly container are improved.

Description

Automatic deposition equipment and method applied to outer surface of nozzle of environment-friendly container

Technical Field

The invention relates to the technical field of corrosion prevention of an environment-friendly container, in particular to automatic deposition equipment and method applied to the outer surface of a nozzle of the environment-friendly container.

Background

In the fields of corrosion prevention such as mechanical production, chemical industry, environmental protection, a lot of containers need to carry out the processing operation of depositing and deposit and increase the anticorrosive performance of container, and traditional work of depositing and deposit needs manual operation, there are work load big, work efficiency low grade problem, some devices that can realize automatic weld and deposit and operate have appeared for this reason, but these devices mostly only can drive welder and do the motion of simple movement track on three-dimensional space, to some equipment that the structure is complicated, traditional automatic weld equipment is difficult to realize diversified, the welding operation of multi-angle, certain difficulty and problem have been brought for actual production.

Meanwhile, in the welding and deposition processes, conventionally, inert gas which does not react with metal flows around a welding arc to form a protective gas hood, so that the arc and the metal which is already at high temperature do not contact with air, oxidation can be prevented, but in the welding process, the inert gas is continuously input, and waste of the inert gas is caused. Meanwhile, the flow of inert gas seriously influences the deposition effect, when the flow of argon is too large, argon is wasted, turbulence is generated, air is drawn into a protection area, the protection effect is reduced, electric arc is unstable, and a gas hole phenomenon is generated. On the contrary, when the flow of argon gas is too small, the stiffness of the protective gas is insufficient, the capability of removing ambient air is weak, air easily invades into the molten pool, and the protective effect is poor.

Therefore, in view of the above-mentioned drawbacks, there is a real need for an apparatus for automatic welding deposition that is more convenient in the presence of a steady inert gas flow.

Disclosure of Invention

The invention aims to provide automatic deposition equipment and method applied to the outer surface of a nozzle of an environment-friendly container, which are used for solving the problems of high labor cost and unstable inert gas flow in the prior art and can realize omnibearing deposition on the nozzle of the environment-friendly container with a complex structure.

To achieve the above object, the present invention relates to an automatic cladding apparatus applied to an outer surface of a nozzle of an eco-tank, comprising: the automatic deposition equipment comprises a rotating device, a mechanical arm, a three-dimensional scanner, a welding box and a controller; the mechanical arm and the three-dimensional scanner are all arranged inside the welding box, the rotating device comprises a driving motor, a rotating shaft and a first gripper, one end of the rotating shaft is fixedly connected with the driving motor outside the welding box, the other end of the rotating shaft is fixedly connected with the first gripper inside the welding box, the mechanical arm and the first gripper are arranged oppositely, the three-dimensional scanner is arranged on one side of the first gripper, and the controller is connected with the rotating device, the mechanical arm and the three-dimensional scanner.

Preferably, the mechanical arm comprises a base, a rotating disk, a shoulder, a big arm, an elbow, a middle arm, a wrist and a small arm, a first motor is arranged inside the base, an output shaft of the first motor is connected with the rotating disk, the shoulder is fixed above the rotating disk, a second motor is arranged inside the shoulder, the big arm is positioned above the shoulder, the big arm is connected with the shoulder through a screw rod, a connecting rod is arranged inside the big arm, and the connecting rod is vertically connected with an output shaft of the second motor;

the middle arm is connected with the big arm through the elbow, a first rack, a first gear, a gear shaft and a fixed rod are arranged inside the elbow, the first gear is meshed with the first rack and moves along the first rack, a gear shaft is arranged at the center of the first gear, the gear shaft comprises an inner gear shaft and an outer gear shaft, the outer gear shaft is sleeved with the first end of the fixed rod and drives the fixed rod to move, the second end part of the fixed rod is fixedly connected with the bottom of the middle arm and drives the middle arm to move, two first strip-shaped clamping pieces are arranged on the upper surface of the elbow in parallel, the lower surface of one end part of the middle arm is provided with two grooves in parallel, the grooves enable the middle arm to move along the first strip-shaped clamping piece on the upper surface of the elbow, a third motor is arranged in the middle arm, and an output shaft of the third motor is connected with the outer gear shaft through a transmission belt;

the wrist part comprises a first shell, two supporting plates, a fourth motor and a second gear, one side surface of the first shell is fixedly connected with the outer end part of the middle arm, two supporting plates are respectively attached to two opposite inner walls of the first shell, the fourth motor is fixed on the inner wall of the first shell, the small arm comprises a second shell provided with a strip-shaped opening, a second rack arranged on the inner wall of the tail end of the small arm, a conductor arranged at the front end of the small arm and a second gripper used for gripping a welding rod, an output shaft of the fourth motor passes through the strip-shaped opening to be connected to the second gear and moves along the strip-shaped opening, the second rack is meshed with the second gear in the wrist part, the hollow cylindrical tail end of the second shell is inserted between the two supporting plates, the outer wall of the tail end of the second shell is tangent to the two supporting plates simultaneously, the small arm does telescopic motion along the two supporting plates under the meshing action of the second rack and the second gear.

Preferably, a conveying device and a welding rod box are further arranged in the welding box, the conveying device comprises a conveying bed and a fixing part, two second strip-shaped clamping pieces are arranged on the upper surface of the conveying bed in parallel, the fixing part is vertically arranged at one end part of the conveying bed, and the other end of the conveying bed is attached to one inner side surface of the welding box; the welding rod box sets up in the upper surface of transport bed, the lower bottom surface parallel arrangement of welding rod box has two spouts, two spouts make the welding rod box along two second bar fastener movements on the transport bed upper surface, the welding rod box is equipped with a plurality of open-ended holding holes that make progress, the holding hole is used for placing the welding rod, and the diameter of the diameter ratio welding rod in holding hole is big, and the length that highly is less than the welding rod in holding hole.

Preferably, the lateral surface of welding case is provided with three way valve, big hatch door and little hatch door, three way valve connects welding case, vacuum device and argon gas system respectively, big hatch door and little hatch door are located same side, and big hatch door is relative with first grabhook, and the door body height of little hatch door is greater than the length of welding rod.

An automatic deposition method applied to the outer surface of a nozzle of an environment-friendly container is characterized in that: the automatic cladding method comprises the following steps:

after pretreatment, the environment-friendly container nozzle is placed into the welding box from a large cabin door on the side surface of the welding box, the environment-friendly container nozzle is sleeved on a first gripper, and a jaw of the first gripper is tightly attached to the inner surface of the environment-friendly container nozzle;

opening a small cabin door on the side surface of the welding box, placing welding rods in a welding rod box, pushing the welding rod box to a fixed part of the conveying device along two second strip-shaped clamping pieces on the upper surface of the conveying bed, and closing the small cabin door;

opening a vacuum system, rotating a three-way valve to connect the vacuum device with the welding box, exhausting air in the welding box, rotating the three-way valve again to connect the welding box with an argon system, filling argon in the welding box, and repeating the operation for three times;

starting a three-dimensional scanner through a controller to scan the outer surface of the nozzle of the environment-friendly container, and transmitting data to the controller;

the mechanical arm is enabled to rotate, translate, stretch and move in a pitching mode through the controller, deposition parameters are set, a second gripper on the mechanical arm moves to the upper portion of the welding rod box to clamp the welding rod, the metal at the tail end of the welding rod is in contact with a conductor at the tail end of a small arm of the mechanical arm, when deposition is started, the current enables the metal inside the welding rod to be melted through the conductor to form a molten drop, the molten drop falls off the surface of the nozzle to be formed, the deposition thickness is 3-4 mm, and meanwhile the driving motor drives the first gripper to rotate 360 degrees, so that the environment-friendly container nozzle is deposited in all directions; when the welding rod is used up, the controller can instruct the second gripper on the mechanical arm to move to the corresponding position of the welding rod box to clamp a new welding rod to be deposited continuously; after the deposition is finished, replacing gas in the tank, cooling to below 100 ℃, opening a big cabin door to take out a nozzle of the environment-friendly container, and polishing a deposited layer by half;

repeating the cladding operation to enable the total thickness of the deposited alloy to be larger than 10mm, heating the nozzle to 1300-1340 ℃ after the cladding is finished, preserving the heat for a preset time, then cooling the nozzle to be below 200 ℃ along with the furnace, and discharging the cooled nozzle from the furnace to be below 100 ℃.

Preferably, the welding rod is made of a nickel-based alloy, the mass percentage of Cr in the nickel-based alloy is 29.0% -31.0%, and the mass percentage of Ni is greater than or equal to 58%; the welding parameters comprise welding current, arc voltage, welding speed and welding gun swing amplitude, the welding current is 340-360A, the arc voltage is 12-14V, the welding speed is 80-130 mm/min, and the welding gun swing amplitude is 12-14 mm.

Preferably, the pretreatment process of the nozzle of the environment-friendly container comprises mechanical cleaning, chemical cleaning and air drying, wherein in the mechanical cleaning process, the outer surface of the nozzle of the environment-friendly container is polished smoothly by abrasive paper, and the abrasive paper is polished on the surface of the alloy along the same direction; the chemical cleaning is to remove pollutants on the outer surface of the nozzle of the environment-friendly container, including grease, dirt and dust, by using acetone and absolute ethyl alcohol in sequence; the environment-friendly container nozzle after will clearing up of the process of drying is arranged in the work rest after drying, lets the surface of environment-friendly container nozzle fully dry.

The method of the invention has the following advantages:

the invention designs automatic deposition equipment applied to the outer surface of a nozzle of an environment-friendly container, a mechanical arm can automatically clamp a welding rod through rotation, pitching and stretching operations through a controller, a second gripper is moved to a corresponding position of the outer surface of the nozzle to perform automatic deposition, meanwhile, a rotating shaft can rotate for 360 degrees to ensure multidirectional and multi-angle deposition of the outer surface of the nozzle, a three-way valve is used for carrying out air exchange operation on a welding box, the whole welding box is in an inert gas protection atmosphere, waste of inert gas in the traditional welding deposition process can be reduced, the phenomena of deposited metal oxidation and air holes caused by unstable inert gas flow in the welding process can be solved, the invention adopts a nickel-based corrosion-resistant alloy 690, which contains about 30% of Cr and can generate stronger compressive stress after deposition, the original metal tensile stress is counteracted, and meanwhile, a compressive stress layer with a certain layer depth is also established, so that the corrosion resistance of the outer surface of the nozzle of the environment-friendly container is improved; meanwhile, the alloy has stronger corrosion resistance in chloride-containing solution and sodium hydroxide solution than 316L stainless steel, alloy 800 and 304 stainless steel; further ensuring the stress corrosion resistance and the corrosion resistance of the nozzle of the environment-friendly container.

Drawings

Fig. 1 is a schematic structural view of an automatic cladding apparatus applied to an outer surface of a nozzle of an eco-tank according to embodiment 1 of the present invention.

Fig. 2 is a side view of a robot arm in an automatic cladding apparatus applied to an outer surface of a nozzle of an eco-tank according to embodiment 1 of the present invention.

Fig. 3 is a rear view of a robot arm in an automatic cladding apparatus applied to an outer surface of a nozzle of an eco-tank according to embodiment 1 of the present invention.

Fig. 4 is a schematic view of internal structures of an elbow, a middle arm, a small arm and a wrist of a robot arm in an automatic deposition apparatus applied to an outer surface of a nozzle of an eco-tank according to embodiment 1 of the present invention.

Fig. 5 is a schematic structural view of a transportation device in an automatic cladding apparatus applied to an outer surface of a nozzle of an eco-tank according to embodiment 1 of the present invention.

Fig. 6 is a schematic structural view of a welding rod case in the automatic cladding apparatus applied to the outer surface of the environmentally friendly container nozzle according to embodiment 1 of the present invention.

Detailed Description

The following examples are intended to illustrate the invention but are not intended to limit the scope of the invention.

Example 1

As shown in figure 1, the automatic deposition equipment applied to the outer surface of the nozzle of the environment-friendly container comprises a rotating device 1, a mechanical arm 2, a three-dimensional scanner 3, a welding box 4, a conveying device 5 and a welding rod box 6, wherein the rotating device 1 comprises a driving motor 11, a rotating shaft 12 and a first gripper 13, the welding box 4 is shaped like a cuboid, two front and back opposite side surfaces are made of high-temperature-resistant organic glass, the mechanical arm 2, the three-dimensional scanner 3, the conveying device 5 and the welding rod box 6 are arranged in the welding box 4, the rotating shaft 12 penetrates through one side wall of the welding box 4, the first gripper 13 is positioned in the welding box 4, the driving motor 11 is positioned outside the welding box 4, the mechanical arm 2 and the three-dimensional scanner 3 are both arranged inside the welding box 4, the mechanical arm 2 and the first gripper 13 are arranged oppositely, and the three-dimensional scanner 3 is located on one side face of the first gripper 13.

As shown in fig. 2, 3 and 4, the robot arm 2 includes a base 21, a rotating disk 22, a shoulder 23, a large arm 24, an elbow 25, a middle arm 26, a wrist 27 and a small arm 28, a first motor 211 is disposed inside the base 21, an output shaft of the first motor 211 is connected to the rotating disk 22, the first motor 211 can drive the rotating disk 22 to rotate 360 degrees, the shoulder 23 is fixed above the rotating disk 22, a second motor 231 is disposed inside the shoulder 23, the large arm 24 is located above the shoulder 23, the large arm 24 is connected to the shoulder 23 through a screw 233, a connecting rod 241 is disposed inside the large arm 24, the connecting rod 241 is vertically connected to an output shaft of the second motor 231, the second motor 231 inside the shoulder 23 can drive the connecting rod 241 to perform a pitching motion, the connecting rod 241 drives the large arm 24 to perform a pitching motion, and the middle arm 26 is connected to the large arm 24 through the elbow 25; the middle arm 26 is connected with the big arm 24 through an elbow 25, a first rack 251 and a first gear 252 are arranged inside the elbow 25, the first gear 252 is meshed with the first rack 251 and moves along the first rack 251, a gear shaft 253 is arranged in the center of the first gear 252, the gear shaft 253 comprises an inner gear shaft 2531 and an outer gear shaft 2532, the outer gear shaft 2532 is sleeved with a first end of the fixed rod 254 and drives the fixed rod 254 to move, a second end of the fixed rod 254 is fixedly connected with the bottom of the middle arm 26 and drives the middle arm 26 to move, two first strip-shaped clamping pieces 255 are arranged on the upper surface of the elbow 25 in parallel, two grooves 261 are arranged on the lower surface of the first end of the middle arm 26 in parallel, the grooves 261 enable the middle arm 26 to move along the first strip-shaped clamping pieces 255 on the upper surface of the elbow, a third motor 262 is arranged inside the middle arm 26, and an output shaft of the third motor 262 is connected with the outer gear shaft 2532 through a; under the driving of the third motor 262, the first gear 252 reciprocates along the first rack 251, and the first gear 252 drives the middle arm 26 to move along the upper surface of the elbow 25 through the fixed rod 254; the wrist portion 27 comprises a first housing 271, two support plates 272, a fourth motor 273 and a second gear 274, the first housing 271 is a rectangular parallelepiped with an inclined upper and lower opening, one side of the first housing 271 is fixedly connected to the outer end of the middle arm 26, two opposite inner walls of the first housing 271 are respectively provided with one support plate 272 in a fitting manner, the fourth motor 273 is fixed on the inner wall of the housing 271, the small arm 28 comprises a second housing 281 provided with a strip-shaped opening 2811, a second rack 282 arranged on the inner wall of the tail end of the small arm 28, an electric conductor 283 arranged at the front end of the small arm 28 and a second claw 284 for grabbing a welding rod, the output shaft of the fourth motor 273 passes through the strip-shaped opening 2811 and moves along the strip-shaped opening 2811, the second rack 281 is engaged with the second gear 274 in the wrist portion 27, the hollow cylindrical tail end of the second housing 281 is inserted between the support plates 272 and the outer walls of the tail ends of the second housing 281 are simultaneously tangent to, the small arm 28 makes telescopic motion along the two support plates 272 under the meshing action of the second rack 282 and the second gear 274;

as can be seen from the above, the robot arm 2 can rotate, pitch, telescope, and move in the horizontal direction; the front end of the small arm 28 is provided with a conductor 283 and a second gripper 284, the second gripper 284 is used for gripping the welding rod, the second gripper 284 adopts the electromagnetic principle, and the jaws are attracted to each other when the power is on, so as to grip the welding rod, and the jaws repel each other when the power is off, so that the jaws open.

As shown in fig. 5, the transportation device 5 includes a transportation bed 51 and a fixing portion 52, two second strip-shaped clamps 511 are arranged on the upper surface of the transportation bed 51 in parallel, the fixing portion 52 is vertically arranged at one end of the transportation bed 51, the side surface of the other end of the transportation bed 51 is attached to one inner side surface of the welding box 4, and the bottom surface of the transportation bed 51 is higher than the upper surface of the bottom of the welding box 4; as shown in fig. 6, the welding rod box 6 is disposed on the upper surface of the transport bed 51, two sliding grooves 61 are disposed in parallel on the lower bottom surface of the welding rod box 6, the two sliding grooves 61 can enable the welding rod box 6 to move along two second strip-shaped clamping pieces 511 on the upper surface of the transport bed 51, the fixing portion 52 is disposed to prevent the welding rod box 6 from sliding down the transport bed 51, the welding rod box 6 is provided with a plurality of accommodating holes 62 with upward openings, the accommodating holes 62 are used for accommodating welding rods, the diameter of the accommodating holes 62 is greater than that of the welding rods, so that the welding rods can be stably placed in the accommodating holes 62, and the height of the accommodating holes 62 smaller than the length of the welding rods can ensure that the second gripper 283 can grip the welding rods; as shown in FIG. 5, each receiving hole 51 of the electrode box 5 is respectively coded with a position number a-b, where a represents the row where the receiving hole 51 is located, and b represents the column where the receiving hole 51 is located, and the position data is transmitted to the controller, so that the robot arm can be controlled to move freely above the designated receiving hole to clamp the electrode. The outer side surface of the welding box 4 is provided with a three-way valve 41, a large cabin door 42 and a small cabin door 43, the three-way valve 41 is respectively connected with the welding box 4, a vacuum device and an argon system, the large cabin door 42 and the small cabin door 43 are positioned on the same side surface, the large cabin door 42 is opposite to the first gripper 13, the height of the lower bottom surface of the small cabin door 43 is lower than that of the lower bottom surface of the transport bed 51, and meanwhile, the height of the small cabin door 43 is larger than that of a welding rod, so that the welding rod box 6 can smoothly slide out of the small cabin door 9 along the second strip-shaped clamping piece 511.

Example 2

An automatic cladding method applied to the outer surface of a nozzle of an environment-friendly container comprises the following steps: the method comprises the following steps of pretreating the outer surface of a nozzle of the environment-friendly container, wherein the processes comprise mechanical cleaning, chemical cleaning and air drying, sand paper is used for polishing the outer surface of the nozzle of the environment-friendly container smoothly in the mechanical cleaning process, and the sand paper is polished along the same direction when being polished on the alloy surface; the chemical cleaning is to remove pollutants on the outer surface of the nozzle of the environment-friendly container, including grease, dirt and dust, by using acetone and absolute ethyl alcohol in sequence; in the drying process, the cleaned nozzle of the environment-friendly container is placed on a workpiece rack, so that the surface of the nozzle of the environment-friendly container is fully dried; after the environment-friendly container nozzle is pretreated, the environment-friendly container nozzle is placed on the gripper 13 in the welding box 4 from the large door 42 of the welding box 4, and a claw at the tail end of the gripper 13 is tightly attached to the inner surface of the environment-friendly container nozzle; placing the welding rod in the welding rod box 6, enabling the groove 61 on the lower bottom surface of the welding rod box 6 to be clamped with the second strip-shaped clamping piece 511 on the upper surface of the transport bed 51, pushing the welding rod box 6 to the fixing part 52 of the transport device along the second strip-shaped clamping piece 511, and closing the small cabin door 43; opening a vacuum system, rotating the three-way valve 41 to connect the vacuum device with the welding box 4, exhausting air in the welding box 4, rotating the three-way valve 41 again to connect the welding box 4 with an argon system, repeating the operation for three times to enable the whole welding box 4 to be in the protective atmosphere of inert gas, thus reducing the waste of inert gas in the traditional welding deposition process and solving the problems that deposited metal is oxidized and air holes are caused by unstable inert gas flow in the welding process; and starting the three-dimensional scanner 3 to scan the outer surface of the nozzle, transmitting the scanned data to the controller, and connecting the three-dimensional scanner 3, the rotating device 1 and the mechanical arm 2 with the intelligent control unit through power lines in the whole system. The control unit indicates the mechanical arm 2, so that the second gripper 284 can move in all directions above the outer surface of the nozzle of the environment-friendly container; the deposited welding rod is made of nickel-based alloy, the mass percentage content of Cr element and Ni element in the nickel-based alloy is 29.0% -31.0% and is more than or equal to 58%, the content of Cr element is about 30%, the corrosion resistance of the nozzle of the environment-friendly container can be improved, the nickel-based alloy 690 has high resistivity, large linear expansion coefficient and low thermal conductivity, large welding stress can be generated in a welding joint, if the current is too large during welding, the arc voltage is too high, the welding joint is easy to overheat due to slow welding speed, coarse grains are generated, the coarse grains are easy to concentrate on the boundaries of the coarse columnar grains, some eutectic with low melting point are concentrated, the strength is low, the brittleness is high, cracks are easy to form under the action of the welding stress, and therefore, good deposition parameters including deposition current, arc voltage and deposition parameters are important in the whole deposition process, The welding current is 340-360A, the arc voltage is 12-14V, the welding speed is 80-130 mm/min, and the welding gun swing amplitude is 12-14 mm. The second gripper 283 on the mechanical arm 2 moves to the upper part of the welding rod box 6, the welding rod is clamped by the second gripper 284, the metal at the tail end of the welding rod is in contact with the conductor 283 at the tail end of the small arm 28 of the mechanical arm 2, when the welding is started, the current melts the metal in the welding rod through the conductor 283 to form a molten drop, the molten drop falls off the surface of the nozzle for forming, the welding thickness is 3-4 mm, and meanwhile, the driving motor 11 in the rotating device 1 drives the first gripper 13 to rotate for 360 degrees, so that the all-round welding of the nozzle of the environment-friendly container is realized; when the welding rod is used up, the second gripper 284 on the mechanical arm 2 can move to the welding rod box to clamp a new welding rod to be deposited continuously; after the first full deposition of the nozzle of the environment-friendly container is finished, replacing gas in the tank, cooling to below 100 ℃, opening the big cabin door 42 to take out the nozzle of the environment-friendly container, polishing a half of a deposited layer, and repeating the deposition process until the thickness of the deposited alloy is more than or equal to 10 mm; and after the deposition is finished, heating the nozzle to 1300-1340 ℃, preserving heat for a preset time, cooling to below 200 ℃ along with the furnace, and discharging and cooling to below 100 ℃.

Although the invention has been described in detail above with reference to a general description and specific examples, it will be apparent to one skilled in the art that modifications or improvements may be made thereto based on the invention. Accordingly, such modifications and improvements are intended to be within the scope of the invention as claimed.

Claims

1. The utility model provides an automatic equipment of melting and applying that is applied to environmental protection container nozzle surface which characterized in that: the automatic deposition equipment comprises a rotating device (1), a mechanical arm (2), a three-dimensional scanner (3), a welding box (4) and a controller; the mechanical arm (2) and the three-dimensional scanner (3) are arranged inside the welding box (4), the rotating device (1) comprises a driving motor (11), a rotating shaft (12) and a first gripper (13), one end of the rotating shaft (12) is fixedly connected with the driving motor (11) outside the welding box (4), the other end of the rotating shaft (12) is fixedly connected with the first gripper (13) inside the welding box (4), the mechanical arm (2) and the first gripper (13) are arranged oppositely, the three-dimensional scanner (3) is arranged on one side of the first gripper (13), and the controller is connected with the rotating device (1), the mechanical arm (2) and the three-dimensional scanner (3);

the mechanical arm (2) comprises a base (21), a rotating disk (22), a shoulder (23), a large arm (24), an elbow (25), a middle arm (26), a wrist (27) and a small arm (28), wherein a first motor (211) is arranged inside the base (21), an output shaft of the first motor (211) is connected with the rotating disk (22), the shoulder (23) is fixed above the rotating disk (22), a second motor (231) is arranged inside the shoulder (23), the large arm (24) is located above the shoulder (23), the large arm (24) is connected with the shoulder (23) through a screw (233), a connecting rod (241) is arranged inside the large arm (24), and the connecting rod (241) is vertically connected with an output shaft of the second motor (231);

the middle arm (26) is connected with the big arm (24) through the elbow (25), a first rack (251), a first gear (252), a gear shaft (253) and a fixed rod (254) are arranged inside the elbow (25), the first gear (252) is meshed with the first rack (251) and moves along the first rack (251), the gear shaft (253) is arranged in the center of the first gear (252), the gear shaft (253) comprises an inner gear shaft (2531) and an outer gear shaft (2532), the outer gear shaft (2532) is sleeved with a first end of the fixed rod (254) and drives the fixed rod (254) to move, a second end of the fixed rod (254) is fixedly connected with the bottom of the middle arm (26) and drives the middle arm (26) to move, two first strip-shaped clamping elbows (255) are arranged on the upper surface of the middle arm (25) in parallel, two grooves (261) are arranged on the lower surface of one end of the middle arm (26) in parallel, the groove (261) enables the middle arm (26) to move along the first strip-shaped clamping piece (255) on the upper surface of the elbow, a third motor (262) is arranged inside the middle arm (26), and an output shaft of the third motor (262) is connected with the outer gear shaft (2532) through a transmission belt;

the wrist (27) comprises a first shell (271), two supporting plates (272), a fourth motor (273) and a second gear (274), one side surface of the first shell (271) is fixedly connected to the outer end part of the middle arm (26), two opposite inner walls of the first shell (271) are respectively provided with one supporting plate (272) in a joint mode, the fourth motor (273) is fixed on the inner wall of the first shell (271), the small arm (28) comprises a second shell (281) provided with a strip-shaped opening (2811), a second rack (282) arranged on the inner wall of the tail end of the small arm (28), an electric conductor (283) arranged at the front end of the small arm (28) and a second gripper (284) used for gripping welding wires, an output shaft of the fourth motor (273) penetrates through the strip-shaped opening (2811) to be connected to the second gear (274) and moves along the strip-shaped opening (2811), and the second rack (282) is meshed with the second gear (274) in the wrist (27), the hollow cylindrical tail end of the second shell (281) is inserted between the two support plates (272), the outer wall of the tail end of the second shell (281) is tangent to the two support plates (272), and the small arm (28) moves telescopically along the two support plates (272) under the meshing action of the second rack (282) and the second gear (274).

2. The automatic cladding apparatus for an exterior surface of a eco-tank nozzle according to claim 1, wherein: the welding box (4) is internally provided with a conveying device (5) and a welding rod box (6), the conveying device (5) comprises a conveying bed (51) and a fixing part (52), two second strip-shaped clamping pieces (511) are arranged on the upper surface of the conveying bed (51) in parallel, the fixing part (52) is vertically arranged at one end part of the conveying bed (51), and the other end of the conveying bed (51) is attached to one inner side surface of the welding box (4); the utility model provides a welding rod storage box, including welding rod box (6), welding rod box (6) and holding hole (62), welding rod box (6) set up in the upper surface of transport bed (51), the lower bottom surface parallel arrangement of welding rod box (6) has two spout (61), two spout (61) make welding rod box (6) move along two second bar fastener (511) on transport bed (51) upper surface, welding rod box (6) are equipped with a plurality of open-ended holding holes (62) that make progress, holding hole (62) are used for placing the welding rod, and the diameter of the diameter ratio welding rod of holding hole (62) is big, and the highly length that is less than the welding rod of holding hole (62).

3. The automatic cladding apparatus for an exterior surface of a eco-tank nozzle according to claim 2, wherein: the welding box is characterized in that a three-way valve (41), a large cabin door (42) and a small cabin door (43) are arranged on the outer side face of the welding box (4), the three-way valve (41) is respectively connected with the welding box (4), a vacuum device and an argon system, the large cabin door (42) and the small cabin door (43) are located on the same side face, the large cabin door (42) is opposite to the first gripper (13), and the height of the door body of the small cabin door (43) is greater than the length of a welding rod.

4. An automatic cladding method applied to an outer surface of a eco-tank nozzle, using the automatic cladding apparatus applied to an outer surface of a eco-tank nozzle according to claim 3, characterized in that: the automatic cladding method comprises the following steps:

after pretreatment, the nozzle of the environment-friendly container is placed into the welding box (4) from a large cabin door (42) on the side surface of the welding box (4), the nozzle of the environment-friendly container is sleeved on a first gripper (13), and a jaw of the first gripper (13) is tightly attached to the inner surface of the nozzle of the environment-friendly container;

opening a small cabin door (43) on the side surface of the welding box (4), placing welding rods in a welding rod box (6), pushing the welding rod box (6) to a fixing part (52) of the conveying device (5) along two second strip-shaped clamping pieces (511) on the upper surface of the conveying bed (51), and closing the small cabin door (43);

opening a vacuum system, rotating the three-way valve (41) to connect the vacuum device with the welding box (4), exhausting air in the welding box (4), rotating the three-way valve (41) again to connect the welding box (4) with an argon system, filling argon in the welding box (4), and repeating the operation for three times;

the three-dimensional scanner (3) is started through the controller to scan the outer surface of the nozzle of the environment-friendly container, and data are transmitted to the controller;

the mechanical arm (2) is enabled to rotate, translate, stretch and tilt through the controller, deposition parameters are set, a second gripper (284) on the mechanical arm (2) moves to the upper side of the welding rod box (6) to clamp a welding rod, the metal at the tail end of the welding rod is in contact with a conductor (283) at the tail end of a small arm (28) of the mechanical arm (2), when deposition is started, the metal in the welding rod is melted through the conductor (283) by current to form a molten drop, the molten drop drops on the surface of the nozzle to be formed, the deposition thickness is 3-4 mm, and meanwhile, the driving motor (11) drives the first gripper (13) to rotate for 360 degrees, so that the all-around deposition of the nozzle of the environment-friendly container is achieved; when the welding wire is used up, the controller can instruct a second gripper (284) on the mechanical arm (2) to move to a corresponding position of the welding wire box to clamp a new welding wire to be deposited continuously; after the deposition is finished, gas in the tank is replaced, and the temperature is reduced to 100 DEG^oC, opening the big cabin door (42) to take out the nozzle of the environment-friendly container, and polishing one half of the cladding layer;

5. The automatic cladding method for an outer surface of a eco-friendly vessel nozzle according to claim 4, wherein: the welding rod is made of a nickel-based alloy, the mass percentage of Cr in the nickel-based alloy is 29.0-31.0%, and the mass percentage of Ni is greater than or equal to 58%; the welding parameters comprise welding current, arc voltage, welding speed and welding gun swing amplitude, the welding current is 340-360A, the arc voltage is 12-14V, the welding speed is 80-130 mm/min, and the welding gun swing amplitude is 12-14 mm.

6. The automatic cladding method for an outer surface of a eco-friendly vessel nozzle according to claim 4, wherein: the pretreatment process of the nozzle of the environment-friendly container comprises mechanical cleaning, chemical cleaning and air drying, wherein the outer surface of the nozzle of the environment-friendly container is polished smoothly by abrasive paper in the mechanical cleaning process, and the abrasive paper is polished along the same direction when being polished on the alloy surface; the chemical cleaning is to remove pollutants on the outer surface of the nozzle of the environment-friendly container, including grease, dirt and dust, by using acetone and absolute ethyl alcohol in sequence; the environment-friendly container nozzle after will clearing up of the process of drying is arranged in the work rest after drying, lets the surface of environment-friendly container nozzle fully dry.