CN220145036U - Nuclear power beam column class welding robot workstation - Google Patents

Abstract

The utility model provides a nuclear power beam column welding robot workstation which comprises a double-shaft positioner, a top rail system, a ground rail system, a welding system and a lifting device, wherein the top rail system is arranged on one side of the ground rail system and is distributed above the ground rail system; the double-shaft positioner is movably arranged on the ground rail system, and two ends of a beam column to be welded are respectively and rotatably connected with the double-shaft positioner; the welding system comprises a cantilever beam and a welding robot, one end of the cantilever beam is movably arranged on the overhead rail system, and the welding robot is arranged on the cantilever beam; the lifting device is movably arranged on the ground rail system and comprises a hydraulic lifting table and a clamping device so as to clamp and fix the steel beam to be welded. The utility model has the advantages of simple structure, safety, reliability, flexible operation and good space accessibility, can realize automatic welding operation, can meet the welding requirements of large-scale complex beam column structural components, greatly improves the welding quality and the welding efficiency of the components, and has wide application prospect in the nuclear power field.

Description

Nuclear power beam column class welding robot workstation

Technical field:

the utility model belongs to the technical field of nuclear power and automatic welding, and particularly relates to a nuclear power beam column welding robot workstation.

The background technology is as follows:

in the construction of nuclear engineering for two and thirty years, a great deal of manpower is required to be input in the construction due to the technical and equipment aspects, and particularly the construction of the nuclear engineering civil engineering has higher dependence on labor force due to complex design, low standardization degree and large engineering quantity. The steel structure construction is a part of the civil construction, the Hualong I is used as a reference, the nuclear power steel structure is about 1.4 ten thousand tons, the primary and secondary steel structures mainly comprising beam column steel structures occupy about 1 ten thousand tons, and the nuclear engineering steel structure welding is mainly performed manually and semi-automatically at present, and the product process is low. In recent years, along with the development of industry and the progress of technology, the requirements of people on welding quality are higher and higher, and the welding robot has the advantages of stability, improvement of welding quality, high automation level, suitability for mass production and the like, and is widely applied, so that the welding robot has wide application prospect in the future. Therefore, the utility model provides the nuclear power beam column welding robot workstation which can improve the welding efficiency and welding quality of a large-scale steel beam structure of nuclear engineering.

The utility model comprises the following steps:

the utility model aims to overcome the defects in the prior art and provides a nuclear power beam column welding robot workstation.

The utility model adopts the following technical scheme:

the utility model provides a nuclear power beam column welding robot workstation which comprises a double-shaft positioner, a top rail system, a ground rail system and a welding system; the ground rail system is arranged on a horizontal plane, and the overhead rail system is arranged on one side of the ground rail system and is distributed above the ground rail system; the double-shaft position changing machine is movably arranged on the ground rail system and comprises a front-end position changing machine and a tailstock position changing machine, and two ends of a beam column to be welded are respectively and rotatably connected with two position changing machine bases; the welding system comprises a cantilever beam and a welding robot, one end of the cantilever beam is movably arranged on the overhead rail system, and the welding robot is arranged at the other end of the cantilever beam; the welding robots are distributed above the beam columns to be welded.

Furthermore, the device is also provided with a lifting device which is movably arranged on the ground rail system and is distributed between the front end position changing machine and the tailstock position changing machine; the lifting device comprises one or more groups of hydraulic lifting tables, and a clamping device is arranged on the upper surface of each hydraulic lifting table so as to clamp and fix the steel beam to be welded.

Further, the clamping device comprises a hydraulic motor, a transmission device and two clamping blocks; the transmission device comprises a first lead screw, a second lead screw, a first rotary table, a second rotary table, a first bevel gear, a second bevel gear, a third bevel gear and two thread seats; the two thread seats are respectively in threaded connection with the first screw rod and the second screw rod; the two clamping blocks are fixedly connected with the two thread seats respectively; the output end of the hydraulic motor is in driving connection with one end of a first screw rod, the other end of the first screw rod is connected with a first rotary table, the first rotary table is connected with a first bevel gear, the first bevel gear is sequentially meshed with a second bevel gear and a third bevel gear, the third bevel gear is connected with a second rotary table, and the second rotary table is connected with a second screw rod; the hydraulic motor drives the first screw rod and the first rotary table to rotate, drives the first bevel gear, the second bevel gear and the third bevel gear to rotate, further drives the second rotary table and the second screw rod to rotate, and the second screw rod and the first screw rod are opposite in rotation direction, so that the two clamping blocks move along the directions approaching or separating from each other, and the clamping or loosening effect is realized.

Further, the front end position changing machine and the tail seat position changing machine comprise a protection seat, a four-jaw chuck, a slewing bearing, a turntable and a slewing drive; the rotary support is rotatably arranged on the outer surface of the protective seat, the rotary table is connected with the rotary support, the four-jaw chuck is connected with the rotary table, and the beam column to be welded is clamped and fixed in the four-jaw chuck; the rotary drive comprises a rotary motor, the rotary motor is arranged in the protection seat, a gear is arranged at the output end of the rotary motor, and the gear is meshed with the rotary support; the rotary motor drives the gear to rotate, drives the slewing bearing to rotate, and further drives the rotary table to rotate, so that the four-jaw chuck and the beam column to be welded are driven to rotate to a specified angle.

Further, the overhead rail system comprises a first X-axis total rack; the lower surface of the cantilever beam is provided with a first X-axis sliding seat assembly which is movably connected with a first X-axis assembly frame; a first linear guide rail and a first straight rack are arranged on the first X-axis assembly rack; the first X-axis sliding seat is provided with a first X-axis drive and a sliding seat matched with the first linear guide rail; the first X-axis drive comprises a drive motor and a gear, and the gear is meshed with a first straight rack; the driving motor drives the gear to rotate, and then drives the first X-axis sliding seat assembly to move along the first X-axis assembly frame.

Further, the first X-axis sliding seat is provided with a welding wire barrel fixing device and a gun cleaning station, and the welding wire barrel fixing device and the gun cleaning station are respectively arranged at two sides of the cantilever beam; and the welding wire barrel fixing device is fixedly provided with a welding wire barrel.

Further, the ground rail system comprises a second X-axis total rack; the lower surfaces of the hydraulic lifting table and the tailstock positioner are respectively provided with a second X-axis sliding seat assembly, and the hydraulic lifting table and the tailstock positioner are movably connected with a second X-axis main mounting frame through the second X-axis sliding seat assembly; the second X-axis total assembly frame is arranged on a horizontal plane, and a second linear guide rail and a second straight rack are arranged on the second X-axis total assembly frame; the second X-axis sliding seat is provided with a second X-axis drive and a sliding seat matched with the second linear guide rail; the second X-axis drive comprises a drive motor and a gear, and the gear is meshed with a second straight rack; the driving motor drives the gear to rotate, and then drives the second X-axis sliding seat assembly to move along the second X-axis assembly frame.

Further, one end of the cantilever Liang Kaojin day rail system is provided with a control area; the control area comprises a control area assembly and a safety fence, the control area assembly is fixedly arranged at the end part of the cantilever beam, the safety fence is arranged above the control area assembly, and a safety lock is arranged on the safety fence; and a control cabinet is arranged in the control area.

Further, a plurality of groups of supporting columns are fixedly arranged below the first X-axis assembly frame and are fixed on a horizontal plane through the supporting columns.

Further, the welding system is provided with one group or more than one group, and is movably arranged on the head rail system; in each group of welding systems, two welding robots are arranged and are fixed on the cantilever beam in an inverted hanging mode.

The utility model has the beneficial effects that:

(1) The double-shaft positioner, the overhead rail system, the ground rail system and the welding robot are arranged, the double-shaft positioner can clamp a large-scale steel beam column to be welded, can turn over 360 degrees, flexibly adjust the angle, simultaneously finish welding through the welding robot, has flexible operation and good space accessibility, and is suitable for the welding requirement of large-scale complex beam column structural components;

(2) According to the utility model, the tailstock position changing machine can move along the ground rail system, the distance between two position changing machine bases can be adjusted, the tailstock position changing machine can adapt to workpieces with different length and size, and the application range is wide;

(3) According to the utility model, the welding system can be provided with one or more groups, and is movably arranged on the head rail system, and can linearly move along the head rail system, so that the position of the welding robot can be flexibly and automatically adjusted, and the welding efficiency is improved;

(4) The utility model also provides a hydraulic lifting device, which increases the application range and operability of the device. When the welding device is applied, firstly, the workpiece to be welded is judged, and if the workpiece is a shorter workpiece, the workpiece to be welded can be directly placed on a hydraulic lifting device for welding; if the welding line is a long welding line of a large steel beam, a plurality of positions are needed to be turned and welded, and the welding line is placed on a double-shaft positioner to be turned and welded together with a welding robot;

(5) The utility model has the advantages of simple structure, safety, reliability, flexible operation and good space accessibility, can realize automatic welding operation, greatly improves the welding quality and the welding efficiency of parts, and has wide application prospect in the nuclear power field.

Description of the drawings:

FIG. 1a is a schematic front view of the structure of the present utility model;

FIG. 1b is a schematic top view of the structure of the present utility model;

FIG. 1c is a schematic left side view of the structure of the present utility model;

FIG. 2a is a schematic front view of a cantilever structure of the present utility model;

FIG. 2b is a schematic bottom view of the cantilever structure of the present utility model;

FIG. 3a is a schematic front view of the positioner of the present utility model;

FIG. 3b is a schematic view of the positioner of FIG. 3a in accordance with the present utility model;

FIG. 4a is a front view of the hydraulic lift table apparatus of the present utility model;

FIG. 4b is a top view of the hydraulic lift device of the present utility model;

FIG. 5 is a schematic diagram of a workstation configuration assembly of the present utility model;

the marks in the drawings are:

1. a biaxial positioner; 1-1, a front end positioner; 1-2, a tailstock positioner; 2. a support column; 3. a headrail system; 4. a ground rail system; 6. a lifting device; 7. a welding robot; 8. a safety fence; 9. a control system; 10. a control cabinet; 11. a welding wire barrel fixing device; 12. a gun cleaning station; 13. a cantilever beam; 14. a first X-axis assembly frame; 15. a first linear guide rail; 16. a first rack of straight teeth; 17. a first X-axis drive; 18. the first X-axis sliding seat is assembled; 19. a first tow chain; 20. a second X-axis assembly frame; 21. a second linear guide rail; 22. a second spur rack; 23. the second X-axis sliding seat is assembled; 24. a second X-axis drive; 25. a second tow chain; 26. a four-jaw chuck; 27. a rotary table; 28. a slewing bearing; 29. driving in a rotary manner; 30. a protective seat; 32. a clamping block; 33. a hydraulic motor; 36. a first lead screw; 37. a second lead screw; 38. a first turntable; 39. a second turntable; 40. a first bevel gear; 41. a second bevel gear; 42. a third bevel gear; 43. welding wire barrel.

The specific embodiment is as follows:

in order to make the objects, technical solutions and advantages of the embodiments of the present utility model more clear, the technical solutions of the embodiments of the present utility model will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present utility model. It will be apparent that the described embodiments are some, but not all, embodiments of the utility model. All other embodiments, which can be made by those skilled in the art based on the embodiments of the utility model without making any inventive effort, are intended to be within the scope of the utility model.

Example 1

Referring to fig. 1 to 5, an embodiment of the utility model provides a nuclear power beam column type welding robot workstation, which comprises a double-shaft positioner 1, a top rail system 3, a ground rail system 4 and two groups of welding systems; the ground rail system 4 is arranged on a horizontal plane, the head rail system 3 is arranged on one side of the ground rail system 4 and distributed above the ground rail system 4, and the head rail system 3 and the ground rail system 4 are parallel to each other;

in this embodiment, the dual-shaft positioner 1 is movably mounted on the ground rail system 4, and includes a front-end positioner 1-1 and a tailstock positioner 1-2, where two ends of a beam column to be welded are respectively connected with two deflection bases in a rotating manner.

In this embodiment, every group welding system all includes cantilever beam 13 and two sets of welding robot 7, and the one end of cantilever beam 13 is removed and is installed on the sky rail system 3, and welding robot 7 is installed at the cantilever beam 13 other end, and two sets of welding robot 7 adopt the installation of hanging upside down to fix on cantilever beam 13, and welding robot 7 distributes in the top of waiting to weld the beam column. The welding robot 7 is a disclosed existing mechanism, the structure and operation principle of which are common knowledge, and the specific structure of the welding robot is not described in detail in the present utility model.

When the device is applied, the position of the tailstock position changing machine 1-2 on the ground rail system 4 is adjusted, so that the distance between the front end position changing machine 1-1 and the tailstock position changing machine 1-2 is matched with the length of a steel beam column to be welded, then two ends of the steel beam column to be welded are arranged between the two position changing machines, and the position changing machines are started to enable the steel beam column to be welded to rotate to a specified angle; the cantilever beam 13 moves on the overhead rail system 3, so that the welding robot 7 moves above the steel beam column to be welded, and the welding robot 7 is started to weld the steel beam column; and after the welding is finished, returning the welding system to the original position.

Example 2

The main structure of this embodiment is the same as that of embodiment 1, except that: the lifting device 6 is also arranged in the device of the embodiment.

Referring to fig. 1a, 4a and 4b, in this embodiment, the lifting device 6 is movably installed on the ground rail system 4, and the lifting device 6 is distributed between the front end positioner 1-1 and the tailstock positioner 1-2; the lifting device 6 comprises three groups of hydraulic lifting tables, and a clamping device is arranged on the upper surface of each hydraulic lifting table so as to clamp and fix the steel beam to be welded. The lifting device 6 can linearly move along the ground rail system 4 and can lift to adjust the height, an effective working platform is provided according to the size of the workpiece, if the workpiece is a shorter workpiece, the workpiece to be welded can be directly placed on the hydraulic lifting device 6 for welding without using the double-shaft positioner 1, and the operation flow is simplified.

The hydraulic lifting platform is of a commercially available existing structure, and the hydraulic lifting platform is not described in detail.

In this embodiment, the clamping device comprises a clamping device housing, a hydraulic motor 33, a transmission and two clamping blocks 32; the transmission device comprises a first lead screw 36, a second lead screw 37, a first rotary disc 38, a second rotary disc 39, a first bevel gear 40, a second bevel gear 41, a third bevel gear 42 and two thread seats; the first lead screw 36 and the second lead screw 37 are respectively rotatably arranged at two sides of the inside of the clamping device shell, two thread seats are respectively in threaded connection with the first lead screw 36 and the second lead screw 37, and the two thread seats are in sliding connection with the inner wall of the clamping device shell; the two clamping blocks 32 are fixedly connected with the two thread seats respectively (the clamping blocks 32 are positioned above the clamping device shell); the output end of the hydraulic motor 33 is in driving connection with one end of a first lead screw 36, the other end of the first lead screw 36 is connected with a first rotating disc 38, the first rotating disc 38 is connected with a first bevel gear 40, the first bevel gear 40 is sequentially meshed with a second bevel gear 41 and a third bevel gear 42, the third bevel gear 42 is connected with a second rotating disc 39, and the second rotating disc 39 is connected with a second lead screw 37.

When the hydraulic motor 33 is started during application, the hydraulic motor 33 drives the first screw rod 36 and the first rotary disc 38 to rotate, drives the first bevel gear 40, the second bevel gear 41 and the third bevel gear 42 to rotate, further drives the second rotary disc 39 and the second screw rod 37 to rotate, and the second screw rod 37 and the first screw rod 36 rotate in opposite directions, so that the two clamping blocks 32 move along directions approaching or separating from each other, and the clamping or loosening effect is realized.

Example 3

The main structure of this embodiment is the same as that of embodiment 1, except that: the present embodiment defines the structure of the biaxial positioner 1.

Referring to fig. 3a and 3b, in this embodiment, the dual-axis positioner 1 includes a front-end positioner 1-1 and a tailstock positioner 1-2, and each of the front-end positioner 1-1 and the tailstock positioner 1-2 includes a guard 30, a four-jaw chuck 26, a slewing bearing 28, a slewing table 27, and a slewing drive 29; the slewing bearing is rotatably arranged on the outer surface of the guard seat 30, the rotary table 27 is connected with the slewing bearing, the four-jaw chuck 26 is connected with the rotary table 27, and the beam column to be welded is clamped and fixed in the four-jaw chuck 26.

In this embodiment, the rotary drive 29 includes a rotary motor, the rotary motor is installed in the protection seat 30, and a gear is installed at an output end of the rotary motor, and the gear is meshed with the rotary support 28; the rotary motor drives the gear to rotate, drives the slewing bearing 28 to rotate, and further drives the rotary table 27 to rotate, so that the four-jaw chuck 26 and the beam column to be welded are driven to rotate to a specified angle.

In this embodiment, the four-jaw chuck 26 and the slewing bearing 28 are both commercially available structures, and the present utility model will not be described in detail.

Example 4

The main structure of this embodiment is the same as that of embodiment 1, except that: the present embodiment defines the structure of the headrail system 3.

Referring to fig. 1a, 1b, 2a and 2b, in this embodiment, the space rail system 3 includes a first X-axis assembly frame 14, and a plurality of groups of support columns 2 are fixedly disposed below the first X-axis assembly frame 14, and are fixed on a horizontal plane by the support columns 2. The lower surface of the cantilever beam 13 is provided with a first X-axis sliding seat assembly 18, and the first X-axis sliding seat assembly 18 is movably connected with the first X-axis assembly frame 14; the first X-axis total mounting rack 14 is provided with a first straight rack 16 and two first straight guide rails 15, the first straight rack 16 is arranged at the center of the first X-axis total mounting rack 14, and the two first straight guide rails 15 are symmetrically distributed on two sides of the first straight rack 16.

In this embodiment, the first X-axis driving unit 17 and the slide seat adapted to the first linear guide 15 are mounted on the first X-axis sliding seat assembly 18; the first X-axis drive 17 comprises a drive motor and a gear wheel, which is meshed with the first spur rack 16; when the welding robot is applied, the driving motor drives the gear to rotate, and then drives the first X-axis sliding seat assembly 18 to move along the first X-axis assembly frame 14, so that the cantilever beam 13 and the welding robot 7 are driven to linearly move.

In this embodiment, a first drag chain 19 is further provided, and an end of the first drag chain 19 is fixed on the first X-axis sliding seat assembly 18, so as to protect the cable from abrasion during the back and forth movement of the cable along with the drag chain.

Example 5

The main structure of this embodiment is the same as that of embodiment 4, except that: in the space rail system 3 of the present embodiment, a control area is further provided, and a welding wire barrel fixing device 11 and a gun cleaning station 12 are provided.

Specifically, referring to the drawings, in this embodiment, the first X-axis sliding seat assembly 18 is provided with a welding wire barrel fixing device 11 and a gun cleaning station 12, the welding wire barrel fixing device 11 and the gun cleaning station 12 are respectively disposed on two sides of the cantilever beam 13, and the welding wire barrel is fixedly mounted on the welding wire barrel fixing device 11.

In this embodiment, the one end that cantilever 13 is close to sky rail system 3 is provided with the control district, the control district includes control district assembly and safety fence 8, control district assembly fixed mounting is in the tip of cantilever 13, and safety fence 8 installs in control district assembly top, and is provided with the safety lock on the safety fence 8, and the inside switch board 10 that is provided with of control district.

Example 6

The main structure of this embodiment is the same as that of embodiment 2, except that: the present embodiment defines the structure of the ground rail system 4.

Referring to fig. 1 and 5, in the present embodiment, the ground rail system 4 includes a second X-axis assembly frame 20, a second X-axis sliding seat assembly 23 is mounted on the lower surface of the hydraulic lifting platform and the tailstock positioner 1-2, and is movably connected to the second X-axis assembly frame 20 through the second X-axis sliding seat assembly 23; the second X-axis assembly frame 20 is mounted on a horizontal plane, and a second spur rack 22 and two second linear guide rails 21 are disposed on the second X-axis assembly frame 20.

In this embodiment, a second X-axis drive 24 and a slide seat adapted to the second linear guide 21 are mounted on the second X-axis sliding seat assembly 23, and the second X-axis drive 24 includes a drive motor and a gear, and the gear is meshed with the second rack 22. When the hydraulic lifting platform is applied, the driving motor drives the gear to rotate, and then drives the second X-axis sliding seat assembly 23 to move along the second X-axis assembly frame 20, so that the hydraulic lifting platform and the tailstock positioner 1-2 are driven to linearly move.

In this embodiment, a second drag chain 25 is further provided, the second drag chain 25 is connected to a second X-axis sliding seat assembly 23 of the tailstock positioner by bolts, and when the second X-axis sliding seat assembly 23 moves, the drag chain moves along with the second X-axis sliding seat assembly, and the cable is protected from abrasion when the cable moves back and forth along with the drag chain.

The working process and the working principle of the utility model are as follows:

the working process of the utility model is as follows: firstly, judging a workpiece to be welded, and if the workpiece is a shorter workpiece, placing the workpiece to be welded on a hydraulic lifting platform for welding; if the long weld joint of the large-size steel beam needs multiple positions for overturning welding, the long weld joint is placed on a double-shaft positioner to be in cooperative overturning welding with a welding robot.

The workpiece to be welded is placed on the four-jaw chuck 26 of the double-shaft positioner 1 to be clamped, the main drive is started according to program control, the rotary motor drives the gear to rotate, the rotary support 28 is driven to rotate, the rotary table 27 is driven to rotate, the four-jaw chuck 26 and the beam column to be welded are driven to rotate, and when the double-shaft positioner 1 adjusts the workpiece to be welded to an optimal welding position, the rotary motor stops working. At this time, the space rail system 3 starts to work, the driving motor of the first X-axis driving 17 drives the gear to rotate, the first X-axis sliding seat assembly 18 is driven to move along the first X-axis assembly frame 14, the welding robot 7 starts to act when the space rail system 3 moves to the initial welding position, the welding robot starts to weld when moving to the welding position, and the welding posture of the robot is kept unchanged. After the welding is finished, the head rail system 3 is moved to a safe position, and the welding robot automatically moves to a gun cleaning station 12 for cleaning a welding gun; the double-shaft positioner 1 is turned over to the next welding position, and the next welding is performed in cooperation with the welding robot. With the movements in the manner described above, the control program automatically plans the optimal path of the welding robot 7 to the welding workpiece.

When the whole welding work is finished, the welding robot 7 is reset preferentially, then the head rail system 3 is reset to a safe position, and the double-shaft positioner 1 is reset automatically to finish the welding work.

The utility model has the advantages of simple structure, safety, reliability, flexible operation and good space accessibility, is more suitable for the welding requirements of large-scale complex beam column structural components, greatly improves the welding quality of the components, and has wide application prospect in the nuclear power field.

The foregoing is merely a preferred embodiment of the present utility model, and the scope of the present utility model is not limited to the above embodiments, but all technical solutions falling under the concept of the present utility model fall within the scope of the present utility model, and it should be noted that, for those skilled in the art, several modifications and adaptations without departing from the principles of the present utility model should and are intended to be regarded as the scope of the present utility model.

Claims (10)

1. A nuclear power beam column welding robot workstation is characterized in that,

comprises a double-shaft positioner (1), a top rail system (3), a ground rail system (4) and a welding system;

the ground rail system (4) is arranged on a horizontal plane, and the overhead rail system (3) is arranged on one side of the ground rail system (4) and distributed above the ground rail system (4);

the double-shaft position changing machine (1) is movably arranged on the ground rail system (4) and comprises a front-end position changing machine (1-1) and a tail seat position changing machine (1-2), and two ends of a beam column to be welded are respectively and rotatably connected with two position changing machine bases;

the welding system comprises a cantilever beam (13) and a welding robot (7), one end of the cantilever beam (13) is movably arranged on the overhead rail system (3), and the welding robot (7) is arranged at the other end of the cantilever beam (13); the welding robots (7) are distributed above the beam columns to be welded.

2. The nuclear power beam column type welding robot workstation of claim 1,

the device is also provided with a lifting device (6), the lifting device (6) is movably arranged on the ground rail system (4), and the lifting device (6) is distributed between the front end position changing machine (1-1) and the tailstock position changing machine (1-2);

the lifting device (6) comprises one or more groups of hydraulic lifting tables, and a clamping device is arranged on the upper surface of each hydraulic lifting table so as to clamp and fix the steel beam to be welded.

3. The nuclear power beam column type welding robot workstation of claim 2, wherein,

the clamping device comprises a hydraulic motor (33), a transmission device and two clamping blocks (32);

the transmission device comprises a first lead screw (36), a second lead screw (37), a first rotary disc (38), a second rotary disc (39), a first bevel gear (40), a second bevel gear (41), a third bevel gear (42) and two thread seats; the two thread seats are respectively in threaded connection with the first lead screw (36) and the second lead screw (37); the two clamping blocks (32) are fixedly connected with the two thread seats respectively;

the output end of the hydraulic motor (33) is in driving connection with one end of a first lead screw (36), the other end of the first lead screw (36) is connected with a first rotary disc (38), the first rotary disc (38) is connected with a first bevel gear (40), the first bevel gear (40) is sequentially meshed with a second bevel gear (41) and a third bevel gear (42), the third bevel gear (42) is connected with a second rotary disc (39), and the second rotary disc (39) is connected with a second lead screw (37).

4. The nuclear power beam column type welding robot workstation of claim 1,

the front end position changing machine (1-1) and the tail seat position changing machine (1-2) comprise a protection seat (30), a four-jaw chuck (26), a slewing bearing (28), a slewing table (27) and a slewing drive (29);

the slewing bearing is rotatably arranged on the outer surface of the guard seat (30), the rotary table (27) is connected with the slewing bearing, the four-jaw chuck (26) is connected with the rotary table (27), and a beam column to be welded is clamped and fixed in the four-jaw chuck (26);

the rotary drive (29) comprises a rotary motor, the rotary motor is arranged in the protection seat (30), a gear is arranged at the output end of the rotary motor, and the gear is meshed with the rotary support (28); the rotary motor drives the gear to rotate, drives the slewing bearing (28) to rotate, and further drives the rotary table (27) to rotate, so that the four-jaw chuck (26) and the beam column to be welded are driven to rotate to a specified angle.

5. The nuclear power beam column type welding robot workstation of claim 1,

the head rail system (3) comprises a first X-axis assembly frame (14); the lower surface of the cantilever beam (13) is provided with a first X-axis sliding seat assembly (18), and the first X-axis sliding seat assembly (18) is movably connected with a first X-axis assembly frame (14);

a first linear guide rail (15) and a first straight rack (16) are arranged on the first X-axis assembly frame (14); a first X-axis drive (17) and a sliding seat matched with the first linear guide rail (15) are arranged on the first X-axis sliding seat assembly (18);

the first X-axis drive (17) comprises a drive motor and a gear, which is meshed with a first spur rack (16); the driving motor drives the gear to rotate, and then drives the first X-axis sliding seat assembly (18) to move along the first X-axis assembly frame (14).

6. The nuclear power beam column type welding robot workstation of claim 5,

the welding wire barrel fixing device (11) and the gun cleaning station (12) are further arranged on the first X-axis sliding seat assembly (18), and the welding wire barrel fixing device (11) and the gun cleaning station (12) are respectively arranged on two sides of the cantilever beam (13); and the welding wire barrel fixing device (11) is fixedly provided with a welding wire barrel.

7. The nuclear power beam column type welding robot workstation of claim 2, wherein,

the ground rail system (4) comprises a second X-axis total rack (20); the lower surfaces of the hydraulic lifting table and the tailstock positioner (1-2) are respectively provided with a second X-axis sliding seat assembly (23), and the hydraulic lifting table and the tailstock positioner are movably connected with a second X-axis total mounting frame (20) through the second X-axis sliding seat assembly (23);

the second X-axis total mounting frame (20) is mounted on a horizontal plane, and a second linear guide rail (21) and a second straight rack (22) are arranged on the second X-axis total mounting frame (20); a second X-axis drive (24) and a sliding seat matched with the second linear guide rail (21) are arranged on the second X-axis sliding seat assembly (23);

the second X-axis drive (24) comprises a drive motor and a gear, the gear being meshed with a second spur rack (22); the driving motor drives the gear to rotate, and then drives the second X-axis sliding seat assembly (23) to move along the second X-axis assembly frame (20).

8. The nuclear power beam column type welding robot workstation of claim 1,

a control area is arranged at one end of the cantilever beam (13) close to the overhead rail system (3);

the control area comprises a control area assembly and a safety fence (8), the control area assembly is fixedly arranged at the end part of the cantilever beam (13), the safety fence (8) is arranged above the control area assembly, and a safety lock is arranged on the safety fence (8); a control cabinet (10) is arranged in the control area.

9. The nuclear power beam column type welding robot workstation of claim 5,

a plurality of groups of supporting columns (2) are fixedly arranged below the first X-axis assembly frame (14), and are fixed on a horizontal plane through the supporting columns (2).

10. The nuclear power beam column type welding robot workstation of claim 1,

the welding system is provided with one group or more than one group, and is movably arranged on the head rail system (3);

in each group of welding systems, two welding robots (7) are arranged and are fixed on the cantilever beam (13) in an inverted hanging mode.