Automatic welding equipment for butt weld of large nuclear power pipeline

Abstract

The invention discloses nuclear power large pipeline butt weld automatic welding equipment which is installed on a rail and comprises a walking assembly, the walking assembly comprises a walking driving piece, a walking driving wheel, two walking driven wheels and two walking shafts, the walking driving piece is in transmission connection with the walking driving wheel, and the walking driving wheel is in transmission connection with the walking driven wheels; the two walking driven wheels are in transmission connection with the two sides of the walking driving wheel respectively, each walking driven wheel is connected with one walking shaft, and at least one walking shaft is provided with walking wheel teeth meshed with the straight teeth on the track. A group of walking driven wheels are symmetrically arranged on the two sides of the walking driving wheel, so that the shaking phenomenon caused by the back clearance of the gear and the translation of the gravity center when equipment walks near the highest point or the lowest point of the track can be effectively prevented, the stability of the welding process is further ensured, and the welding quality can be better improved. And meanwhile, a driving mode of a single walking driving piece is adopted, control hardware and programs are simplified, and the production cost and the development time are reduced.

Description

Technical Field

[0001] The invention relates to the technical field of welding, and in particular to an automatic welding device for butt welds of large nuclear power pipelines. Background Art

[0002] Welding technology plays a vital role in the field of nuclear power construction. It is not only the cornerstone of ensuring the structural integrity and safety of nuclear power plants, but also directly affects the construction efficiency and cycle management of nuclear power plants. In particular, during the installation of nuclear power plants, welding operations cover multiple key parts such as pipeline systems, pool structures, and large storage tanks, especially high-tech requirements and large-scale operation areas such as nuclear power main pipelines, main steam pipelines, spent fuel pools, and containment steel linings. The welding quality of these parts is directly related to the long-term stable operation and safety performance of nuclear power plants.

[0003] For a long time, the construction of nuclear power plants has mainly relied on traditional welding methods such as manual arc welding and tungsten inert gas welding. These methods have been used since the 1960s. Although they have met the needs of early nuclear power construction to a certain extent, facing the high standards and fast pace of third-generation nuclear power technology, traditional manual welding processes are facing unprecedented challenges. Specifically, manual welding is difficult to meet the requirements of shortening construction periods while ensuring quality, and there are limitations in the precise control of welding heat input, which is crucial to ensuring the mechanical properties and radiation resistance of nuclear power structural materials. In addition, with the accelerated advancement of nuclear power construction, the scarcity of manual welder resources has become increasingly prominent, and the continuous rise in labor costs has further aggravated the cost pressure and time constraints of nuclear power construction.

[0004] To solve the above problems, automated welding technology came into being. By integrating advanced welding equipment, pre-programmed automatic welding processes and operating procedures, it has achieved a high degree of automation in the welding process, significantly improved welding efficiency, reduced dependence on welder skills, and effectively alleviated the problem of tight human resources. Especially in the welding of large pipeline butt welds, automated welding equipment has shown great potential. By laying tracks on the pipeline, the welding equipment can move autonomously along the tracks and complete the welding operation. However, this technology still faces challenges in practical applications, especially when the equipment passes through high and low points on the track. Due to the transfer of the center of gravity and the existence of transmission gear backlash, it may cause transmission jams and equipment jitters, seriously affecting the welding quality and reliability of the joints, making it difficult to fully meet the strict quality standards of the nuclear power industry.

[0005] In order to solve the stability problem of automated welding equipment when traveling at high and low points on the track, the prior art proposes a dual-motor drive solution. By adjusting the distance between the travel wheels, the meshing surfaces of the front and rear drive gears and the driven gears are opposite, so that the gears on at least one travel wheel are kept free of backlash during gravity conversion, effectively avoiding transmission shock and ensuring the smooth operation of the equipment. Although this solution solves the jitter problem to a certain extent, its complex synchronous control requirements lead to high hardware costs and programming difficulties, limiting its wide application in actual projects. Summary of the invention

[0006] The purpose of the present invention is to provide an automatic welding device for butt welds of large nuclear power pipelines, aiming to solve the problems of existing automatic welding equipment such as jitter caused by center of gravity transfer and gear backlash.

[0007] An embodiment of the present invention provides an automatic welding device for butt welds of large nuclear power pipelines, which is installed on a track and includes: a traveling assembly, wherein the traveling assembly includes a traveling drive member, a traveling drive wheel, two traveling driven wheels and two traveling shafts, wherein the traveling drive member is transmission-connected to the traveling drive wheel, and the two traveling driven wheels are respectively transmission-connected to the two sides of the traveling drive wheel, each of the traveling driven wheels is connected to one of the traveling shafts, and at least one of the traveling shafts is provided with traveling wheel teeth meshing with spur teeth on the track.

[0008] Furthermore, it also includes: a frame, the frame includes a front plate, a rear plate and an intermediate cylinder, the front plate and the rear plate are respectively arranged on both sides of the intermediate cylinder, the travel drive component is installed on the front plate, the travel shaft is rotatably installed on the intermediate cylinder, the bottom surface of the intermediate cylinder is provided with an opening, and the travel gear teeth are located in the opening.

[0009] Furthermore, the walking assembly also includes: two clamping mechanisms, the two clamping mechanisms are respectively arranged on both sides of the track, the clamping mechanism includes a first pressure wheel mounting plate, a second pressure wheel mounting plate, a clamping rotary rod, a clamping guide sleeve, two guide rods and a conical guide wheel, the two ends of the first pressure wheel mounting plate and the two ends of the second pressure wheel mounting plate are respectively connected by the two guide rods, the clamping guide sleeve is arranged on the front plate or the rear plate, the clamping guide sleeve is arranged between the first pressure wheel mounting plate and the second pressure wheel mounting plate, and the two ends of the clamping guide sleeve are slidably arranged on the two guide rods, the conical guide wheel is arranged on the second pressure wheel mounting plate, one end of the clamping rotary rod passes through the first pressure wheel mounting plate and abuts against the clamping guide sleeve, and the other end of the clamping rotary rod is threadedly connected to the first pressure wheel mounting plate so that the position of the first pressure wheel mounting plate is adjustable.

[0010] Further, it further includes: a welding torch fixing assembly, the welding torch fixing assembly includes a first displacement mechanism and a second displacement mechanism for installing the welding torch, the first displacement mechanism is movably installed on the vehicle frame in a first direction, and the second displacement mechanism is movably installed on the first displacement mechanism in a second direction.

[0011] Further, the first displacement mechanism includes: a first driving member, a lead screw, a displacement driving wheel, a displacement driven wheel, a lead screw fixing seat, a lead screw connecting member, a telescopic joint mounting plate and a telescopic joint. The displacement driven wheel, the lead screw fixing seat and the first driving member are arranged on the vehicle frame. The driving end of the first driving member is in transmission connection with the displacement driving wheel. The displacement driving wheel is in transmission connection with the displacement driven wheel. Two ends of the lead screw are respectively installed on the displacement driven wheel and the lead screw fixing seat. The lead screw connecting member is movably installed on the lead screw in a first direction. The lead screw connecting member is connected to the telescopic joint mounting plate. The telescopic joint mounting plate is connected to one end of the telescopic joint. The other end of the telescopic joint is connected to the second displacement mechanism.

[0012] Further, the second displacement mechanism includes: a second driving member, a displacement gear, a rack, a rear fixing plate and a welding torch fixing plate for fixing the welding torch. One end of the second driving member is installed on the first displacement mechanism. The other end of the second driving member is in transmission connection with the displacement gear. The rear fixing plate is installed on the first displacement mechanism. The welding torch fixing plate is movably installed on the rear fixing plate in a second direction. The rack is arranged on the welding torch fixing plate in a second direction. The displacement gear meshes with the rack.

[0013] Further, the second displacement mechanism further includes: at least one displacement slide rail and at least one displacement slider. The displacement slide rail is arranged on the rear fixing plate, and the displacement slider is arranged on the welding torch fixing plate; or the displacement slide rail is arranged on the welding torch fixing plate, and the displacement slider is arranged on the rear fixing plate. Wherein, the displacement slider is slidably arranged on the displacement slide rail.

[0014] Further, it further includes: a wire feeding assembly, the wire feeding assembly includes a wire spool cart, a first connecting rod, a second connecting rod, a wire feeding mechanism and a wire spool for loading welding wire. The wire spool is arranged on the wire spool cart. The bottom of the wire spool cart is arranged on the track. The wire spool cart is connected to one side of the wire feeding mechanism through the second connecting rod. The other side of the wire feeding mechanism is connected to the vehicle frame through the first connecting rod.

[0015] Further, the wire feeding mechanism includes: a wire feeding driving member, a wire feeding wheel, a driving mounting seat, a wire feeding mounting seat, and a wire pressing wheel. The wire feeding driving member is disposed on one side of the driving mounting seat. The driving end of the wire feeding driving member passes through the driving mounting seat and is in transmission connection with the wire feeding wheel. One end of the wire feeding wheel is rotatably disposed on the other side of the driving mounting seat. The other side of the driving mounting seat is disposed on one side of the wire feeding mounting seat. The other end of the wire feeding wheel passes through the wire feeding mounting seat and extends to the other side of the wire feeding mounting seat. The wire pressing wheel is rotatably disposed on the other side of the wire feeding mounting seat and is aligned with the other end of the wire feeding wheel. A wire feeding space for the welding wire to pass through is formed between the wire pressing wheel and the wire feeding wheel.

[0016] Further, the wire feeding mechanism further includes: a wire pressing block, a wire pressing rod, and two guide rods. An adjusting space is provided on the wire feeding mounting seat. The two guide rods are disposed in the adjusting space along the height direction. Two ends of the wire pressing block are respectively slidably mounted on the two guide rods. The wire pressing wheel is rotatably disposed on the wire pressing block. One end of the wire pressing rod is connected to the wire pressing wheel. The other end of the wire pressing rod passes through the wire feeding mounting seat and is in threaded connection with the wire feeding mounting seat so that the position of the wire pressing block is adjustable.

[0017] The present invention discloses an automatic welding device for butt welds of large nuclear power pipelines, which is installed on a track and includes: a traveling assembly. The traveling assembly includes a traveling driving member, a traveling driving wheel, two traveling driven wheels, and two traveling shafts. The traveling driving member is in transmission connection with the traveling driving wheel. The two traveling driven wheels are respectively in transmission connection with both sides of the traveling driving wheel. Each traveling driven wheel is connected to a traveling shaft. At least one traveling shaft is provided with traveling wheel teeth meshing with the straight teeth on the track. By symmetrically arranging a set of traveling driven wheels on both sides of the traveling driving wheel, it is equivalent to setting constraints on both sides of the driving gear, which can ensure that when the center of gravity of the device moves, there is always a set of traveling driven wheels in a transmission state with the driving gear. Therefore, it can effectively prevent the jitter phenomenon caused by the backlash of the gear and the translation of the center of gravity when the device travels near the highest or lowest point of the track, thereby ensuring the stability of the welding process and being more conducive to improving the welding quality. At the same time, the driving mode of using a single traveling driving member simplifies the control hardware and program, and reduces the production cost and development time. Description of the Drawings

[0018] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings required for the description of the embodiments will be briefly introduced below. Obviously, the drawings in the following description are some embodiments of the present invention. For those of ordinary skill in the art, other drawings can be obtained based on these drawings without creative efforts.

[0019] Figure 1 Schematic diagram of the structure for installing the rail on the pipeline;

[0020] Figure 2 Schematic diagram of the structure of the automatic welding equipment for the butt weld of large nuclear power pipelines;

[0021] Figure 3 Schematic diagram of the structure of the traveling assembly;

[0022] Figure 4 Schematic diagram of the structure of the clamping mechanism;

[0023] Figure 5 Schematic diagram of the structure when the clamping mechanism clamps the rail;

[0024] Figure 6 Exploded view of the vehicle frame;

[0025] Figure 7 Schematic diagram of the structure of the middle cylinder;

[0026] Figure 8 Schematic diagram of the structure of the front plate;

[0027] Figure 9 Schematic diagram of the structure of the rear plate;

[0028] Figure 10 Schematic diagram of the structure of the welding torch fixing assembly;

[0029] Figure 11 Schematic diagram of the structure of the second displacement mechanism;

[0030] Figure 12 Schematic diagram of the structure of the wire feeding assembly;

[0031] Figure 13 Schematic diagram of the structure of the wire spool cart and the wire spool;

[0032] Figure 14 Exploded view of the wire feeding mechanism;

[0033] Explanation of the markings in the figure:

[0034] 1. Rail; 11. Straight teeth;

[0035] 2. Traveling assembly; 21. Traveling driving part; 22. Traveling driving wheel; 23. Traveling driven wheel; 24. Traveling shaft; 241. Traveling wheel teeth; 242. Bearing; 25. Clamping mechanism; 251. First pressing wheel mounting plate; 252. Second pressing wheel mounting plate; 253. Pressing screw rod; 254. Pressing guide sleeve; 255. Guide rod; 256. Conical guide wheel; 26. Transmission wheel;

[0036] 3. Frame; 31. Front plate; 311. First through hole; 312. Countersunk hole; 313. First stepped hole; 314. Second stepped hole; 315. Second through hole; 32. Rear plate; 321. Third stepped hole; 322. Third through hole; 323. Cable housing; 324. Pressure block; 33. Intermediate cylinder; 331. Opening; 332. Fourth through hole; 34. Upper cover plate; 35. Handle; 36. Front cover; 37. Rear cover;

[0037] 4. Welding torch fixing assembly; 41. First displacement mechanism; 411. First driving member; 412. Lead screw; 413. Displacement driving wheel; 414. Displacement driven wheel; 415. Lead screw fixing seat; 416. Lead screw connecting member; 417. Expansion joint mounting plate; 418. Expansion joint; 419. Transition block; 4110. Expansion slider; 4111. Expansion slide rail; 42. Second displacement mechanism; 421. Second driving member; 422. Displacement gear; 423. Rack; 424. Rear fixing plate; 4241. Clamping hole; 4242. Screw hole; 425. Welding torch fixing plate; 426. Displacement slide rail; 427. Displacement slider; 428. Reducer; 429. Coupling;

[0038] 5. Filter board;

[0039] 6. Wire feeding assembly; 61. Spool car; 611. Rotating wheel; 612. Guide wheel; 62. First connecting rod; 63. Second connecting rod; 64. Wire feeding mechanism; 641. Wire feeding driving member; 642. Wire feeding wheel; 643. Driving mounting seat; 644. Wire feeding mounting seat; 6441. Adjusting space; 645. Pressure wire wheel; 646. Wire feeding driving wheel; 647. Wire feeding driven wheel; 648. Pressure wire block; 649. Pressure wire rod; 6410. Guide rod; 6411. Guide tube mounting seat; 6412. Square hole; 6413. Guide tube; 6414. Driving shell; 65. Spool; 66. Adjusting member; 67. Expansion member. Detailed implementation manners

[0040] Next, the technical solutions in the embodiments of the present invention will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, rather than all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.

[0041] It should be understood that when used in this specification and the appended claims, the terms "comprising" and "including" indicate the presence of the described features, wholes, steps, operations, elements, and / or components, but do not exclude the presence or addition of one or more other features, wholes, steps, operations, elements, components, and / or their combinations.

[0042] It should also be understood that the terms used in the specification of the present invention are only for the purpose of describing specific embodiments and are not intended to limit the present invention. As used in the specification of the present invention and the appended claims, unless the context clearly indicates otherwise, the singular forms "a", "an" and "the" are intended to include the plural forms.

[0043] It should be further understood that the term "and / or" used in the specification of the present invention and the appended claims refers to any combination and all possible combinations of one or more of the associated listed items, and includes these combinations.

[0044] Please refer to Figures 1 - 5 , this embodiment provides an automatic welding device for the butt weld of large nuclear power pipelines, which is installed on the track 1 and includes: a walking assembly 2, the walking assembly 2 includes a walking driving member 21, a walking driving wheel 22, two walking driven wheels 23 and two walking shafts 24. The walking driving member 21 is in transmission connection with the walking driving wheel 22. The two walking driven wheels 23 are respectively in transmission connection with both sides of the walking driving wheel 22. Each walking driven wheel 23 is connected to a walking shaft 24. At least one walking shaft 24 is provided with a walking wheel tooth 241 meshing with the straight tooth 11 on the track 1.

[0045] In this embodiment, by symmetrically arranging a group of walking driven wheels 23 on both sides of the walking driving wheel 22, which is equivalent to setting constraints on both sides of the driving gear, it can ensure that when the center of gravity of the device moves, there is always a group of walking driven wheels 23 in a transmission state with the driving gear. Thus, it can effectively prevent the jitter phenomenon caused by the backlash of the gear and the translation of the center of gravity when the device walks near the highest or lowest point of the track 1, and then ensures the stability of the welding process, which is more conducive to improving the welding quality. At the same time, the driving method of using a single walking driving member 21 simplifies the control hardware and program, reduces the production cost and development time. In addition, the structure of this device is compact, making full use of space to arrange each functional module, reducing the size of the device, and being beneficial to the operation of the device in a narrow space.

[0046] When the device needs to be driven, the walking driving member 21 is started to drive the walking driving wheel 22 to rotate. The rotation of the walking driving wheel 22 will drive the walking driven wheels 23 to rotate. The rotation of the walking driven wheels 23 will further drive the walking shafts 24 to rotate. The walking wheel teeth 241 drive the whole device to move forward or backward by meshing with the straight teeth 11 on the track 1 and continuously rotating.

[0047] In this embodiment, please refer to Figure 2 and Figure 6, further comprising: a frame 3, the frame 3 includes a front plate 31, a rear plate 32 and an intermediate cylinder 33, the front plate 31 and the rear plate 32 are respectively arranged on both sides of the intermediate cylinder 33, the traveling drive member 21 is installed on the front plate 31, the traveling shaft 24 is rotatably installed on the intermediate cylinder 33, and an opening 331 is provided on the bottom surface of the intermediate cylinder 33 (as Figure 7 shown), and the traveling wheel teeth 241 are located within the opening 331.

[0048] Through the combined design of the front plate 31, the rear plate 32 and the intermediate cylinder 33 of the frame 3, the compactness of the structure is achieved. This design not only reduces the volume and weight of the whole vehicle, but also helps to improve the flexibility and maneuverability of the vehicle. An opening 331 is provided on the bottom surface of the intermediate cylinder 33, so that the traveling wheel teeth 241 can mesh with the straight teeth 11 on the track 1 through the opening 331, avoiding additional space occupation and further optimizing the overall structure.

[0049] In this embodiment, the frame 3 further comprises: an upper cover plate 34, the upper cover plate 34 is installed on the inner sides of the front plate 31 and the rear plate 32 and on the side surface of the intermediate cylinder 33, and the bottom surface of the upper cover plate 34 is fixed on the upper surface of the intermediate cylinder 33.

[0050] The upper cover plate 34 covers the inner sides of the front plate 31 and the rear plate 32 and the side surface of the intermediate cylinder 33. Such a design significantly increases the overall rigidity and strength of the frame 3. Under multi-directional force conditions, the upper cover plate 34 can tightly combine each component together to prevent deformation or damage caused by uneven force.

[0051] Furthermore, please refer to Figure 8 and Figure 9 , both the front plate 31 and the rear plate 32 are butterfly-shaped flat plates with the same shape, and are respectively stably placed at the front end and the rear end of the intermediate cylinder 33. Particularly, two first through holes 311 are symmetrically arranged along the width direction on the upper part of the front plate 31; and at the wings of the front plate 31 and the rear plate 32, countersunk holes 312 are symmetrically arranged for installing the handle 35 (as Figure 6 shown), ensuring the convenience of device operation. In addition, two first stepped holes 313, one second stepped hole 314 and two second through holes 315 are arranged at the lower part of the front plate 31. The two first stepped holes 313 are symmetrically distributed about the center line of the front plate 31 in the width direction, the second stepped hole 314 is also symmetrically distributed about the center line of the front plate 31, and the two second through holes 315 are also symmetrically distributed about the center line of the front plate 31 in the width direction, wherein the center line of the second stepped hole 314 coincides with the center line of the front plate 31. Similarly, two third stepped holes 321 and two third through holes 322 are provided at the lower part of the rear plate 32, and the two third through holes 322 are respectively coaxial with the two second through holes 315 on the front plate 31.

[0052] Furthermore, the middle parts of the lower surfaces of the front plate 31, the rear plate 32, and the middle cylinder 33 all exhibit a consistent arc surface design. Two fourth through holes 332 are provided at symmetric positions on the side surface of the middle cylinder 33 with respect to the center line (as shown in Figure 7 ), and at the same time, the lower half of the middle section of the fourth through hole 332 is removed at the bottom thereof, thereby forming two openings 331 to accommodate the traveling wheel teeth 241.

[0053] In this embodiment, a plurality of cable protective housings 323 and a plurality of wire pressing blocks 324 are further provided on the rear plate 32 (as shown in Figure 6 ). The cable protective housing 323 provides a fixed path and space for the cables, enabling the cables to be neatly and orderly arranged on the rear plate 32. This avoids the chaotic interweaving of the cables, improves the cleanliness and aesthetics inside the device. At the same time, the cable protective housing 323 can also protect the cables from physical damage, such as abrasion, extrusion, or pulling. This extends the service life of the cables and reduces equipment failures caused by cable damage. The wire pressing block 324 fixes the cables in place by applying pressure, ensuring a firm and reliable connection between the cables and other parts of the device. This reduces signal transmission problems or equipment failures caused by loose cables.

[0054] In this embodiment, the vehicle frame 3 further includes a front cover 36 and a rear cover 37 (as shown in Figure 6 ). The front cover 36 is provided on the front plate 31, and the rear cover 37 is provided on the rear plate 32. The front cover 36 provided on the front plate 31 can effectively protect the key components at the front of the vehicle frame 3, such as the traveling drive wheel 22 and the two traveling driven wheels 23, etc., preventing them from being damaged by the external environment, such as the invasion of dust, moisture, stones, etc. The rear cover 37 provided on the rear plate 32 also plays a protective role, capable of shielding and protecting the components at the rear of the vehicle frame 3, such as the cables, the cable protective housing 323, and the wire pressing blocks 324, etc., ensuring that they can work properly without being interfered by the outside.

[0055] In this embodiment, the driving end of the traveling driving member 21 passes through the second stepped hole 314 and is in transmission connection with the traveling drive wheel 22. The traveling driven wheels 23 are respectively in transmission connection with the traveling drive wheel 22 through at least one transmission wheel 26 (as shown in Figure 3 ), that is, both sides of the transmission wheel 26 are respectively engaged with the traveling driven wheel 23 and the traveling drive wheel 22, and the transmission wheel 26 is rotatably installed on the first stepped hole 313.

[0056] The two sides of the transmission wheel 26 are respectively meshed with the walking driven wheel 23 and the walking driving wheel 22, forming a stable transmission relationship, reducing the loss and fluctuation during the power transmission process. The stable transmission helps to maintain the smoothness and controllability of the vehicle or machine during driving. In addition, by adjusting the position, size and tooth ratio of the transmission wheel 26, the transmission ratio between the driving wheel and the driven wheel can be flexibly changed to meet the speed and torque requirements in different application scenarios.

[0057] In this embodiment, the walking shaft 24 is installed in the fourth through hole 332, and its two ends are respectively rotatably installed on the second through hole 315 and the third through hole 322 through two bearings 242 (as Figure 3 shown). As a professional rotating component, the bearing 242 can significantly reduce the frictional resistance of the walking shaft 24 during rotation, thereby improving its rotational flexibility. At the same time, the precise installation of the bearing 242 ensures the smooth rotation of the walking shaft 24 in the fourth through hole 332, reducing the noise and wear caused by shaking or vibration. In addition, the two bearings 242 are respectively installed at both ends of the walking shaft 24, providing a solid support for it and enhancing the load-bearing capacity of the walking shaft 24. This structure enables the walking shaft 24 to withstand greater radial and axial loads and is suitable for various complex working conditions.

[0058] Please refer to Figures 3 - 5 , the walking assembly 2 further includes: two clamping mechanisms 25. The two clamping mechanisms 25 are respectively arranged on both sides of the track 1. The clamping mechanism 25 includes a first press wheel mounting plate 251, a second press wheel mounting plate 252, a pressing screw rod 253, a pressing guide sleeve 254, two guide rods 255 and a conical guide wheel 256. The two ends of the first press wheel mounting plate 251 and the two ends of the second press wheel mounting plate 252 are respectively connected by two guide rods 255. The pressing guide sleeve 254 is arranged on the front plate 31 or the rear plate 32. The pressing guide sleeve 254 is arranged between the first press wheel mounting plate 251 and the second press wheel mounting plate 252, and both ends of the pressing guide sleeve 254 are slidably arranged on the two guide rods 255. The conical guide wheel 256 is arranged on the second press wheel mounting plate 252. One end of the pressing screw rod 253 passes through the first press wheel mounting plate 251 and abuts against the pressing guide sleeve 254, and the other end of the pressing screw rod 253 is threadedly connected to the first press wheel mounting plate 251 so that the position of the first press wheel mounting plate 251 is adjustable.

[0059] When the device needs to be installed on the track 1, while ensuring that the walking wheel teeth 241 mesh with the straight teeth 11 at one end of the track 1, place the conical guide wheel 256 at the other end of the track 1, and place the conical guide wheels 256 of the two clamping mechanisms 25 on both sides of the track 1 respectively. Then, turn the pressing screw rod 253 of one of the clamping mechanisms 25, so that the part of the pressing screw rod 253 extending out of the threaded hole continuously increases. Therefore, the distance between the first pressing wheel mounting plate 251 and the pressing guide sleeve 254 continuously increases. Since the pressing guide sleeve 254 is fixedly installed on the front plate 31 or the rear plate 32, the first pressing wheel mounting plate 251 is continuously lifted. And the first pressing wheel mounting plate 251 and the second pressing wheel mounting plate 252 are connected by the guide rod 255, so the second pressing wheel mounting plate 252 is also continuously lifted. The continuous lifting of the second pressing wheel mounting plate 252 causes the conical guide wheel 256 at the bottom of the second pressing wheel mounting plate 252 to be continuously lifted. Until the conical guide wheel 256 fits with the bottom inclined surface of the track 1, and then perform the same operation on the other clamping mechanism 25 to complete the fitting of the other conical guide wheel 256 with the bottom inclined surface of the track 1. Thus, the installation of the device on the track 1 can be completed.

[0060] Among them, the clamping mechanism 25 realizes the stable clamping of both sides of the track 1 through the combination of the first pressing wheel mounting plate 251, the second pressing wheel mounting plate 252, the pressing screw rod 253, the pressing guide sleeve 254, the guide rod 255 and the conical guide wheel 256. The setting of the conical guide wheel 256 not only provides a good guiding effect, but also can reduce friction and noise during walking, improving the smoothness and efficiency of walking.

[0061] In this embodiment, please refer to Figure 2 and Figure 10 , and it also includes: a welding torch fixing assembly 4. The welding torch fixing assembly 4 includes a first displacement mechanism 41 and a second displacement mechanism 42 for installing the welding torch. The first displacement mechanism 41 is movably installed on the vehicle frame 3 in the first direction, and the second displacement mechanism 42 is movably installed on the first displacement mechanism 41 in the second direction.

[0062] Through the combination of the first displacement mechanism 41 and the second displacement mechanism 42, the welding torch can move in multiple dimensions on the vehicle frame 3 to adapt to the welding requirements of different positions and different angles, greatly improving the flexibility of the welding operation. The design of the two displacement mechanisms enables the welding torch to accurately reach the designated position, ensuring the accuracy and consistency of welding, and thus improving the welding quality.

[0063] Among them, the first direction and the second direction are determined according to the actual usage situation, and this embodiment does not limit them too much. For example, the first direction can be the left-right direction, and the second direction can be the up-down direction. Or the first direction can be the front-back direction, and the second direction can be the up-down direction, etc.

[0064] Furthermore, the first displacement mechanism 41 includes: a first driving member 411, a lead screw 412, a displacement driving wheel 413, a displacement driven wheel 414, a lead screw fixing seat 415, a lead screw connecting member 416, a telescopic joint mounting plate 417 and a telescopic joint 418. The displacement driven wheel 414, the lead screw fixing seat 415 and the first driving member 411 are arranged on the vehicle frame 3. The driving end of the first driving member 411 is in transmission connection with the displacement driving wheel 413. The displacement driving wheel 413 is in transmission connection with the displacement driven wheel 414. The two ends of the lead screw 412 are respectively mounted on the displacement driven wheel 414 and the lead screw fixing seat 415. The lead screw connecting member 416 is movably mounted on the lead screw 412 in the first direction. The lead screw connecting member 416 is connected to the telescopic joint mounting plate 417. The telescopic joint mounting plate 417 is connected to one end of the telescopic joint 418. The other end of the telescopic joint 418 is connected to the second displacement mechanism 42.

[0065] Specifically, the driving end of the first driving member 411 passes through one of the third stepped holes 321 and is in transmission connection with the displacement driving wheel 413. The lead screw 412 passes through the other third stepped hole 321 and is fixedly connected to the displacement driven wheel 414. The other end of the telescopic joint 418 passes through the first through hole 311 and is connected to the second displacement mechanism 42. The lead screw connecting member 416 and the telescopic joint mounting plate 417 are connected through a transition block 419. More specifically, the lead screw connecting member 416 is fixedly connected to the side surface of the transition block 419, and the telescopic joint mounting plate 417 is mounted on the top of the transition block 419.

[0066] In this embodiment, by using the cooperation of the lead screw 412 and the lead screw connecting member 416, high-precision displacement control can be achieved. The lead screw 412 transmission has the characteristics of stable transmission and accurate positioning, making the displacement process more precisely controllable. At the same time, the design of the telescopic joint 418 enables the displacement mechanism to have stronger adaptability when dealing with displacement requirements of different lengths or heights. By adjusting the length of the telescopic joint 418, the stroke range of the displacement mechanism can be conveniently changed.

[0067] Among them, the working process of the first displacement mechanism 41 is as follows: The first driving member 411 is started to drive the displacement driving wheel 413 to rotate. The displacement driving wheel 413 transmits the power to the displacement driven wheel 414 via a transmission device (it can also be transmitted without passing through a transmission device, that is, the displacement driving wheel 413 and the displacement driven wheel 414 are directly meshed, and the transmission device can be a belt, a gear or a chain), and then the lead screw 412 starts to rotate. The rotation of the lead screw 412 causes the lead screw connecting member 416 to perform a linear movement along the direction of the lead screw 412, so as to drive the telescopic joint mounting plate 417 and the connected telescopic joint 418 to move together. When the predetermined position is reached, the first driving member 411 stops working to complete the position adjustment.

[0068] Further, the first displacement mechanism 41 further includes: at least one telescopic slider 4110 and at least one telescopic slide rail 4111. The two ends of the telescopic slide rail 4111 are respectively installed on the front plate 31 and the rear plate 32. The telescopic slider 4110 is slidably arranged on the telescopic slide rail 4111, and the telescopic joint mounting plate 417 is arranged on the telescopic slider 4110.

[0069] By installing the telescopic slide rail 4111 on the front plate 31 and the rear plate 32 and allowing the telescopic slider 4110 to slide thereon, more stable support can be provided for the entire first displacement mechanism 41. This not only improves the rigidity of the system but also ensures the straightness and accuracy during the movement. At the same time, the use of the telescopic slider 4110 and the telescopic slide rail 4111 can make the load more evenly distributed on the slide rail, avoiding structural damage caused by local stress concentration, and further enhancing the reliability and durability of the system.

[0070] In this embodiment, please refer to Figure 11 , the second displacement mechanism 42 includes: a second driving member 421, a displacement gear 422, a rack 423, a rear fixing plate 424, and a welding torch fixing plate 425 for fixing the welding torch. One end of the second driving member 421 is installed on the first displacement mechanism 41, the other end of the second driving member 421 is in transmission connection with the displacement gear 422, the rear fixing plate 424 is installed on the first displacement mechanism 41, the welding torch fixing plate 425 is movably installed on the rear fixing plate 424 in the second direction, the rack 423 is arranged on the welding torch fixing plate 425 along the second direction, and the displacement gear 422 meshes with the rack 423.

[0071] The meshing design of the displacement gear 422 and the rack 423 ensures the high precision and stability of the welding torch during the movement. Due to the close cooperation between the gear and the rack 423, the error during the movement can be reduced, and precise displacement control can be achieved. And the design of the entire second displacement mechanism 42 is relatively compact, and the connection between each component is tight and orderly. This design not only reduces the floor area but also improves the space utilization rate, making the entire welding system more compact and efficient.

[0072] Among them, the working process of the second displacement mechanism 42 is as follows: The second driving member 421 receives an instruction to start working and drives the displacement gear 422 to rotate. The displacement gear 422 meshes with the rack 423 fixed on the welding torch fixing plate 425. As the displacement gear 422 rotates, the welding torch fixing plate 425 moves in the second direction. According to the preset program or manual control, the welding torch fixing plate 425 and the welding torch thereon are accurately moved to the specified position.

[0073] Further, the second displacement mechanism 42 further includes: at least one displacement slide rail 426 and at least one displacement slider 427. The displacement slide rail 426 is disposed on the rear fixing plate 424, and the displacement slider 427 is disposed on the welding torch fixing plate 425; alternatively, the displacement slide rail 426 is disposed on the welding torch fixing plate 425, and the displacement slider 427 is disposed on the rear fixing plate 424, wherein the displacement slider 427 is slidably disposed on the displacement slide rail 426.

[0074] The combination of the displacement slide rail 426 and the displacement slider 427 provides precise guidance for the movement of the welding torch. The straightness and parallelism of the slide rail ensure the stability and accuracy of the welding torch during movement. At the same time, the sliding design of the displacement slider 427 on the displacement slide rail 426 reduces friction and resistance during movement, making the movement of the welding torch smoother and more fluent. This helps to reduce vibration and noise, as well as improve the welding quality. In addition, the displacement slide rail 426 and the displacement slider 427 usually have high structural strength and stiffness, and can bear the weight of the welding torch and its accessories, as well as the dynamic load generated during movement. This design ensures the stability and reliability of the displacement mechanism during long-term use.

[0075] In this embodiment, the second displacement mechanism 42 further includes: a reducer 428 and a coupling 429. The other end of the second driving member 421 is drivingly connected to one end of the reducer 428, the other end of the reducer 428 is drivingly connected to one end of the coupling 429, and the other end of the coupling 429 is drivingly connected to the displacement gear 422.

[0076] The reducer 428 can reduce the rotational speed, so it can reduce the wear and load of the second driving member 421 and extend its service life. The reducer 428 can also reduce the vibration and noise generated due to excessive rotational speed, thereby improving the accuracy and stability of displacement. The coupling 429 can ensure a stable connection between the reducer 428 and the displacement gear 422, avoiding excessive clearance or looseness during transmission, and thus ensuring the continuity and reliability of transmission.

[0077] In this embodiment, each telescopic joint 418 includes 3 cylinders with different diameters, and the thicker cylinder is sleeved outside the thinner cylinder so that the thinner cylinder can slide freely inside the thicker cylinder. The second driving member 421 is installed inside the thinnest cylinder of one of the telescopic joints 418. The thinnest cylinders of the two telescopic joints 418 are inserted into the clamping holes 4241 of the rear fixing plate 424 and clamped by screwing bolts into the screw holes 4242 of the rear fixing plate 424, so that the rear fixing plate 424 can be installed on the telescopic joint 418.

[0078] In this embodiment, the device further includes: a filter plate 5 (such as Figure 6As shown in the figure, the filter board 5 is arranged on the expansion joint mounting board 417. The filter board 5 can effectively filter out high-frequency noise and interference on the power line or signal line, ensuring the normal operation of the internal electronic devices of the equipment.

[0079] In this embodiment, please refer to Figure 12 , the equipment further includes: a wire feeding assembly 6. The wire feeding assembly 6 includes a wire spool cart 61, a first connecting rod 62, a second connecting rod 63, a wire feeding mechanism 64, and a wire spool 65 for loading welding wires. The wire spool 65 is arranged on the wire spool cart 61. The bottom of the wire spool cart 61 is arranged on the track 1. One side of the wire spool cart 61 is connected to one side of the wire feeding mechanism 64 through the second connecting rod 63, and the other side of the wire feeding mechanism 64 is connected to the vehicle frame 3 through the first connecting rod 62.

[0080] The wire spool cart 61 is connected to the wire feeding mechanism 64 and the vehicle frame 3 through the first connecting rod 62 and the second connecting rod 63, forming a stable structural system. This connection method not only ensures the smoothness of the wire feeding process but also reduces wire feeding failures caused by vibration or external force interference, improving the reliability of welding. The design of the wire feeding assembly 6 makes the loading, replacement, and maintenance of the welding wire relatively simple. The wire spool cart 61 can be easily moved into place, facilitating the loading and unloading of the welding wire. At the same time, the modular design of the connecting rod and the wire feeding mechanism 64 also facilitates disassembly and repair.

[0081] In this embodiment, please refer to Figure 13 , two sets of rotating wheel groups and two sets of guiding wheel groups are rotatably arranged at the bottom of the wire spool cart 61. The two sets of rotating wheel groups respectively abut against both sides of one end of the track 1, and the two sets of guiding wheel groups respectively abut against both sides of the other end of the track 1.

[0082] The rotating wheel groups abut against both sides of one end of the track 1, providing the main forward power and support for the wire spool cart 61, ensuring the stability of the wire spool cart 61 when moving on the track 1. The guiding wheel groups abut against both sides of the other end of the track 1, playing a role of auxiliary support and guidance, further enhancing the stability of the wire spool cart 61 during the movement process and preventing it from deviating from the track 1 due to external force or internal imbalance.

[0083] Among them, the rotating wheel group includes a plurality of rotating wheels 611, and the guiding wheel group includes a plurality of guiding wheels 612.

[0084] Further, the wire feeding assembly 6 further includes: an adjusting member 66 and a telescopic member 67. One set of guide wheel sets is arranged at the bottom of the wire spool cart 61, and the other set of guide wheel sets is arranged at the bottom of the telescopic member 67. The telescopic member 67 is telescopically installed on the side of the wire spool cart 61. One end of the adjusting member 66 is connected to the wire spool cart 61, and the other end of the adjusting member 66 is threadedly connected to the telescopic member 67 to adjust the distance between the two sets of guide wheel sets. The user can screw the adjusting member 66 to extend or shorten the telescopic member 67, and the extension or shortening of the telescopic member 67 causes the distance between the two sets of guide wheel sets to increase or decrease.

[0085] In this embodiment, through the threaded connection between the adjusting member 66 and the telescopic member 67, the distance between the two sets of guide wheel sets can be conveniently adjusted. This design enables the wire feeding assembly 6 to adapt to tracks 1 of different widths, improving the versatility and practicality of the wire feeding assembly 6, ensuring that the guide wheel sets always maintain good contact with the track 1, thereby enhancing the running stability and safety.

[0086] Please refer to Figure 14 , the wire feeding mechanism 64 includes: a wire feeding driving member 641, a wire feeding wheel 642, a driving mounting seat 643, a wire feeding mounting seat 644, and a wire pressing wheel 645. The wire feeding driving member 641 is arranged on one side of the driving mounting seat 643. The driving end of the wire feeding driving member 641 passes through the driving mounting seat 643 and is in transmission connection with the wire feeding wheel 642. One end of the wire feeding wheel 642 is rotatably arranged on the other side of the driving mounting seat 643. The other side of the driving mounting seat 643 is arranged on one side of the wire feeding mounting seat 644. The other end of the wire feeding wheel 642 passes through the wire feeding mounting seat 644 and extends to the other side of the wire feeding mounting seat 644. The wire pressing wheel 645 is rotatably arranged on the other side of the wire feeding mounting seat 644 and is aligned with the other end of the wire feeding wheel 642. There is a wire feeding space for the welding wire to pass through between the wire pressing wheel 645 and the wire feeding wheel 642.

[0087] The wire feeding driving member 641 drives the wire feeding wheel 642 to rotate through transmission connection. This design ensures that the welding wire can be continuously and stably sent out. The wire feeding space between the wire feeding wheel 642 and the wire pressing wheel 645 ensures that the welding wire will not deviate from the predetermined path during the conveying process. The presence of the wire pressing wheel 645 increases the friction force on the welding wire, helping to maintain the stability of the welding wire during the wire feeding process. The wire feeding wheel 642 and the wire pressing wheel 645 are usually made of wear-resistant materials and can withstand the friction of the welding wire for a long time without being easily worn. This extends the service life of the wire feeding mechanism 64 and reduces the maintenance cost.

[0088] Among them, the working process of the wire feeding mechanism 64 is as follows: correctly pass the welding wire through the wire feeding space between the wire feeding wheel 642 and the wire pressing wheel 645, and adjust the appropriate pressing force. Set the appropriate wire feeding speed according to the welding requirements, and then start the wire feeding driving member 641. As the wire feeding wheel 642 rotates, the welding wire is continuously pushed towards the welding point.

[0089] In this embodiment, the traveling driving member 21, the first driving member 411, the second driving member 421, and the wire feeding driving member 641 can be motors or motors. They can also be other driving devices or driving structures capable of providing a rotating function.

[0090] In some embodiments, the wire feeding mechanism 64 further includes: a wire feeding driving wheel 646 and a wire feeding driven wheel 647. The driving end of the wire feeding driving member 641 passes through the driving mounting seat 643 and is fixedly connected to the wire feeding driving wheel 646. One end of the wire feeding driven wheel 647 is fixedly connected to the wire feeding wheel 642, and the other end of the wire feeding driven wheel 647 is rotatably connected to the driving mounting seat 643. The wire feeding driving wheel 646 and the wire feeding driven wheel 647 are engaged.

[0091] This meshing structure of the wire feeding driving wheel 646 and the wire feeding driven wheel 647 can ensure the stability of wire feeding. The wire feeding driving wheel 646 rotates under the drive of the wire feeding driving member 641. Due to meshing with the wire feeding driven wheel 647, the wire feeding driven wheel 647 rotates synchronously. The fixed connection relationship between the wire feeding driven wheel 647 and the wire feeding wheel 642 further ensures that the wire feeding wheel 642 can accurately perform the wire feeding operation. This structure can effectively avoid the occurrence of jams or uneven wire feeding during the wire feeding process.

[0092] Furthermore, the wire feeding mechanism 64 further includes: a wire pressing block 648, a wire pressing rod 649, and two guide rods 6410. An adjustment space 6441 is provided on the wire feeding mounting seat 644. The two guide rods 6410 are arranged in the adjustment space 6441 along the height direction. Both ends of the wire pressing block 648 are slidably mounted on the two guide rods 6410. The wire pressing wheel 645 is rotatably arranged on the wire pressing block 648. One end of the wire pressing rod 649 is connected to the wire pressing wheel 645, and the other end of the wire pressing rod 649 passes through the wire feeding mounting seat 644 and is threadedly connected to the wire feeding mounting seat 644 so that the position of the wire pressing block 648 is adjustable.

[0093] The threaded connection design of the wire pressing rod 649 and the wire feeding mounting seat 644 allows the user to adjust the position of the wire pressing block 648 by rotating the wire pressing rod 649. This fine-tuning mechanism ensures that the gap between the wire pressing wheel 645 and the wire feeding wheel 642 can be precisely controlled, thereby adapting to welding wires of different diameters and ensuring the stability and uniformity of wire feeding. At the same time, the wire pressing block 648 is slidably mounted through the two guide rods 6410. This design ensures the stability of the wire pressing block 648 during the adjustment process. The guide rods 6410 not only provide a sliding track 1 but also limit the lateral movement of the wire pressing block 648, thereby maintaining a constant wire pressing pressure and avoiding unstable wire feeding caused by pressure fluctuations.

[0094] Among them, the working process of the height adjustment of the wire pressing wheel 645 is as follows: Rotate the wire pressing screw 649, so that the length of the wire pressing screw 649 extending into the adjustment space 6441 continuously increases. The continuous extension of the wire pressing screw 649 causes the wire pressing block 648 to continuously descend in the height direction. The descent of the wire pressing block 648 causes the wire pressing wheel 645 to descend. When the wire pressing wheel 645 reaches the specified position, stop rotating the wire pressing screw 649 to complete the height adjustment of the wire pressing wheel 645.

[0095] In this embodiment, the wire feeding mechanism 64 further includes: a wire guiding tube mounting seat 6411. The wire guiding tube mounting seat 6411 is mounted on the other side of the wire feeding mounting seat 644. A square hole 6412 is provided in the middle of the wire guiding tube mounting seat 6411. Wire guiding tubes 6413 communicating with the square hole 6412 are provided on both sides of the wire guiding tube mounting seat 6411. The wire pressing wheel 645 and the wire feeding wheel 642 are located in the square hole 6412, and the center line of the wire feeding space coincides with the center line of the wire guiding tube 6413.

[0096] The wire pressing wheel 645 and the wire feeding wheel 642 are located in the square hole 6412, and the center line of the wire feeding space coincides with the center line of the wire guiding tube 6413. This design ensures that the welding wire can maintain a straight state during the conveying process, avoiding problems such as poor wire feeding caused by bending or knotting.

[0097] In this embodiment, the wire feeding mechanism 64 further includes: a driving shell 6414. The driving shell 6414 is detachably connected to the driving mounting seat 643, and the wire feeding driving member 641 is located inside the driving shell 6414. This detachable connection provides great convenience for the maintenance and overhaul of the equipment. When the wire feeding driving member 641 fails, the operator can easily detach the driving shell 6414 from the driving mounting seat 643 and directly check, repair or replace the internal wire feeding driving member 641. Moreover, the design of the driving shell 6414 also takes into account the sealing performance to prevent external dust, impurities, etc. from entering the shell and affecting the normal operation of the wire feeding driving member 641. The material of the driving shell 6414 is usually selected as a high-strength and corrosion-resistant metal material, which not only ensures the stability of its own structure but also can be used for a long time in a complex working environment. At the same time, a special heat dissipation structure is provided inside the driving shell 6414. Since the wire feeding driving member 641 generates a certain amount of heat during operation, the good heat dissipation structure can effectively dissipate the heat, avoiding the performance decline or damage of the wire feeding driving member 641 due to excessive temperature, thereby ensuring the stable operation of the entire wire feeding mechanism 64.

[0098] The various embodiments in the specification are described in a progressive manner. Each embodiment focuses on the differences from other embodiments. For the same or similar parts among the embodiments, reference can be made to each other. For the devices disclosed in the embodiments, since they correspond to the methods disclosed in the embodiments, the description is relatively simple. For the relevant parts, reference can be made to the description in the method section. It should be noted that for those of ordinary skill in the art in this technical field, without departing from the principle of the present invention, several improvements and modifications can be made to the present invention, and these improvements and modifications also fall within the protection scope of the claims of the present invention.

[0099] It should also be noted that in this specification, relational terms such as "first" and "second" are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any actual relationship or order between these entities or operations. Moreover, the term "comprising", "including" or any other variant thereof is intended to cover non-exclusive inclusion.

[0100] Including, so that a process, method, article or device including a series of elements not only includes those elements, but also includes other elements not explicitly listed, or further includes elements inherent to such a process, method, article or device. Without more limitations, an element defined by the statement "including one..." does not exclude the existence of another identical element in the process, method, article or device including the said element.

Claims

1. An automatic welding equipment for butt weld of large nuclear power pipelines, installed on a track, characterized in that: include: A walking assembly, the walking assembly includes a walking drive member, a walking drive wheel, two walking driven wheels and two walking shafts, the walking drive member is connected to the walking drive wheel in a transmission manner, the two walking driven wheels are respectively connected to the two sides of the walking drive wheel in a transmission manner, each of the walking driven wheels is connected to one of the walking shafts, and at least one of the walking shafts is provided with walking wheel teeth meshing with the spur teeth on the track.

2. The automatic welding equipment for butt weld of nuclear power large pipelines according to claim 1 is characterized in that: Also includes: The frame includes a front plate, a rear plate and an intermediate cylinder, the front plate and the rear plate are respectively arranged on both sides of the intermediate cylinder, the travel drive component is installed on the front plate, the travel shaft is rotatably installed on the intermediate cylinder, the bottom surface of the intermediate cylinder is provided with an opening, and the travel gear teeth are located in the opening.

3. The automatic welding equipment for butt weld of nuclear power large pipeline according to claim 2 is characterized in that: The walking assembly also includes: two clamping mechanisms, the two clamping mechanisms are respectively arranged on both sides of the track, the clamping mechanism includes a first pressure wheel mounting plate, a second pressure wheel mounting plate, a clamping rotary rod, a clamping guide sleeve, two guide rods and a conical guide wheel, the two ends of the first pressure wheel mounting plate and the two ends of the second pressure wheel mounting plate are respectively connected through the two guide rods, the clamping guide sleeve is arranged on the front plate or the rear plate, the clamping guide sleeve is arranged between the first pressure wheel mounting plate and the second pressure wheel mounting plate, and the two ends of the clamping guide sleeve are slidably arranged on the two guide rods, the conical guide wheel is arranged on the second pressure wheel mounting plate, one end of the clamping rotary rod passes through the first pressure wheel mounting plate and abuts against the clamping guide sleeve, and the other end of the clamping rotary rod is threadedly connected to the first pressure wheel mounting plate so that the position of the first pressure wheel mounting plate is adjustable.

4. The automatic welding equipment for butt weld of nuclear power large pipelines according to claim 2 is characterized in that: Also includes: A welding gun fixing assembly comprises a first displacement mechanism and a second displacement mechanism for mounting the welding gun, wherein the first displacement mechanism can be mounted on the frame movably in a first direction, and the second displacement mechanism can be mounted on the first displacement mechanism movably in a second direction.

5. The automatic welding equipment for butt weld of nuclear power large pipeline according to claim 4 is characterized in that: The first displacement mechanism comprises: a first driving member, a screw, a displacement driving wheel, a displacement driven wheel, a screw fixing seat, a screw connecting member, a telescopic joint mounting plate and a telescopic joint, the displacement driven wheel, the screw fixing seat and the first driving member are arranged on the frame, the driving end of the first driving member is transmission-connected with the displacement driving wheel, the displacement driving wheel is transmission-connected with the displacement driven wheel, the two ends of the screw are respectively mounted on the displacement driven wheel and the screw fixing seat, the screw connecting member can be movably mounted on the screw in a first direction, the screw connecting member is connected to the telescopic joint mounting plate, the telescopic joint mounting plate is connected to one end of the telescopic joint, and the other end of the telescopic joint is connected to the second displacement mechanism.

6. The automatic welding equipment for butt weld of nuclear power large pipelines according to claim 4 is characterized in that: The second displacement mechanism includes: a second driving member, a displacement gear, a rack, a rear fixing plate and a welding gun fixing plate for fixing the welding gun, one end of the second driving member is installed on the first displacement mechanism, the other end of the second driving member is transmission connected with the displacement gear, the rear fixing plate is installed on the first displacement mechanism, the welding gun fixing plate can be movably installed on the rear fixing plate in the second direction, the rack is arranged on the welding gun fixing plate along the second direction, and the displacement gear is meshed with the rack.

7. The automatic welding equipment for butt welding of large nuclear power pipelines according to claim 6 is characterized in that: The second displacement mechanism also includes: at least one displacement slide rail and at least one displacement slider, the displacement slide rail is arranged on the rear fixed plate, and the displacement slider is arranged on the welding gun fixed plate; or, the displacement slide rail is arranged on the welding gun fixed plate, and the displacement slider is arranged on the rear fixed plate, wherein the displacement slider is slidably arranged on the displacement slide rail.

8. The automatic welding equipment for butt welding of large nuclear power pipelines according to claim 2 is characterized in that: Also includes: A wire feeding assembly, the wire feeding assembly includes a wire reel car, a first connecting rod, a second connecting rod, a wire feeding mechanism and a wire reel for loading welding wire, the wire reel is arranged on the wire reel car, the bottom of the wire reel car is arranged on the track, the wire reel car is connected to one side of the wire feeding mechanism through the second connecting rod, and the other side of the wire feeding mechanism is connected to the frame through the first connecting rod.

9. The automatic welding equipment for butt welding of large nuclear power pipelines according to claim 8 is characterized in that: The wire feeding mechanism includes: a wire feeding drive, a wire feeding wheel, a driving mounting seat, a wire feeding mounting seat and a wire pressing wheel, the wire feeding drive is arranged on one side of the driving mounting seat, the driving end of the wire feeding drive passes through the driving mounting seat and is transmission-connected to the wire feeding wheel, one end of the wire feeding wheel is rotatably arranged on the other side of the driving mounting seat, the other side of the driving mounting seat is arranged on one side of the wire feeding mounting seat, the other end of the wire feeding wheel passes through the wire feeding mounting seat and extends to the other side of the wire feeding mounting seat, the wire pressing wheel is rotatably arranged on the other side of the wire feeding mounting seat and is aligned with the other end of the wire feeding wheel, and a wire feeding space for the welding wire to pass through is provided between the wire pressing wheel and the wire feeding wheel.

10. The automatic welding equipment for butt weld of nuclear power large pipelines according to claim 9 is characterized in that: The wire feeding mechanism also includes: a wire pressing block, a wire pressing rod and two guide rods. An adjustment space is provided on the wire feeding mounting seat. The two guide rods are arranged in the adjustment space along the height direction. The two ends of the wire pressing block are respectively slidably mounted on the two guide rods. The wire pressing wheel is rotatably arranged on the wire pressing block. One end of the wire pressing rod is connected to the wire pressing wheel, and the other end of the wire pressing rod passes through the wire feeding mounting seat and is threadedly connected to the wire feeding mounting seat so that the position of the wire pressing block is adjustable.

11. The automatic welding equipment for butt weld of nuclear power large pipelines according to claim 9 is characterized in that: The wire feeding mechanism also includes: a wire guide tube mounting seat, the wire guide tube mounting seat is mounted on the other side of the wire feeding mounting seat, a square hole is arranged in the middle of the wire guide tube mounting seat, wire guide tubes connected to the square hole are arranged on both sides of the wire guide tube mounting seat, the wire pressing wheel and the wire feeding wheel are located in the square hole, and the center line of the wire feeding space coincides with the center line of the wire guide tube.

12. The automatic welding equipment for butt weld of nuclear power large pipelines according to claim 8 is characterized in that: The bottom of the wire reel vehicle is rotatably provided with two sets of rotating wheel groups and two sets of guide wheel groups. The two sets of rotating wheel groups are respectively abutted against the two sides of one end of the track, and the two sets of guide wheel groups are respectively abutted against the two sides of the other end of the track.

13. The automatic welding equipment for butt weld of nuclear power large pipelines according to claim 12 is characterized in that: The wire feeding assembly also includes: an adjusting member and a telescopic member, wherein one group of the guide wheel groups is arranged at the bottom of the wire reel, and the other group of the guide wheel groups is arranged at the bottom of the telescopic member, and the telescopic member can be telescopically installed on the side of the wire reel, one end of the adjusting member is connected to the wire reel, and the other end of the adjusting member is threadedly connected to the telescopic member to adjust the distance between the two groups of guide wheel groups.

Images