Shield tunneling machine cutterhead welding device

Abstract

The utility model provides a shield tunneling machine cutterhead welding device, a position changing machine is installed on a device frame, and a shield tunneling machine cutterhead is installed on the position changing machine. The first welding mechanism is arranged on the device frame and used for welding the upper surface of the shield tunneling machine cutterhead. The second welding mechanism is arranged on the device frame and used for welding the lower surface of the shield tunneling machine cutterhead. The first welding mechanism and the second welding mechanism can conduct welding operation independently and can conduct welding operation at the same time, the welding efficiency of the shield tunneling machine cutterhead can be improved through collaborative welding operation of the first welding mechanism and the second welding mechanism, and the welding cost can be reduced. The position changing machine can comprehensively weld the shield tunneling machine cutterhead by adjusting the rotating angle and direction of the shield tunneling machine cutterhead, and meanwhile, the position changing machine can conveniently adjust the welding position of a large amount of shield tunneling machine cutterhead, so that the operation risk is reduced, and the safety in the position adjusting process of the shield tunneling machine cutterhead is guaranteed.

Description

TECHNICAL FIELD

[0001] The utility model relates to shield machine cutterhead welding technical field especially relates to a shield machine cutterhead welding device. BACKGROUND

[0002] With the rapid construction of modern city, the utilization of underground space is paid more and more attention, at the same time, shield tunnel construction technology is also constantly improved, so that the development speed of city underground space is accelerated. Among them, the cutterhead component is the main working component of the shield machine, and at present, the cutterhead component is basically completed by manual welding, and the welding efficiency is low, the cost is high, and because the cutterhead component of the shield machine is large in size and weight, it is not easy to overturn and rotate, and the safety risk of manual hoisting workpiece is too high. SUMMARY

[0003] In view of the above problems, the utility model is provided to overcome the above problems or at least partially solve the above problems, the shield machine cutterhead welding device can solve the problems of low welding efficiency of the existing welding device and high safety risk in the welding process, and achieve the effects of improving the welding efficiency and reducing the safety risk.

[0004] Specifically, the utility model provides a shield machine cutterhead welding device, which comprises:

[0005] A device frame;

[0006] A positioner is installed on the device frame, and the shield machine cutterhead is installed on the positioner;

[0007] A first welding mechanism is arranged on the device frame and is used for welding the upper surface of the shield machine cutterhead;

[0008] A second welding mechanism is arranged on the device frame and is used for welding the lower surface of the shield machine cutterhead.

[0009] Preferably, the device frame comprises:

[0010] A first track assembly is horizontally arranged and horizontally arranged; the first welding mechanism is slidingly arranged on the first track assembly;

[0011] A second track assembly is horizontally arranged and horizontally arranged; the second welding mechanism is slidingly arranged on the first track assembly.

[0012] Preferably, the first welding mechanism comprises:

[0013] A gantry is slidingly installed on the first track assembly, and the gantry is located on the outer side of the positioner;

[0014] at least one first welding robot, which is installed on the gantry and is located above the gantry.

[0015] Preferably, the second welding mechanism comprises:

[0016] a sliding frame, which is slidingly arranged on the second track assembly;

[0017] a second welding robot, which is installed on the sliding frame; the second welding robot is located below the shield machine cutter installation position.

[0018] Preferably, the positioner comprises:

[0019] a rotating base, which is installed on the device frame, and the shield machine cutter is installed on the upper surface of the rotating base; the rotating base is used to overturn and rotate the shield machine cutter;

[0020] a central clamping mechanism, which is used to fix the shield machine cutter on the rotating base and enable the shield machine cutter to be coaxial with the upper surface of the rotating base.

[0021] Preferably, the central clamping mechanism comprises:

[0022] a plurality of clamp rails, which are arranged on the rotating base and are arranged in the radial direction of the rotating base; the plurality of clamp rails are uniformly distributed in the circumferential direction of the rotating base;

[0023] a plurality of clamp blocks, each of which is slidingly arranged on one of the clamp rails and can abut the peripheral wall of the shield machine cutter;

[0024] a plurality of transmission mechanisms, each of which is connected with one of the clamp blocks and is used to drive the clamp block to slide on the clamp rail.

[0025] Preferably, the transmission mechanism comprises:

[0026] a transmission nut, which is fixedly arranged on the rotating base;

[0027] a transmission screw rod, which is installed on the transmission nut and constitutes a screw-nut mechanism with the transmission nut; a first end of the transmission screw rod is connected with the clamp block;

[0028] a transmission motor, which is connected with a second end of the transmission screw rod and is used to drive the transmission screw rod to rotate.

[0029] Preferably, the rotating base further comprises:

[0030] A rotating body is arranged on the device frame in a first direction, wherein the first direction is the direction of the overturning;

[0031] A mounting table is arranged on the rotating body in a second direction, wherein the second direction is the direction of the rotating;

[0032] A rotating gear is coaxially connected with the mounting table to drive the mounting table to rotate synchronously;

[0033] An overturning gear is coaxially connected with the rotating shaft of the rotating body to drive the rotating body to rotate synchronously.

[0034] Preferably, the first welding mechanism further comprises a first gun cleaning and wire cutting device, and the second welding mechanism further comprises a second gun cleaning and wire cutting device.

[0035] Preferably, the gantry comprises:

[0036] Two vertical beam frames are symmetrically arranged on both sides of the positioner, and the vertical beam frames are slidably arranged on the first track assembly;

[0037] A horizontal beam frame is slidably connected to the vertical beam frames at both ends, and the first welding robot is arranged on the horizontal beam frame;

[0038] A lifting mechanism is arranged on the vertical beam frame to drive the horizontal beam frame to slide up and down on the vertical beam frame.

[0039] In the shield machine cutter welding device, the positioner, the first welding mechanism and the second welding mechanism are arranged, and the positioner can drive the shield machine cutter to overturn and rotate, so that the position and orientation of the shield machine cutter can be changed to facilitate subsequent welding work of the shield machine cutter. The first welding mechanism and the second welding mechanism can be used for welding work alone or simultaneously, and the cooperative welding work of the first welding mechanism and the second welding mechanism can improve the welding efficiency of the shield machine cutter and reduce the welding cost.

[0040] Further, the positioner can realize overall welding of the shield machine cutter by adjusting the rotation angle and direction of the shield machine cutter, and at the same time, the positioner can conveniently adjust the welding position of the large shield machine cutter, thereby reducing the operation risk and ensuring the safety during the adjustment of the position of the shield machine cutter.

[0041] The above and other objects, advantages and features of the present application will become more apparent from the following detailed description of some embodiments thereof, when taken in conjunction with the annexed drawings, in which: BRIEF DESCRIPTION OF DRAWINGS

[0042] Some embodiments of the present application will now be described in detail in the following detailed description with reference to the drawings. Like reference numerals indicate like elements or parts in the drawings. It will be understood by those skilled in the art that the drawings are not necessarily to scale. In the drawings:

[0043] Figure 1 is a schematic structural view of a shield machine cutterhead welding device according to an embodiment of the present application;

[0044] Figure 2 is a schematic partial structural view of a shield machine cutterhead welding device according to an embodiment of the present application;

[0045] Figure 3 is a schematic structural view of a positioner in a shield machine cutterhead welding device according to an embodiment of the present application;

[0046] In the drawings: 100, device frame; 110, first track assembly; 120, second track assembly; 200, positioner; 210, rotating base; 213, rotating gear; 214, overturning gear; 220, central clamping mechanism; 230, clamping block; 240, transmission mechanism; 250, clamping track; 260, overturning motor; 300, first welding mechanism; 310, gantry; 320, first welding robot; 400, second welding mechanism; 410, sliding frame; 420, second welding robot. DETAILED DESCRIPTION

[0047] The shield machine cutterhead welding device of the embodiments of the present application will now be described below with reference to Figures 1 to 3 In the description of the embodiments of the present application, it should be understood that the terms "first", "second" are used only for the purpose of description, and should not be understood as indicating or implying relative importance or implying that the indicated technical features are limited to a certain number. Therefore, the features defined as "first", "second" can explicitly or implicitly include at least one of the features, i.e. one or more of the features. In the description of the present application, the meaning of "a plurality of" is at least two, such as two, three, etc., unless otherwise specifically limited. When a certain feature "includes or contains" a certain or certain features, unless otherwise specifically described, it indicates that other features and can further include other features.

[0048] Unless otherwise defined, the terms "set", "mount", "connected", "link", "fixed", "coupled" and the like shall be construed as broadly as possible, for example, can be fixed connection, can also be detachable connection, or integral; can be mechanical connection, can also be electrical connection; can be directly connected, can also be indirectly connected through an intermediate medium, can be the internal communication of two elements or the interaction relationship of two elements, unless otherwise explicitly defined. Those skilled in the art should be able to understand the specific meaning of the above terms in the utility model according to the specific circumstances.

[0049] In addition, in the description of the embodiments, the first feature "above" or "below" the second feature can include that the first and second features are in direct contact, or that the first and second features are not in direct contact but are in contact through another feature between them. That is, in the description of the embodiments, the first feature "above", "above" and "above" the second feature includes that the first feature is directly above and obliquely above the second feature, or only indicates that the first feature is higher than the second feature in horizontal height. The first feature "below", "below" or "below" the second feature can be that the first feature is directly below or obliquely below the second feature, or only indicates that the first feature is lower than the second feature in horizontal height.

[0050] In the description of the embodiments, the description of the terms "one embodiment", "some embodiments", "illustrative embodiment", "example", "specific example", or "some examples" means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the utility model. In the specification, the illustrative description of the above terms does not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described can be combined in any one or more embodiments or examples in a suitable manner.

[0051] Figure 1 is a schematic structural view of a shield tunneling machine cutterhead welding device, as Figure 1 shown, and referring to Figures 2 to 3 , the utility model embodiment provides a kind of shield tunneling machine cutterhead welding device including device frame 100, positioner 200, first welding mechanism 300 and second welding mechanism 400. Positioner 200 is installed on device frame 100, and shield tunneling machine cutterhead is installed on positioner 200. First welding mechanism 300 is set to device frame 100, for the upper surface of shield tunneling machine cutterhead is welded. Second welding mechanism 400 is set to device frame 100, for the lower surface of shield tunneling machine cutterhead is welded.

[0052] Specifically, the positioner 200 can drive the shield machine cutterhead to complete the overturning and rotating, so as to change the position and orientation of the shield machine cutterhead, thereby facilitating the subsequent welding work of the shield machine cutterhead. Further, the first welding mechanism 300 performs the welding work on the upper surface of the shield machine cutterhead, and the second welding mechanism 400 performs the welding work on the lower surface of the shield machine cutterhead, so that the shield machine cutterhead can be fully welded. That is, the positioner 200 can realize the full welding of the shield machine cutterhead by adjusting the rotating angle and direction of the shield machine cutterhead, and the positioner 200 can facilitate the adjustment of the welding position of the large shield machine cutterhead, thereby reducing the operation risk and ensuring the safety during the adjustment of the position of the shield machine cutterhead.

[0053] Further, the first welding mechanism 300 and the second welding mechanism can perform the welding work separately or simultaneously, and the cooperative welding work of the first welding mechanism 300 and the second welding mechanism 400 can improve the welding efficiency of the shield machine cutterhead and reduce the welding cost. Further, the overturning of the shield machine cutterhead can change the inclination angle thereof relative to the horizontal direction, so that the first welding mechanism 300 and the second welding mechanism 400 can conveniently weld the specific position of the shield machine cutterhead.

[0054] In operation, the shield machine cutterhead is installed on the positioner 200, and the initial state of the shield machine cutterhead is located in the horizontal state. At this time, the first welding mechanism 300 performs the welding work on the upper surface of the shield machine cutterhead, and after the welding of the shield machine cutterhead at this position by the first welding mechanism 300 is completed, the positioner 200 rotates the shield machine cutterhead by a preset angle, so as to change the welding position of the first welding mechanism 300, and the shield machine cutterhead is welded again. The second welding mechanism 400 performs the welding work on the lower surface of the shield machine cutterhead, and after the welding of the shield machine cutterhead at this position by the second welding mechanism 400 is completed, the positioner 200 overturns the shield machine cutterhead by a preset angle, so as to change the welding position of the second welding mechanism 400, and the shield machine cutterhead is welded again, until the welding work of the shield machine cutterhead is completed.

[0055] In some embodiments of the present application, as shown in Figure 1 and Figure 2 The device frame 100 includes a first track assembly 110 and a second track assembly 120. The first track assembly 110 is horizontally arranged, and the first welding mechanism 300 is slidingly arranged in the first track assembly 110. The second track assembly 120 is horizontally arranged, and the second welding mechanism 400 is slidingly arranged in the first track assembly 110.

[0056] Specifically, the arrangement that the first welding mechanism 300 slides on the first track assembly 110 and the second welding mechanism 400 slides on the second track assembly 120 can further adjust the welding positions of the first welding mechanism 300 and the second welding mechanism 400, further increase the flexibility of welding of the welding structure, and improve the welding precision and welding quality.

[0057] In some embodiments of the utility model, as shown in Figures 1 to 3 The first welding mechanism 300 comprises a portal frame 310 and at least one first welding robot 320. The portal frame 310 is slidably installed on the first track assembly 110, and the portal frame 310 is located at the outer side of the positioner 200. The first welding robot 320 is installed on the portal frame 310 and located above the portal frame 310.

[0058] Specifically, the first welding robot 320 is located above the portal frame 310, so that the first welding robot 320 is located above the cutter head of the shield tunneling machine, to facilitate the welding operation on the upper surface of the cutter head of the shield tunneling machine. Specifically, the first guide rail assembly comprises two first tracks arranged in parallel, and the two first tracks are respectively located at the two sides of the positioner 200. The portal frame 310 is slidably installed on the two first tracks.

[0059] Preferably, the number of the first welding robots 320 is two, and the two first welding robots 320 can cooperate with each other to weld the upper surface of the cutter head of the shield tunneling machine, so as to further improve the welding efficiency.

[0060] In some embodiments of the utility model, as shown in Figures 1 to 3 The second welding mechanism 400 comprises a sliding frame 410 and a second welding robot 420. The sliding frame 410 is slidably arranged on the second track assembly 120. The second welding robot 420 is installed on the sliding frame 410, and the second welding robot 420 is located below the installation position of the cutter head of the shield tunneling machine.

[0061] Specifically, the arrangement that the second welding robot 420 is located below the cutter head of the shield tunneling machine can facilitate the welding operation on the lower surface (i.e. the back surface) of the shield tunneling machine. Further, the second track assembly 120 comprises a second track. The second track and the first track are parallel to each other, and the sliding frame 410 is slidably arranged on the second track. Further, the second welding robot 420 changes its welding position under the driving of the sliding frame 410, thereby increasing the flexibility of welding the lower surface.

[0062] In the embodiment, the first welding robot 320 and the second welding robot 420 are both three-axis welding robots, so as to further increase the welding flexibility.

[0063] In further embodiments, the first welding robot 320 and the second welding robot 420 are connected with a welding power source, a water cooling machine, a set of wire feeding mechanism and a control cabinet. The control cabinet is provided with a control program for controlling the welding action of the welding robot.

[0064] In some embodiments of the utility model, as shown in Figures 1 to 3 The rotating base 210 is installed on the device frame 100, and the shield machine cutter head is installed on the upper surface of the rotating base 210, and the rotating base 210 is used to overturn and rotate the shield machine cutter head. The central clamping mechanism 220 is used to fix the shield machine cutter head on the rotating base 210 and can make the shield machine cutter head coaxial on the upper surface of the rotating base 210.

[0065] Specifically, the central clamping mechanism 220 can position and fix the shield machine cutter head, thereby increasing the stability of the shield machine cutter head on the positioner 200, preventing the shield machine cutter head from dislocating during the overturning and rotating of the rotating base 210, and ensuring the welding quality.

[0066] In some embodiments of the utility model, as shown in Figure 1 And Figure 3 The central clamping mechanism 220 includes a plurality of clamp rails 250, a plurality of clamp blocks 230 and a plurality of transmission mechanisms 240. The clamp rail 250 is arranged on the rotating base 210 and arranged along the radial direction of the rotating base 210; the plurality of clamp rails 250 are circumferentially distributed around the rotating base 210. Each clamp block 230 is slidably arranged on a clamp rail 250, and the clamp block 230 can abut the peripheral wall of the shield machine cutter head. Each transmission mechanism 240 is connected with a clamp block 230 and is used to drive the clamp block 230 to slide in the clamp groove.

[0067] In some embodiments of the utility model, the upper surface of the rotating base 210 is provided with a plurality of clamp grooves, and the plurality of clamp grooves are circumferentially distributed around the axis of the rotating base 210 and extend in the radial direction of the rotating base 210. The central clamping mechanism 220 includes a plurality of clamp blocks 230 and a plurality of transmission mechanisms 240.

[0068] Each clamp block 230 is slidably arranged in a clamp groove, and the clamp block 230 can abut the peripheral wall of the shield machine cutter head. Each transmission mechanism 240 is connected with a clamp block 230 and is used to drive the clamp block 230 to slide in the clamp groove.

[0069] Specifically, the plurality of clamp blocks 230 can move along the plurality of clamp grooves to the axis of the rotating base 210, thereby realizing the abutting of the peripheral wall of the shield machine cutter, and the plurality of clamp blocks 230 jointly clamp the shield machine cutter. Conversely, the plurality of clamp blocks 230 move away from the shield machine cutter to release the clamping of the shield machine cutter.

[0070] In further embodiments of the present application, as shown in Figures 1 to 3 The transmission mechanism 240 includes a transmission nut, a transmission screw rod, and a transmission motor. The transmission nut is fixedly arranged on the rotating base 210, the transmission screw rod is arranged on the transmission nut and forms a ball screw mechanism with the transmission nut. The first end of the transmission screw rod is connected with the clamp block 230. The transmission motor is connected with the second end of the transmission screw rod and is used to drive the transmission screw rod to rotate.

[0071] Specifically, the plurality of transmission motors are electrically connected and are synchronously started and adjusted, thereby synchronously rotating the plurality of transmission screw rods. Further, the transmission nut and the transmission screw rod can form a ball screw mechanism.

[0072] In some embodiments of the present application, as shown in Figures 1 to 3 The rotating base 210 further includes a rotating body, a mounting table, a rotating gear 213, and a turnover gear 214. The rotating body is rotatably arranged on the device frame 100 in a first direction, and the first direction is the turnover direction. The clamp groove is arranged on the mounting table, and the mounting table is rotatably arranged on the rotating body in a second direction, and the second direction is the rotating direction. The rotating gear 213 is coaxially connected with the mounting table to drive the mounting table to synchronously rotate. The turnover gear 214 is coaxially connected with the rotating shaft of the rotating body to drive the rotating body to synchronously rotate.

[0073] Specifically, the rotating body extends two rotating shafts on both sides, and the rotating body is rotatably arranged on the device frame 100 through the rotating shafts. The rotating body is rotatably arranged on the device frame 100 through the rotating shafts. Further, the mounting table is arranged above the rotating body to form the mounting surface of the shield machine cutter, and the mounting table is rotatably arranged. Further, the rotating gear 213 and the rotating shaft of the mounting table are coaxially fixedly connected, thereby driving the mounting table to synchronously rotate. Specifically, the rotating gear 213 can make the mounting table rotate 360 degrees in the horizontal direction. Further, the turnover gear 214 and the rotating shaft of the rotating body are fixedly connected, thereby driving the rotating body to rotate and turn over. Further, since the rotating body does not need to be completely turned over, the turnover gear 214 can be an incomplete gear. Specifically, the rotation angle of the incomplete gear is 70-90 degrees, and preferably 85 degrees. Further, the mounting table is further provided with a turnover motor 260, and the turnover motor 260 is connected with the turnover gear 214 to drive the turnover gear 214 to rotate.

[0074] In some embodiments of the present application, as shown in Figures 1 to 3As shown, the first welding mechanism 300 further comprises a first gun cleaning and wire cutting device. The second welding mechanism 400 further comprises a second gun cleaning and wire cutting device. Specifically, the first and second gun cleaning and wire cutting devices are configured to clean the welding slag generated by the welding mechanism and cut off the excess welding wire, so as to avoid the influence of the excess welding wire on the welding effect.

[0075] In some embodiments of the present application, as shown in Figures 1 to 3 Figures 1 to 3 As shown, the gantry 310 comprises two vertical beam frames, a cross beam frame and a lifting mechanism. The vertical beam frames are symmetrically arranged on the two sides of the positioner 200 and are slidingly arranged on the first track assembly 110. The two ends of the cross beam frame are slidingly connected to one vertical beam frame respectively, and the first welding robot 320 is installed on the cross beam frame. The lifting mechanism is arranged on the vertical beam frame and is configured to drive the cross beam frame to slide up and down on the vertical beam frame.

[0076] Specifically, the cross beam frame is configured to slide up and down, so as to change the distance between the first welding robot 320 and the cutter head of the shield tunneling machine, thereby further improving the welding precision and ensuring the welding quality. Therefore, those skilled in the art should recognize that, although the present application has been fully shown and described in the above embodiments, many other variants or modifications in accordance with the principles of the present application can be directly determined or deduced from the disclosure of the present application without departing from the spirit and scope of the present application. Therefore, the scope of the present application should be understood and recognized as covering all these other variants or modifications.

Claims

1. A shield machine cutterhead welding device, characterized in that: include: Device rack; A positioner, the positioner being mounted on a device frame, and the shield machine cutterhead being mounted on the positioner; a first welding mechanism, the first welding mechanism being disposed on the device frame and being used to weld the upper surface of the shield machine cutter head; the first welding mechanism comprising at least one first welding robot; a second welding mechanism, the second welding mechanism being disposed on the device frame and being used for welding the lower surface of the shield machine cutter head; the second welding mechanism comprising a second welding robot; The first welding robot and the second welding robot are both three-axis welding robots; The positioner comprises: A rotating base, the rotating base is mounted on the device frame, the shield machine cutter head is mounted on the upper surface of the rotating base, and the rotating base is used to drive the shield machine cutter head to flip and rotate; A central clamping mechanism, which is used to fix the shield machine cutter head on the rotating base and can make the shield machine cutter head coaxial with the upper surface of the rotating base; The central clamping mechanism comprises: A plurality of clamp rails, the clamp rails being arranged on the rotating base and arranged along the radial direction of the rotating base; the plurality of clamp rails being evenly distributed around the circumference of the rotating base; a plurality of clamp blocks, each of the clamp blocks being slidably disposed on one of the clamp rails, and the clamp blocks being capable of abutting against a peripheral wall of the shield machine cutterhead; A plurality of transmission mechanisms are provided, each of which is connected to one of the clamp blocks and is used to drive the clamp block to slide on the clamp track.

2. The shield machine cutterhead welding device according to claim 1, characterized in that: The device frame includes: a first track assembly, the first track assembly being arranged horizontally; the first welding mechanism being slidably arranged on the first track assembly; The second track component is horizontally arranged; the second welding mechanism is slidably arranged on the first track component.

3. The shield machine cutterhead welding device according to claim 2, characterized in that: The first welding mechanism comprises: A gantry is slidably mounted on the first track assembly and is located outside the positioner; the first welding robot is mounted on the gantry and is located above the gantry.

4. The shield machine cutterhead welding device according to claim 2, characterized in that: The second welding mechanism includes: A sliding frame is slidably arranged on the second track assembly; the second welding robot is installed on the sliding frame; the second welding robot is located below the installation position of the shield machine cutter head.

5. The shield machine cutterhead welding device according to claim 1, characterized in that: The transmission mechanism comprises: A transmission nut, the transmission nut being fixed to the rotating base; a transmission screw, the transmission screw being mounted on the transmission nut and forming a screw-nut mechanism with the transmission nut; a first end of the transmission screw being connected to the clamping block; A transmission motor is connected to the second end of the transmission screw and is used to drive the transmission screw to rotate.

6. The shield machine cutterhead welding device according to claim 1, characterized in that: The rotating base further comprises: a rotating body, the rotating body being rotatably disposed on the device frame in a first direction; the first direction being the flipping direction; a mounting platform, the clamp rail being disposed on the mounting platform, the mounting platform being rotatably disposed on the rotating body in a second direction, the second direction being the direction of rotation; A rotating gear, the rotating gear and the mounting platform are coaxially connected to drive the mounting platform to rotate synchronously; The flip gear is coaxially connected to the rotating shaft of the rotating body to drive the rotating body to be coaxially connected.

7. The shield machine cutterhead welding device according to claim 1, characterized in that: The first welding mechanism also includes a first gun cleaning and wire cutting device; The second welding mechanism also includes a second gun cleaning and wire cutting device.

8. The shield machine cutterhead welding device according to claim 3, characterized in that: The gantry comprises: Two vertical beams, the vertical beams are symmetrically arranged on both sides of the positioner; the vertical beams are slidably arranged on the first track assembly; A crossbeam frame, wherein both ends of the crossbeam frame are respectively connected to one of the vertical beam frames in an up-and-down sliding manner, and the first welding robot is installed on the crossbeam frame; A lifting mechanism is provided on the vertical beam frame and is used to drive the horizontal beam frame to slide up and down on the vertical beam frame.

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