A gantry welding machine

Abstract

The present invention relates to the technical field of welding equipment, and in particular to a gantry welding machine, comprising a guide rail, wherein a walking unit is slidably connected to the interior of the upper end of the guide rail, the upper surface of the walking unit is fixedly connected to a column, the upper end of the column is fixedly connected to a crossbeam, the outer surface of the crossbeam is slidably connected to a mounting plate, and the lower end of the mounting plate is provided with a first impurity removal unit and a second impurity removal unit along the length direction. The gantry welding machine mainly solves the problem that when welding I-shaped steel structures, impurities such as rust on the welding part of the steel surface often need to be manually removed before welding, which is very time-consuming and labor-intensive.

Description

Technical Field

[0001] The present invention relates to the technical field of welding equipment, in particular to a gantry welding machine. Background Art

[0002] Gantry welding manipulators are primarily used for welding the outer longitudinal and circumferential seams of cylindrical workpieces during pressure vessel manufacturing. They consist of a gantry frame, travel mechanism, lifting mechanism, operating platform, manipulator electrical control system, and safety alarm system. They offer stable operation, safety and reliability, simple operation, and strong adaptability.

[0003] Currently, when welding I-shaped steel structures, it is often necessary to manually remove impurities such as rust from the welding area on the steel surface before welding, which is very time-consuming and labor-intensive.

[0004] In view of this, a gantry welding machine is proposed to solve the above problems. Summary of the Invention

[0005] The purpose of the present invention is to provide a gantry welding machine, which mainly solves the problem that when welding I-shaped steel structures, impurities such as rust on the welding part of the steel surface often need to be manually removed before welding, which is very time-consuming and labor-intensive.

[0006] To achieve the above object, the present invention provides the following technical solutions:

[0007] A gantry welding machine comprises a guide rail, wherein the upper end of the guide rail is internally slidably connected to a walking unit, the upper surface of the walking unit is fixedly connected to a column, the upper end of the column is fixedly connected to a crossbeam, the outer surface of the crossbeam is slidably connected to a mounting plate, the front end of the mounting plate is fixedly connected to a fixing rod, the upper front surface of the fixing rod is fixedly connected to a cylinder, the lower end of the cylinder is fixedly connected to a No. 1 air pipe, the No. 1 air pipe is connected to the cylinder, the lower end of the No. 1 air pipe is fixedly connected to a No. 1 telescopic rod, and the lower end of the No. 1 telescopic rod is fixedly connected to the No. 1 telescopic rod. A welding torch is fixedly connected thereto, a No. 1 fixing block is provided on the outer surface of the No. 1 gas pipe, the right end of the No. 1 fixing block is fixedly connected to the left surface of the fixed rod, a No. 2 fixing block is fixedly connected to the right surface of the upper end of the No. 1 telescopic rod, the right surface of the No. 2 fixing block is fixedly connected to the left surface of the fixed rod, a No. 2 gas pipe is provided inside the fixed rod, the lower end of the No. 2 gas pipe passes through the fixed rod along the length direction of the fixed rod and is provided with a nozzle, and a No. 1 impurity removal unit and a No. 2 impurity removal unit are provided at the lower end of the mounting plate along the length direction;

[0008] The first impurity removal unit includes an electric telescopic rod, a screw rod, a polished rod, a first power unit, a first gear, a second gear, a first fixed shaft, a second fixed shaft, a protective shell, a friction unit, a second power unit, a third power unit, a turntable, a crank, a third fixed block and a fourth power unit;

[0009] The outer surface of the second fixed shaft is fixedly connected with the first gear, and the outer surface of the second fixed shaft is fixedly connected with the second gear, and the second gear and the second gear are meshed with each other. The right end surface of the electric telescopic rod is fixedly connected with the fourth power unit, and the output end of the fourth power unit passes through the electric telescopic rod and is fixedly connected to the first fixed shaft.

[0010] The lower end of the No. 2 gear is fixedly connected to a protective shell, and a No. 1 through hole is provided on the upper left side of the protective shell. The No. 2 power unit is slidably connected inside the No. 1 through hole, and a friction unit is installed at the output end of the No. 2 power unit. The No. 3 power unit is fixedly connected to the inner wall of the left end of the protective shell and located at the lower end of the No. 2 power unit. The output end of the No. 3 power unit is fixedly connected to a turntable, and a crank is hinged to the outer side of the left end face of the turntable. The lower end of the No. 2 power unit is fixedly connected to the No. 3 fixed block, and the other end of the crank is hinged to the No. 3 fixed block.

[0011] When welding an I-shaped steel structure, the mounting plate is connected to the outer wall power supply, so that the mounting plate can be moved left and right at the upper end of the beam so that the welding torch can be aligned with the weld. Then the cylinder is started to supply air to the telescopic rod No. 1 through the No. 1 air pipe, so that the telescopic rod No. 1 is extended and retracted, so that the welding torch can accurately contact the weld.

[0012] The movement of the mounting plate also adjusts the positions of the No. 1 and No. 2 impurity removal units. First, the No. 4 power unit is started, and the No. 4 power unit drives the No. 1 fixed shaft to rotate, and the No. 1 fixed shaft drives the No. 1 gear to rotate, and the No. 1 gear drives the No. 2 gear to rotate along with the No. 2 fixed shaft through gear meshing, and the No. 2 gear drives the friction unit to rotate through the protective shell, and the angle of the friction unit can be adjusted to adapt to the welding of I-shaped steel structures with different angles; then, the No. 1 power unit is powered, so that the screw rod rotates to drive the electric telescopic rod to move left and right, and the electric telescopic rod is limited by setting a light rod to prevent the electric telescopic rod from rotating with the rotation of the screw rod; at this time, the electric telescopic rod is connected to the external power supply to perform up and down extension work, so that the friction surface of the friction unit can fully contact the part that needs to be cleaned, and the lower end of the friction unit can be close to the weld, so that the periphery of the weld can also be cleaned;

[0013] At the same time, power unit No. 2 and power unit No. 3 work simultaneously. Power unit No. 2 drives the friction unit to rotate, and power unit No. 3 drives the turntable to rotate. The turntable drives power unit No. 2 to move back and forth along the inner wall of through hole No. 1 via the crank, so that the friction unit moves back and forth on the surface of the steel to remove impurities, thereby improving the efficiency of impurity removal.

[0014] Finally, power unit No. 1, power unit No. 2, power unit No. 3, power unit No. 4, electric telescopic rod and telescopic rod No. 1 are locked; the No. 2 air pipe is connected to the cylinder, and high-pressure gas is sprayed from the nozzle to clean the removed impurities, ensuring the welding environment, and the walking mechanism moves on the guide rail to weld the I-shaped steel structure.

[0015] By setting up the above mechanism, the gantry welding machine can automatically remove rust, and there is no need to manually remove rust and other impurities on the welding part of the steel surface before welding, which saves time and effort; and the friction unit can adjust the angle through the first gear and the second gear, which expands the use range of the gantry welding machine and avoids the need to replace different gantry welding machines when welding different I-shaped steel structures, saving material resources; after welding is completed, the return motion can also be performed to clean the welding slag, which also reduces the manpower consumed in cleaning the welding slag.

[0016] Preferably, the No. 1 impurity removal unit and the No. 2 impurity removal unit have the same internal structure and are symmetrically arranged along the welding direction.

[0017] When performing the impurity removal operation, by setting the No. 1 impurity removal unit and the No. 2 impurity removal unit to have the same internal structure and symmetrically arranged along the welding direction, the impurities on the surfaces of both ends of the welding point of the I-beam steel structure can be removed simultaneously, avoiding the energy consumption caused by back and forth movement of impurities removal.

[0018] Preferably, a limit block is provided on the outer wall of the second power unit and at the contact position with the protective shell.

[0019] When performing impurity removal operations, a limit block is set through the outer wall of the No. 2 power unit and at the contact position with the protective shell, so that the No. 2 power unit can move stably along the No. 1 through hole, preventing the displacement of the friction unit caused by mechanical vibration from causing scratches on the steel surface, while also protecting the mechanism inside the protective shell and increasing the life of the mechanism.

[0020] Preferably, the lower end of the second gear is configured as a plane.

[0021] When adjusting the angle of the friction unit, the lower end of the second gear is set as a plane, so that the second gear and the protective shell are fully in contact, thereby improving the stability when adjusting the angle.

[0022] Preferably, the power unit No. 1, the power unit No. 2, the power unit No. 3 and the power unit No. 4 are all motors.

[0023] When making adjustments, by setting the No. 1 power unit, the No. 2 power unit, the No. 3 power unit and the No. 4 power unit to be motors, they are small in size, light in weight, have high output, can be effectively controlled, and can operate at low speed and high power. They will not put a heavy burden on the gantry welding machine and affect the life of the mechanism.

[0024] Preferably, a protective layer is provided on the surface of the No. 1 air pipe.

[0025] During the welding process, a protective layer is provided on the surface of the No. 1 gas pipe to protect the No. 1 gas pipe and prevent the No. 1 gas pipe from being burned and damaged by the splashing of high-temperature welding slag and sparks.

[0026] Compared with the prior art, the present invention has the following beneficial effects:

[0027] 1. By setting up the No. 1 and No. 2 impurity removal units, the gantry welding machine can automatically remove rust, and there is no need to manually remove impurities such as rust on the welding part of the steel surface before welding, which saves time and effort; and the friction unit can adjust the angle through the No. 1 gear and the No. 2 gear, which expands the use range of the gantry welding machine and avoids the need to replace different gantry welding machines when welding different I-shaped steel structures, saving material resources; after welding is completed, the return motion can also be performed to clean the welding slag, which also reduces the manpower consumed in cleaning the welding slag. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] In order to more clearly illustrate the specific embodiments of the present invention or the technical solutions in the prior art, the following is a brief introduction to the drawings required for use in the specific embodiments or the description of the prior art. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0029] Figure 1 It is the front view of the present invention;

[0030] Figure 2 is a side view of the present invention;

[0031] Figure 3 Schematic diagram of the internal structure of the fixing rod in the present invention;

[0032] Figure 4 Schematic diagram of the internal structure of the impurity removal unit No. 1 in the present invention;

[0033] Figure 5 Schematic diagram of the internal structure of the No. 2 impurity removal unit in the present invention;

[0034] Figure 6 For the present invention Figure 4 A local enlarged view of point A;

[0035] Figure 7 For the present invention Figure 4 BB-direction cross-sectional diagram;

[0036] Figure 8 For the present invention Figure 6 Schematic diagram of CC section view.

[0037] In the figure: guide rail 1, walking unit 2, column 3, crossbeam 4, mounting plate 5, fixed rod 6, cylinder 7, No. 1 air pipe 8, No. 1 telescopic rod 9, welding torch 10, No. 1 fixed block 11, No. 2 fixed block 12, No. 2 air pipe 13, nozzle 14, No. 1 impurity removal unit 15, electric telescopic rod 151, screw rod 152, polished rod 153, No. 1 power unit 154, No. 1 gear 155, No. 2 gear 156, No. 1 fixed shaft 157, No. 2 fixed shaft 158, protective shell 159, friction unit 1510, No. 2 power unit 1511, No. 3 power unit 1512, turntable 1513, crank 1514, No. 3 fixed block 1515, No. 4 power unit 1516, No. 2 impurity removal unit 16, No. 1 inner groove 17, No. 2 inner groove 18, No. 1 through hole 19, limit block 20. DETAILED DESCRIPTION

[0038] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of the present invention.

[0039] See also Figures 1 to 8 , the present invention provides a technical solution:

[0040] A gantry welding machine includes a guide rail 1, a walking unit 2 is slidably connected to the inner portion of the upper end of the guide rail 1, a column 3 is fixedly connected to the upper surface of the walking unit 2, a crossbeam 4 is fixedly connected to the upper end of the column 3, a mounting plate 5 is slidably connected to the outer surface of the crossbeam 4, a fixing rod 6 is fixedly connected to the front end of the mounting plate 5, a cylinder 7 is fixedly connected to the upper front surface of the fixing rod 6, a gas pipe 8 is fixedly connected to the lower end of the cylinder 7, the gas pipe 8 is connected to the cylinder 7, the lower end of the gas pipe 8 is fixedly connected to the telescopic rod 9, and the lower end of the telescopic rod 9 is fixedly connected to the welding torch 10. A No. 1 fixing block 11 is provided on the outer surface of the No. 1 air pipe 8. The right end of the No. 1 fixing block 11 is fixedly connected to the left surface of the fixed rod 6. The right surface of the upper end of the No. 1 telescopic rod 9 is fixedly connected to the No. 2 fixing block 12. The right surface of the No. 2 fixing block 12 is fixedly connected to the left surface of the fixed rod 6. A No. 2 air pipe 13 is provided inside the fixed rod 6. The lower end of the No. 2 air pipe 13 passes through the fixed rod 6 along the length direction and is provided with a nozzle 14. The lower end of the mounting plate 5 is provided with a No. 1 impurity removal unit 15 and a No. 2 impurity removal unit 16 along the length direction.

[0041] The first impurity removal unit 15 includes an electric telescopic rod 151, a screw rod 152, a polished rod 153, a first power unit 154, a first gear 155, a second gear 156, a first fixed shaft 157, a second fixed shaft 158, a protective shell 159, a friction unit 1510, a second power unit 1511, a third power unit 1512, a turntable 1513, a crank 1514, a third fixed block 1515, and a fourth power unit 1516;

[0042] The lower end of the mounting plate 5 is provided with an inner groove 17, the inner wall of the inner groove 17 is fixedly connected with a light rod 153, the outer surface of the light rod 153 is slidably connected with an electric telescopic rod 151, the upper end of the electric telescopic rod 151 and the lower end of the light rod 153 are provided with a screw rod 152, both ends of the screw rod 152 pass through the mounting plate 5 and are rotatably connected thereto, the right surface of the mounting plate 5 is fixedly connected with a power unit 154, the output end of the power unit 154 is fixedly connected to the right end of the screw rod 152, the lower end of the electric telescopic rod 151 is provided with a second inner groove 18, the second inner groove 18 The inner wall of the No. 1 inner groove 18 is rotatably connected to the No. 1 fixed shaft 157, the inner wall of the No. 2 inner groove 18 is rotatably connected to the No. 2 fixed shaft 158 ​​at the lower end of the No. 1 fixed shaft 157, the outer surface of the No. 1 fixed shaft 157 is fixedly connected to the No. 1 gear 155, the outer surface of the No. 2 fixed shaft 158 ​​is fixedly connected to the No. 2 gear 156, the No. 1 gear 155 and the No. 2 gear 156 are meshed with each other, the right end surface of the electric telescopic rod 151 is fixedly connected to the No. 4 power unit 1516, the output end of the No. 4 power unit 1516 passes through the electric telescopic rod 151 and is fixedly connected to the No. 1 fixed shaft 157;

[0043] The lower end of the No. 2 gear 156 is fixedly connected to a protective shell 159, and a No. 1 through hole 19 is provided on the upper left side of the protective shell 159. The No. 2 power unit 1511 is slidably connected inside the No. 1 through hole 19, and a friction unit 1510 is installed at the output end of the No. 2 power unit 1511. The No. 3 power unit 1512 is fixedly connected to the inner wall of the left end of the protective shell 159 and located at the lower end of the No. 2 power unit 1511. The output end of the No. 3 power unit 1512 is fixedly connected to a turntable 1513, and a crank 1514 is hinged to the outer side of the left end surface of the turntable 1513. The lower end of the No. 2 power unit 1511 is fixedly connected to the No. 3 fixed block 1515, and the other end of the crank 1514 is hinged to the No. 3 fixed block 1515.

[0044] When welding an I-shaped steel structure, the mounting plate 5 is connected to an external power source so that the mounting plate 5 can be moved left and right on the upper end of the crossbeam 4 so that the welding torch 10 can be aligned with the weld seam. Then, the air cylinder 7 is started to supply air to the telescopic rod 9 through the air pipe 8, so that the telescopic rod 9 can be extended and retracted so that the welding torch 10 can accurately contact the weld seam.

[0045] The movement of the mounting plate 5 also adjusts the positions of the No. 1 and No. 2 cleaning units 15 and 16. First, the No. 4 power unit 1516 is started. The No. 4 power unit 1516 drives the No. 1 fixed shaft 157 to rotate. The No. 1 fixed shaft 157 drives the No. 1 gear 155 to rotate. The No. 1 gear 155 drives the No. 2 gear 156 to rotate along with the No. 2 fixed shaft 158 ​​through gear meshing. The No. 2 gear 156 drives the friction unit 1510 to rotate through the protective shell 159. The angle of the friction unit 1510 can be adjusted to adapt to different angles of the I-shaped steel structure welding. Then, by supplying power to the No. 1 power unit 154, the screw rod 152 rotates and drives the electric telescopic rod 151 to move left and right. By setting the light rod 153, the electric telescopic rod 151 is limited to prevent the electric telescopic rod 151 from rotating as the screw rod 152 rotates. At this time, the electric telescopic rod 151 is connected to the external power supply and moves up and down, so that the friction surface of the friction unit 1510 can fully contact the part that needs to be cleaned, and the lower end of the friction unit 1510 can be close to the weld, so that the periphery of the weld can also be cleaned.

[0046] At the same time, the No. 2 power unit 1511 and the No. 3 power unit 1512 work simultaneously. The No. 2 power unit 1511 drives the friction unit 1510 to rotate, and the No. 3 power unit 1512 drives the turntable 1513 to rotate. The turntable 1513 drives the No. 2 power unit 1511 to reciprocate along the inner wall of the No. 1 through hole 19 through the crank 1514, so that the friction unit 1510 rubs back and forth on the surface of the steel to remove impurities, thereby improving the efficiency of impurity removal.

[0047] Finally, power unit No. 154, power unit No. 2 1511, power unit No. 3 1512, power unit No. 4 1516, electric telescopic rod 151 and telescopic rod No. 1 9 are locked; air pipe No. 2 13 is connected to air cylinder 7, and high-pressure gas is ejected from nozzle 14 to clean the removed impurities, ensuring the welding environment, and the walking mechanism moves on the guide rail 1 to weld the I-shaped steel structure.

[0048] By setting up the above mechanism, the gantry welding machine can automatically remove rust, and there is no need to manually remove impurities such as rust on the welding part of the steel surface before welding, which saves time and effort; and the friction unit 1510 can adjust the angle through the first gear 155 and the second gear 156, which expands the scope of use of the gantry welding machine and saves material resources; after welding is completed, the return motion is performed, and the welding slag can also be cleaned, which also reduces the manpower consumed in cleaning the welding slag.

[0049] As an embodiment of the present invention, the first impurity removal unit 15 and the second impurity removal unit 16 have the same internal structure and are symmetrically arranged along the welding direction.

[0050] During the impurity removal operation, by setting the No. 1 impurity removal unit 15 and the No. 2 impurity removal unit 16 to have the same internal structure and symmetrically arranged along the welding direction, impurities can be removed from the surfaces of both ends of the welding point of the I-shaped steel structure at the same time, avoiding the energy consumption caused by back and forth movement of impurities removal.

[0051] As an embodiment of the present invention, a limit block 20 is provided on the outer wall of the second power unit 1511 and at the contact position with the protective shell 159 .

[0052] When performing the impurity removal operation, a limit block 20 is set through the outer wall of the No. 2 power unit 1511 and at the contact position with the protective shell 159, so that the No. 2 power unit can move stably along the No. 1 through hole 19, preventing the friction unit 1510 from being offset due to mechanical vibration and causing scratches on the steel surface, while also protecting the mechanism inside the protective shell 159 and improving the life of the mechanism.

[0053] As an embodiment of the present invention, the lower end of the second gear 156 is configured to be a flat surface.

[0054] When adjusting the angle of the friction unit 1510 , the lower end of the second gear 156 is set to a plane so that the second gear 156 and the protective shell 159 are in full contact, thereby improving the stability when adjusting the angle.

[0055] As an embodiment of the present invention, the first power unit 154, the second power unit 1511, the third power unit 1512 and the fourth power unit 1516 are all motors.

[0056] When making adjustments, by setting power unit No. 154, power unit No. 2 1511, power unit No. 3 1512 and power unit No. 4 1516 to be motors, they are small in size, light in weight, have high output, can be effectively controlled, and can operate at low speed and high power. They will not impose a heavy burden on the gantry welding machine and affect the life of the mechanism.

[0057] As an embodiment of the present invention, a protective layer is provided on the surface of the No. 1 air pipe 8 .

[0058] During the welding process, a protective layer is provided on the surface of the No. 1 gas pipe 8 to protect the No. 1 gas pipe 8 and prevent the No. 1 gas pipe 8 from being burned and damaged by the splashing of high-temperature welding slag and sparks.

[0059] Working principle: When welding an I-shaped steel structure, the mounting plate 5 is connected to an external power source and moved left and right on the upper end of the crossbeam 4 so that the welding torch 10 can be aligned with the weld. Then, the air cylinder 7 is activated to supply air to the telescopic rod 9 through the air pipe 8, causing the telescopic rod 9 to extend and retract, allowing the welding torch 10 to accurately contact the weld.

[0060] The movement of the mounting plate 5 also adjusts the positions of the No. 1 and No. 2 cleaning units 15 and 16. First, the No. 4 power unit 1516 is started. The No. 4 power unit 1516 drives the No. 1 fixed shaft 157 to rotate. The No. 1 fixed shaft 157 drives the No. 1 gear 155 to rotate. The No. 1 gear 155 drives the No. 2 gear 156 to rotate along with the No. 2 fixed shaft 158 ​​through gear meshing. The No. 2 gear 156 drives the friction unit 1510 to rotate through the protective shell 159. The angle of the friction unit 1510 can be adjusted to adapt to different angles of the I-shaped steel structure welding. Then, by supplying power to the No. 1 power unit 154, the screw rod 152 rotates and drives the electric telescopic rod 151 to move left and right. By setting the light rod 153, the electric telescopic rod 151 is limited to prevent the electric telescopic rod 151 from rotating as the screw rod 152 rotates. At this time, the electric telescopic rod 151 is connected to the external power supply and moves up and down, so that the friction surface of the friction unit 1510 can fully contact the part that needs to be cleaned, and the lower end of the friction unit 1510 can be close to the weld, so that the periphery of the weld can also be cleaned.

[0061] At the same time, the No. 2 power unit 1511 and the No. 3 power unit 1512 work simultaneously. The No. 2 power unit 1511 drives the friction unit 1510 to rotate, and the No. 3 power unit 1512 drives the turntable 1513 to rotate. The turntable 1513 drives the No. 2 power unit 1511 to reciprocate along the inner wall of the No. 1 through hole 19 through the crank 1514, so that the friction unit 1510 rubs back and forth on the surface of the steel to remove impurities, thereby improving the efficiency of impurity removal.

[0062] Finally, power unit No. 154, power unit No. 2 1511, power unit No. 3 1512, power unit No. 4 1516, electric telescopic rod 151 and telescopic rod No. 1 9 are locked; air pipe No. 2 13 is connected to air cylinder 7, and high-pressure gas is ejected from nozzle 14 to clean the removed impurities, ensuring the welding environment, and the walking mechanism moves on the guide rail 1 to weld the I-shaped steel structure.

[0063] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the above embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the above embodiments, or replace some or all of the technical features therein with equivalents. However, these modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. A gantry welding machine, comprising a guide rail (1), characterized in that: The upper end of the guide rail (1) is internally slidably connected to a walking unit (2), the upper surface of the walking unit (2) is fixedly connected to a column (3), the upper end of the column (3) is fixedly connected to a beam (4), the outer surface of the beam (4) is slidably connected to a mounting plate (5), the front end of the mounting plate (5) is fixedly connected to a fixing rod (6), the upper front surface of the fixing rod (6) is fixedly connected to a cylinder (7), the lower end of the cylinder (7) is fixedly connected to a No. 1 air pipe (8), the No. 1 air pipe (8) is connected to the cylinder (7), the lower end of the No. 1 air pipe (8) is fixedly connected to a No. 1 telescopic rod (9), and the lower end of the No. 1 telescopic rod (9) is fixedly connected to a welding torch (10) The outer surface of the No. 1 air pipe (8) is provided with a No. 1 fixed block (11), the right end of the No. 1 fixed block (11) is fixedly connected to the left surface of the fixed rod (6), the upper right surface of the No. 1 telescopic rod (9) is fixedly connected to the No. 2 fixed block (12), the right surface of the No. 2 fixed block (12) is fixedly connected to the left surface of the fixed rod (6), the interior of the fixed rod (6) is provided with a No. 2 air pipe (13), the lower end of the No. 2 air pipe (13) passes through the fixed rod (6) along the length direction of the fixed rod (6) and is provided with a nozzle (14), and the lower end of the mounting plate (5) is provided with a No. 1 impurity removal unit (15) and a No. 2 impurity removal unit (16) along the length direction; The first impurity removal unit (15) comprises an electric telescopic rod (151), a screw rod (152), a polished rod (153), a first power unit (154), a first gear (155), a second gear (156), a first fixed shaft (157), a second fixed shaft (158), a protective shell (159), a friction unit (1510), a second power unit (1511), a third power unit (1512), a rotating disk (1513), a crank (1514) and a third fixed block (1515); The lower end of the mounting plate (5) is provided with a No. 1 inner groove (17), the inner wall of the No. 1 inner groove (17) is fixedly connected with a light rod (153), the outer surface of the light rod (153) is slidably connected with an electric telescopic rod (151), the upper end of the electric telescopic rod (151) and the lower end of the light rod (153) are provided with a screw rod (152), both ends of the screw rod (152) pass through the mounting plate (5) and are rotatably connected thereto, the right surface of the mounting plate (5) is fixedly connected with a No. 1 power unit (154), the output end of the No. 1 power unit (154) is fixedly connected to the right end of the screw rod (152), the lower end of the electric telescopic rod (151) is provided with a No. 2 inner groove (18), the No. 2 The inner wall of the inner groove (18) is rotatably connected to a No. 1 fixed shaft (157), the inner wall of the No. 2 inner groove (18) is rotatably connected to a No. 2 fixed shaft (158) at the lower end of the No. 1 fixed shaft (157), the outer surface of the No. 1 fixed shaft (157) is fixedly connected to a No. 1 gear (155), the outer surface of the No. 2 fixed shaft (158) is fixedly connected to a No. 2 gear (156), the No. 1 gear (155) and the No. 2 gear (156) are meshed with each other, the right end surface of the electric telescopic rod (151) is fixedly connected to a No. 4 power unit (1516), the output end of the No. 4 power unit (1516) passes through the electric telescopic rod (151) and is fixedly connected to the No. 1 fixed shaft (157); The lower end of the second gear (156) is fixedly connected to a protective shell (159), a first through hole (19) is provided on the upper left end of the protective shell (159), a second power unit (1511) is slidably connected inside the first through hole (19), a friction unit (1510) is installed at the output end of the second power unit (1511), a third power unit (1512) is fixedly connected to the inner wall of the left end of the protective shell (159) and located at the lower end of the second power unit (1511), the output end of the third power unit (1512) is fixedly connected to a turntable (1513), a crank (1514) is hinged on the outer side of the left end surface of the turntable (1513), the lower end of the second power unit (1511) is fixedly connected to a third fixed block (1515), the other end of the crank (1514) is hinged to the third fixed block (1515); The first impurity removal unit (15) and the second impurity removal unit (16) have the same internal structure and are symmetrically arranged along the welding direction; A limit block (20) is provided on the outer wall of the second power unit (1511) and at the contact position with the protective shell (159); The lower end of the second gear (156) is configured as a flat surface; The first power unit (154), the second power unit (1511) and the third power unit (1512) are all motors; The surface of the first air pipe (8) is provided with a protective layer; When welding of the I-shaped steel structure is required, the mounting plate (5) is connected to an external power source, and the mounting plate (5) is moved left and right on the upper end of the crossbeam (4) so ​​that the welding torch (10) can be aligned with the weld seam, and then the cylinder (7) is started to supply air to the telescopic rod (9) through the air pipe (8), so that the telescopic rod (9) can be extended and retracted, so that the welding torch (10) can accurately contact the weld seam; The movement of the mounting plate (5) also adjusts the positions of the No. 1 impurity removal unit (15) and the No. 2 impurity removal unit (16). First, the No. 4 power unit (1516) is started. The No. 4 power unit (1516) drives the No. 1 fixed shaft (157) to rotate. The No. 1 fixed shaft (157) drives the No. 1 gear (155) to rotate. The No. 1 gear (155) drives the No. 2 gear (156) to rotate along with the No. 2 fixed shaft (158) through gear meshing. The No. 2 gear (156) drives the friction unit (1510) to rotate through the protective shell (159). The angle of the friction unit (1510) can be adjusted to adapt to different angles of the I-shaped The steel structure is welded; then, power is supplied to the No. 1 power unit (154), so that the screw rod (152) rotates to drive the electric telescopic rod (151) to move left and right, and the light rod (153) is provided to limit the electric telescopic rod (151) to prevent the electric telescopic rod (151) from rotating as the screw rod (152) rotates; at this time, the electric telescopic rod (151) is connected to the external power supply and performs an upward and downward telescopic operation, so that the friction surface of the friction unit (1510) can fully contact the part that needs to be cleaned, and the lower end of the friction unit (1510) can be close to the weld, so that the periphery of the weld can also be cleaned; At the same time, the second power unit (1511) and the third power unit (1512) work simultaneously. The second power unit (1511) drives the friction unit (1510) to rotate, and the third power unit (1512) drives the turntable (1513) to rotate. The turntable (1513) drives the second power unit (1511) to reciprocate along the inner wall of the first through hole (19) via the crank (1514), so that the friction unit (1510) rubs back and forth on the surface of the steel to remove impurities, thereby improving the efficiency of impurity removal. Finally, the No. 1 power unit (154), the No. 2 power unit (1511), the No. 3 power unit (1512), the No. 4 power unit (1516), the electric telescopic rod (151) and the No. 1 telescopic rod (9) are locked; the No. 2 air pipe (13) is connected to the cylinder (7), and high-pressure gas is ejected from the nozzle (14) to clean the removed impurities, thereby ensuring the welding environment. The walking mechanism moves on the guide rail (1) to weld the I-shaped steel structure.

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