An automatic welding device for welding channel steel and spiral steel plate silo walls.

Abstract

This invention belongs to the technical field of automatic welding equipment, specifically relating to an automatic welding device for welding channel steel to spiral steel silo walls. It can replace manual welding of channel steel to the silo wall, achieving automatic welding of channel steel to spiral steel silo walls, reducing labor intensity for workers, and improving the automation level of spiral steel silo production. This invention includes a walking support mechanism A, a channel steel clamping mechanism B, a welding robot C, and a weld adjustment mechanism D. The weld adjustment mechanism D includes a vision detection component, which, in conjunction with the welding robot C, can automatically locate the welding position and simultaneously pull back the silo wall to ensure a close fit between the silo wall and the channel steel, guaranteeing welding quality. The walking support mechanism A is equipped with telescopic support legs that extend during welding operations to ensure the stability of the welding device and retract after welding for easy transfer within the silo. The channel steel clamping mechanism B allows workers to manually load materials from the ground, avoiding the dangers of working at heights.

Description

Technical Field

[0001] This invention belongs to the field of automatic welding equipment technology, specifically relating to an automatic welding device for welding channel steel and spiral steel plate silo walls. Background Technology

[0002] Spiral steel silos are cylindrical silos formed by connecting steel plates through bending and rolling, utilizing the principle of spiral ascent. The production process mainly includes: steel plate forming, steel plate rolling, internal wall reinforcement with channel steel welding, silo top installation, and reverse silo lowering. Currently, internal wall reinforcement with channel steel welding is primarily done manually. Due to the height of the silo wall, workers must stand on a scaffold to weld the channel steel to the wall. Furthermore, the silo wall may not be perfectly flat on the formed steel plate surface, requiring workers to use electromagnets to pull the wall back and adjust the weld to ensure the wall fits snugly against the channel steel. This process is labor-intensive, dangerous, and operates under harsh conditions. Therefore, there is an urgent need to research and develop an automated welding device for the channel steel and silo wall of spiral steel silos.

[0003] Invention Patent: A welding device for steel silo manufacturing (CN216966743U), including a welding table, a protective welding machine, a dust removal mechanism, and a welding seat, etc., uses a protective cover to isolate and protect the welding operation, and can treat exhaust gas, providing safety protection and environmental protection performance. It is used for welding operations in steel silo manufacturing. This invention cannot achieve welding of channel steel to silo walls. Invention Patent: A cylindrical silo welding device (CN209886970U), including welding components, a circular rotating plate, silo body clamps, etc., can not only complete straight welding of silos but also circumferential welding of silos, and can be adjusted to adapt to welding silos of different diameters. This invention is still not applicable to welding of channel steel to silo walls. Summary of the Invention

[0004] In response to the above-mentioned situation and needs, this invention proposes an automatic welding device for welding channel steel and spiral steel plate silo walls. It can replace manual labor, realize automatic welding of channel steel and silo walls, and is mobile, making it easy to transfer to other locations within the silo for welding, thereby improving the automation level of spiral steel plate silo production.

[0005] To achieve the above-mentioned objectives, the present invention provides the following technical solution:

[0006] An automatic welding device for welding channel steel to spiral steel plate silo walls includes a traveling support mechanism A, a channel steel clamping mechanism B, a welding robot C, and a weld adjustment mechanism D. The traveling support mechanism A is used to transfer the welding device and provides support and stability for the entire welding device during welding operations. The channel steel clamping mechanism B is installed between support columns above the traveling support mechanism A, used to clamp the channel steel and press it against the silo wall. It also allows for fine-tuning of the channel steel's height to ensure it reaches a predetermined position on the silo wall. The welding robot C is installed on both sides of the channel steel clamping mechanism B and can move upwards along guide rails driven by a lifting drive motor to weld the welding points between the channel steel and the silo wall. The weld adjustment mechanism D is installed on the welding robot C and uses machine vision elements to identify gaps in the steel plates to determine the welding points, guiding the welding robot C to weld. Simultaneously, it pulls back the silo wall to adjust the weld, ensuring the silo wall fits snugly against the channel steel, thus improving welding quality.

[0007] Furthermore, the aforementioned walking support mechanism A includes a support foot (101), a caster support (102), a caster (103), a side telescopic support foot (104), a rear telescopic support foot (105), a pin (106), a column mounting plate (107), a front support column (108), and a rear support column (109). The side telescopic support foot (104) and the rear telescopic support foot (105) are installed inside the square tube of the support foot (101), and their telescopic positions are adjusted by the pin (106). They work together with the support foot (101) to contact the ground and provide support for the welding device. The caster support (102) and the caster (103) are installed at the four corners of the lower part of the support foot (101) to facilitate the transfer of the welding device. The front support column (108) and the rear support column (109) are installed on the column mounting plate (107) on the upper part of the support foot (101), with reinforcing ribs at the bottom and surrounded by the square tube on the upper part of the support foot (101) to enhance stability.

[0008] Further, the aforementioned channel steel clamping mechanism B includes a pusher frame (201), a guide rail mounting plate (202), a linear guide rail (203), a slider connecting plate (204), a slide table base plate (205), a slide table drive motor (206), a synchronous belt (207), a lead screw slide table (208), a clamping column (209), an electromagnet mounting component (210), a channel steel (211), a hydraulic cylinder mounting plate (212), and a hydraulic cylinder (213); the pusher frame (201) is installed between the front and rear support columns of the traveling support mechanism A; the linear guide rail (203) is installed on the guide rail mounting plate (202) on the pusher frame (201); the slider connecting plate (204) is connected to the linear guide rail (203) on the guide rail (203). The slider is connected and the slide base plate (205) is installed; the slide drive motor (206) is installed on the lower part of the slide base plate (205), and drives the screw through the synchronous belt (207) to realize the up and down movement of the screw slide (208), thereby realizing the up and down fine adjustment of the channel steel height; the clamping column (209) is installed on the screw slide (208); the electromagnet mounting part (210) is equipped with an electromagnet, which can attract the channel steel (211) on it when feeding, thereby realizing the clamping of the channel steel; the hydraulic cylinder mounting plate (212) is installed behind the pusher frame (201), and the hydraulic cylinder (213) is installed on it. The hydraulic cylinder (213) pushes the slide base plate (205) and then pushes the channel steel to the predetermined position of the bin wall.

[0009] Further, the aforementioned welding robot C includes a front guide rail mounting plate (301), a side guide rail mounting plate (302), a welding robot linear guide rail (303), a welding frame (304), a motor mounting bracket (305), a lifting drive motor (306), a gear (307), a rack guide rail (308), a guide rail clamping wheel (309), a linear module (310), a welding torch (311), a rocker (312), a rocker fixing component (313), and a welding torch mounting plate (314); there are one pair of front guide rail mounting plates (301) and one pair of side guide rail mounting plates (302), which are respectively installed at the front and sides of the pusher frame (201) of the channel steel clamping mechanism B, and the welding robot linear guide rail (303) is installed on them; the welding frame (304) is installed on the slider of the welding robot linear guide rail (303); the motor mounting bracket (305) is installed on the front and sides of the pusher frame (201) of the channel steel clamping mechanism B, and the welding robot linear guide rail (303) is installed on the pusher frame (201) of the channel steel clamping mechanism B. On the welding frame (304), a lifting drive motor (306) is installed on the motor mounting bracket (305). The gear (307) on the motor shaft meshes with the rack guide rail (308). Driven by the lifting drive motor (306), the welding frame (304) can move up and down, thereby driving the entire welding robot C to perform up and down operations. The rack guide rail (308) is installed on the front support column (108) of the walking support mechanism A. Guide rail clamping wheels (309) are installed on both sides of the rack guide rail (308), which not only provide up and down guidance but also increase the stability of the welding robot C during up and down operations. The linear module (310) is installed on the welding frame (304). The welding torch (311), the rocker (312), the rocker fixing part (313), and the welding torch mounting plate (314) are connected in sequence and cooperate with the linear module (310) to realize welding of the welding point.

[0010] Further, the aforementioned weld adjustment mechanism D includes a weld adjustment mounting plate (401), a guide frame (402), a weld adjustment mechanism cylinder (403), a guide shaft (404), a linear bearing (405), an electromagnet mounting plate (406), a suction cup electromagnet (407), a camera mounting component (408), an industrial camera (409), a ring light source (410), a sensor mounting component (411), and a laser rangefinder (412); the weld adjustment mounting plate (401) is mounted on the welding frame (304) of the welding robot C, and guide frames (402) are mounted on both sides; the weld adjustment mechanism cylinder (403) is mounted on the guide frame (402); the guide shaft (404) passes through the linear bearing (405) on the guide frame (402). 05) Connected to the electromagnet mounting plate (406); The suction cup electromagnet (407) is mounted on the electromagnet mounting plate (406). Under the drive of the weld seam adjustment mechanism cylinder (403) and the guidance of the guide shaft (404), the suction cup electromagnet (407) can act on the bin wall and pull back the bin wall to fit the channel steel; The camera mounting part (408) is mounted on the weld seam adjustment mounting plate (401) and is used to install the ring light source (410) and the industrial camera (409) to form a vision detection part, which is used to identify the gap of the steel plate to determine the welding point; The laser range sensor (412) is mounted on the sensor mounting part (411) on the weld seam adjustment mounting plate (401) to measure the distance between the channel steel and the bin wall respectively, thereby determining the working distance of the suction cup electromagnet (407).

[0011] The present invention has the following beneficial effects:

[0012] 1. This invention can replace manual welding of channel steel to the silo wall, realize automatic welding of channel steel and spiral steel plate silo wall, reduce the labor intensity of workers, and improve the automation level of spiral steel plate silo production and manufacturing.

[0013] 2. The weld adjustment mechanism D of the present invention includes a vision detection part, which can automatically find the welding position in conjunction with the welding robot C. At the same time, the suction cup electromagnet, the weld adjustment mechanism cylinder and other means are used to pull back the bin wall, so that the bin wall fits with the channel steel, thus ensuring the welding quality.

[0014] 3. The walking support mechanism A of the present invention is provided with telescopic support legs. During welding, the telescopic support legs are extended to ensure the stability of the welding device. After the welding operation is completed, the telescopic support legs are retracted to facilitate the transfer of welding operations within the warehouse.

[0015] 4. The channel steel clamping mechanism B of the present invention enables workers to manually load materials on the ground, avoiding the dangers of working at heights. Attached Figure Description

[0016] Figure 1 This is a schematic diagram of the mechanism of the present invention.

[0017] Figure 2 This is a schematic diagram of the walking support mechanism of the present invention.

[0018] Figure 3 This is a schematic diagram of the channel steel clamping mechanism of the present invention.

[0019] Figure 4 This is a schematic diagram of the welding robot of the present invention.

[0020] Figure 5 This is a schematic diagram of the weld adjustment mechanism of the present invention.

[0021] Figure 6 This is a schematic diagram of the operating state of the present invention. Figure 1 .

[0022] Figure 7 This is a schematic diagram of the operating state of the present invention. Figure 2 . Detailed Implementation

[0023] The specific embodiments of the present invention will be further described below with reference to the accompanying drawings.

[0024] Figure 1 This is a schematic diagram of the mechanism of the present invention. Figure 1 As shown, an automatic welding device for welding channel steel to spiral steel plate silo walls includes a traveling support mechanism A, a channel steel clamping mechanism B, a welding robot C, and a weld adjustment mechanism D. The traveling support mechanism A is used to transfer the welding device and provides support and stability for the entire welding device during welding operations. The channel steel clamping mechanism B is installed between support columns above the traveling support mechanism A, used to clamp the channel steel and press it against the silo wall. It also allows for fine-tuning of the channel steel's height to ensure it reaches a predetermined position on the silo wall. The welding robot C is installed on both sides of the channel steel clamping mechanism B and can move upwards along guide rails driven by a lifting drive motor to weld the welding points between the channel steel and the silo wall. The weld adjustment mechanism D is installed on the welding robot C and uses machine vision elements to identify gaps in the steel plates to determine the welding points, guiding the welding robot C to weld. Simultaneously, it pulls back the silo wall to adjust the weld, ensuring the silo wall fits snugly against the channel steel, thus improving welding quality.

[0025] Figure 2 This is a schematic diagram of the walking support mechanism A of the present invention. Figure 2As shown, the walking support mechanism A includes a support foot (101), a caster support (102), a caster (103), a side telescopic support foot (104), a rear telescopic support foot (105), a pin (106), a column mounting plate (107), a front support column (108), and a rear support column (109). The side telescopic support foot (104) and the rear telescopic support foot (105) are installed inside the square tube of the support foot (101), and their telescopic positions are adjusted by the pin (106). They work together with the support foot (101) to contact the ground and support and stabilize the welding device. The caster support (102) and the caster (103) are installed at the four corners of the lower part of the support foot (101) to realize the transfer of the welding device. The front support column (108) and the rear support column (109) are installed on the column mounting plate (107) on the upper part of the support foot (101), with reinforcing ribs at the bottom and surrounded by the square tube on the upper part of the support foot (101) to enhance stability.

[0026] Figure 3 This is a schematic diagram of the channel steel clamping mechanism B of the present invention. Figure 3 As shown, the channel steel clamping mechanism B includes a pusher frame (201), a guide rail mounting plate (202), a linear guide rail (203), a slider connecting plate (204), a slide table base plate (205), a slide table drive motor (206), a synchronous belt (207), a lead screw slide table (208), a clamping column (209), an electromagnet mounting component (210), a channel steel (211), a hydraulic cylinder mounting plate (212), and a hydraulic cylinder (213). The pusher frame (201) is installed between the front and rear support columns of the traveling support mechanism A. The linear guide rail (203) is installed on the guide rail mounting plate (202) on the pusher frame (201). The slider connecting plate (204) is connected to the linear guide rail (203) on the slide table. The block is connected and the slide base plate (205) is installed; the slide drive motor (206) is installed on the lower part of the slide base plate (205), and drives the screw through the synchronous belt (207) to realize the up and down movement of the screw slide (208), thereby realizing the up and down fine adjustment of the channel steel height; the clamping column (209) is installed on the screw slide (208); the electromagnet mounting part (210) is equipped with an electromagnet, which can attract the channel steel (211) on it during feeding to realize the clamping of the channel steel; the hydraulic cylinder mounting plate (212) is installed behind the pusher frame (201), and the hydraulic cylinder (213) is installed on it. The hydraulic cylinder (213) pushes the slide base plate (205) and then pushes the channel steel to the predetermined position of the bin wall.

[0027] Figure 4 This is a schematic diagram of the welding robot C of the present invention. Figure 4As shown, the welding robot C includes a front guide rail mounting plate (301), a side guide rail mounting plate (302), a welding robot linear guide rail (303), a welding frame (304), a motor mounting bracket (305), a lifting drive motor (306), a gear (307), a rack guide rail (308), a guide rail clamping wheel (309), a linear module (310), a welding torch (311), a rocker (312), a rocker fixing component (313), and a welding torch mounting plate (314). There are one pair of front guide rail mounting plates (301) and one pair of side guide rail mounting plates (302), which are respectively installed at the front and sides of the pusher frame (201) of the channel steel clamping mechanism B, and the welding robot linear guide rail (303) is mounted on them. The welding frame (304) is mounted on the slider of the welding robot linear guide rail (303). The motor mounting bracket (305) is mounted on the welding... On the frame (304), a motor mounting bracket (305) is equipped with a lifting drive motor (306). The gear (307) on the motor shaft meshes with the rack guide rail (308). Driven by the lifting drive motor (306), the welding frame (304) can move up and down, thereby driving the entire welding robot C to perform up and down operations. The rack guide rail (308) is installed on the front support column (108) of the walking support mechanism A. Guide rail clamping wheels (309) are installed on both sides of the rack guide rail (308), which not only provide up and down guidance but also increase the stability of the welding robot C during up and down operations. The linear module (310) is installed on the welding frame (304). The welding torch (311), the rocker (312), the rocker fixing part (313), and the welding torch mounting plate (314) are connected in sequence and cooperate with the linear module (310) to realize welding of the welding point.

[0028] Figure 5 This is a schematic diagram of the weld adjustment mechanism D of the present invention. Figure 5As shown, the weld adjustment mechanism D includes a weld adjustment mounting plate (401), a guide frame (402), a weld adjustment mechanism cylinder (403), a guide shaft (404), a linear bearing (405), an electromagnet mounting plate (406), a suction cup electromagnet (407), a camera mounting component (408), an industrial camera (409), a ring light source (410), a sensor mounting component (411), and a laser rangefinder (412). The weld adjustment mounting plate (401) is mounted on the welding frame (304) of the welding robot C, and the guide frames (402) are mounted on both sides. The weld adjustment mechanism cylinder (403) is mounted on the guide frame (402). The guide shaft (404) passes through the linear bearing (405) on the guide frame (402). The suction cup electromagnet (407) is connected to the electromagnet mounting plate (406). Under the drive of the weld seam adjustment mechanism cylinder (403) and the guide shaft (404), the suction cup electromagnet (407) can act on the bin wall and pull back the bin wall to fit the channel steel. The camera mounting part (408) is installed on the weld seam adjustment mounting plate (401) and is used to install the ring light source (410) and the industrial camera (409) to form a vision detection part to identify the gap of the steel plate to determine the welding point. The laser range sensor (412) is installed on the sensor mounting part (411) on the weld seam adjustment mounting plate (401) to measure the distance between the channel steel and the bin wall respectively, thereby determining the working distance of the suction cup electromagnet (407).

[0029] The following describes the working process of an automatic welding device used for welding channel steel and spiral steel silo walls:

[0030] Figure 6 This is a schematic diagram illustrating the operating state of the present invention. For example... Figure 6 As shown, before welding, the side telescopic support legs (104) and rear telescopic support legs (105) are in a retracted state. At this time, the welding device is transferred to the predetermined position in the silo by the casters (103). After starting the electromagnet controller of the channel steel clamping mechanism B, the channel steel is attracted to the electromagnet, completing the clamping and feeding of the channel steel. After feeding, the relative position is determined by the laser range sensor, and the welding device is moved to the front of the silo wall. The caster support (102) is adjusted, and the side telescopic support legs (104) and rear telescopic support legs (105) are unfolded so that the support legs contact the ground to complete the support. The controller of the channel steel clamping mechanism B is operated to realize the fine adjustment of the channel steel height. After reaching the correct height, the channel steel is pushed against the silo wall. The welding robot C is adjusted so that the welding torch is aligned with the channel steel and the weld. Then the upward drive motor drives the welding robot C to rise to perform the welding operation. The position to be welded is the position where the upper and lower sides of the steel plate gap contact the channel steel. Figure 6As shown in the welding point, during the upward process, when the visual detection part of the weld adjustment mechanism D identifies the gap in the steel plate, the welding robot C stops rising. At this time, the laser ranging sensor (412) of the weld adjustment mechanism D measures the distance between the channel steel and the bin wall, and calculates the gap between the channel steel and the bin wall. If the gap is too large, the hydraulic cylinder (403) of the weld adjustment mechanism drives the suction cup electromagnet (407) to reach the bin wall and energize it to attract the bin wall, pulling it back so that the bin wall fits the channel steel (e.g., Figure 7 (As shown). Then the linear module (310) drives the welding gun to weld the welding points on the upper and lower sides of the steel plate gap. After the welding is completed, the suction cup electromagnet (407) disconnects the pull chamber wall. Then the welding robot C continues to rise and repeats the above process to complete the welding of the next welding point on the upper and lower sides of the steel plate gap.

Claims

1. An automatic welding device for welding channel steel to spiral steel plate silo walls, characterized in that, The system includes a walking support mechanism A, a channel steel clamping mechanism B, a welding robot C, and a weld adjustment mechanism D. The walking support mechanism A is used to transfer the welding device and provides stable support during welding operations. The channel steel clamping mechanism B is installed between the support columns above the walking support mechanism A. It clamps the channel steel, pressing it against the silo wall, and allows for fine-tuning of the channel steel's height to reach a predetermined position on the silo wall. The welding robot C is installed on both sides of the channel steel clamping mechanism B and moves upward along the guide rails driven by a lifting drive motor to weld the welding points between the channel steel and the silo wall. The weld adjustment mechanism D is installed on the welding robot C and uses machine vision elements to identify gaps in the steel plate to determine the welding points, guiding the welding robot C to weld. Simultaneously, it pulls back the silo wall to adjust the weld, ensuring the silo wall fits snugly against the channel steel, thus improving welding quality. The channel steel clamping mechanism B includes a pusher frame (201), a guide rail mounting plate (202), a linear guide rail (203), a slider connecting plate (204), a slide table base plate (205), a slide table drive motor (206), a synchronous belt (207), a lead screw slide table (208), a clamping column (209), an electromagnet mounting component (210), a channel steel (211), a hydraulic cylinder mounting plate (212), and a hydraulic cylinder (213). The pusher frame (201) is installed between the front and rear support columns of the traveling support mechanism A. The linear guide rail (203) is installed on the guide rail mounting plate (202) on the pusher frame (201). The slider connecting plate (204) is connected to the linear guide rail (203) on the slide table. The block is connected and the slide base plate (205) is installed; the slide drive motor (206) is installed on the lower part of the slide base plate (205), and drives the screw slide (208) to move up and down by driving the synchronous belt (207), thereby realizing the up and down fine adjustment of the channel steel height; the clamping column (209) is installed on the screw slide (208); the electromagnet mounting part (210) is equipped with an electromagnet, which can attract the channel steel (211) on it when feeding, thereby realizing the clamping of the channel steel; the hydraulic cylinder mounting plate (212) is installed behind the pusher frame (201), and the hydraulic cylinder (213) is installed on it. The hydraulic cylinder (213) pushes the slide base plate (205) and then pushes the channel steel to the predetermined position of the bin wall.

2. The automatic welding device for welding channel steel and spiral steel plate silo walls according to claim 1, characterized in that, The walking support mechanism A includes a support foot (101), a caster support (102), a caster (103), a side telescopic support foot (104), a rear telescopic support foot (105), a pin (106), a column mounting plate (107), a front support column (108), and a rear support column (109). The side telescopic support foot (104) and the rear telescopic support foot (105) are installed inside the square tube of the support foot (101), and their telescopic positions are adjusted by the pin (106). They work together with the support foot (101) to contact the ground and support and stabilize the welding device. The caster support (102) and the caster (103) are installed at the four corners of the lower part of the support foot (101) to realize the transfer of the welding device. The front support column (108) and the rear support column (109) are installed on the column mounting plate (107) on the upper part of the support foot (101), with reinforcing ribs at the bottom and surrounded by the square tube on the upper part of the support foot (101) to enhance stability.

3. The automatic welding device for welding channel steel and spiral steel plate silo walls according to claim 1, characterized in that, The welding robot C includes a front guide rail mounting plate (301), a side guide rail mounting plate (302), a welding robot linear guide rail (303), a welding frame (304), a motor mounting bracket (305), a lifting drive motor (306), a gear (307), a rack guide rail (308), a guide rail clamping wheel (309), a linear module (310), a welding torch (311), a rocker (312), a rocker fixing component (313), and a welding torch mounting plate (314). There are one pair of front guide rail mounting plates (301) and one pair of side guide rail mounting plates (302), respectively mounted on the front and sides of the pusher frame (201) of the channel steel clamping mechanism B, on which the welding robot linear guide rail (303) is mounted. The welding frame (304) is mounted on the slider of the welding robot linear guide rail (303). The motor mounting bracket (305) is mounted on the welding machine... On the frame (304), the motor mounting bracket (305) is equipped with a lifting drive motor (306). The gear (307) on the motor shaft meshes with the rack guide rail (308). Driven by the lifting drive motor (306), the welding frame (304) can move up and down, thereby driving the entire welding robot C to perform up and down operations. The rack guide rail (308) is installed on the front support column (108) of the walking support mechanism A. The rack guide rail (308) is equipped with guide rail clamping wheels (309) on both sides, which not only provides up and down guidance but also increases the stability of the welding robot C during up and down operations. The linear module (310) is installed on the welding frame (304). The welding torch (311), the rocker (312), the rocker fixing part (313), and the welding torch mounting plate (314) are connected in sequence and cooperate with the linear module (310) to realize welding of the welding point.

4. The automatic welding device for welding channel steel and spiral steel plate silo walls according to claim 1, characterized in that, The weld adjustment mechanism D includes a weld adjustment mounting plate (401), a guide frame (402), a weld adjustment mechanism cylinder (403), a guide shaft (404), a linear bearing (405), an electromagnet mounting plate (406), a suction cup electromagnet (407), a camera mounting component (408), an industrial camera (409), a ring light source (410), a sensor mounting component (411), and a laser rangefinder sensor (412). The weld adjustment mounting plate (401) is mounted on the welding frame (304) of the welding robot C, and guide frames (402) are mounted on both sides. The weld adjustment mechanism cylinder (403) is mounted on the guide frame (402). The guide shaft (404) passes through the linear bearing (405) on the guide frame (402). The electromagnet is connected to the electromagnet mounting plate (406); the suction cup electromagnet (407) is mounted on the electromagnet mounting plate (406), and under the drive of the weld seam adjustment mechanism cylinder (403) and the guide shaft (404), the suction cup electromagnet (407) can act on the bin wall and pull back the bin wall to fit the channel steel; the camera mounting part (408) is mounted on the weld seam adjustment mounting plate (401) and is used to install the ring light source (410) and the industrial camera (409) to form a vision detection part, which is used to identify the gap of the steel plate to determine the welding point; the laser range sensor (412) is mounted on the sensor mounting part (411) on the weld seam adjustment mounting plate (401) and measures the distance between the channel steel and the bin wall respectively, thereby determining the working distance of the suction cup electromagnet (407).

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