An automatic welding device for welding ball nodes of a space grid structure and a method of using the same

Abstract

The present invention relates to the technical field of steel structure welding, and in particular to an automatic welding device for welding ball nodes of a space grid structure and a method for using the device, comprising an adjustment component, a first moving component for driving the adjustment component to move vertically is arranged at the lower part of the adjustment component, a second moving component for driving the adjustment component to move horizontally is arranged at the upper part of the adjustment component, the adjustment component is used to control the horizontal rotation angle of the first moving component and the second moving component, a first mechanical arm is fixedly connected to the top surface of the adjustment component, a welding device is installed at one end of the first mechanical arm away from the adjustment component, and the first mechanical arm is used to drive the welding device to weld along the node position of the welding ball and the rod. The present invention can effectively move along the vertical rods and the horizontal rods of the grid structure, and enables the first mechanical arm to drive the welding device to effectively perform continuous annular welding on the node position of the welding ball and the rod, effectively improving the quality and efficiency of welding.

Description

Technical Field

[0001] The invention relates to the technical field of steel structure welding, and in particular to an automatic welding device for welding ball nodes of a space grid structure and a use method thereof. Background Art

[0002] The grid is a spatial structure formed by connecting multiple rods through nodes in a certain grid form. It has the advantages of spatial force, light weight, high rigidity, and good seismic resistance. It is usually used for the roofs of buildings such as gymnasiums, theaters, exhibition halls, waiting rooms, stadium stand awnings, hangars, and two-way large column grid structure workshops. At present, manual welding is usually used to weld the welding node balls to the rods. However, since several rods need to be welded on each welding node ball, and the number of welding balls on the grid structure is very large, the number of weldings is very large and the workload is large. Manual welding alone not only consumes a lot of manpower but also has low overall welding efficiency. At the same time, since the manual operation method requires high skills and proficiency of personnel, human factors such as welding interruptions are inevitable during the annular weld welding process, which affects the welding quality.

[0003] At present, with the development of science and technology, the application of robotic arms is very extensive, and the existing robotic arms can also flexibly move in all directions, so that the robotic arms can effectively drive the equipment to adjust at any angle; therefore, there is an urgent need for an automatic welding device and a method for using a space grid structure welding ball node. The robotic arm can not only move in each space grid structure, but also drive the welding equipment to move, so that the welding equipment can perform continuous circular welding, which not only effectively improves the quality of welding, but also effectively improves the efficiency of welding. Summary of the invention

[0004] The purpose of the present invention is to provide an automatic welding device for welding ball nodes of a space grid structure and a method for using the same to solve the problems existing in the above-mentioned prior art.

[0005] To achieve the above-mentioned purpose, the present invention provides the following solution: an automatic welding device for welding ball nodes of a space grid structure, comprising an adjusting component, a first movable component for driving the adjusting component to move vertically is arranged at the lower part of the adjusting component, a second movable component for driving the adjusting component to move horizontally is arranged at the upper part of the adjusting component, the adjusting component is used to control the horizontal rotation angle of the first movable component and the second movable component, a first robotic arm is fixedly connected to the top surface of the adjusting component, a welding device is installed at one end of the first robotic arm away from the adjusting component, and the first robotic arm is used to drive the welding device to perform welding along the node position of the welding ball and the rod.

[0006] Preferably, the adjustment component includes a hydraulic cylinder, a side wall of the fixed end of the hydraulic cylinder is fixedly connected to the first movable component, a piston end of the hydraulic cylinder is transmission-connected to the output shaft of the first motor, an end of the first motor away from the hydraulic cylinder is fixedly connected to the first mechanical arm, and an outer wall of the first motor is fixedly connected to the second movable component.

[0007] Preferably, the first moving component includes a first connecting plate fixedly connected to the fixed end of the hydraulic cylinder, a first sliding groove is opened at the end of the first connecting plate facing away from the hydraulic cylinder, a first lead screw is rotatably connected in the first sliding groove, a first slider is threadedly connected to the first lead screw, and an end of the first slider extending out of the first sliding groove is fixedly connected to the second mechanical arm.

[0008] Preferably, a third mechanical arm is disposed above the first sliding groove, and the third mechanical arm is fixedly connected to the first connecting plate.

[0009] Preferably, one end of the first lead screw is transmission-connected to a second motor, the second motor is fixedly connected in the first slide groove, and the other end of the first lead screw is rotationally connected to an inner wall of the first slide groove.

[0010] Preferably, the second moving component includes a second connecting plate fixedly connected to the outer wall of the first motor, a second sliding groove is opened on the top surface of the second connecting plate, a second lead screw is rotatably connected in the second sliding groove, the second lead screw is threadedly connected to a second slider, and one end of the second slider extending out of the second sliding groove is fixedly connected to a fourth robotic arm.

[0011] Preferably, a fifth robotic arm is fixedly connected to a top surface of one side of the second connecting plate close to the first robotic arm.

[0012] Preferably, one end of the second lead screw extending out of the second connecting plate is transmission-connected to a third motor, and the third motor is fixedly connected to an end of the second connecting plate facing away from the first motor.

[0013] Preferably, the second robotic arm, the third robotic arm, the fourth robotic arm and the fifth robotic arm are respectively equipped with robotic claws for grasping.

[0014] A method for using an automatic welding device for welding ball nodes of a space grid structure comprises the following steps:

[0015] The first movable component is capable of moving on the vertical rods of the grid structure, and the second movable component is capable of moving on the horizontal rods of the grid structure, so that the first movable component and the second movable component can drive the first robotic arm to approach any welding ball, and the first robotic arm can drive the welding equipment to perform continuous circular welding along the nodes between the welding balls and the rods.

[0016] The present invention discloses the following technical effects:

[0017] The present invention can drive the welding equipment to perform circular continuous welding along the node position of the welding ball and the rod member through the first mechanical arm; when the welding at one place is completed, the welding equipment can be located at the position of the welding ball and another rod member through the cooperation of the adjustment component and the first moving component, and then the welding equipment is driven by the first mechanical arm to perform circular continuous welding along the node position of the welding ball and another rod member, so that the welding equipment can continue to perform circular continuous welding on the node position of the welding ball and other rod members; after all the rod members on the welding ball are welded to the welding ball, the second moving component can be moved to another welding ball along any horizontal rod member through the cooperation of the adjustment component, the first moving component and the second moving component, so that the welding ball and the rod member can be welded.

[0018] The present invention can effectively move along the vertical rods and transverse rods of the grid structure, and enable the first robot arm to drive the welding equipment to effectively perform continuous annular welding on the node positions of the welding balls and the rods, which not only effectively improves the welding quality, but also effectively improves the welding efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0020] Figure 1 It is a schematic diagram of the overall structure of the present invention;

[0021] Figure 2 This is a schematic diagram of the structure of the regulating component of the present invention;

[0022] Figure 3 This is a schematic diagram of the structure of the first moving component of the present invention;

[0023] Figure 4 This is a schematic cross-sectional structural diagram of the first connecting plate of the present invention;

[0024] Figure 5This is a schematic diagram of the structure of the second moving component of the present invention;

[0025] Figure 6 This is a schematic cross-sectional structural diagram of the second connecting plate of the present invention;

[0026] Among them, 1. hydraulic cylinder; 2. first connecting plate; 3. second connecting plate; 11. first motor; 12. first robotic arm; 13. welding equipment; 21. second motor; 22. first lead screw; 23. first slider; 24. second robotic arm; 25. third robotic arm; 26. first slide groove; 31. third motor; 32. second lead screw; 33. second slider; 34. fourth robotic arm; 35. fifth robotic arm; 36. second slide groove. DETAILED DESCRIPTION

[0027] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. 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 creative work are within the scope of protection of the present invention.

[0028] In order to make the above-mentioned objects, features and advantages of the present invention more obvious and easy to understand, the present invention is further described in detail below with reference to the accompanying drawings and specific embodiments.

[0029] Reference Figure 1-Figure 6 The present invention provides an automatic welding device for welding ball nodes of a space grid structure, including an adjusting component, a first moving component for driving the adjusting component to move vertically is arranged at the lower part of the adjusting component, a second moving component for driving the adjusting component to move horizontally is arranged at the upper part of the adjusting component, the adjusting component is used to control the horizontal rotation angle of the first moving component and the second moving component, a first mechanical arm 12 is fixedly connected to the top surface of the adjusting component, a welding device 13 is installed at one end of the first mechanical arm 12 away from the adjusting component, and the first mechanical arm 12 is used to drive the welding device 13 to weld along the node position of the welding ball and the rod.

[0030] The welding equipment 13 is prior art and will not be described in detail here.

[0031] The present invention can drive the welding device 13 to perform circular continuous welding along the node position of the welding ball and the rod member through the first mechanical arm 12; when one welding is completed, the welding device 13 can be located at the position of the welding ball and another rod member through the cooperation of the adjustment component and the first moving component, and then, the welding device 13 is driven by the first mechanical arm 12 to perform circular continuous welding along the node position of the welding ball and another rod member, so that the welding device 13 can continue to perform circular continuous welding on the node position of the welding ball and other rod members; after all the rod members on the welding ball are welded to the welding ball, the second moving component can be moved to another welding ball along any horizontal rod member through the cooperation of the adjustment component, the first moving component and the second moving component, so that the welding ball and the rod member can be welded.

[0032] The present invention can effectively move along the vertical rods and transverse rods of the grid structure, and enable the first robot arm 12 to drive the welding equipment 13 to effectively perform continuous annular welding on the node positions of the welding balls and the rods, which not only effectively improves the welding quality, but also effectively improves the welding efficiency.

[0033] In a further optimized solution, the adjustment component includes a hydraulic cylinder 1, the side wall of the fixed end of the hydraulic cylinder 1 is fixedly connected to the first moving component, the piston end of the hydraulic cylinder 1 is drivingly connected to the output shaft of the first motor 11, the end of the first motor 11 away from the hydraulic cylinder 1 is fixedly connected to the first mechanical arm 12, and the outer wall of the first motor 11 is fixedly connected to the second moving component. The hydraulic cylinder 1 can drive the first motor 11 to rise and fall.

[0034] When the first movable assembly is on the vertical rod and the second movable assembly is separated from the horizontal rod, the first motor 11 rotates to drive the second movable assembly to rotate, so that the second movable assembly is located below the horizontal rod, thereby facilitating the second movable assembly to move along the horizontal rod.

[0035] When the second movable assembly is on the horizontal rod and the first movable assembly is separated from the vertical rod, the first motor 11 rotates to drive the first movable assembly to rotate, so that the first movable assembly can be opposite to the vertical rod, thereby facilitating the first movable assembly to move along the vertical rod.

[0036] In a further optimized solution, the first moving assembly includes a first connecting plate 2 fixedly connected to the fixed end of the hydraulic cylinder 1, a first sliding groove 26 is provided at one end of the first connecting plate 2 away from the hydraulic cylinder 1, a first lead screw 22 is rotatably connected in the first sliding groove 26, a first slider 23 is threadedly connected to the first lead screw 22, and a second mechanical arm 24 is fixedly connected to one end of the first slider 23 extending out of the first sliding groove 26. The first lead screw 22 drives the first slider 23 to move along the first sliding groove 26, so that the first slider 23 can drive the second mechanical arm 24 to move along the first sliding groove 26.

[0037] As a further optimization solution, a third mechanical arm 25 is disposed above the first sliding groove 26 , and the third mechanical arm 25 is fixedly connected to the first connecting plate 2 .

[0038] When the first connecting plate 2 needs to rise along the vertical rod, the first slider 23 is driven to rise along the first slide groove 26 by the first screw 22, and the first slider 23 drives the second mechanical arm 24 to rise, so that the second mechanical arm 24 and the third mechanical arm 25 are close to each other. Then, when the second mechanical arm 24 grabs the vertical rod, the third mechanical arm 25 is separated from the vertical rod. At this time, the first slider 23 is driven to descend along the first slide groove 26 by the first screw 22, so that the first connecting plate 2 can rise. When the second mechanical arm 24 and the third mechanical arm 25 are separated from each other, the third mechanical arm 25 grabs the vertical rod, and the second mechanical arm 24 is separated from the vertical rod. At this time, the first slider 23 is driven to move along the first slide groove 26 by the first screw 22, so that the second mechanical arm 24 and the third mechanical arm 25 are close to each other. Repeat the above process to make the first connecting plate 2 rise along the vertical rod.

[0039] When the first connecting plate 2 needs to descend along the vertical rod, the first slider 23 is driven to descend along the first slide groove 26 by the first screw 22, and the first slider 23 drives the second mechanical arm 24 to descend, so that the second mechanical arm 24 and the third mechanical arm 25 are separated from each other. Then, when the second mechanical arm 24 grabs the vertical rod, the third mechanical arm 25 is separated from the vertical rod. At this time, the first slider 23 is driven to rise along the first slide groove 26 by the first screw 22, so that the first connecting plate 2 can descend. When the second mechanical arm 24 and the third mechanical arm 25 are close to each other, the third mechanical arm 25 grabs the vertical rod, and the second mechanical arm 24 is separated from the vertical rod. At this time, the first slider 23 is driven to move along the first slide groove 26 by the first screw 22, so that the second mechanical arm 24 and the third mechanical arm 25 are separated from each other. The above process is repeated to make the first connecting plate 2 descend along the vertical rod.

[0040] In a further optimized solution, one end of the first lead screw 22 is transmission-connected to the second motor 21, the second motor 21 is fixedly connected in the first slide slot 26, and the other end of the first lead screw 22 is rotationally connected to the inner wall of the first slide slot 26. The second motor 21 can rotate forward and reverse, and the second motor 21 drives the first lead screw 22 to rotate, which can increase the speed of the first connecting plate 2 rising and falling along the vertical rod.

[0041] A further optimized solution is that the second moving component includes a second connecting plate 3 fixedly connected to the outer wall of the first motor 11, the top surface of the second connecting plate 3 is provided with a second slide groove 36, a second lead screw 32 is rotatably connected in the second slide groove 36, the second lead screw 32 is threadedly connected to a second slider 33, and one end of the second slider 33 extending out of the second slide groove 36 is fixedly connected to a fourth robotic arm 34.

[0042] The second lead screw 32 drives the second slider 33 to move along the second slide groove 36 , so that the second slider 33 can drive the second mechanical arm 24 to move along the second slide groove 36 .

[0043] According to a further optimized solution, a fifth robotic arm 35 is fixedly connected to a top surface of one side of the second connecting plate 3 close to the first robotic arm 12 .

[0044] When the second connecting plate 3 needs to move along the transverse rod, the second slider 33 is driven by the second lead screw 32 to move along the second slide groove 36, so that the fourth mechanical arm 34 and the fifth mechanical arm 35 move away from each other. Then, when the fourth mechanical arm 34 grabs the transverse rod, the fifth mechanical arm 35 is separated from the transverse rod. At this time, the second slider 33 is driven by the second lead screw 32 to move along the second slide groove 36, so that the second connecting plate 3 can move. When the fourth mechanical arm 34 and the fifth mechanical arm 35 are close to each other, the fifth mechanical arm 35 grabs the transverse rod, and the fourth mechanical arm 34 is separated from the transverse rod. At this time, the second slider 33 is driven by the second lead screw 32 to move along the second slide groove 36, so that the second mechanical arm 24 and the third mechanical arm 25 are separated from each other. Repeat the above process to move the second connecting plate 3 along the transverse rod.

[0045] In a further optimized solution, one end of the second lead screw 32 extending outside the second connecting plate 3 is transmission-connected to the third motor 31, and the third motor 31 is fixedly connected to the end of the second connecting plate 3 facing away from the first motor 11. The third motor 31 can rotate forward and reverse, and the third motor 31 drives the second lead screw 32 to rotate, which can increase the speed at which the second connecting plate 3 moves along the transverse rod.

[0046] In a further optimized solution, mechanical claws for grasping are respectively installed on the second mechanical arm 24, the third mechanical arm 25, the fourth mechanical arm 34, and the fifth mechanical arm 35. The mechanical claws can effectively grasp the rod.

[0047] The first robotic arm 12 , the second robotic arm 24 , the third robotic arm 25 , the fourth robotic arm 34 , and the fifth robotic arm 35 have three or more programmable axes to meet different needs.

[0048] A method for using an automatic welding device for welding ball nodes of a space grid structure comprises the following steps:

[0049] The first movable component can move on the vertical rods of the grid structure, and the second movable component can move on the horizontal rods of the grid structure, so that the first movable component and the second movable component can drive the first robot arm 12 to approach any welding ball, and the first robot arm 12 drives the welding equipment 13 to perform continuous circular welding along the nodes between the welding balls and the rods.

[0050] In order to enable the automatic welding device of the present invention to effectively move on the space grid structure, the travel route of the automatic welding device on the space grid structure is planned through the overall structural diagram of the space grid structure, so that the automatic welding device can weld each node according to the planned route, thereby effectively improving the movement efficiency of the automatic welding device on the space grid structure and effectively avoiding the automatic welding device from repeatedly performing multiple ineffective movements on the same vertical working unified horizontal rod.

[0051] Working process: when welding is required, the second mechanical arm 24 and the third mechanical arm 25 are directed toward any vertical rod, and then the first slider 23 is driven to rise along the first slide groove 26 by the first lead screw 22, and the first slider 23 drives the second mechanical arm 24 to rise, so that the second mechanical arm 24 and the third mechanical arm 25 are close to each other, and then the second mechanical arm 24 grabs the vertical rod. At this time, the first slider 23 is driven to descend along the first slide groove 26 by the first lead screw 22, so that the first connecting plate 2 can rise. When the second mechanical arm 24 and the third mechanical arm 25 are separated from each other, the third mechanical arm 25 grabs the vertical rod, and the second mechanical arm 24 is separated from the vertical rod. At this time, the first slider 23 is driven to descend along the first slide groove 26 by the first lead screw 22. The first connecting plate 2 is moved to make the second mechanical arm 24 and the third mechanical arm 25 approach each other, and the process is repeated to make the first connecting plate 2 rise along the vertical rod. When the welding device 13 approaches the welding ball, the second mechanical arm 24 and the third mechanical arm 25 grab the vertical rod at the same time. Then, the first motor 11 rotates to make the first motor 11 drive the second connecting plate 3 to rotate so that the second connecting plate 3 can be under any horizontal rod. Then, the fourth mechanical arm 34 and the fifth mechanical arm 35 grab the horizontal rod. At this time, the first mechanical arm 12 is first driven to rise and fall by the hydraulic cylinder 1 to adjust the distance between the welding device 13 and the welding ball to the required distance. Then, the welding device 13 is driven to move by the first mechanical arm 12, so that the welding device 13 can be moved. Continuous circular welding is performed along the node position of the welding ball and the rod. After the welding is completed, the fourth robot arm 34 and the fifth robot arm 35 are separated from the transverse rod, and the first motor 11 rotates, so that the first motor 11 drives the second connecting plate 3 to rotate, so that the second connecting plate 3 is under another transverse rod. Then, the transverse rod is grabbed by the fourth robot arm 34 and the fifth robot arm 35, and then the welding device 13 is driven to move by the first robot arm 12, so that the welding device 13 can perform continuous circular welding along the node position of the welding ball and the rod. Repeat the welding of different rods and welding balls. When all the rods on the welding ball are welded, the hydraulic cylinder 1 and the first robot arm 12 are retracted, and then the fourth robot arm 34 and the transverse rod are moved. The rods are separated, and the fifth robotic arm 35 continues to grab the transverse rod of the rod, and then, the second slider 33 is driven by the second screw 32 to move along the second slide groove 36, so that the second connecting plate 3 can move. When the fourth robotic arm 34 and the fifth robotic arm 35 are close to each other, the fifth robotic arm 35 grabs the transverse rod, and the fourth robotic arm 34 is separated from the transverse rod. At this time, the second slider 33 is driven by the second screw 32 to move along the second slide groove 36, so that the second robotic arm 24 and the third robotic arm 25 are separated from each other. Repeating the above process can move the second connecting plate 3 along the transverse rod. After the second connecting plate 3 moves along the transverse rod to another welding ball, the welding ball and the rod can be welded through the above process.

[0052] The present invention drives the welding equipment 13 to perform welding work through the first robot arm 12, so that the welding equipment 13 can realize a precisely controlled welding process, reduce welding defects caused by human factors, and effectively improve welding quality; at the same time, the first robot arm 12 and the welding equipment 13 enable the automated welding process to be carried out continuously and stably, effectively improving welding efficiency; at the same time, the first robot arm 12 and the welding equipment 13 replace manual welding operations, which reduces the labor intensity of workers and reduces work risks.

[0053] In the description of the present invention, it should be understood that the terms "longitudinal", "lateral", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside" and "outside" etc., indicating orientations or positional relationships, are based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the present invention.

[0054] The embodiments described above are only descriptions of the preferred modes of the present invention, and are not intended to limit the scope of the present invention. Without departing from the design spirit of the present invention, various modifications and improvements made to the technical solutions of the present invention by ordinary technicians in this field should all fall within the protection scope determined by the claims of the present invention.

Claims

1. An automatic welding device for welding ball nodes of a space grid structure, characterized in that: The invention comprises an adjusting component, wherein a first moving component for driving the adjusting component to move vertically is arranged at the lower part of the adjusting component, and a second moving component for driving the adjusting component to move horizontally is arranged at the upper part of the adjusting component, and the adjusting component is used to control the horizontal rotation angles of the first moving component and the second moving component, and a first mechanical arm (12) is fixedly connected to the top surface of the adjusting component, and a welding device (13) is installed at one end of the first mechanical arm (12) away from the adjusting component, and the first mechanical arm (12) is used to drive the welding device (13) to perform welding along the node position of the welding ball and the rod; The adjustment assembly comprises a hydraulic cylinder (1), a side wall of a fixed end of the hydraulic cylinder (1) being fixedly connected to the first movable assembly, a piston end of the hydraulic cylinder (1) being drivingly connected to an output shaft of a first motor (11), an end of the first motor (11) away from the hydraulic cylinder (1) being fixedly connected to the first mechanical arm (12), and an outer wall of the first motor (11) being fixedly connected to the second movable assembly; The first moving assembly comprises a first connecting plate (2) fixedly connected to the fixed end of the hydraulic cylinder (1); a first sliding groove (26) is provided at one end of the first connecting plate (2) facing away from the hydraulic cylinder (1); a first lead screw (22) is rotatably connected in the first sliding groove (26); a first sliding block (23) is threadedly connected to the first lead screw (22); and an end of the first sliding block (23) extending out of the first sliding groove (26) is fixedly connected to a second mechanical arm (24); The second moving assembly comprises a second connecting plate (3) fixedly connected to the outer wall of the first motor (11); a second sliding groove (36) is provided on the top surface of the second connecting plate (3); a second lead screw (32) is rotatably connected in the second sliding groove (36); a second slider (33) is threadedly connected to the second lead screw (32); and an end of the second slider (33) extending out of the second sliding groove (36) is fixedly connected to a fourth mechanical arm (34).

2. The automatic welding device for welding ball nodes of a space grid structure according to claim 1 is characterized in that: A third mechanical arm (25) is arranged above the first sliding groove (26), and the third mechanical arm (25) is fixedly connected to the first connecting plate (2).

3. The automatic welding device for welding ball nodes of a space grid structure according to claim 1 is characterized in that: One end of the first lead screw (22) is drivingly connected to a second motor (21), the second motor (21) is fixedly connected in the first slide groove (26), and the other end of the first lead screw (22) is rotatably connected to the inner wall of the first slide groove (26).

4. The automatic welding device for welding ball nodes of a space grid structure according to claim 2 is characterized in that: A fifth mechanical arm (35) is fixedly connected to a top surface of one side of the second connecting plate (3) close to the first mechanical arm (12).

5. The automatic welding device for welding ball nodes of a space grid structure according to claim 4 is characterized in that: One end of the second lead screw (32) extending outside the second connecting plate (3) is drivingly connected to a third motor (31), and the third motor (31) is fixedly connected to an end of the second connecting plate (3) facing away from the first motor (11).

6. The automatic welding device for welding ball nodes of a space grid structure according to claim 4 is characterized in that: The second mechanical arm (24), the third mechanical arm (25), the fourth mechanical arm (34) and the fifth mechanical arm (35) are respectively equipped with mechanical claws for grasping.

7. A method for using an automatic welding device for welding ball nodes of a space grid structure, based on the automatic welding device for welding ball nodes of a space grid structure according to any one of claims 1 to 6, characterized in that: The following steps are involved: The first movable assembly is capable of moving on the vertical rods of the grid structure, and the second movable assembly is capable of moving on the horizontal rods of the grid structure, so that the first movable assembly and the second movable assembly drive the first mechanical arm (12) to approach any welding ball, and the first mechanical arm (12) drives the welding device (13) to perform continuous annular welding along the nodes between the welding balls and the rods.

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