Multifunctional steel structure welding device

Abstract

The invention discloses a multifunctional steel structure welding device, which belongs to the field of steel structure welding and comprises a bottom box, a transparent cover is arranged on the bottom box, a portal frame mechanism with a height adjusting function and a transverse moving function is arranged in the transparent cover, and an inlet for a steel structure workpiece to enter is formed in the transparent cover. A closing structure for sealing is arranged at the inlet, and a harmful gas purification structure communicated with the interior of the transparent cover is arranged in the bottom box. The multifunctional steel structure welding device adopting the structure replaces a mechanical arm to realize complex welding operation, has the functions of lifting, front-back and left-right movement, swinging, pitching and rotating adjustment, can clamp different welding heads, is higher in applicability and simple in structure, reduces the cost and improves the welding efficiency.

Description

Technical Field

[0001] The invention relates to the technical field of steel structure welding, in particular to a multifunctional steel structure welding device. Background Art

[0002] Steel structure welding is the process of connecting metal structural parts together through welding technology, which is widely used in the fields of construction, bridges, ships, machinery manufacturing, etc. It involves using high temperature to partially melt the material and form a permanent joint after cooling. The quality of steel structure welding is directly related to the safety and stability of the entire structure, so the welding technology and welder's skills are very high. Existing steel structure welding methods include:

[0003] Manual Metal Arc Welding (SMAW): Also known as stick arc welding, it is one of the most common welding methods. It uses a coated electrode, which melts during the welding process to produce a protective gas and slag to prevent the oxygen and nitrogen in the air from affecting the weld.

[0004] Gas shielded welding (GMAW / MIG and FCAW): MIG welding (metal inert gas welding): uses continuous wire feeding and inert gas (such as argon) as shielding gas, suitable for welding thin plates and medium and thick plates.

[0005] FCAW (Flux Cored Gas Shielded Welding): Uses flux-cored wire, can work in harsh environments, has higher welding speeds and better wind resistance.

[0006] Submerged Arc Welding (SAW): Performed by automatic or semi-automatic equipment, using granular flux to cover the weld to prevent oxidation and improve welding quality. Suitable for thick plates and long welds.

[0007] Plasma arc welding (PAW): uses high-temperature plasma arc for welding, which is suitable for precision welding and high-demand occasions.

[0008] Resistance welding (RSP): including spot welding, seam welding, etc., suitable for thin plates and highly repetitive welding tasks.

[0009] However, the existing steel structure welding usually adopts manual welding, which is inefficient. With the development of intelligent machinery, the welding efficiency is greatly improved by clamping the welding head with multi-degree-of-freedom robotic arms instead of manual labor. However, the robotic arms belong to the field of intelligent robots, and the cost of large-scale use is very high, and they are not suitable for large-scale welding. Summary of the invention

[0010] The purpose of the present invention is to provide a multifunctional steel structure welding device, which replaces the robotic arm to realize complex welding operations, has the functions of lifting, moving forward and backward, left and right, swinging, pitching, and rotating, and can clamp different welding heads at the same time. It has higher applicability, simple structure, reduces costs, and improves welding efficiency.

[0011] To achieve the above-mentioned object, the present invention provides a multifunctional steel structure welding device, comprising a bottom box, a transparent cover is arranged on the bottom box, a gantry mechanism with height adjustment function and lateral movement function is arranged in the transparent cover, an inlet for steel structure workpiece to enter is arranged on the transparent cover, a closing structure for sealing is arranged at the inlet, and a harmful gas purification structure connected with the transparent cover is arranged in the bottom box;

[0012] The gantry mechanism includes a side frame, which is connected to the bottom box through a transverse movement structure, and the side frame is connected to the top frame through a height adjustment structure. The top frame is connected to the clamping structure through a longitudinal movement structure, a swing structure, a pitch structure, and a rotation structure in turn. The clamping structure is provided with a welding head and a weld tracking visual sensor. The moving direction of the longitudinal movement structure and the moving direction of the transverse movement structure are perpendicular to each other in a plane parallel to the bottom box.

[0013] Preferably, the closing structure comprises a closing door, the closing door stopper is arranged at the entrance of the transparent cover, a sealing ring is arranged around the edges of the closing door, the closing door is connected to the transparent cover through the sealing ring, the length of the closing door is greater than the length of the entrance, and the width of the closing door is greater than the width of the entrance;

[0014] A connecting plate is arranged at the top of the closed door, a top plate is arranged at the top of the transparent cover, an electric hydraulic cylinder is arranged on the top plate, and a hydraulic rod of the electric hydraulic cylinder penetrates through the top plate and is connected with the top of the connecting plate.

[0015] Preferably, the transverse movement structure includes a servo motor 1 symmetrically arranged at the top of the bottom box, the output shaft of the servo motor 1 is connected to one end of a lead screw 1, the other end of the lead screw 1 passes through the side frame and is rotatably connected to a rotating seat 1 arranged on the bottom box, the lead screw 1 is rotatably connected to the side frame, a slider 1 is arranged at the bottom end of the side frame, and a slide groove matched with the slider 1 is arranged at the bottom end of the bottom box, the slider 1 is arranged in the slide groove and is slidably connected to the slide groove.

[0016] Preferably, the height adjustment structure includes two servo motors symmetrically arranged on the inner side of the side frame, the output shaft of the two servo motors is connected to one end of the two lead screws, the other end of the two lead screws passes through the top frame and is rotatably connected to the two rotating seats arranged on the side frame, the two lead screws are rotatably connected to the top frame, two sliders are arranged at both ends of the top frame, and a sliding groove matched with the two sliders is arranged on the inner side of the side frame, and the two sliders are arranged in the sliding groove and are slidably connected to the sliding groove.

[0017] Preferably, the longitudinal movement structure includes servo motors three symmetrically arranged on both sides of the top frame, the output shaft of the servo motor three is connected to one end of a lead screw three, the other end of the lead screw three passes through the longitudinal movement rod and is rotatably connected to a rotating seat three arranged on the top frame, the lead screw three is rotatably connected to the longitudinal movement rod, a slider three is arranged on the longitudinal movement rod, sliding grooves matching the slider three are arranged on both sides of the top frame, the slider three is arranged in the sliding groove and is slidably connected to the sliding groove.

[0018] Preferably, the swing structure includes a swing plate symmetrically arranged at the end of the longitudinal moving rod, the swing plate is arranged at the end of the longitudinal moving rod away from the top frame, a swing arm is rotatably arranged inside the swing plate, the swing arm is rotatably connected to the swing plate through a swing shaft, a servo motor four is arranged on the swing plate, and the output shaft of the servo motor four passes through the swing plate and is connected to the swing shaft.

[0019] Preferably, the pitch structure includes a pitch plate symmetrically arranged at the end of the swing arm, the pitch plate is arranged at the end of the swing arm away from the longitudinal movement rod, a pitch arm is rotatably arranged in the pitch plate, the pitch arm is rotatably connected to the pitch plate through a pitch axis, a servo motor five is arranged on the pitch plate, and the output shaft of the servo motor five is connected to the pitch axis after passing through the pitch plate.

[0020] Preferably, the self-rotation structure includes a servo motor six arranged at the end of the pitch arm, the servo motor six is ​​arranged at an end of the pitch arm away from the swing arm, and the output shaft of the servo motor six is ​​connected to the clamping structure.

[0021] Preferably, the clamping structure includes a fixed plate, one side of the fixed plate is connected to the output shaft of the servo motor six, and the other side of the fixed plate is provided with a clamping plate one and a clamping plate two, the clamping plate one is fixedly connected to the fixed plate, the clamping plate two is provided with a sliding block, the fixed plate is provided with a groove adapted to the sliding block, the sliding block is arranged in the groove and is slidably connected to the groove;

[0022] A mounting seat is provided on the fixed plate, and a servo motor seven is provided on the mounting seat. The output shaft of the servo motor seven is connected to one end of a threaded column, and the other end of the threaded column passes through the clamping plate two and is rotatably connected to the clamping plate one. The threaded column is connected to the clamping plate two through a thread, and a welding head or a weld tracking visual sensor is clamped between the clamping plates one and two.

[0023] Preferably, the weld tracking visual sensor is a binocular camera, which is connected to a host computer via wireless communication.

[0024] Preferably, the harmful gas purification structure includes two groups of connecting pipes symmetrically arranged inside the bottom box, one of which is connected to the harmful gas collection box through an air pump, and the other is connected to the outside of the bottom box through an air suction machine;

[0025] The connecting pipe group comprises a plurality of connecting pipes 1 connected with the inside of the transparent cover, the connecting pipes 1 are all connected with connecting pipes 2, and the connecting pipes 2 are connected with the exhaust fan or the suction fan through the connecting pipes 3.

[0026] Therefore, the present invention adopts a multifunctional steel structure welding device with the above structure, which has the following beneficial effects:

[0027] (1) The lateral movement structure, height adjustment structure, longitudinal movement structure, swing structure, pitch structure, and rotation structure of the present invention cooperate with the clamping structure to realize the front and back left and right movement, lifting, swinging, pitch adjustment, and rotation of the welding head, thereby realizing complex welding, replacing the manipulator, and the clamping structure can clamp a variety of welding heads, which is more convenient;

[0028] (2) The device of the present invention as a whole adopts plate parts, servo motors, hydraulic cylinders and their existing structures. Compared with the robot arm, it has a simple structure and can reduce costs. At the same time, it can achieve multifunctional welding and has higher applicability.

[0029] The technical solution of the present invention is further described in detail below through the accompanying drawings and embodiments. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] Figure 1 A three-dimensional diagram of an embodiment of a multifunctional steel structure welding device of the present invention;

[0031] Figure 2 This is a front structural diagram of a closed door according to an embodiment of the present invention;

[0032] Figure 3 This is a side structural diagram of a closed door according to an embodiment of the present invention;

[0033] Figure 4 A side view of a side frame according to an embodiment of the present invention;

[0034] Figure 5 A schematic diagram of a swing structure according to an embodiment of the present invention;

[0035] Figure 6 is a schematic diagram of a pitch structure of an embodiment of the present invention;

[0036] Figure 7 A schematic diagram of an air extraction structure according to an embodiment of the present invention;

[0037] Figure 8 Schematic diagram of the air intake structure of an embodiment of the present invention.

[0038] Reference numerals

[0039] 1. Bottom box; 2. Transparent cover; 3. Closing door; 4. Sealing ring; 5. Top plate; 6. Electric hydraulic cylinder; 7. Connecting plate; 8. Side frame; 9. Top frame; 10. Servo motor 1; 11. Lead screw 1; 12. Rotating seat 1; 13. Slider 1; 14. Servo motor 2; 15. Lead screw 2; 16. Rotating seat 2; 17. Slider 2; 18. Servo motor 3; 19. Lead screw 3; 20. Rotating seat 3; 21. Longitudinal rod; 22. Slider 3; 23. Servo motor 4; 24. Swing shaft; 25. Swing arm; 26. Swing plate; 27. Servo motor five; 28. Pitch shaft; 29. ​​Pitch arm; 30. Pitch plate; 31. Servo motor six; 32. Fixed plate; 33. Clamping plate one; 34. Clamping plate two; 35. Sliding block; 36. Mounting seat; 37. Servo motor seven; 38. Threaded column; 39. Connecting pipe one; 40. Connecting pipe two; 41. Connecting pipe three; 42. Vacuum pump; 43. Air suction machine; 44. Harmful gas collection box. DETAILED DESCRIPTION

[0040] In order to make the purpose, technical scheme and advantages disclosed in the embodiments of the present invention clearer, the embodiments of the present invention are further described in detail in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the embodiments of the present invention and are not intended to limit the embodiments of the present invention. Based on the embodiments in this application, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of this application. Examples of the embodiments are shown in the accompanying drawings, where the same or similar reference numerals throughout represent the same or similar elements or elements with the same or similar functions.

[0041] It should be noted that the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions. For example, a process, method, system, product or server that includes a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units that are not explicitly listed or inherent to these processes, methods, products or devices.

[0042] Like reference numerals and letters denote similar items in the following drawings, and thus, once an item is defined in one drawing, further definition and explanation thereof is not required in subsequent drawings.

[0043] In the description of the present invention, it should be noted that the terms "upper", "lower", "inside", "outside", etc. indicate directions or positional relationships based on the directions or positional relationships shown in the accompanying drawings, or are directions or positional relationships in which the product of the invention is usually placed when in use. They are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific direction, be constructed and operated in a specific direction, and therefore should not be understood as a limitation on the present invention.

[0044] In the description of the present invention, it is also necessary to explain that, unless otherwise clearly specified and limited, the terms "setting", "installation" and "connection" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be an indirect connection through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0045] Example

[0046] like Figure 1 As shown, the multifunctional steel structure welding device of the present invention comprises a bottom box 1, on which a transparent cover 2 is arranged. The transparent cover 2 is provided with an inlet for the steel structure workpiece to enter, and a closed structure for sealing is arranged at the inlet. Figure 2 , Figure 3 As shown, the closed structure includes a closed door 3, which is blocked at the entrance of the transparent cover 2. A sealing ring 4 is arranged around the edges of the closed door 3, and the closed door 3 is connected to the transparent cover 2 through the sealing ring 4. The length of the closed door 3 is greater than the length of the entrance, and the width of the closed door 3 is greater than the width of the entrance. A connecting plate 7 is arranged at the top of the closed door 3, and a top plate 5 is arranged at the top of the transparent cover 2. An electric hydraulic cylinder 6 is arranged on the top plate 5, and the hydraulic rod of the electric hydraulic cylinder 6 passes through the top plate 5 and is connected to the top of the connecting plate 7. The transparent cover 2 not only protects the structure on the bottom box 1, but also plays a sealing role, so that the harmful gas generated by welding will not be emitted. When it is necessary to put the steel structure workpiece into the transparent cover 2, the hydraulic rod of the electric hydraulic cylinder 6 drives the connecting plate 7 to move up, and then drives the closed door 3 to move up so that the entrance at the closed door 3 is opened, which is convenient for the steel structure to enter.

[0047] A gantry mechanism with height adjustment and lateral movement functions is arranged in the transparent cover 2. The gantry mechanism includes a side frame 8, which is connected to the bottom box 1 through a lateral movement structure, and the side frame 8 is connected to the top frame 9 through a height adjustment structure. The top frame 9 is connected to the clamping structure through a longitudinal movement structure, a swing structure, a pitch structure, and a rotation structure in sequence. A welding head and a weld tracking visual sensor are arranged on the clamping structure. The moving direction of the longitudinal movement structure and the moving direction of the lateral movement structure are perpendicular to each other in a plane parallel to the bottom box 1.

[0048] like Figure 1 , Figure 4As shown, the lateral movement structure includes a servo motor 10 symmetrically arranged at the top of the bottom box 1, the output shaft of the servo motor 10 is connected to one end of a lead screw 11, the other end of the lead screw 11 passes through the side frame 8 and is rotatably connected to a rotating seat 12 arranged on the bottom box 1, and the lead screw 11 is rotatably connected to the side frame 8. A slider 13 is arranged at the bottom end of the side frame 8, and a slide groove adapted to the slider 13 is arranged at the bottom end of the bottom box 1. The slider 13 is arranged in the slide groove and is slidably connected to the slide groove. The output shaft of the servo motor 10 drives the lead screw 11 to rotate, thereby driving the side frame 8 to move. At this time, the slider 13 of the side frame 8 slides in the slide groove, so that the side frame 8 moves forward and backward stably.

[0049] The height adjustment structure includes a servo motor 14 symmetrically arranged on the inner side of the side frame 8, the output shaft of the servo motor 14 is connected to one end of a lead screw 15, the other end of the lead screw 15 passes through the top frame 9 and is rotatably connected to a rotating seat 16 arranged on the side frame 8, and the lead screw 15 is rotatably connected to the top frame 9. Slide blocks 17 are arranged at both ends of the top frame 9, and a sliding groove adapted to the slide blocks 17 is arranged on the inner side of the side frame 8. The slide blocks 17 are arranged in the sliding groove and are slidably connected to the sliding groove. The output shaft of the servo motor 14 drives the lead screw 15 to rotate, thereby driving the top frame 9 to move. At this time, the slide blocks 17 of the top frame 9 slide in the sliding groove, so that the top frame 9 can stably move up and down between the two side frames 8.

[0050] The longitudinal movement structure includes a servo motor 3 18 symmetrically arranged on both sides of the top frame 9, the output shaft of the servo motor 3 18 is connected to one end of a lead screw 3 19, the other end of the lead screw 3 19 passes through the longitudinal movement rod 21 and is rotatably connected to a rotating seat 3 20 arranged on the top frame 9, and the lead screw 3 19 is rotatably connected to the longitudinal movement rod 21. A slider 3 22 is arranged on the longitudinal movement rod 21, and sliding grooves adapted to the slider 3 22 are arranged on both sides of the top frame 9. The slider 3 22 is arranged in the sliding groove and is slidably connected to the sliding groove. The output shaft of the servo motor 3 18 drives the lead screw 3 19 to rotate, thereby driving the longitudinal movement rod 21 to move. At this time, the slider 3 22 of the longitudinal movement rod 21 slides in the sliding groove, so that the longitudinal movement rod 21 can stably move left and right on the side of the top frame 9.

[0051] like Figure 5 As shown, the swing structure includes a swing plate 26 symmetrically arranged at the end of the longitudinal moving rod 21, and the swing plate 26 is arranged at the end of the longitudinal moving rod 21 away from the top frame 9. A swing arm 25 is rotatably arranged in the swing plate 26, and the swing arm 25 is rotatably connected to the swing plate 26 through a swing shaft 24. A servo motor 23 is arranged on the swing plate 26, and the output shaft of the servo motor 23 passes through the swing plate 26 and is connected to the swing shaft 24. The output shaft of the servo motor 23 drives the swing shaft 24 to rotate, and then drives the swing arm 25 to swing between the swing plates 26 of the longitudinal moving rod 21.

[0052] like Figure 6As shown, the pitch structure includes a pitch plate 30 symmetrically arranged at the end of the swing arm 25, and the pitch plate 30 is arranged at the end of the swing arm 25 away from the longitudinal shift rod 21. A pitch arm 29 is rotatably arranged in the pitch plate 30, and the pitch arm 29 is rotatably connected to the pitch plate 30 through the pitch shaft 28. A servo motor 5 27 is arranged on the pitch plate 30, and the output shaft of the servo motor 5 27 passes through the pitch plate 30 and is connected to the pitch shaft 28. The output shaft of the servo motor 5 27 drives the pitch shaft 28 to rotate, and then drives the pitch arm 29 to rotate between the pitch plates 30 of the swing arm 25 to adjust the pitch angle.

[0053] The self-rotating structure includes a servo motor 631 disposed at the end of the pitch arm 29, the servo motor 631 is disposed at one end of the pitch arm 29 away from the swing arm 25, and the output shaft of the servo motor 631 is connected to the clamping structure. The output shaft of the servo motor 631 drives the clamping structure to rotate.

[0054] The clamping structure includes a fixed plate 32, one side of which is connected to the output shaft of the servo motor 6 31, and the other side of the fixed plate 32 is provided with a clamping plate 1 33 and a clamping plate 2 34. The clamping plate 1 33 is fixedly connected to the fixed plate 32, and the clamping plate 2 34 is provided with a sliding block 35. The fixed plate 32 is provided with a groove adapted to the sliding block 35, and the sliding block 35 is arranged in the groove and slidably connected with the groove. A mounting seat 36 is provided on the fixed plate 32, and a servo motor 7 37 is provided on the mounting seat 36, and the output shaft of the servo motor 7 37 is connected to one end of a threaded column 38. The other end of the threaded column 38 passes through the clamping plate 2 34 and is rotatably connected to the clamping plate 1 33, and the threaded column 38 is connected to the clamping plate 2 34 through a thread. A welding head or a weld tracking visual sensor is clamped between the clamping plate 1 33 and the clamping plate 2 34. There are two groups of clamping structures, one of which is a clamping structure on one side. The servo motor 7 37 drives the threaded column 38 to rotate, thereby driving the clamping plate 2 34 to move, and cooperates with the clamping plate 1 33 to clamp the weld tracking visual sensor. The clamping structure on the other side is used to clamp the welding head, which is replaceable to achieve different welding processes. The weld tracking visual sensor is a binocular camera, which is connected to the host computer via wireless communication. The camera is controlled by the host computer to collect image data of the weld.

[0055] The bottom box 1 is provided with a harmful gas purification structure which is connected with the transparent cover 2. Figure 7 , Figure 8As shown, the harmful gas purification structure includes two groups of connecting pipes symmetrically arranged inside the bottom box 1, one of which is connected to the harmful gas collection box 44 through the air extractor 42, and the other is connected to the outside of the bottom box 1 through the air suction machine 43. The connecting pipe group includes a plurality of connecting pipes 1 39 connected to the inside of the transparent cover 2, and the connecting pipes 1 39 are all connected to the connecting pipes 2 40, and the connecting pipes 2 40 are connected to the air extractor 42 or the air suction machine 43 through the connecting pipes 3 41. All servo motors, electric hydraulic cylinders 6, air suction machines 43, and air extractors 42 are controlled by the upper computer.

[0056] When in use, first drive the closing door 3 to open through the electric hydraulic cylinder 6, place the steel frame workpiece in the middle of the top of the bottom box 1, and then close the closing door 3. The clamping structure is driven to move forward and backward, lift and lower, move left and right, swing, pitch and rotate through the lateral movement structure, height adjustment structure, longitudinal movement structure, swing structure, pitch structure, and rotation structure, so that the weld tracking visual sensor moves to collect the image data of its weld and upload it to the host computer. After the host computer processes and analyzes the received data, it controls the lateral movement structure, height adjustment structure, longitudinal movement structure, swing structure, pitch structure, and rotation structure to drive the clamping structure to move, thereby achieving more accurate welding work. During the welding process, the exhaust fan 42 draws the harmful gas into the harmful gas collection box 44 through the connecting pipe group, and the suction fan 43 draws the external air into the transparent cover 2 through the connecting pipe group to maintain air pressure balance.

[0057] Therefore, the multifunctional steel structure welding device described in the present invention replaces the robotic arm to realize complex welding operations, has the functions of lifting, moving forward and backward, left and right, swinging, pitching, and rotating, and can clamp different welding heads at the same time. It has higher applicability, simple structure, reduces costs, and improves welding efficiency.

[0058] Finally, it should be noted that the above embodiments are only used to illustrate the technical solution of the present invention rather than to limit it. Although the present invention has been described in detail with reference to the preferred embodiments, those skilled in the art should understand that they can still modify or replace the technical solution of the present invention with equivalents, and these modifications or equivalent replacements cannot cause the modified technical solution to deviate from the spirit and scope of the technical solution of the present invention.

Claims

1. A multifunctional steel structure welding device, characterized in that: It comprises a bottom box, a transparent cover is arranged on the bottom box, a gantry mechanism with height adjustment function and lateral movement function is arranged in the transparent cover, an inlet for steel structure workpiece to enter is arranged on the transparent cover, a closing structure for sealing is arranged at the inlet, and a harmful gas purification structure connected with the transparent cover is arranged in the bottom box; The gantry mechanism includes a side frame, which is connected to the bottom box through a transverse movement structure, and the side frame is connected to the top frame through a height adjustment structure. The top frame is connected to the clamping structure through a longitudinal movement structure, a swing structure, a pitch structure, and a rotation structure in turn. The clamping structure is provided with a welding head and a weld tracking visual sensor. The moving direction of the longitudinal movement structure and the moving direction of the transverse movement structure are perpendicular to each other in a plane parallel to the bottom box.

2. The multifunctional steel structure welding device according to claim 1 is characterized in that: The closing structure includes a closing door, the closing door stopper is arranged at the entrance of the transparent cover, a sealing ring is arranged around the edges of the closing door, the closing door is connected to the transparent cover through the sealing ring, the length of the closing door is greater than the length of the entrance, and the width of the closing door is greater than the width of the entrance; A connecting plate is arranged at the top of the closed door, a top plate is arranged at the top of the transparent cover, an electric hydraulic cylinder is arranged on the top plate, and a hydraulic rod of the electric hydraulic cylinder penetrates through the top plate and is connected with the top of the connecting plate.

3. The multifunctional steel structure welding device according to claim 1 is characterized in that: The transverse movement structure includes a servo motor 1 symmetrically arranged at the top of the bottom box, the output shaft of the servo motor 1 is connected to one end of a lead screw 1, the other end of the lead screw 1 passes through the side frame and is rotatably connected to a rotating seat 1 arranged on the bottom box, the lead screw 1 is rotatably connected to the side frame, a slider 1 is arranged at the bottom end of the side frame, and a slide groove matched with the slider 1 is arranged at the bottom end of the bottom box, the slider 1 is arranged in the slide groove and is slidably connected to the slide groove.

4. The multifunctional steel structure welding device according to claim 1 is characterized in that: The height adjustment structure includes two servo motors symmetrically arranged on the inner side of the side frame, the output shaft of the two servo motors is connected to one end of the two lead screws, the other end of the two lead screws passes through the top frame and is rotatably connected to the two rotating seats arranged on the side frame, the two lead screws are rotatably connected to the top frame, two sliders are arranged at both ends of the top frame, and a sliding groove matched with the two sliders is arranged on the inner side of the side frame, and the two sliders are arranged in the sliding groove and are slidably connected to the sliding groove.

5. The multifunctional steel structure welding device according to claim 1 is characterized in that: The longitudinal movement structure includes servo motors three symmetrically arranged on both sides of the top frame, the output shaft of the servo motor three is connected to one end of the lead screw three, the other end of the lead screw three passes through the longitudinal movement rod and is rotatably connected to a rotating seat three arranged on the top frame, the lead screw three is rotatably connected to the longitudinal movement rod, a slider three is arranged on the longitudinal movement rod, and sliding grooves matched with the slider three are arranged on both sides of the top frame, the slider three is arranged in the sliding groove and is slidably connected to the sliding groove.

6. The multifunctional steel structure welding device according to claim 5, characterized in that: The swing structure includes a swing plate symmetrically arranged at the end of the longitudinal moving rod, the swing plate is arranged at the end of the longitudinal moving rod away from the top frame, a swing arm is rotatably arranged in the swing plate, the swing arm is rotatably connected to the swing plate through a swing shaft, a servo motor four is arranged on the swing plate, and the output shaft of the servo motor four passes through the swing plate and is connected to the swing shaft.

7. The multifunctional steel structure welding device according to claim 6, characterized in that: The pitch structure includes a pitch plate symmetrically arranged at the end of the swing arm, the pitch plate is arranged at the end of the swing arm away from the longitudinal movement rod, a pitch arm is rotatably arranged in the pitch plate, the pitch arm is rotatably connected to the pitch plate through a pitch axis, a servo motor five is arranged on the pitch plate, and the output shaft of the servo motor five is connected to the pitch axis after passing through the pitch plate.

8. The multifunctional steel structure welding device according to claim 7, characterized in that: The self-rotation structure comprises a servo motor six arranged at the end of the pitch arm, the servo motor six is ​​arranged at one end of the pitch arm away from the swing arm, and the output shaft of the servo motor six is ​​connected to the clamping structure.

9. The multifunctional steel structure welding device according to claim 8, characterized in that: The clamping structure includes a fixed plate, one side of the fixed plate is connected to the output shaft of the servo motor six, and the other side of the fixed plate is provided with a clamping plate one and a clamping plate two, the clamping plate one is fixedly connected to the fixed plate, the clamping plate two is provided with a sliding block, the fixed plate is provided with a groove adapted to the sliding block, the sliding block is arranged in the groove and slidably connected to the groove; A mounting seat is provided on the fixed plate, and a servo motor seven is provided on the mounting seat. The output shaft of the servo motor seven is connected to one end of a threaded column, and the other end of the threaded column passes through the clamping plate two and is rotatably connected to the clamping plate one. The threaded column is connected to the clamping plate two through a thread, and a welding head or a weld tracking visual sensor is clamped between the clamping plates one and two.

10. The multifunctional steel structure welding device according to claim 9, characterized in that: The weld tracking visual sensor is a binocular camera, which is connected to the host computer via wireless communication.

11. The multifunctional steel structure welding device according to claim 1, characterized in that: The harmful gas purification structure includes two groups of connecting pipes symmetrically arranged inside the bottom box, one of which is connected to the harmful gas collection box through an air pump, and the other is connected to the outside of the bottom box through an air suction machine; The connecting pipe group comprises a plurality of connecting pipes 1 connected with the inside of the transparent cover, the connecting pipes 1 are all connected with connecting pipes 2, and the connecting pipes 2 are connected with the exhaust fan or the suction fan through the connecting pipes 3.

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