Special-shaped steel structure automatic welding and special-shaped steel structure automatic welding process

Abstract

The invention discloses an automatic welding process for a deformed steel structure. The automatic welding process comprises the following specific steps: 1) preparing a deformed steel structure material; 2) setting welding parameters of the deformed steel structure; (3) assembling the special-shaped steel structure; (4) special-shaped steel structure welding; (5) post-welding treatment is conducted on the deformed steel structure, and the first clamping mechanism, the second clamping mechanism and the jacking mechanism are reset and withdrawn; 6) hoisting and transferring after welding and cleaning; welding equipment needed by welding comprises a rack, a supporting plate, a first clamping mechanism, a second clamping mechanism, a jacking mechanism and a welding robot. The welding robot is arranged on one side of the rack and can reciprocate in the direction of the rack. According to the device, the first clamping mechanism, the second clamping mechanism and the jacking mechanism are matched with one another, so that positioning adjustment, including control adjustment of the angle protruding out of the wing plate, of the wing plate in the special-shaped steel structure can be achieved; and the jacking mechanism can also realize height control of the wing plate.

Description

Technical Field

[0001] The invention belongs to the technical field of steel structure welding, and in particular relates to automatic welding of special-shaped steel structures and a process thereof. Background Art

[0002] Steel structure is already one of the main building materials and is relatively convenient to use. Usually, H-steel, I-steel and square steel are commonly used in steel structures, and their application environments are relatively conventional. However, the steel structures required in some special environments are relatively special due to the application environment, and special-shaped steel structures are required for construction. Therefore, when welding special-shaped steel structures, it is necessary to assemble and clamp the blanks in different directions. On the one hand, the blanks must not interfere with the automated welding, and on the other hand, the position of the blanks must be accurate. The existing blank assembly device cannot better complete the auxiliary welding of special-shaped steel structures;

[0003] After searching, the prior art announcement number is CN215747516U, which is a kind of H-beam welding and assembling device suitable for different sizes, including workbench I, workbench II, support mechanism I, support mechanism II, and support mechanism III; workbench II is arranged on workbench I, and support mechanism I, support mechanism II, and support mechanism III are arranged on workbench II; support mechanism I and support mechanism III are arranged on both sides of support mechanism II respectively; a fixed plate and a group of sliding seats are arranged at the bottom of workbench II, and the fixed plate is arranged between the sliding seats; guide rails II, guide rails III, and motors are arranged at the top of workbench II Ⅱ, motor Ⅲ, screw Ⅱ, screw Ⅲ; support mechanism Ⅰ includes support column Ⅰ, U-shaped frame, fixing mechanism Ⅰ, fixing mechanism Ⅱ, push plate; support mechanism Ⅱ includes fixing platform, support column Ⅱ, motor Ⅵ, support platform, fixing column, screw Ⅵ; but the premise is the welding application of conventional H-shaped steel structure of different sizes, and it is difficult to apply to the assembly welding of special-shaped steel structure, for example, there is a protrusion on the wing plate of the steel structure, and the protrusion is set as an irregular trapezoid; the above scheme is difficult to achieve the control, adjustment and positioning that meets the requirements for the special-shaped wing plate;

[0004] In addition, after searching, it was found that the prior art publication number is CN117921257A, which is an automatic steel frame assembly welding forming device and process, which provides a steel structure welding assembly and process, discloses automatic assembly of large steel structures and the use of welding robots instead of manual welding to achieve high-quality and high-efficiency steel structure assembly and welding;

[0005] According to the above reference documents and prior art, the present invention provides a welding assembly device and process for special-shaped steel structures. Summary of the invention

[0006] The purpose of the present invention is to overcome the shortcomings of the prior art and provide an automated welding process for special-shaped steel structures. For special-shaped steel structures, the first clamping mechanism, the second clamping mechanism and the jacking mechanism cooperate with each other to achieve the positioning and auxiliary fixation of the wing plate in the special-shaped steel structure, including the control and adjustment of the angle of the protruding wing plate; the first clamping jaw and the second clamping jaw can rotate to achieve the angle control of the wing plate, and the jacking mechanism can also achieve the height control of the wing plate, and the welding of the special-shaped steel structure can be completed by cooperating with the support of the web.

[0007] In order to achieve the above object, the technical solution adopted by the present invention is:

[0008] An automatic welding of special-shaped steel structure and its process, the specific steps are as follows:

[0009] 1) Preparation of special-shaped steel structure materials: clean the surface of the steel plate, remove rust, oil stains, etc.; use OTC gas shielded welding machine, select welding wire that matches the parent material, model ER50-6, diameter 1.2-1.6mm; use CO2 as the shielding gas to ensure good protection of the molten pool during welding;

[0010] 2) Special-shaped steel structure welding parameter setting: welding speed 350-450mm / min, shielding gas flow rate 15-25L / min; keep the angle between the welding gun and the workpiece at 75°-90° to ensure the stability of the molten pool;

[0011] When the steel plate thickness is 6-12mm and the welding wire diameter is 1.2mm, the welding speed is set to 410-450mm / min and the shielding gas flow rate is 15-20L / min;

[0012] When the steel plate thickness is 20-30mm and the welding wire diameter is 1.6mm, the welding speed is set to 350-400mm / min and the shielding gas flow rate is 20-25L / min;

[0013] 3) Assembly of special-shaped steel structure: After the web of the special-shaped steel structure is hoisted, it is supported and fixed by the support plate, and then the wing plate is hoisted;

[0014] For the positioning welding of the long wing plate: first, the wing plate is supported by the supporting plate on the supporting mechanism, and then the first electric push rod in the first clamping mechanism on both ends of the frame pushes the mounting plate to drive the fixing seat and the second clamping claw to approach the end of the wing plate, and then the first motor drives the first rotating shaft to rotate so that the second clamping claw can smoothly clamp the wing plate, and then the fixing seat and the second clamping claw continue to be controlled to rotate according to the shape of the web plate to adjust the angle of the wing plate, and further, the second motor can drive the first lead screw to rotate, thereby driving the fixing seat and the second clamping claw to move in the second through groove, and cooperate with the axial rotation of the second clamping claw, so that the wing plate fits the side of the web plate to meet the welding requirements;

[0015] For the positioning welding of short wing plates: the short wing plates also include the situation that one end of the wing plate is flush with one end of the web plate and the other end of the wing plate reaches the middle of the web plate, and the two ends of the wing plate are placed in the middle of the web plate and away from the ends of the web plate;

[0016] For the positioning welding of the first type of long wing plate, the second clamping mechanism, the supporting mechanism and the first clamping mechanism need to cooperate with each other to perform positioning and installation and then assist in welding; first, the supporting mechanism needs to support the bottom of the wing plate, then the first clamping mechanism needs to clamp one end of the wing plate to be flush with the end of the web plate, and then the second clamping mechanism needs to clamp the other end of the wing plate to perform auxiliary positioning;

[0017] For the positioning welding of the second short-width wing plate mentioned above, since the wing plate is short and far away from the first clamping mechanism, the second clamping mechanism cooperates with the supporting mechanism to complete the positioning and auxiliary fixation throughout the process to meet the welding requirements; the first adjusting mechanism in the second clamping mechanism can drive the second lead screw to rotate through the third motor, thereby driving the first support platform to move in the first slide groove, thereby driving the lifting mechanism and the first clamping claw to move, and then the fourth lead screw is driven by the fourth motor to rotate to control the lifting mechanism to move along the third through groove; the first mounting seat and the first clamping claw are then controlled by the second electric push rod to adjust the height so that the first clamping claw can move up and down; further, the sixth motor in the first clamping claw drives the bidirectional lead screw to rotate to control the supporting plate to move in the second slide groove to clamp wing plates of different thicknesses, and then the second worm can be driven by the fifth motor to rotate, thereby driving the second rotating shaft and the first clamping claw to rotate, thereby realizing the angle adjustment of the wing plate, and then the welding robot performs welding;

[0018] The movement process of the supporting mechanism: the fifth lead screw is controlled to rotate by the seventh motor, thereby driving the second support platform to move along the first through slot, and then the sixth lead screw is driven to rotate by the eighth motor to control the second mounting seat to move; the ninth motor can drive the seventh lead screw to rotate, and then control the second fixing frame to move up and down, and the tenth motor can control the third fixing frame to rotate on the disc so that the supporting plate can be adjusted to match the installation angle of the wing plate; further, the eleventh motor can control the adjusting arm to match the connecting rod to make the extension plate slide in the mounting slot to adjust the support length to meet the support requirements of wing plates of different lengths;

[0019] 4) Welding of special-shaped steel structures: Start the welding machine, and the robot moves and welds according to the preset path. For welds, segmented welding and symmetrical welding are used to reduce deformation. For thick plates, multi-layer and multi-pass welding is used. After each welding, the welding slag is cleaned to ensure good bonding between layers.

[0020] 5) After welding of special-shaped steel structures, the first clamping mechanism, the second clamping mechanism and the supporting mechanism are reset and returned; the welding slag and spatter on the weld surface are cleared in turn, and the appearance quality of the weld is checked to ensure that there are no leaks, pores, or slag inclusions;

[0021] 6) After welding and cleaning, hoist and transfer.

[0022] A special-shaped steel structure automated welding equipment, comprising a frame, a support plate, a first clamping mechanism, a second clamping mechanism, a supporting mechanism, and a welding robot; the welding robot is arranged on one side of the frame and can reciprocate along the frame direction, L-shaped plates are arranged at both ends of the support plate and are fixedly connected to the frame through the L-shaped plates to support the web of the special-shaped steel structure, the first clamping mechanism is provided with two groups and is respectively arranged at both ends of the frame, the first clamping mechanism clamps the end of the wing plate of the special-shaped steel structure, the second clamping mechanism is arranged at the top of the frame to control the wing plate in the clamped special-shaped steel structure to achieve angle control of the wing plate, and the supporting mechanism is arranged at the bottom of the frame to support the bottom of the wing plate in the special-shaped steel structure; a support arm is arranged at the top of the frame, a first slide groove is arranged on the support arm, and a first through groove is arranged on the crossbeam at the bottom of the frame.

[0023] The second clamping mechanism includes a first adjusting mechanism, a first supporting platform, a lifting mechanism, and a first clamping claw; the first adjusting mechanism is arranged on the top of the frame, and both ends of the first supporting platform are slidably connected to the top of the frame, the lifting mechanism is arranged on the first supporting platform and can move on the first supporting platform, and the first clamping claw is arranged at the bottom end of the lifting mechanism for clamping the wing plate; the first supporting platform is controlled to reciprocate on the top of the frame by the first adjusting mechanism, thereby driving the lifting mechanism and the first clamping claw to move, clamping the wing plate by the first clamping claw, and then cooperating with the lifting mechanism to lift the first clamping claw to control the positioning of the wing plate.

[0024] Furthermore, the first adjusting mechanism includes a third motor, a second lead screw, and a third lead screw. The second lead screw is provided with a pair, and both ends of the second lead screw are fixed to the top of the frame through bearing seats, and the ends of the second lead screw are provided with bevel gears; the third motor is fixed to the top of the frame through the motor seat, and the third lead screw is fixed to the top of the frame through the bearing seat, and both ends of the third lead screw are provided with bevel gears and mesh with the bevel gears at the ends of the second lead screw. The shaft end of the third motor is connected to the end of the third lead screw, and the third lead screw is driven to rotate by the third motor, thereby driving the second lead screw to rotate synchronously.

[0025] Rollers are provided at both ends of the first support platform, and the rollers are arranged in the first slide groove; the second lead screw is threadedly connected to the two ends of the first support platform through the ear plates; a third through groove is provided on the first support platform; a fourth lead screw and a fourth motor are also provided on the first support platform, the end of the fourth lead screw is fixed by a bearing seat, and the shaft end of the fourth motor is connected to one end of the fourth lead screw.

[0026] The lifting mechanism includes a fixed platform, a second electric push rod, a first mounting seat, a fifth motor, and a second rotating shaft; the fixed platform is arranged in the third through groove, and support plates are arranged on both sides of the fixed platform for supporting the fixed platform, and a guide shaft is arranged on the first mounting seat, and the guide shafts pass through the fixed platform and are slidably connected to each other; the second electric push rod is fixed on the fixed platform, and the top shaft of the second electric push rod passes through the fixed platform and is fixedly connected to the first mounting seat; the fifth motor and the second rotating shaft are arranged on the first mounting seat, and a second worm is arranged at the shaft end of the fifth motor, and both ends of the second worm are rotatably connected to the first mounting seat, and the second rotating shaft is rotatably connected to the first mounting seat, and a second worm wheel is arranged on the second rotating shaft, and the second worm wheel meshes with the second worm; the second worm is driven to rotate by the fifth motor, and then the second rotating shaft is driven to rotate in cooperation with the second worm wheel.

[0027] The first clamp is fixedly connected to the second rotating shaft, and the first clamp includes a third mounting seat, a sixth motor, and a clamping plate. The third mounting seat is fixedly connected to the end of the second rotating shaft; the third mounting seat is provided with a second slide groove, and the clamping plate is provided with a pair, and a slider is provided on the clamping plate, and the slider is arranged in the second slide groove. The sixth motor is fixed to one end of the third mounting seat, and a bidirectional lead screw is provided at the shaft end of the sixth motor, and the bidirectional lead screw is arranged in the second slide groove. The bidirectional thread section of the bidirectional lead screw is threadedly connected with the slider; the bidirectional lead screw is driven by the sixth motor to rotate forward and reverse, thereby driving the clamping plate to clamp and loosen, and then cooperating with the second worm and the second worm wheel to adjust the angle of the clamping plate.

[0028] The first clamping mechanism includes a first fixing frame, a mounting plate, a first electric push rod, a fixing seat, a second motor, and a second clamping claw; the first fixing frame is fixed to the end of the frame; a supporting shaft is provided on the mounting plate, and the supporting shaft passes through the first fixing frame and is slidably connected to each other; a gap is provided between the two ends of the mounting plate and the frame; a pair of second through grooves arranged at intervals are also provided on the mounting plate, and the first electric push rod is fixed to the first fixing frame, and the top shaft of the first electric push rod passes through the first fixing frame and is fixedly connected to the mounting plate; a pair of fixing seats are provided, and one end of the fixing seat is provided in the second through groove; a pair of second motors are provided, and the second motor is fixed on the mounting plate, and the shaft end of the second motor is provided with a second A lead screw, a first lead screw threadedly connected to a fixed seat, and both ends of the first lead screw are fixed to a mounting plate through bearing seats; a first motor and a first rotating shaft are provided on the fixed seat; a first worm is provided at the shaft end of the first motor, and the through shafts at both ends of the first worm are rotatably connected to the fixed seat, and both ends of the first rotating shaft are rotatably connected to the fixed seat, a first worm wheel is provided on the first rotating shaft, and the first worm wheel meshes with the first worm; a second clamp is fixedly connected to the first rotating shaft; the end of the wing plate of the special-shaped steel structure is clamped by the second clamp, and then the first rotating shaft is driven to rotate by the first motor, thereby adjusting the angle of the control wing plate; the second clamp has the same structure as the first clamp and can clamp wing plates of different thicknesses.

[0029] The supporting mechanism includes a seventh motor, a second support platform, a second mounting seat, a second fixed frame, a third fixed frame, a support plate, and an eleventh motor; support blocks are provided at both ends of the second support platform, and the support blocks are arranged in the first through groove; the seventh motor is fixed on one side of the frame, and a fifth lead screw is provided at the shaft end of the seventh motor, and both ends of the fifth lead screw are rotatably connected to the frame, and the fifth lead screw is threadedly connected to the second support platform; a T-slot is provided on the second support platform, and an eighth motor is provided at one end of the second support platform, and a sixth lead screw is provided in the T-slot, and both ends of the sixth lead screw are rotatably connected to the second support platform through a fixed plate and bearings, and the shaft end of the eighth motor is connected to one end of the sixth lead screw.

[0030] A T-block is provided at the bottom of the second mounting seat, the T-block is arranged in the T-slot, and the T-block is threadedly connected to the sixth screw; a ninth motor, a seventh screw and a telescopic shaft for supporting anti-tilt are provided on the second mounting seat, the ninth motor is fixed by a motor seat and a sprocket is provided at the end of the shaft; a sprocket is provided at the end of the seventh screw and is connected to the sprocket at the end of the ninth motor shaft through a chain.

[0031] The second fixing frame is arranged above the second mounting seat, the two ends of the telescopic shaft are respectively fixedly connected to the second fixing frame and the second mounting seat, and the seventh lead screw is threadedly connected to the second fixing frame; a disc is arranged on the top of the second fixing frame, and a tenth motor is arranged at the bottom of the disc;

[0032] The third fixing frame is arranged above the second fixing frame, and hook plates are arranged at both ends of the third fixing frame, and the hook plates are hooked with the bottom surface of the disc so that the third fixing frame can remain stable; the output shaft of the tenth motor passes through the disc and is fixedly connected to the third fixing frame, and the third fixing frame is controlled to rotate by the tenth motor, and the third fixing frame is supported by the disc.

[0033] The support plate is fixedly connected to the top end of the third fixed frame, and a mounting groove is provided on the support plate, and a matching extension plate is provided in the mounting groove; an eleventh motor is also provided on the third fixed frame, and the output shaft of the eleventh motor is rotatably connected to the support plate on the third fixed frame, and the shaft end of the eleventh motor is provided with a fixedly connected adjusting arm, and the adjusting arm is provided with a pair of symmetrically arranged ones, and a hinged connecting rod is provided at one end of the adjusting arm, and a fixedly connected fixed shaft is provided at one end of the connecting rod, and the fixed shaft is rotatably connected to the extension plate; the eleventh motor drives the adjusting arm to rotate and cooperates with the connecting rod and the fixed shaft to drive the extension plate to realize reciprocating sliding in the mounting groove, so as to achieve the purpose of increasing the supporting length of the support plate.

[0034] Compared with the prior art, the present invention has the following beneficial effects:

[0035] 1) In this scheme, a first clamping mechanism and a second clamping mechanism are provided. The first electric push rod in the first clamping mechanism pushes the mounting plate to drive the fixing seat and the second clamping claw to approach the end of the wing plate, and then the first motor drives the first rotating shaft to rotate, so that the second clamping claw can smoothly clamp the wing plate, and then the fixing seat and the second clamping claw are further controlled to rotate according to the shape of the web plate to adjust the angle of the wing plate, thereby realizing the adjustment of the installation angle of the wing plate.

[0036] Furthermore, the first lead screw can be driven to rotate by the second motor, thereby driving the fixing seat and the second clamping jaw to move in the second through groove, and the axial rotation of the second clamping jaw can make the wing plate fit the side edge of the web to meet the welding requirements;

[0037] 2) The first adjustment mechanism in the second clamping mechanism can drive the second lead screw to rotate through the third motor, thereby driving the first support platform to move in the first slide slot, thereby driving the lifting mechanism and the first clamping claw to move, and then the fourth lead screw is driven by the fourth motor to rotate to control the lifting mechanism to move along the third through slot, thereby quickly realizing the movement control of the clamping position of the first clamping claw;

[0038] The second electric push rod is then used to control the first mounting seat and the first clamping jaw to adjust the height, so that the first clamping jaw can move up and down; further, the sixth motor in the first clamping jaw drives the bidirectional lead screw to rotate and control the support plate to move in the second slide slot to achieve the effect of clamping wing plates of different thicknesses; further, the fifth motor can also drive the second worm to rotate, thereby driving the second rotating shaft and the first clamping jaw to rotate, thereby achieving the angle adjustment control of the wing plate, and then cooperating with the control movement of the lifting mechanism position, finally achieving the control positioning and fixing effect of the angle and position of the wing plate; ensuring that the welding meets the requirements;

[0039] 3) In the supporting mechanism, the fifth lead screw is controlled to rotate by the seventh motor, thereby driving the second support platform to move along the first through slot, and then the sixth lead screw is driven to rotate by the eighth motor to control the movement of the second mounting seat, thereby realizing the control change of the supporting position;

[0040] The ninth motor can drive the seventh lead screw to rotate, and then control the second fixed frame to move up and down, so as to realize the control change of the supporting height;

[0041] The tenth motor can control the third fixing frame to rotate on the disc so that the support plate can be controlled and adjusted in accordance with the installation angle of the wing plate, effectively meeting the support requirements of different installation angles; wherein the disc can effectively achieve a supporting and stable effect during the rotation of the third fixing frame;

[0042] Furthermore, the eleventh motor can be used to control the adjusting arm in cooperation with the connecting rod to slide the extension plate in the mounting groove to adjust the support length to meet the support requirements of wing panels of different lengths. BRIEF DESCRIPTION OF THE DRAWINGS

[0043] Attached Figure 1 This is a schematic diagram of the automatic welding of special-shaped steel structures and its process structure. Figure 1 ;

[0044] Attached Figure 2 This is a schematic diagram of the automatic welding of special-shaped steel structures and its process structure. Figure 2 ;

[0045] Attached Figure 3 is a structural schematic diagram of a second clamping mechanism;

[0046] Attached Figure 4 It is a structural diagram of the lifting mechanism;

[0047] Attached Figure 5 is a schematic diagram of the structure of the first clamping jaw;

[0048] Attached Figure 6 This is a schematic diagram of the structure of the jacking mechanism Figure 1 ;

[0049] Attached Figure 7 This is a schematic diagram of the structure of the jacking mechanism Figure 2 ;

[0050] Attached Figure 8 is a schematic diagram of the structure of the third fixing frame and the supporting plate;

[0051] Attached Fig. 9 This is a schematic diagram of the structure of the first clamping mechanism Figure 1 ;

[0052] Attached Fig.10 It is a structural diagram of the support plate;

[0053] Attached Fig.11 This is a schematic diagram of the structure of the first clamping mechanism. Figure 2 ;

[0054] Attached Fig.12 is a schematic diagram of the structure of the fixed seat and the second clamping jaw;

[0055] In the figure: 1, frame; 101, first through slot; 102, first slide slot; 103, support arm; 2, support plate; 21, L-shaped plate;

[0056] 3. First clamping mechanism; 31. First fixing frame; 32. Mounting plate; 321. Support shaft; 322. Second through slot; 33. First electric push rod; 34. Fixing seat; 341. First motor; 342. First worm; 343. First rotating shaft; 344. First worm wheel; 35. Second clamping jaw; 36. Second motor; 361. First lead screw;

[0057] 4. Second clamping mechanism; 41. First adjusting mechanism; 411. Third motor; 412. Second lead screw; 413. Third lead screw; 42. First support platform; 421. Fourth lead screw; 422. Third through slot; 423. Fourth motor; 424. Roller; 43. Lifting mechanism; 431. Fixing platform; 4311. Support plate; 432. Second electric push rod; 433. First mounting seat; 4331. Guide shaft; 434. Fifth motor; 4341. Second worm; 435. Second rotating shaft; 4351. Second worm wheel; 44. First clamping jaw; 441. Third mounting seat; 4411. Second slide slot; 442. Sixth motor; 4421. Bidirectional lead screw; 443. Clamping plate; 4431. Sliding block;

[0058] 5. Support mechanism; 51. Seventh motor; 511. Fifth lead screw; 52. Second support platform; 521. Support block; 522. T-slot; 523. Eighth motor; 524. Sixth lead screw; 53. Second mounting seat; 531. T-block; 532. Seventh lead screw; 533. Telescopic shaft; 534. Ninth motor; 54. Second fixed frame; 541. Disc; 542. Tenth motor; 55. Third fixed frame; 551. Hook plate; 56. Support plate; 561. Extension plate; 562. Mounting slot; 57. Eleventh motor; 572. Adjustment arm; 573. Connecting rod; 574. Fixed shaft;

[0059] 6. Welding robot; 7. Special-shaped steel structure; 71. Web; 72. Wing. DETAILED DESCRIPTION

[0060] To facilitate the understanding of those skilled in the art, Figure 1-12 , the technical solution of the present invention is further specifically described.

[0061] An automated welding process for special-shaped steel structures, the specific steps are as follows:

[0062] 1) Preparation of special-shaped steel structure materials: clean the surface of the steel plate, remove rust, oil stains, etc.; use OTC gas shielded welding machine, select welding wire that matches the parent material, model ER50-6, diameter 1.2-1.6mm; use CO2 as the shielding gas to ensure good protection of the molten pool during welding;

[0063] 2) Special-shaped steel structure welding parameter setting: welding speed 350-450mm / min, shielding gas flow rate 15-25L / min; keep the angle between the welding gun and the workpiece at 75°-90° to ensure the stability of the molten pool;

[0064] When the steel plate thickness is 6-12mm and the welding wire diameter is 1.2mm, the welding speed is set to 410-450mm / min and the shielding gas flow rate is 15-20L / min;

[0065] When the steel plate thickness is 20-30mm and the welding wire diameter is 1.6mm, the welding speed is set to 350-400mm / min and the shielding gas flow rate is 20-25L / min;

[0066] 3) Assembly of special-shaped steel structure: After the web of the special-shaped steel structure is hoisted, it is supported and fixed by the support plate, and then the wing plate is hoisted;

[0067] For the positioning welding of the long wing plate: first, the wing plate is supported by the supporting plate on the supporting mechanism, and then the first electric push rod in the first clamping mechanism on both ends of the frame pushes the mounting plate to drive the fixing seat and the second clamping claw to approach the end of the wing plate, and then the first motor drives the first rotating shaft to rotate so that the second clamping claw can smoothly clamp the wing plate, and then the fixing seat and the second clamping claw continue to be controlled to rotate according to the shape of the web plate to adjust the angle of the wing plate, and further, the second motor can drive the first lead screw to rotate, thereby driving the fixing seat and the second clamping claw to move in the second through groove, and cooperate with the axial rotation of the second clamping claw, so that the wing plate fits the side of the web plate to meet the welding requirements;

[0068] For the positioning welding of short wing plates: the short wing plates also include the situation that one end of the wing plate is flush with one end of the web plate and the other end of the wing plate reaches the middle of the web plate, and the two ends of the wing plate are placed in the middle of the web plate and away from the ends of the web plate;

[0069] For the positioning welding of the first type of long wing plate, the second clamping mechanism, the supporting mechanism and the first clamping mechanism need to cooperate with each other to perform positioning and installation and then assist in welding; first, the supporting mechanism needs to support the bottom of the wing plate, then the first clamping mechanism needs to clamp one end of the wing plate to be flush with the end of the web plate, and then the second clamping mechanism needs to clamp the other end of the wing plate to perform auxiliary positioning;

[0070] For the positioning welding of the second short-width wing plate mentioned above, since the wing plate is short and far away from the first clamping mechanism, the second clamping mechanism cooperates with the supporting mechanism to complete the positioning and auxiliary fixation throughout the process to meet the welding requirements; the first adjusting mechanism in the second clamping mechanism can drive the second lead screw to rotate through the third motor, thereby driving the first support platform to move in the first slide groove, thereby driving the lifting mechanism and the first clamping claw to move, and then the fourth lead screw is driven by the fourth motor to rotate to control the lifting mechanism to move along the third through groove; the first mounting seat and the first clamping claw are then controlled by the second electric push rod to adjust the height so that the first clamping claw can move up and down; further, the sixth motor in the first clamping claw drives the bidirectional lead screw to rotate to control the supporting plate to move in the second slide groove to clamp wing plates of different thicknesses, and then the second worm can be driven by the fifth motor to rotate, thereby driving the second rotating shaft and the first clamping claw to rotate, thereby realizing the angle adjustment of the wing plate, and then the welding robot performs welding;

[0071] The movement process of the supporting mechanism: the fifth lead screw is controlled to rotate by the seventh motor, thereby driving the second support platform to move along the first through slot, and then the sixth lead screw is driven to rotate by the eighth motor to control the second mounting seat to move; the ninth motor can drive the seventh lead screw to rotate, and then control the second fixing frame to move up and down, and the tenth motor can control the third fixing frame to rotate on the disc so that the supporting plate can be adjusted to match the installation angle of the wing plate; further, the eleventh motor can control the adjusting arm to match the connecting rod to make the extension plate slide in the mounting slot to adjust the support length to meet the support requirements of wing plates of different lengths;

[0072] 4) Welding of special-shaped steel structures: Start the welding machine, and the robot moves and welds according to the preset path. For welds, segmented welding and symmetrical welding are used to reduce deformation. For thick plates, multi-layer and multi-pass welding is used. After each welding, the welding slag is cleaned to ensure good bonding between layers.

[0073] 5) After welding of special-shaped steel structures, the first clamping mechanism, the second clamping mechanism and the supporting mechanism are reset and returned; the welding slag and spatter on the weld surface are cleared in turn, and the appearance quality of the weld is checked to ensure that there are no leaks, pores, or slag inclusions;

[0074] 6) After welding and cleaning, hoist and transfer.

[0075] Among them, an automatic welding device for special-shaped steel structure includes a frame 1, a support plate 2, a first clamping mechanism 3, a second clamping mechanism 4, a supporting mechanism 5, and a welding robot 6; the welding robot 6 is arranged on one side of the frame 1 and can move back and forth along the direction of the frame 1, and L-shaped plates 21 are provided at both ends of the support plate 2 and are fixedly connected to the frame 1 through the L-shaped plates 21 to support the web 71 of the special-shaped steel structure 7, the first clamping mechanism 3 is provided with two groups and is respectively arranged at both ends of the frame 1, the first clamping mechanism 3 clamps the end of the wing plate 72 of the special-shaped steel structure 7, the second clamping mechanism 4 is arranged at the top of the frame 1 to control the wing plate 72 in the clamped special-shaped steel structure 7 to realize the angle control of the wing plate 72, and the supporting mechanism 5 is arranged at the bottom of the frame 1 to support the bottom of the wing plate 72 in the special-shaped steel structure 7; a support arm 103 is provided at the top of the frame 1, and a first slide groove 102 is provided on the support arm 103, and a first through groove 101 is provided on the bottom crossbeam of the frame 1.

[0076] The second clamping mechanism 4 includes a first adjusting mechanism 41, a first supporting platform 42, a lifting mechanism 43, and a first clamping claw 44; the first adjusting mechanism 41 is arranged on the top of the frame, and both ends of the first supporting platform 42 are slidably connected to the top of the frame 1, the lifting mechanism 43 is arranged on the first supporting platform 42 and can move on the first supporting platform 42, and the first clamping claw 44 is arranged at the bottom end of the lifting mechanism 43 for clamping the wing plate 72; the first supporting platform 42 is controlled to reciprocate on the top of the frame 1 by the first adjusting mechanism 41, thereby driving the lifting mechanism 43 and the first clamping claw 44 to move, clamping the wing plate 72 by the first clamping claw 44, and then cooperating with the lifting mechanism 43 to lift the first clamping claw 44 to control the positioning of the wing plate 72.

[0077] Furthermore, the first adjusting mechanism 41 includes a third motor 411, a second lead screw 412, and a third lead screw 413. The second lead screw 412 is provided with a pair, and both ends of the second lead screw 412 are fixed to the top of the frame 1 through bearing seats, and the end of the second lead screw 412 is provided with a bevel gear; the third motor 411 is fixed to the top of the frame 1 through a motor seat, and the third lead screw 413 is fixed to the top of the frame 1 through a bearing seat, and both ends of the third lead screw 413 are provided with bevel gears and mesh with the bevel gears at the end of the second lead screw 412, and the shaft end of the third motor 411 is connected to the end of the third lead screw 413, and the third lead screw 413 is driven to rotate by the third motor 411, thereby driving the second lead screw 412 to rotate synchronously.

[0078] The first support platform 42 is provided with rollers 424 at both ends, and the rollers 424 are arranged in the first slide groove 102; the first support platform 42 is threadedly connected to the second lead screw 412 through the ear plates at both ends; the first support platform 42 is provided with a third through groove 422; the first support platform 42 is also provided with a fourth lead screw 421 and a fourth motor 423, the end of the fourth lead screw 421 is fixed by a bearing seat, and the shaft end of the fourth motor 423 is connected to one end of the fourth lead screw 421.

[0079] The lifting mechanism 43 includes a fixed platform 431, a second electric push rod 432, a first mounting seat 433, a fifth motor 434, and a second rotating shaft 435; the fixed platform 431 is arranged in the third through groove 422, and support plates 4311 are arranged on both sides of the fixed platform 431 for supporting the fixed platform 431, and a guide shaft 4331 is arranged on the first mounting seat 433, and the guide shaft 4331 passes through the fixed platform 431 and is slidably connected to each other; the second electric push rod 432 is fixed on the fixed platform 431, and the top shaft of the second electric push rod 432 passes through the fixed platform 431 and is fixedly connected The fifth motor 434 and the second rotating shaft 435 are arranged on the first mounting seat 433, the shaft end of the fifth motor 434 is provided with a second worm 4341, both ends of the second worm 4341 are rotatably connected to the first mounting seat 433, the second rotating shaft 435 is rotatably connected to the first mounting seat 433, the second rotating shaft 435 is provided with a second worm wheel 4351, and the second worm wheel 4351 engages with the second worm 4341; the second worm 4341 is driven to rotate by the fifth motor 434, and then the second rotating shaft 435 is driven to rotate in cooperation with the second worm wheel 4351.

[0080] The first clamping jaw 44 is fixedly connected to the second rotating shaft 435. The first clamping jaw 44 includes a third mounting seat 441, a sixth motor 442, and a clamping plate 443. The third mounting seat 441 is fixedly connected to the end of the second rotating shaft 435; the third mounting seat 441 is provided with a second slide groove 4411, the clamping plate 443 is provided with a pair, the clamping plate 443 is provided with a slider 4431, the slider 4431 is arranged in the second slide groove 4411, the sixth motor 442 is fixed to one end of the third mounting seat 441, the shaft end of the sixth motor 442 is provided with a bidirectional lead screw 4421, the bidirectional lead screw 4421 is arranged in the second slide groove 4411, and the bidirectional threaded section of the bidirectional lead screw 4421 is threadedly connected with the slider 4431; the bidirectional lead screw 4421 is driven by the sixth motor 442 to rotate forward and reverse, thereby driving the clamping plate 443 to clamp and loosen, and then cooperating with the second worm 4341 and the second worm gear 4351 to adjust the angle of the clamping plate 443.

[0081] The first clamping mechanism 3 includes a first fixing frame 31, a mounting plate 32, a first electric push rod 33, a fixing seat 34, a second motor 36, and a second clamping claw 35; the first fixing frame 31 is fixed to the end of the frame 1; a support shaft 321 is provided on the mounting plate 32, and the support shaft 321 passes through the first fixing frame 31 and is slidably connected to each other; a gap is provided between the two ends of the mounting plate 32 and the frame 1; a pair of second through grooves 322 arranged at intervals are also provided on the mounting plate 32, the first electric push rod 33 is fixed to the first fixing frame 31, and the top shaft of the first electric push rod 33 passes through the first fixing frame 31 and is fixedly connected to the mounting plate 32; a pair of fixing seats 34 are provided, and one end of the fixing seat 34 is arranged in the second through groove 322; a pair of second motors 36 are provided, the second motor 36 is fixed on the mounting plate 32, and a first lead screw 361 is provided at the shaft end of the second motor 36, The first lead screw 361 is threadedly connected to the fixed seat 34, and both ends of the first lead screw 361 are fixed to the mounting plate 32 through bearing seats; the fixed seat 34 is provided with a first motor 341 and a first rotating shaft 343; the shaft end of the first motor 341 is provided with a first worm 342, and the through-shafts at both ends of the first worm 342 are rotatably connected to the fixed seat 34, and both ends of the first rotating shaft 343 are rotatably connected to the fixed seat 34, and the first rotating shaft 343 is provided with a first worm gear 344, and the first worm gear 344 meshes with the first worm 342; a second clamping jaw 35 is fixedly connected to the first rotating shaft 343; the end of the wing plate 72 of the special-shaped steel structure 7 is clamped by the second clamping jaw 35, and then the first rotating shaft 343 is driven to rotate by the first motor 341, thereby adjusting the angle of the control wing plate 72; the second clamping jaw 35 has the same structure as the first clamping jaw 44 and can clamp wing plates 72 of different thicknesses.

[0082] The supporting mechanism 5 includes a seventh motor 51, a second support platform 52, a second mounting seat 53, a second fixing frame 54, a third fixing frame 55, a support plate 56, and an eleventh motor 57; support blocks 521 are provided at both ends of the second support platform 52, and the support blocks 521 are arranged in the first through groove 101; the seventh motor 51 is fixed to one side of the frame 1, and a fifth lead screw 511 is provided at the shaft end of the seventh motor 51, and both ends of the fifth lead screw 511 are rotatably connected to the frame 1, and the fifth lead screw 511 is threadedly connected to the second support platform 52; a T-slot 522 is provided on the second support platform 52, and an eighth motor 523 is provided at one end of the second support platform 52, and a sixth lead screw 524 is provided in the T-slot 522, and both ends of the sixth lead screw 524 are rotatably connected to the second support platform 52 through a fixing plate and a bearing, and the shaft end of the eighth motor 523 is connected to one end of the sixth lead screw 524.

[0083] A T-block 531 is provided at the bottom of the second mounting seat 53, and the T-block 531 is arranged in the T-slot 522. The T-block 531 is threadedly connected to the sixth lead screw 524; a ninth motor 534, a seventh lead screw 532 and a telescopic shaft 533 for supporting anti-tilt are provided on the second mounting seat 53, and the ninth motor 534 is fixed by a motor seat and a sprocket is provided at the end of the shaft; a sprocket is provided at the end of the seventh lead screw 532 and is connected to the sprocket at the end of the shaft of the ninth motor 534 by a chain.

[0084] The second fixing frame 54 is arranged above the second mounting seat 53, the two ends of the telescopic shaft 533 are respectively fixedly connected to the second fixing frame 54 and the second mounting seat 53, and the seventh lead screw 532 is threadedly connected to the second fixing frame 54; a disc 541 is provided on the top of the second fixing frame 54, and a tenth motor 542 is provided at the bottom of the disc 541.

[0085] The third fixing frame 55 is arranged above the second fixing frame 54, and hook plates 551 are provided at both ends of the third fixing frame 55. The hook plates 551 are hooked to the bottom surface of the disk 541 so that the third fixing frame 55 can remain stable; the output shaft of the tenth motor 542 passes through the disk 541 and is fixedly connected to the third fixing frame 55. The third fixing frame 55 is controlled to rotate by the tenth motor 542, and the third fixing frame 55 is supported by the disk 541.

[0086] The support plate 56 is fixedly connected to the top of the third fixed frame 55, and a mounting groove 562 is provided on the support plate 56, and a matching extension plate 561 is provided in the mounting groove 562; an eleventh motor 57 is also provided on the third fixed frame 55, and the output shaft of the eleventh motor 57 is rotatably connected to the support plate on the third fixed frame 55, and a fixedly connected adjusting arm 572 is provided at the shaft end of the eleventh motor 57, and the adjusting arm 572 is provided with a pair of symmetrically arranged, and a hinged connecting rod 573 is provided at one end of the adjusting arm 572, and a fixedly connected fixed shaft 574 is provided at one end of the connecting rod 573, and the fixed shaft 574 is rotatably connected to the extension plate 561; the eleventh motor 57 drives the adjusting arm 572 to rotate and cooperates with the connecting rod 573 and the fixed shaft 574 to drive the extension plate 561 to slide back and forth in the mounting groove 562, so as to increase the supporting length of the support plate 56.

[0087] In the description of the present invention, unless otherwise specified, "plurality" means two or more than two; the orientations or positional relationships indicated by the terms "upper", "lower", "left", "right", "inner", "outer", "front end", "rear end", "head", "tail", etc. are based on the orientations or positional relationships shown in the drawings, and 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 orientation, be constructed and operate in a specific orientation, and therefore cannot be understood as limiting the present invention. In addition, the terms "first", "second", "third", etc. are only used for descriptive purposes and cannot be understood as indicating or implying relative importance.

[0088] In summary, electronic or electrical components including but not limited to electric push rods, motors, etc. are components in the prior art, obtained through private customization or purchase, and the electrical connections between the components are conventional circuit connections or electrical connections in the prior art, which are not within the scope of protection of the present invention;

[0089] The above contents are merely examples and explanations of the structure of the present invention. The technicians in this technical field may make various modifications or additions to the specific embodiments described or replace them in a similar manner. As long as they do not deviate from the structure of the invention or exceed the scope defined by the claims, they should all fall within the protection scope of the present invention.

Claims

1. An automated welding process for special-shaped steel structures, characterized in that The specific steps are as follows: 1) Preparation of special-shaped steel structure materials: clean the surface of the steel plate, remove rust, oil stains, etc.; use OTC gas shielded welding machine, select welding wire that matches the parent material, model ER50-6, diameter 1.2-1.6mm; use CO2 as the shielding gas to ensure good protection of the molten pool during welding; 2) Special-shaped steel structure welding parameter setting: welding speed 350-450mm / min, shielding gas flow rate 15-25L / min; keep the angle between the welding gun and the workpiece at 75°-90° to ensure the stability of the molten pool; When the steel plate thickness is 6-12mm and the welding wire diameter is 1.2mm, the welding speed is set to 410-450mm / min and the shielding gas flow rate is 15-20L / min; When the steel plate thickness is 20-30mm and the welding wire diameter is 1.6mm, the welding speed is set to 350-400mm / min and the shielding gas flow rate is 20-25L / min; 3) Assembly of special-shaped steel structure: After the web of the special-shaped steel structure is hoisted, it is supported and fixed by the support plate, and then the wing plate is hoisted; 4) Welding of special-shaped steel structures: Start the welding machine, and the robot moves and welds according to the preset path. For welds, segmented welding and symmetrical welding are used to reduce deformation. For thick plates, multi-layer and multi-pass welding is used. After each welding, the welding slag is cleaned to ensure good bonding between layers. 5) After welding of special-shaped steel structures, the first clamping mechanism, the second clamping mechanism and the supporting mechanism are reset and returned; the welding slag and spatter on the weld surface are cleared in turn, and the appearance quality of the weld is checked to ensure that there are no leaks, pores, or slag inclusions; 6) After welding and cleaning, hoist and transfer.

2. The automatic welding of special-shaped steel structures and the process thereof according to claim 1 are characterized in that The welding equipment required for welding in step 3) and step 4) includes a frame, a support plate, a first clamping mechanism, a second clamping mechanism, a supporting mechanism, and a welding robot; the welding robot is arranged on one side of the frame and can reciprocate along the direction of the frame, L-shaped plates are arranged at both ends of the support plate and are fixedly connected to the frame through the L-shaped plates to support the web of the special-shaped steel structure, the first clamping mechanism is provided with two groups and is respectively arranged at both ends of the frame, the first clamping mechanism clamps the end of the wing plate of the special-shaped steel structure, the second clamping mechanism is arranged at the top of the frame to control the clamping of the wing plate in the special-shaped steel structure to achieve angle control of the wing plate, and the supporting mechanism is arranged at the bottom of the frame to support the bottom of the wing plate in the special-shaped steel structure; a support arm is arranged at the top of the frame, a first slide groove is arranged on the support arm, and a first through groove is arranged on the crossbeam at the bottom of the frame.

3. The automatic welding of special-shaped steel structures and the process thereof according to claim 2 are characterized in that The second clamping mechanism includes a first adjusting mechanism, a first supporting platform, a lifting mechanism, and a first clamping claw; the first adjusting mechanism is arranged on the top of the frame, and both ends of the first supporting platform are slidably connected to the top of the frame, the lifting mechanism is arranged on the first supporting platform and can move on the first supporting platform, and the first clamping claw is arranged at the bottom end of the lifting mechanism for clamping the wing plate; the first supporting platform is controlled to reciprocate on the top of the frame by the first adjusting mechanism, thereby driving the lifting mechanism and the first clamping claw to move, clamping the wing plate by the first clamping claw, and then cooperating with the lifting mechanism to lift the first clamping claw to control the positioning of the wing plate; The first adjustment mechanism includes a third motor, a second lead screw, and a third lead screw. The second lead screw is provided with a pair, and both ends of the second lead screw are fixed to the top of the frame through a bearing seat, and a bevel gear is provided at the end of the second lead screw; the third motor is fixed to the top of the frame through a motor seat, and the third lead screw is fixed to the top of the frame through a bearing seat, and both ends of the third lead screw are provided with bevel gears and mesh with the bevel gear at the end of the second lead screw. The shaft end of the third motor is connected to the end of the third lead screw, and the third lead screw is driven to rotate by the third motor, thereby driving the second lead screw to rotate synchronously; Rollers are provided at both ends of the first support platform, and the rollers are arranged in the first slide groove; the second lead screw is threadedly connected to the two ends of the first support platform through the ear plates; a third through groove is provided on the first support platform; a fourth lead screw and a fourth motor are also provided on the first support platform, the end of the fourth lead screw is fixed by a bearing seat, and the shaft end of the fourth motor is connected to one end of the fourth lead screw.

4. The automatic welding of special-shaped steel structures and the process thereof according to claim 3 are characterized in that The lifting mechanism includes a fixed platform, a second electric push rod, a first mounting seat, a fifth motor, and a second rotating shaft; the fixed platform is arranged in the third through groove, and support plates are arranged on both sides of the fixed platform for supporting the fixed platform, and a guide shaft is arranged on the first mounting seat, and the guide shafts pass through the fixed platform and are slidably connected to each other; the second electric push rod is fixed on the fixed platform, and the top shaft of the second electric push rod passes through the fixed platform and is fixedly connected to the first mounting seat; the fifth motor and the second rotating shaft are arranged on the first mounting seat, and a second worm is arranged at the shaft end of the fifth motor, and both ends of the second worm are rotatably connected to the first mounting seat, and the second rotating shaft is rotatably connected to the first mounting seat, and a second worm wheel is arranged on the second rotating shaft, and the second worm wheel meshes with the second worm; the second worm is driven to rotate by the fifth motor, and then the second rotating shaft is driven to rotate in cooperation with the second worm wheel.

5. The automatic welding of special-shaped steel structures and the process thereof according to claim 3 are characterized in that The first clamp is fixedly connected to the second rotating shaft, and the first clamp includes a third mounting seat, a sixth motor, and a clamping plate. The third mounting seat is fixedly connected to the end of the second rotating shaft; the third mounting seat is provided with a second slide groove, and the clamping plate is provided with a pair, and a slider is provided on the clamping plate, and the slider is arranged in the second slide groove. The sixth motor is fixed to one end of the third mounting seat, and a bidirectional lead screw is provided at the shaft end of the sixth motor, and the bidirectional lead screw is arranged in the second slide groove. The bidirectional thread section of the bidirectional lead screw is threadedly connected with the slider; the bidirectional lead screw is driven by the sixth motor to rotate forward and reverse, thereby driving the clamping plate to clamp and loosen, and then cooperating with the second worm and the second worm wheel to adjust the angle of the clamping plate.

6. The automatic welding of special-shaped steel structures and the process thereof according to claim 2, characterized in that The first clamping mechanism includes a first fixing frame, a mounting plate, a first electric push rod, a fixing seat, a second motor, and a second clamping claw; the first fixing frame is fixed to the end of the frame; a supporting shaft is provided on the mounting plate, and the supporting shaft passes through the first fixing frame and is slidably connected to each other; a gap is provided between the two ends of the mounting plate and the frame; a pair of second through grooves arranged at intervals are also provided on the mounting plate, and the first electric push rod is fixed to the first fixing frame, and the top shaft of the first electric push rod passes through the first fixing frame and is fixedly connected to the mounting plate; a pair of fixing seats are provided, and one end of the fixing seat is provided in the second through groove; a pair of second motors are provided, and the second motor is fixed on the mounting plate, and the shaft end of the second motor is provided with a second A lead screw, a first lead screw threadedly connected to a fixed seat, and both ends of the first lead screw are fixed to a mounting plate through bearing seats; a first motor and a first rotating shaft are provided on the fixed seat; a first worm is provided at the shaft end of the first motor, and the through shafts at both ends of the first worm are rotatably connected to the fixed seat, and both ends of the first rotating shaft are rotatably connected to the fixed seat, a first worm wheel is provided on the first rotating shaft, and the first worm wheel meshes with the first worm; a second clamp is fixedly connected to the first rotating shaft; the end of the wing plate of the special-shaped steel structure is clamped by the second clamp, and then the first rotating shaft is driven to rotate by the first motor, thereby adjusting the angle of the control wing plate; the second clamp has the same structure as the first clamp and can clamp wing plates of different thicknesses.

7. The automatic welding of special-shaped steel structures and the process thereof according to claim 2, characterized in that The supporting mechanism includes a seventh motor, a second support platform, a second mounting seat, a second fixed frame, a third fixed frame, a support plate, and an eleventh motor; support blocks are provided at both ends of the second support platform, and the support blocks are arranged in the first through groove; the seventh motor is fixed on one side of the frame, and a fifth lead screw is provided at the shaft end of the seventh motor, and both ends of the fifth lead screw are rotatably connected to the frame, and the fifth lead screw is threadedly connected to the second support platform; a T-slot is provided on the second support platform, and an eighth motor is provided at one end of the second support platform, and a sixth lead screw is provided in the T-slot, and both ends of the sixth lead screw are rotatably connected to the second support platform through a fixed plate and bearings, and the shaft end of the eighth motor is connected to one end of the sixth lead screw.

8. The automatic welding of special-shaped steel structures and the process thereof according to claim 7, characterized in that A T-block is provided at the bottom of the second mounting seat, the T-block is arranged in the T-slot, and the T-block is threadedly connected to the sixth lead screw; a ninth motor, a seventh lead screw and a telescopic shaft for supporting anti-tilting are provided on the second mounting seat, the ninth motor is fixed by a motor seat and a sprocket is provided at the end of the shaft; a sprocket is provided at the end of the seventh lead screw and is connected to the sprocket at the end of the ninth motor shaft through a chain; The second fixing frame is arranged above the second mounting seat, the two ends of the telescopic shaft are respectively fixedly connected to the second fixing frame and the second mounting seat, and the seventh lead screw is threadedly connected to the second fixing frame; a disc is arranged on the top of the second fixing frame, and a tenth motor is arranged at the bottom of the disc; The third fixing frame is arranged above the second fixing frame, and hook plates are arranged at both ends of the third fixing frame, and the hook plates are hooked with the bottom surface of the disc so that the third fixing frame can remain stable; the output shaft of the tenth motor passes through the disc and is fixedly connected to the third fixing frame, and the third fixing frame is controlled to rotate by the tenth motor, and the third fixing frame is supported by the disc.

9. The automatic welding of special-shaped steel structures and the process thereof according to claim 7, characterized in that The support plate is fixedly connected to the top end of the third fixed frame, and a mounting groove is provided on the support plate, and a matching extension plate is provided in the mounting groove; an eleventh motor is also provided on the third fixed frame, and the output shaft of the eleventh motor is rotatably connected to the support plate on the third fixed frame, and the shaft end of the eleventh motor is provided with a fixedly connected adjusting arm, and the adjusting arm is provided with a pair of symmetrically arranged ones, and a hinged connecting rod is provided at one end of the adjusting arm, and a fixedly connected fixed shaft is provided at one end of the connecting rod, and the fixed shaft is rotatably connected to the extension plate; the eleventh motor drives the adjusting arm to rotate and cooperates with the connecting rod and the fixed shaft to drive the extension plate to realize reciprocating sliding in the mounting groove, so as to achieve the purpose of increasing the supporting length of the support plate.

10. The automatic welding of special-shaped steel structures and the process thereof according to claim 1, characterized in that In step 3), for the positioning welding of the long wing plate: first, the wing plate is supported by the supporting plate on the supporting mechanism, and then the first electric push rod in the first clamping mechanism on both ends of the frame pushes the mounting plate to drive the fixed seat and the second clamping claw to approach the end of the wing plate, and then the first motor drives the first shaft to rotate, so that the second clamping claw can smoothly clamp the wing plate, and then the fixed seat and the second clamping claw continue to be controlled to rotate according to the shape of the web plate to adjust the angle of the wing plate, and further, the second motor can drive the first lead screw to rotate, thereby driving the fixed seat and the second clamping claw to move in the second through groove, and cooperate with the axial rotation of the second clamping claw, so that the wing plate fits the side of the web plate to meet the welding requirements; For the positioning welding of short wing plates: the short wing plates also include the situation that one end of the wing plate is flush with one end of the web plate and the other end of the wing plate reaches the middle of the web plate, and the two ends of the wing plate are placed in the middle of the web plate and away from the ends of the web plate; For the positioning welding of the first type of long wing plate, the second clamping mechanism, the supporting mechanism and the first clamping mechanism need to cooperate with each other to perform positioning and installation and then assist in welding; first, the supporting mechanism needs to support the bottom of the wing plate, then the first clamping mechanism needs to clamp one end of the wing plate to be flush with the end of the web plate, and then the second clamping mechanism needs to clamp the other end of the wing plate to perform auxiliary positioning; For the positioning welding of the second short-width wing plate mentioned above, since the wing plate is short and far away from the first clamping mechanism, the second clamping mechanism cooperates with the supporting mechanism to complete the positioning and auxiliary fixation throughout the process to meet the welding requirements; the first adjusting mechanism in the second clamping mechanism can drive the second lead screw to rotate through the third motor, thereby driving the first support platform to move in the first slide groove, thereby driving the lifting mechanism and the first clamping claw to move, and then the fourth lead screw is driven by the fourth motor to rotate to control the lifting mechanism to move along the third through groove; the first mounting seat and the first clamping claw are then controlled by the second electric push rod to adjust the height so that the first clamping claw can move up and down; further, the sixth motor in the first clamping claw drives the bidirectional lead screw to rotate to control the supporting plate to move in the second slide groove to clamp wing plates of different thicknesses, and then the second worm can be driven by the fifth motor to rotate, thereby driving the second rotating shaft and the first clamping claw to rotate, thereby realizing the angle adjustment of the wing plate, and then the welding robot performs welding; The movement process of the supporting mechanism: the fifth lead screw is controlled to rotate by the seventh motor, thereby driving the second support platform to move along the first through slot, and then the sixth lead screw is driven to rotate by the eighth motor to control the movement of the second mounting seat; the ninth motor can drive the seventh lead screw to rotate, and then control the second fixing frame to move up and down, and the tenth motor can control the third fixing frame to rotate on the disc so that the support plate can be adjusted to match the installation angle of the wing plate; further, the eleventh motor can also control the adjusting arm to cooperate with the connecting rod to make the extension plate slide in the installation slot to adjust the support length to meet the support requirements of wing plates of different lengths.

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