Automatic welding device and welding method for steel bars of bridge cover beam framework

Abstract

The invention discloses an automatic welding device and method for steel bars of a bridge cover beam framework in the technical field of bridge cover beam welding, and aims to solve the problem that in the prior art, the steel bar welding quality precision is reduced due to thermal deformation of an automatic welding bridge cover beam. The device comprises a mechanical arm which is arranged on a moving track and can move in the track direction, a rotating table is rotationally arranged at the output end of the mechanical arm, steel bar restraining assemblies are installed on the two sides of the rotating table, and a transverse moving module is arranged below the rotating table and located between the two steel bar restraining assemblies. A first mounting plate is mounted at the moving end of the transverse moving module, and a welding gun is fixedly arranged on the first mounting plate; the movable constraint welding device is used for conducting movable constraint welding on steel bars in the welding process of a bridge cover beam, the position of a clamping point can be conveniently adjusted in the welding process, it is ensured that the welding position can be aligned with the gap position of the steel bars, influences of insufficient welding, welding skips and the like are avoided, and the welding quality is improved while manual fixing point setting operation is simplified.

Description

Technical Field

[0001] The present invention relates to an automatic welding device and a welding method for the reinforcing steel bars of a bridge bent cap, belonging to the technical field of bridge structure welding. Background Art

[0002] The bridge bent cap is an important structural component in bridge engineering. When manufacturing the bridge bent cap, it is necessary to first use steel structures to form the skeleton of the bent cap structure, and then pour and build materials such as cement. Currently, the construction method of the steel structure skeleton mainly adopts the method of parallel welding of multiple reinforcing steel bars to form skeletons of different shapes, structures, and sizes. This method requires a large amount of welding work on the reinforcing steel bars. Therefore, in order to facilitate the welding operation, in the existing method, a welding robot is used. By controlling the movement of the welding robot, the dynamic welding of the reinforcing steel bars can be realized, which can effectively reduce the degree of manual participation and relieve the welding labor burden.

[0003] However, the welding robots on the current market can only control the welding torch to perform welding at designated positions. During the welding operation of the main skeleton of the bridge bent cap, it is necessary to first clamp the reinforcing steel bars on the jig and then perform welding. The overall skeleton is built by using the method of parallel welding of multiple reinforcing steel bars. In subsequent welding work, it is also necessary to clamp these parallel reinforcing steel bars at multiple positions. However, due to the large size of the bridge bent cap skeleton, a large number of clamping points are required, and the operation is very cumbersome. Moreover, during the welding process, due to the excessive extrusion of the clamping device on the reinforcing steel bars, under the influence of high temperature during the welding process, the deformation and misalignment of the reinforcing steel bars may occur, and the local gap may become larger and larger, and the misalignment at places far from the clamping points will also become gradually obvious. For the welding robot, its only function of moving the welding position is not enough to ensure the welding effect at different positions, and it is very easy to cause false welding and missed welding, affecting the connection strength of the reinforcing steel bars. In addition, after the connection is formed by welding at the wrong position, it is very difficult to rework, reducing the actual welding accuracy of the welding robot and affecting the quality of the bent cap skeleton. In addition, for the clamping part other than the bottom jig, it is not convenient to set additional clamping points above the bent cap skeleton. Not only is the positioning method cumbersome, but it also increases the risk of welding errors, resulting in errors during the welding process. Summary of the Invention

[0004] The purpose of the present invention is to overcome the deficiencies in the prior art and provide an automatic welding device for the reinforcing steel bars of a bridge bent cap, which is used to perform moving constraint welding on the reinforcing steel bars during the welding process of the bridge bent cap. It can conveniently adjust the position of the clamping points during the welding process to ensure that the welding position can be aligned with the position of the gap between the reinforcing steel bars, avoid the influence of false welding and missed welding, etc., simplify the operation of manually setting fixed points, and improve the welding quality at the same time.

[0005] To achieve the above purpose, the present invention is implemented by adopting the following technical solutions: On the one hand, an automatic welding device for the framework steel bars of a bridge capping beam provided by the present invention includes a robotic arm arranged on a moving track and capable of moving along the track direction. A rotating platform is rotatably arranged at the output end of the robotic arm. Reinforcement restraint assemblies are installed on both sides of the rotating platform. A transverse movement module is arranged below the rotating platform and between the two reinforcement restraint assemblies. A first mounting plate is installed at the moving end of the transverse movement module. A welding gun is fixedly arranged on the first mounting plate. The reinforcement restraint assembly includes: A connecting column fixedly arranged on the rotating platform. An installation frame is arranged below the connecting column. Hydraulic extension rods are hingedly arranged on both sides of the installation frame. The two hydraulic extension rods are also respectively hingedly arranged on both sides of the connecting column. Constraint jaws are respectively slidably arranged on both sides of the installation frame. A driving assembly for driving the two constraint jaws to approach or move away from each other is also arranged on both sides of the installation frame, so that the two constraint jaws can approach each other to clamp the juxtaposed steel bars. The hydraulic extension rod is used to adjust the height and rotation angle of the juxtaposed steel bars.

[0006] Specifically, the constraint jaw includes an arc-shaped plate and an extension claw arranged on the opening side of the arc-shaped plate. The extension claw shows a tendency to open outwards relative to the arc-shaped plate. The extension claws of the two constraint jaws are arranged in a staggered manner.

[0007] Specifically, a working rod is arranged on the side of the arc-shaped plate away from the opening. The driving assembly includes hydraulic sleeves respectively arranged on both sides of the installation frame. The working rod is assembled in the hydraulic sleeve. The other side of the hydraulic sleeve is communicated with a hydraulic pipe. A working rod is arranged on the side of the arc-shaped plate away from the opening. The driving assembly includes hydraulic sleeves respectively arranged on both sides of the installation frame. The working rod is assembled in the hydraulic sleeve. The other side of the hydraulic sleeve is communicated with a hydraulic pipe.

[0008] Specifically, a second mounting plate is also installed at the moving end of the transverse movement module. A nozzle pointing to the welding gap of the steel bars is installed on the second mounting plate.

[0009] Specifically, the reinforcement restraint assembly further includes a hydraulic cylinder installed below the connecting column. An inlay is installed below the hydraulic cylinder. The inlay is used to abut between two adjacent steel bars.

[0010] Specifically, the thickness of the inlay varies in the vertical direction.

[0011] Specifically, when the two constraint jaws clamp the steel bars, an opening is formed at the position between the constraint jaws. The inlay is embedded between two adjacent steel bars through the opening.

[0012] Specifically, a limiting groove is provided at the output end of the hydraulic cylinder. A sliding piece is horizontally slidably arranged in the limiting groove, and the inlay is rotatably installed on the sliding piece. The axis of the rotating shaft where the inlay is located is the same as the axial direction of the steel bar.

[0013] On the other hand, a welding method for a bridge capping beam provided by the present invention includes the device described in any one of the above, and the method includes the following steps: S1. Drive the robotic arm and drive the steel bar restraint assembly to the welding grasping position; S2. Drive the steel bar restraint assemblies located on both sides of the rotating table respectively, and drive the two restraint jaws of each steel bar restraint assembly to approach each other and clamp the steel bars; S3. Adjust the telescopic lengths of multiple hydraulic telescopic rods to adjust the juxtaposed steel bars to the ideal welding position; S4. The transverse movement module drives the welding gun to weld at the gap between two adjacent steel bars; S5. After the partial welding is completed, the steel bar restraint assembly releases the restraint on the steel bars; S6. Repeat S1 - S5 until the welding step is completed.

[0014] Specifically, before clamping two adjacent steel bars, the inlay is selectively inserted into the position between two adjacent steel bars according to requirements.

[0015] Compared with the prior art, the beneficial effects achieved by the present invention are as follows: By installing a movable steel bar restraint assembly at the front end of the robotic arm, after the juxtaposed steel bars are clamped by the steel bar restraint assembly, the adjustment of the hydraulic telescopic rod is used to adjust the angle and height position of the juxtaposed steel bars, so that the influence of the deformation generated at the welding position can be constrained to a certain extent, and the steel bars can be adjusted to a suitable position for welding before welding, which can avoid the influence of poor welding caused by virtual welding and missed welding to a certain extent, is beneficial to ensuring the welding effect of the steel bars and the welding quality. At the same time, the setting of the fixed points can be simplified, which is beneficial to ensuring the flexible clamping of the required welding points while reducing the number of fixed points, and can be flexibly applied to welding operations at various different positions. When the clamping function of the robotic arm is not required, the clamping mechanism can be retracted to weld the overall framework only by using the welding gun, and the flexible response ability is stronger. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 is the overall structural schematic diagram of the welding device provided by the embodiment of the present invention; Figure 2 is the present invention Figure 1 The enlarged view of the structure at position A of the welding device provided by the embodiment; Figure 3 is the present inventionFigure 1 Enlarged view of the structure at position B of the welding device provided by the embodiment; Figure 4 Schematic structural diagram of the constraint jaw provided by the embodiment of the present invention; Figure 5 Front view of the welding device provided by the embodiment of the present invention; Figure 6 is the present invention Figure 5 Cross-sectional view of the welding device provided by the embodiment of the present invention in the C-C direction; Figure 7 Prospective view of the welding device provided by the embodiment of the present invention; Figure 8 is the present invention Figure 7 Enlarged view of the structure at position D of the welding device provided by the embodiment of the present invention; Reference numerals: 1, robotic arm; 2, rotating table; 3, connecting column; 4, transverse movement module; 5, first mounting plate; 6, welding gun; 7, mounting frame; 8, hydraulic telescopic rod; 9, constraint jaw; 901, arc plate; 902, extension claw; 903, acting rod; 10, hydraulic sleeve; 11, hydraulic pipe; 12, second mounting plate; 13, air nozzle; 14, limiting groove; 15, sliding piece; 16, inlay piece; 17, hydraulic cylinder. Detailed implementation manners

[0017] The present invention will be further described below with reference to the accompanying drawings. The following embodiments are only used to more clearly illustrate the technical solutions of the present invention and cannot be used to limit the protection scope of the present invention.

[0018] In the description of the present invention, it should be understood that the orientation or positional relationship indicated by the terms "center", "longitudinal", "transverse", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc. is based on the orientation or positional relationship shown in the drawings, and is only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation of the present invention. In addition, the terms "first", "second", etc. are only used for descriptive purposes and cannot be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Thus, the features defined with "first", "second", etc. may explicitly or implicitly include one or more of such features. In the description of the present invention, unless otherwise specified, the meaning of "plurality" is two or more.

[0019] In the description of the present invention, it should be noted that unless otherwise clearly specified and defined, the terms "installation", "connection", and "coupling" 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 an indirect connection through an intermediate medium, and it can be the communication inside two components. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood through specific situations. Embodiment 1

[0020] An automatic welding device for the framework steel bars of a bridge capping beam provided by an embodiment of the present invention is used to perform moving and constrained welding on the steel bars during the welding process of the bridge capping beam. It can conveniently adjust the position of the clamping points during the welding process to ensure that the welding position can be aligned with the position of the steel bar gap, avoid the influence of problems such as false welding and missed welding, simplify the operation of manually setting fixed points, and improve the welding quality at the same time. To achieve the structural functions of the device, it is provided here that the device includes a robotic arm 1 arranged on a moving track and capable of moving along the track direction. The track can be an arc track or a straight track, and it is configured with position monitoring and control. Since it belongs to an existing configuration method, no further elaboration will be made here. To be able to clamp and adjust the position of the steel bars to be welded, a rotating table 2 is rotatably arranged at the output end of the robotic arm 1, and steel bar restraint assemblies are installed on both sides of the rotating table 2. The function of the configured steel bar restraint assemblies is to clamp and fix the juxtaposed steel bars and perform corresponding adjustments on the positioned steel bars, and then perform the welding of the steel bars after the clamping and adjustment of the steel bars are completed. To ensure the direction of the welding, a lateral movement module 4 is arranged below the rotating table 2 and between the two steel bar restraint assemblies, as Figure 5 and Figure 7 shown. A first mounting plate 5 is installed on the moving end of the lateral movement module 4, and a welding gun 6 is fixedly arranged on the first mounting plate 5, so that when the lateral movement module 4 drives the first mounting plate 5 to move, it can drive the welding gun 6 to perform welding movement at the required welding position, that is, the moving direction of the welding gun 6 is parallel to the connection line of the two steel bar restraint assemblies on both sides. Among them, to achieve the adjustment and restraint of the position of the steel bars, the steel bar restraint assemblies are specifically arranged to include: The connecting column 3 fixedly arranged on the rotating table 2 is used to provide sufficient installation space, provide the extension length for grasping steel bars, and avoid insufficient installation space for the lateral movement module 4. An installation frame 7 is arranged below the connecting column 3. Hydraulic telescopic rods 8 are hinged on both sides of the installation frame 7, and the two hydraulic telescopic rods 8 are also respectively hinged on both sides of the connecting column 3. That is, the installation frame 7 is actually connected to the connecting column 3 through the hinges of the hydraulic telescopic rods 8 on both sides. The hinge setting ensures that the hydraulic telescopic rods 8 can freely expand and contract, so as to adjust the angle and height position of the installation frame 7. In order to grasp and clamp the steel bars, restraint claws 9 are slidably arranged on both sides of the installation frame 7 respectively, and the sliding direction is preferably on the same straight line. A driving assembly for driving the two restraint claws 9 to approach or move away from each other is also arranged on both sides of the installation frame 7, so that the two restraint claws 9 can approach each other to clamp the juxtaposed steel bars. The specific shape of the restraint claws 9 is not limited here and can be configured according to actual use requirements to ensure that two or more adjacent steel bars can be constrained between the two restraint claws 9 in the same group. After the restraint claws 9 are driven by the driving assembly to fix the steel bars, the position of the steel bars is configured according to actual welding requirements. At this time, the height and rotation angle of the juxtaposed steel bars are adjusted by the hydraulic telescopic rods 8. Specifically, during operation, if it is necessary to adjust the torsion angle of the steel bars, only one of the hydraulic telescopic rods 8 needs to be controlled to expand and contract. If it is necessary to adjust the height position of the steel bars, the two hydraulic telescopic rods 8 in the same group are controlled to expand and contract simultaneously. The liquid supply amount or the piston movement distance is adjusted according to actual configuration requirements. The hydraulic telescopic rods 8 should be configured with flow sensors or distance detection sensors for configuration control to avoid the telescopic change amplitude not meeting the actual welding requirements due to improper distance control or liquid supply error. The configuration method of the sensors is not further limited here and can meet the implementation requirements.Through the above configuration, the number of setting points of the tire frame can be reduced. By constraining the deformation of multiple parallel steel bars on both sides at the same time and limiting their misalignment and deviation, additional clamping points of non-stereotyped fixed points can be added. The probability of steel bar misalignment due to heat deformation near the welding position can be reduced, and the overall torsion of the steel bar assembly can be changed according to the actual welding defects. The parallel steel bars are twisted and regulated by the hydraulic telescopic rod 8, which helps to prevent the continuous amplification of welding defects and thus ensure the welding quality. In addition, the constraint component additionally arranged on the manipulator can directly supplement the clamping of the non-fixed clamping position, narrow the gap at the non-welding position for repair welding, which helps to reduce the fixed point The number of fixing points can be reduced, and the workload of setting and adjusting the fixing points can be reduced. At the same time, the repair welding can be carried out in many positions, which is conducive to repair welding at the position where the connection strength is insufficient, ensuring that the connection strength of the cap beam skeleton meets the use requirements. At the same time, for places where it is not convenient to set additional fixing points above the bridge cap beam skeleton, the configuration of the robot arm 1 can be directly used to supplement the clamping of the steel bar skeleton above, and the welding deformation and dislocation of the upper steel bars are avoided. When there is no need to use the constraint component, the hydraulic telescopic rod 8 is controlled to be retracted synchronously, and only the position of the welding gun 6 is retained, so that it can be flexibly used in a variety of welding methods, with good adaptability, thereby simplifying the manual workload while improving the overall welding quality of the bridge cap beam.

[0021] An automatic welding device for reinforcing bars of a bridge cap beam skeleton provided by an embodiment of the present invention can be provided to accurately clamp and constrain the reinforcing bars to ensure reliable welding operations. The restraining clamping jaw 9 includes an arc plate 901 and an extended claw 902 arranged on the opening side of the arc plate 901. The shape of the restraining clamping jaw 9 can be referred to Figure 4 or Figure 8 As shown, part of the arc plate 901 is used to receive the steel bars, so that the steel bars are constrained in the arc-shaped recess, and the extended claws 902 tend to open outward relative to the arc plate 901, which can adapt to the steel bars that are skewed at different positions, so that they are accurately guided in the recess where the arc plate 901 is located, thereby improving the grasping accuracy. In order to avoid the extended claws 902 of the two constraining jaws 9 from conflicting with each other, resulting in a limited length of steel bars to be clamped, the extended claws 902 of the two constraining jaws 9 are arranged in a staggered manner, and the matching method is as follows Figure 8 shown.

[0022] An automatic welding device for reinforcing bars of a bridge cap beam skeleton provided by an embodiment of the present invention provides sufficient pressure to ensure that the two restraining jaws 9 can clamp and restrain the reinforcing bars very tightly. An action rod 903 is provided on the side of the arc plate 901 away from the opening, and a driving assembly is provided including hydraulic sleeves 10 respectively provided on both sides of the mounting frame 7, and the positions are as follows: Figure 6 as well as Figure 8As shown in the figure, by assembling and arranging the actuating rod 903 inside the hydraulic sleeve 10 and communicating and arranging a hydraulic pipe 11 on the other side of the hydraulic sleeve 10, the actuating rod 903 can provide a more stable clamping force under the action of hydraulic pressure. In order to facilitate the configuration of the hydraulic pipe 11, it can be set that the hydraulic pipe 11 includes an alternating arrangement of a flexible pipe and a rigid pipe, so that while having good bending and converging performance locally, it does not affect the fixing method of the overall pipeline, and prevents complex situations such as the pipeline knotting or being hooked.

[0023] For an automatic welding device for the bridge pier capping beam skeleton steel bars provided by an embodiment of the present invention, in order to facilitate rapid cooling after welding and enable the welding point to quickly solidify to form a stable binding force, a blowing method is specifically provided here to perform a rapid cooling action on the welding point, so that when the grasping action of the steel bar is discarded, the steel bar can have sufficient internal stress to prevent reset under the influence of overall deformation. Specifically, a second mounting plate 12 is further installed on the moving end of the transverse moving module 4, and a nozzle 13 pointing to the welding gap of the steel bar is installed on the second mounting plate 12. The setting position of the nozzle 13 should be on the welding path. Preferably, the nozzle 13 maintains a certain distance from the welding gun 6 in the moving direction to avoid the melted material being blown away during welding and affecting the welding connection strength.

[0024] For an automatic welding device for the bridge pier capping beam skeleton steel bars provided by an embodiment of the present invention, considering that some welding positions may need to ensure the welding gap between adjacent two steel bars during welding, such as the need for using repair welding materials or the steel bar needs to be deformed and branched. In order to meet the requirements in different welding situations, it can be set that the steel bar constraint assembly further includes a hydraulic cylinder 17 installed below the connecting column 3, and an insert 16 is installed below the hydraulic cylinder 17. The insert 16 is used to abut between adjacent two steel bars. Through this design method, when the adjacent two constraint jaws 9 approach each other, the insert 16 abuts at the position between adjacent two steel bars, so that a certain distance can be maintained at the middle position of the steel bars when clamping the steel bars, thus facilitating welding with a required spacing such as repair welding. In order to facilitate adjusting the size of the spacing during welding, it can be set that the thickness of the insert 16 changes along the vertical direction, which can be in a stepped change or preferably in a linear transition change to facilitate the insertion of the insert 16. Thus, when the hydraulic cylinder 17 drives the insert 16 to sink, inserts 16 with different thicknesses will abut between adjacent two steel bars, so that the spacing between the two steel bars after being clamped can be adjusted to meet the needs in different working environments.

[0025] For an automatic welding device for the bridge pier capping beam skeleton steel bars provided by an embodiment of the present invention, such as Figure 8As shown, in order to prevent the clamping action from causing deformation of the steel bars in the state where there are gaps between the steel bars, and to reduce the influence of such deformation, two constraint jaws 9 can be provided. When the steel bars are clamped to each other, an opening position is formed in the middle of the constraint jaws 9. As Figure 8 shown in the position, the insert piece 16 is inserted between two adjacent steel bars through the opening. By this method, the steel bars can be clamped again to prevent the steel bars from deforming outwards and achieve a good constraint effect on the steel bars.

[0026] For an automatic welding device for the steel bars of a bridge capping beam provided by an embodiment of the present invention, considering that after the insert piece 16 is clamped between two steel bars, the position of the entire mounting frame 7 is no longer convenient to adjust due to the position constraint of the insert piece 16. In order to enable the insert piece 16 to adapt to the position change of the mounting frame 7 and automatically change its position, a limit groove 14 can be provided at the output end of the hydraulic cylinder 17, and a sliding piece 15 is horizontally slidably arranged in the limit groove 14. The insert piece 16 is rotatably mounted on the sliding piece 15. The axis of the rotating shaft where the insert piece 16 is located is the same as the axis direction of the steel bars, so that the insert piece 16 can rotate normally when the mounting frame 7 rotates. During the process of the insert piece 16 following the rotation, the liquid valve circuit of the hydraulic cylinder 17 should be opened so that the limit groove 14 can freely lift and lower following the rotation of the insert piece 16, which is beneficial to coping with various different welding working environments.

[0027] In the above configuration method, the welding gun 6 can also be configured to actuate a lifting mechanism according to actual use requirements, thereby simplifying the lifting calculation of the hydraulic telescopic rod 8 and facilitating the welding gun 6 to directly act on the welding position. In some other embodiments, a connecting column 3 can also be configured to move in the moving direction of the welding gun 6, thereby adjusting the clamping amplitude of the steel bars so that it can be applied to clamp a relatively short welding section. Other applicable changes will not be elaborated here too much. Embodiment 2

[0028] A bridge capping beam welding method provided by an embodiment of the present invention specifically provides an operation method for bridge capping beam welding according to the device provided in Embodiment 1. The method specifically includes the following steps: Drive the robotic arm 1 and drive the steel bar constraint assembly to the welding grasping position. The position movement includes moving the robotic arm 1 itself. Based on the position where the robotic arm 1 moves, move and lift the rotating table 2 at the output end of the robotic arm 1, so that the corresponding grasping part can pick up the position where the steel bars are located and grasp the steel bars; Drive the steel bar constraint assemblies located on both sides of the rotating table 2 respectively, and drive the two constraint jaws 9 of each steel bar constraint assembly to approach each other and clamp the steel bars; Adjust the telescopic lengths of multiple hydraulic telescopic rods 8 to directly adjust the spatial positions of the two mounting brackets 7, thereby adjusting the juxtaposed steel bars to the ideal welding position, including twisting and rotating the clamped steel bars and raising and lowering the height positions of the steel bars, so that the weld seam where the juxtaposed steel bars are located can be aligned with the position where the muzzle of the welding gun 6 is located; After the weld seam is aligned with the welding gun 6, the transverse movement module 4 drives the welding gun 6 to perform welding operations at the gaps between two adjacent steel bars; After the partial welding is completed, the steel bar restraint assembly releases the restraint on the steel bars; and repeat the above steps until the corresponding welding step actions are completed.

[0029] A bridge capping beam welding method provided by an embodiment of the present invention takes into account that the steel bars may need to maintain different spacings before welding. Therefore, before clamping two adjacent steel bars, the inserts 16 can be selectively inserted into the positions between two adjacent steel bars according to requirements, so as to adjust the spacing between the steel bars before welding, which is beneficial for placing welding rods for repair welding or increasing local deformation expansion, and is thus beneficial for application in a variety of different working environments.

[0030] The above are only the preferred embodiments of the present invention. It should be noted that for those of ordinary skill in the art, without departing from the technical principle of the present invention, several improvements and deformations can be made, and these improvements and deformations should also be regarded as the protection scope of the present invention.

Claims

1. An automatic welding device for the framework steel bars of a bridge bent cap, comprising a robotic arm (1) arranged on a moving track and capable of moving along the track direction, characterized in that, A rotating table (2) is rotatably arranged at the output end of the robotic arm (1). Reinforcement constraint assemblies are installed on both sides of the rotating table (2). A transverse movement module (4) is arranged below the rotating table (2) and between the two reinforcement constraint assemblies. A first mounting plate (5) is installed on the moving end of the transverse movement module (4). A welding gun (6) is fixedly arranged on the first mounting plate (5). The reinforcement constraint assembly includes: A connecting column (3) fixedly arranged on the rotating table (2). An installation frame (7) is arranged below the connecting column (3). Hydraulic telescopic rods (8) are hinged on both sides of the installation frame (7). The two hydraulic telescopic rods (8) are also respectively hinged on both sides of the connecting column (3). Constraint jaws (9) are respectively slidably arranged on both sides of the installation frame (7). A driving assembly for driving the two constraint jaws (9) to approach or move away from each other is also arranged on both sides of the installation frame (7), so that the two constraint jaws (9) can approach each other to clamp the juxtaposed reinforcements. The hydraulic telescopic rod (8) is used to adjust the height and rotation angle of the juxtaposed reinforcements.

2. The automatic welding device for the bridge bent cap skeleton steel bars according to claim 1, characterized in that, The constraint jaw (9) includes an arc-shaped plate (901) and an extension claw (902) arranged on the opening side of the arc-shaped plate (901). The extension claw (902) has an outward-opening trend relative to the arc-shaped plate (901). The extension claws (902) of the two constraint jaws (9) are arranged in a staggered manner.

3. The automatic welding device for the bridge bent cap skeleton steel bars according to claim 2, wherein, A working rod (903) is arranged on the side of the arc-shaped plate (901) away from the opening. The driving assembly includes hydraulic sleeves (10) respectively arranged on both sides of the installation frame (7). The working rod (903) is assembled in the hydraulic sleeve (10). The other side of the hydraulic sleeve (10) is communicated with a hydraulic pipe (11).

4. The automatic welding device for the framework steel bars of a bridge capping beam according to claim 1, wherein, A second mounting plate (12) is also installed on the moving end of the transverse movement module (4). A nozzle (13) pointing to the welding gap of the reinforcement is installed on the second mounting plate (12).

5. The automatic welding device for the framework steel bars of a bridge capping beam according to claim 1, characterized in that, The reinforcement constraint assembly further includes a hydraulic cylinder (17) installed below the connecting column (3). An inlay (16) is installed below the hydraulic cylinder (17). The inlay (16) is used to abut between two adjacent reinforcements.

6. The automatic welding device for the framework steel bars of a bridge capping beam according to claim 5, characterized in that, The thickness of the inlay (16) varies in the vertical direction.

7. An automatic welding device for the framework steel bars of a bridge bent cap according to claim 5, characterized in that, When the two constraint jaws (9) clamp the reinforcement, an opening is formed in the middle position between the constraint jaws (9). The inlay (16) is embedded between two adjacent reinforcements through the opening.

8. An automatic welding device for the framework steel bars of a bridge capping beam according to claim 5, characterized in that, A limiting groove (14) is arranged at the output end of the hydraulic cylinder (17). A sliding piece (15) is horizontally slidably arranged in the limiting groove (14). The inlay (16) is rotatably installed on the sliding piece (15). The axis of the rotation shaft where the inlay (16) is located is the same as the axis direction of the reinforcement.

9. A welding method for bridge capping beams, comprising the welding device according to any one of claims 1-8, characterized in that, The method includes the following steps: S1. Drive the robotic arm (1) and drive the reinforcement constraint assembly to the welding and grasping position; S2. Drive the reinforcement constraint assemblies located on both sides of the rotating table (2) respectively, and drive the two constraint jaws (9) of each reinforcement constraint assembly to approach each other and clamp the reinforcement; S3. Adjust the telescopic lengths of multiple hydraulic telescopic rods (8) to adjust the juxtaposed steel bars to the ideal welding position; S4. The transverse movement module (4) drives the welding gun (6) to perform welding at the gaps between two adjacent steel bars; S5. After partial welding is completed, the steel bar restraint assembly releases the restraint on the steel bars; S6. Repeat S1 - S5 until the welding step is completed.

10. A method for welding a bridge bent cap according to claim 9, characterized in that, Before clamping two adjacent steel bars, selectively insert the inlay (16) into the position between the two adjacent steel bars according to requirements.

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