An automatic welding device and welding method for the framework steel bars of a bridge bent cap

Abstract

The present invention discloses an automatic welding device and welding method for the steel bar framework of a bridge capping beam in the technical field of bridge capping beam welding, aiming to solve the problem that the thermal deformation of the automatic welding of bridge capping beams in the prior art reduces the quality and precision of steel bar welding. It includes a robotic arm arranged on a moving track and capable of moving along the track direction. A rotating table is rotatably arranged at the output end of the robotic arm. Reinforcement restraint components are installed on both sides of the rotating table. A transverse movement module is arranged below the rotating table and between the two reinforcement restraint components. A first mounting plate is installed at the moving end of the transverse movement module, and a welding gun is fixedly arranged on the first mounting plate. The present invention is used to perform moving restraint welding on steel bars during the welding process of bridge capping beams, can conveniently adjust the position of the clamping point during the welding process, 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.

Description

Technical Field

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

[0002] The bridge cap beam is an important structural component in bridge engineering. When manufacturing the bridge cap beam, it is necessary to first use steel structure to build the skeleton of the cap beam structure, and then pour cement and other materials for construction. The current method of building the steel structure skeleton is mainly to weld multiple steel bars in parallel to form skeletons of different shapes and sizes. This method requires a large amount of welding operations on steel bars. Therefore, in order to facilitate welding operations, the existing method uses a welding robot. By controlling the movement of the welding robot, dynamic welding of steel bars can be achieved, which can effectively reduce the degree of manual participation and reduce the labor burden of welding.

[0003] However, the welding robots currently on the market can only control the welding gun to perform welding at a specified position. During the welding operation of the main skeleton of the bridge cap beam, the steel bars need to be clamped on the frame first and then welded. The overall skeleton will be built by welding multiple steel bars in parallel. Subsequent welding work will also require clamping these parallel steel bars at multiple points. However, due to the large skeleton of the bridge cap beam, many clamping points are required, and the operation is very cumbersome. In addition, during the welding process, the clamping device will excessively squeeze the steel bars. Under the influence of high temperature during welding, the steel bars may be deformed and dislocated. Local gaps may become larger and larger, and dislocations farther away from the clamping points will gradually become obvious. For the welding robot, its only welding position movement function is not enough to guarantee the welding effect at different positions. It is easy to cause false welding and leaking welding, which affects the connection strength of the steel bars. After welding at the wrong position to form a connection, rework is also very difficult, which reduces the actual welding accuracy of the welding robot and affects the skeleton quality of the cap beam. In addition, for the clamping part of the non-bottom tire frame, it is not convenient to set additional clamping points above the cap beam frame. Not only is the positioning method cumbersome, but it also increases the risk of welding errors, resulting in errors in the welding process. Summary of the Invention

[0004] The purpose of the present invention is to overcome the shortcomings of the existing technology and provide an automatic welding device for bridge cap beam skeleton steel bars, which is used to perform mobile constrained welding of steel bars during the welding process of the bridge cap beam. The position of the clamping point can be conveniently adjusted during the welding process to ensure that the welding position can be aligned with the position of the steel bar gap, avoiding the influence of false welding, leaking welding, etc., simplifying the manual setting of fixed points and improving the welding quality.

[0005] To achieve the above object, the present invention is implemented by adopting the following technical solutions:

[0006] 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 table is rotatably arranged at the output end of the robotic arm. Reinforcement restraint components are installed on both sides of the rotating table. A transverse moving module is arranged below the rotating table and between the two reinforcement restraint components. A first mounting plate is installed at the moving end of the transverse moving module. A welding gun is fixedly arranged on the first mounting plate. The reinforcement restraint component includes:

[0007] A connecting column fixedly arranged on the rotating table. An installation frame is arranged below the connecting column. Hydraulic telescopic rods are hinged on both sides of the installation frame. The two hydraulic telescopic rods are also respectively hinged on both sides of the connecting column. Constraint jaws are respectively slidably arranged on both sides of the installation frame. Driving components for driving the two constraint jaws to approach or move away from each other are 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 telescopic rods are used to adjust the height and rotation angle of the juxtaposed steel bars.

[0008] 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.

[0009] Specifically, a function rod is arranged on the side of the arc-shaped plate departing from the opening. The driving component includes hydraulic cylinders respectively arranged on both sides of the installation frame. The function rod is assembled in the hydraulic cylinder. The other side of the hydraulic cylinder is communicated with a hydraulic pipe. A function rod is arranged on the side of the arc-shaped plate departing from the opening. The driving component includes hydraulic cylinders respectively arranged on both sides of the installation frame. The function rod is assembled in the hydraulic cylinder. The other side of the hydraulic cylinder is communicated with a hydraulic pipe.

[0010] Specifically, a second mounting plate is also installed at the moving end of the transverse moving module. A nozzle pointing to the welding gap of the steel bars is installed on the second mounting plate.

[0011] Specifically, the reinforcement restraint component 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.

[0012] Specifically, the thickness of the inlay varies in the vertical direction.

[0013] 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.

[0014] 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 rotation shaft where the inlay is located is the same as the axial direction of the steel bar.

[0015] On the other hand, a welding method for bridge capping beams provided by the present invention includes the device described in any one of the above, and the method includes the following steps:

[0016] S1. Drive the robotic arm and drive the steel bar restraint assembly to the welding grasping position;

[0017] 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;

[0018] S3. Adjust the telescopic lengths of multiple hydraulic extension rods to adjust the juxtaposed steel bars to the ideal welding position;

[0019] S4. The lateral movement module drives the welding gun to weld at the gap between two adjacent steel bars;

[0020] S5. After the partial welding is completed, the steel bar restraint assembly releases the restraint on the steel bars;

[0021] S6. Repeat S1 - S5 until the welding step is completed.

[0022] Specifically, before clamping two adjacent steel bars, the inlay is selectively inserted into the position between the two adjacent steel bars according to requirements.

[0023] Compared with the prior art, the beneficial effects achieved by the present invention are as follows:

[0024] By installing a movable steel bar restraint assembly at the front end of the robotic arm, the present invention first clamps the juxtaposed steel bars by using the steel bar restraint assembly, and then adjusts the angle and height position of the juxtaposed steel bars through the adjustment of the hydraulic extension rods, so as to be able to restrain the influence of deformation at the welding position to a certain extent, and can adjust the steel bars 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 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, can be flexibly applied to welding work at various different positions, and 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. Description of the Drawings

[0025] Figure 1 is the overall structural schematic diagram of the welding device provided by the embodiment of the present invention;

[0026] Figure 2 This invention Figure 1 An enlarged view of the structure at point A of the welding device provided in the embodiment;

[0027] Figure 3 This invention Figure 1 An enlarged view of the structure at position B of the welding device provided in the embodiment;

[0028] Figure 4 1 is a schematic structural diagram of a restraining clamp provided by an embodiment of the present invention;

[0029] Figure 5 is a front view of a welding device provided by an embodiment of the present invention;

[0030] Figure 6 This invention Figure 5 A cross-sectional view in the CC direction of the welding device provided in the embodiment;

[0031] Figure 7 This is an overhead view of a welding device provided by an embodiment of the present invention;

[0032] Figure 8 This invention Figure 7 An enlarged view of the structure at position D of the welding device provided in the embodiment;

[0033] Figure numerals: 1. Robotic arm; 2. Rotating table; 3. Connecting column; 4. Lateral movement module; 5. First mounting plate; 6. Welding gun; 7. Mounting frame; 8. Hydraulic telescopic rod; 9. Constraint clamp; 901. Arc plate; 902. Extension claw; 903. Action rod; 10. Hydraulic sleeve; 11. Hydraulic pipe; 12. Second mounting plate; 13. Gas nozzle; 14. Limiting groove; 15. Slide; 16. Insert; 17. Hydraulic cylinder. DETAILED DESCRIPTION

[0034] The present invention will be further described below in conjunction with the accompanying drawings. The following embodiments are only used to more clearly illustrate the technical solutions of the present invention and are not intended to limit the scope of protection of the present invention.

[0035] In the description of the present invention, it should be understood that the orientation or positional relationship indicated by the terms "center", "longitudinal", "transverse", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc. is based on the orientation or positional relationship shown in the drawings. It 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 should not be construed as a limitation to 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 specifying the quantity 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 "a plurality" is two or more.

[0036] In the description of the present invention, it should be noted that unless otherwise clearly specified and limited, the terms "installation", "connection", and "coupling" should be understood in a broad sense. For example, it may be a fixed connection, a detachable connection, or an integral connection; it may be a mechanical connection or an electrical connection; it may be directly connected or indirectly connected through an intermediate medium, and it may be the communication inside two elements. 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

[0037] An automatic welding device for the steel bar framework of a bridge pier cap provided by an embodiment of the present invention is used to perform mobile constraint welding on steel bars during the welding process of the bridge pier cap. It can conveniently adjust the position of the clamping point 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 while improving the welding quality. To achieve the structural functions of the device, a robotic arm 1 is provided on a moving track and can move along the track direction. The track can be an arc track or a straight track, and is configured with position monitoring and control. Since it is an existing configuration method, no more elaboration will be made here. To be able to clamp and adjust the position of the steel bar to be welded, a rotating platform 2 is rotatably provided at the output end of the robotic arm 1, and steel bar restraint components are installed on both sides of the rotating platform 2. The function of the configured steel bar restraint components is to clamp and fix the juxtaposed steel bars and perform corresponding adjustments on the positioned steel bars. After the clamping and adjustment of the steel bars are completed, the welding of the steel bars is then carried out. To ensure the direction of welding, a lateral movement module 4 is provided below the rotating platform 2 and between the two steel bar restraint components, as Figure 5 and Figure 7As shown in the figure, a first mounting plate 5 is installed on the mobile end of the transverse movement module 4, and a welding gun 6 is fixedly arranged on the first mounting plate 5, so that when the transverse 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 movement direction of the welding gun 6 is parallel to the connection line of the two-side steel bar constraint components. In order to realize the adjustment and constraint of the steel bar position, the steel bar constraint components are specifically set as follows:

[0038] 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 that the angle and height position of the installation frame 7 can be adjusted. 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 the torsion angle of the steel bars needs to be adjusted, only one of the hydraulic telescopic rods 8 needs to be controlled to expand and contract. If the height position of the steel bars needs to be adjusted, 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 a flow sensor or a distance detection sensor for configuration control to avoid the expansion and contraction change range not meeting the actual welding requirements due to improper distance control or liquid supply error. The configuration method of the sensor 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, the additional clamping points of the non-standard 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 twisting control of the parallel steel bars by the hydraulic telescopic rod 8 helps to prevent the continuous amplification of welding defects, thereby ensuring the welding quality. In addition, the additional constraint component set on the manipulator can directly supplement the clamping of the non-fixed clamping position, narrow the gap in the non-welding position for repair welding, and help 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 positions 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 inconvenient 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 skeleton above, and the welding deformation and dislocation of the upper steel bars can be 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 various welding methods, with good adaptability, thereby simplifying the manual workload while improving the overall welding quality of the bridge cap beam.

[0039] An embodiment of the present invention provides an automatic welding device for the reinforcement of a bridge cap beam skeleton. In order to accurately clamp and constrain the reinforcement and ensure reliable welding operations, a constraint clamp 9 can be provided, which includes an arc-shaped plate 901 and an extended claw 902 provided on the opening side of the arc-shaped plate 901. The shape of the constraint clamp 9 can be referred to Figure 4 or Figure 8 As shown, the arc-shaped plate 901 is used to receive the steel bars so that the steel bars are constrained in the arc-shaped recess. The extended claws 902 tend to open outward relative to the arc-shaped plate 901, which can adapt to steel bars with different deflections, so that they are accurately guided in the recess where the arc-shaped 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 staggered here, and the matching method is as follows Figure 8 shown.

[0040] An embodiment of the present invention provides an automatic welding device for the reinforcement of a bridge cap beam skeleton. In order to provide sufficient pressure to ensure that the two restraining jaws 9 can clamp and restrain the reinforcement 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, by assembling and arranging the actuating rod 903 inside the hydraulic sleeve 10 and connecting 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 bundling performance locally, it does not affect the fixing method of the overall pipeline, preventing complex situations such as the pipeline knotting or getting hooked.

[0041] For an automatic welding device for the bridge pier cap 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.

[0042] For an automatic welding device for the bridge pier cap 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 bifurcated. In order to meet the requirements in different welding situations, it can be set that the steel bar restraint assembly further includes a hydraulic cylinder 17 installed below the connecting column 3, and an insert piece 16 is installed below the hydraulic cylinder 17. The insert piece 16 is used to abut between adjacent two steel bars. Through this design method, when the adjacent two restraint jaws 9 approach each other, the insert piece 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 piece 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 piece 16. Thus, when the hydraulic cylinder 17 drives the insert piece 16 to sink, the insert pieces 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.

[0043] For an automatic welding device for the bridge pier cap skeleton steel bars provided by an embodiment of the present invention, such as Figure 8As shown in the figure, 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 restraint jaws 9 can be provided. When the two restraint jaws 9 clamp the steel bars against each other, an opening position is formed in the middle of the restraint jaws 9. As Figure 8 shown in the position, the inlay 16 is then 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 outward, and a good restraint effect on the steel bars can be achieved.

[0044] 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 inlay 16 is clamped between two steel bars, due to the position constraint of the inlay 16, the position of the entire mounting frame 7 is no longer convenient to adjust. In order to enable the inlay 16 to adapt to the position change of the mounting frame 7 and adaptively 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 inlay 16 is rotatably mounted on the sliding piece 15, and the axis of the rotating shaft where the inlay 16 is located is the same as the axis direction of the steel bars, so that the inlay 16 can rotate normally when the mounting frame 7 rotates. During the process of the inlay 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 inlay 16, which is beneficial for coping with various different welding working environments.

[0045] In the above configuration method, the welding gun 6 can also be configured with a lifting mechanism to act 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 range of the steel bars so that it can be applied to clamp a relatively short welding section. Other changes that can be applied are not described in detail here. Embodiment 2

[0046] 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:

[0047] Drive the robotic arm 1 and drive the steel bar restraint assembly to the welding and 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;

[0048] Drive the steel bar restraint assemblies located on both sides of the rotating table 2 respectively, and drive the two restraint jaws 9 of each steel bar restraint assembly to approach each other and clamp the steel bars;

[0049] 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;

[0050] After the weld seam is aligned with the welding gun 6, the transverse movement module 4 drives the welding gun 6 to perform welding actions at the gaps between two adjacent steel bars;

[0051] After the partial welding is completed, the steel bar restraint assembly releases the restraint on the steel bars; and the above steps are repeated until the corresponding welding step actions are completed.

[0052] 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.

[0053] 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 still 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). Reinforcing bar restraint components 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 reinforcing bar restraint components. 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 reinforcing bar restraint component includes: A connecting column (3) fixedly arranged on the rotating table (2). An installation frame (7) is arranged below the connecting column (3). Hydraulic extension rods (8) are hingedly arranged on both sides of the installation frame (7). The two hydraulic extension rods (8) are also respectively hingedly arranged 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 component for driving the two constraint jaws (9) to approach or separate 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 reinforcing bars. The hydraulic extension rod (8) is used to adjust the height and rotation angle of the juxtaposed reinforcing bars; The reinforcing bar restraint component further includes a hydraulic cylinder (17) installed below the connecting column (3). A chip (16) is installed below the hydraulic cylinder (17). The chip (16) is used to abut between two adjacent reinforcing bars. The thickness of the chip (16) varies in the vertical direction. 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 chip (16) is rotatably installed on the sliding piece (15). The axis of the rotation shaft where the chip (16) is located is the same as the axis direction of the reinforcing bar.

2. The automatic welding device for the frame steel bars of a bridge bent cap according to claim 1, wherein, 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) shows a tendency to open outwards relative to the arc-shaped plate (901). The extension claws (902) of the two constraint jaws (9) are arranged staggeredly.

3. The automatic welding device for the framework steel bars of a bridge capping beam 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 component 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 seam of the reinforcing bar 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, When the two constraint jaws (9) clamp the reinforcing bars, an opening is formed at the position between the constraint jaws (9). The chip (16) is embedded between two adjacent reinforcing bars through the opening.

6. A welding method for bridge capping beams, comprising the welding device according to any one of claims 1-5, characterized in that, The method includes the following steps: S1. Drive the robotic arm (1) and drive the reinforcing bar restraint component to the welding and grasping position; S2. Drive the reinforcing bar restraint components located on both sides of the rotating table (2) respectively, and drive the two constraint jaws (9) of each reinforcing bar restraint component to approach each other and clamp the reinforcing bars; 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 weld 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.

7. A method for welding a bridge bent cap according to claim 6, characterized in that Before clamping two adjacent steel bars, selectively insert the insert piece (16) into the position between two adjacent steel bars according to requirements.

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