Bent cap framework piece welding device

Abstract

The invention relates to the technical field of welding, in particular to a bent cap framework piece welding device which comprises a welding base and a welding robot. The multiple welding robots are arranged on the periphery of the welding base, each welding robot comprises a bottom plate and a supporting plate, wheel bodies are arranged on the bottom face of each bottom plate, and the supporting plates are connected with the bottom plates through lifting mechanisms; the supporting plate is provided with a first translation frame, and the first translation frame is connected with the supporting plate through a first translation mechanism; a second translation frame is arranged on the first translation frame and is connected with the first translation frame through a second translation mechanism; the second translation frame is provided with a welding gun, the welding gun is fixedly connected with the end, close to the welding base, of the second translation frame, the bottom plate is provided with a welding machine and a wire feeder, and the welding gun is connected with the welding machine and the wire feeder. According to the bent cap framework piece welding device, a special steel bar clamping device is not needed, bent cap framework pieces can be sequentially stacked and welded, and the welding efficiency is improved.

Description

Technical Field

[0001] The present invention relates to the field of welding technology, in particular to a cap beam skeleton piece welding device. Background Art

[0002] A cap beam, also known as a cap beam, is a horizontal beam installed atop bent pile piers to support, distribute, and transfer the loads of the superstructure. Its primary function is to support the bridge superstructure and transfer all loads to the substructure. The cap beam reinforcement skeleton is a key component of the cap beam. Multiple cap beam skeletons are hoisted into the formwork and then tied or welded together to form the cap beam reinforcement skeleton. Cement concrete is then poured to create the cap beam.

[0003] Currently, welding cap beams is primarily done manually. For example, a 20m x 1m cap beam requires approximately 40 welds, each approximately 10-15cm long. The spacing between adjacent steel beams is approximately 10cm, resulting in approximately 400 welds to complete a 20m x 1m cap beam. This creates a high level of repetitiveness and workload. Consequently, automated equipment for cap beam welding has emerged on the market, primarily in two forms: a robotic arm with slide rails and a gantry-type system.

[0004] However, the automated equipment for welding cap beam skeleton pieces has the following problems:

[0005] 1. Since the steel bars need to be positioned in accordance with the equipment, they still need to be placed manually and clamped with a special clamping device, which increases the workload and difficulty.

[0006] 2. The relative position of the welding wire and the steel bar cannot be accurately positioned, which may cause arc failure and welding quality defects due to the welding gun being too far or too close to the steel bar. This is because the steel bar may have large errors during bending and placement, causing the welding wire distance from the steel bar weld to change dynamically.

[0007] 3. The cost is high. The two automation equipment solutions themselves are bulky in structure, especially the robotic arm solution, which is expensive. For smaller steel bar processing plants, the cost burden is high and the economy is poor.

[0008] 4. There are safety risks. The working environment of the steel bar factory is relatively complex, especially the welding method of the gantry structure. Once workers enter the working area of the automated equipment, personal injury may occur. Summary of the Invention

[0009] In order to solve the above problems, the present invention provides a cap beam skeleton piece welding device, which does not require a special steel bar clamping device. The cap beam skeleton pieces can be stacked and welded in sequence, thereby improving welding efficiency.

[0010] In order to achieve the above object, the technical solution adopted by the present invention is:

[0011] A cap beam frame plate welding device includes a welding base and a welding robot, wherein the welding base is used for placing steel bars;

[0012] The welding robot is provided with several units and is arranged around the welding base. The welding robot includes a base plate and a support plate.

[0013] A wheel body is provided on the bottom surface of the base plate, and the support plate is connected to the base plate through a lifting mechanism to adjust the height of the support plate; the support plate is provided with a first translation frame, and the first translation frame is connected to the support plate through a first translation mechanism so that the first translation frame can move along the length direction of the support plate; a second translation frame is provided on the first translation frame, and the second translation frame is connected to the first translation frame through a second translation mechanism so that the second translation frame can move along the width direction of the support plate; the second translation frame is provided with a welding gun, and the welding gun is fixedly connected to one end of the second translation frame close to the welding base, and the base plate is provided with a welding machine and a wire feeder, and the welding gun is connected to the welding machine and the wire feeder respectively.

[0014] Furthermore, a vertical plate is fixedly provided on one side of the bottom plate, a sliding frame is fixedly provided on one side of the support plate, the sliding frame is slidably connected to the vertical plate, the lifting mechanism includes a lifting ball screw and a lifting motor, the lifting ball screw is rotationally connected to the vertical plate, and the output portion of the lifting ball screw is fixedly connected to the sliding frame, the lifting motor is transmission-connected to the lifting ball screw; and the lifting motor is fixedly connected to the vertical plate;

[0015] The first translation frame is slidably connected to the support plate, and the first translation mechanism includes a first ball screw and a first translation motor. The first ball screw is rotationally connected to the support plate, and the first ball screw is rotationally connected to the support plate, and the output portion of the first ball screw is fixedly connected to the first translation frame, the first translation motor is transmission-connected to the first ball screw, and the first translation motor is fixedly connected to the support plate;

[0016] The second translation frame is slidingly connected to the first translation frame, and the second translation mechanism includes a second ball screw and a second translation motor. The second ball screw is rotationally connected to the first translation frame, and the second ball screw is perpendicular to the first ball screw. The output part of the second ball screw is fixedly connected to the second translation frame, the second translation motor is transmission-connected to the second ball screw, and the second translation motor is fixedly connected to the first translation frame.

[0017] Furthermore, the welding device is also provided with an automatic welding system, which includes a travel drive module, a shooting module, a recognition module, a positioning module and a welding control module.

[0018] The travel drive module is used for controlling the movement of the welding robot so that the welding robot moves along the corresponding area around the welding base.

[0019] The shooting module is used to shoot the steel bars at the corresponding position of the welding base through the first binocular camera during the movement to obtain a regional image;

[0020] The recognition module is used to acquire data from the shooting module, and the recognition module constructs a recognition model to identify gaps between adjacent steel bars in the regional image through a convolutional neural network;

[0021] The positioning module is used to acquire data from the shooting module and the recognition module, and to determine the welding position in the regional image by constructing three-dimensional coordinates;

[0022] The welding control module is used to obtain data from the positioning module to control the wheel body, the lifting mechanism, the first translation mechanism, the second translation mechanism, the welding gun, the welding machine, and the wire feeder to weld the welding position.

[0023] Furthermore, the wheel body includes a driven wheel, a driving wheel and a direction motor, wherein two driven wheels are provided, and the driven wheels are rotatably connected to both sides of the rear bottom surface of the base plate respectively; the driving wheel is a motor hub, and the driving wheel is rotatably connected to the front of the bottom surface of the base plate through a connecting shaft;

[0024] The directional motor is fixedly connected to the base plate, and the output shaft of the directional motor is transmission-connected to the connecting shaft to adjust the angle of the driving wheel.

[0025] Furthermore, one end of the connecting shaft is fixedly connected to the driving wheel, and the other end is passed through the base plate and is rotatably connected to the base plate. A first gear is fixedly provided on the end of the connecting shaft away from the driving wheel, and a second gear meshing with the first gear is fixedly provided on the output shaft of the direction motor.

[0026] Furthermore, the positioning module constructs three-dimensional coordinates in the regional image, the positioning module determines the horizontal position of the welding according to the position of the innermost gap, and the positioning module determines the height position of the welding according to the distance between the gap and the welding base, so as to obtain the interval coordinate points of each welding position in the regional image according to the horizontal position and the height position.

[0027] Furthermore, in the process of the shooting module acquiring the regional image, the driving wheel is located behind the moving direction of the welding robot, and the end point of the positioning module after shooting is used as the zero point of the three-dimensional coordinates;

[0028] When the welding control module controls the welding robot to weld, the active wheel is located behind the moving direction of the welding robot. The welding control module controls the initial position of the welding gun to stop at the end point of the interval coordinate point, and controls the welding gun to weld along the starting direction of the interval coordinate point.

[0029] Furthermore, guide marking lines are provided around the welding base, the steering motor cover is provided with a protective shell, and a second binocular camera is provided on the side of the protective shell facing the welding base. The second binocular camera is used to identify the guide marking lines, so that the walking drive module and the welding control module can control the welding robot to maintain a preset spacing and move around the welding base according to the distance between the second binocular camera and the guide marking lines.

[0030] The beneficial effects of the present invention are:

[0031] 1. By controlling the welding robot to move to the appropriate position around the welding base, the welding robot is located near the gap between two adjacent steel bars, and by controlling the lifting mechanism, the support plate is adjusted to the appropriate height so that the welding gun is above the steel bars; by controlling the second translation mechanism, the second translation frame is adjusted to the appropriate position so that the welding gun is aligned with the top of the gap; the position of the welding robot is fine-tuned so that the welding gun is aligned with the initial position of the gap; the first translation mechanism controls the movement of the first translation frame, and simultaneously starts the welder and the wire feeder to achieve welding of the gap by the welding gun. The present invention can improve the accuracy of welding by coordinating the position of the steel bars with the welding robot, without the need for a dedicated steel bar clamping device, and after the cap beam skeleton piece is welded, the steel bars of the next cap beam skeleton piece can be stacked on the cap beam skeleton piece for welding of the next cap beam skeleton piece, without the need to repeatedly transport the cap beam skeleton piece, thereby improving welding efficiency. The welding robot of the present invention is small in size, easy to maintain, and relatively safe to use, thereby reducing the cost of the factory and increasing the safety of the welding process.

[0032] 2. Under the action of the walking drive module, the welding robot can move along the corresponding area around the welding base, thereby providing the necessary conditions for automatic welding; the shooting module can obtain the regional image with specific depth information using the first binocular camera; the recognition module identifies the gap between adjacent steel bars in the regional image, so that the positioning module determines the welding position according to the gap data; the welding control module is used to control the wheel body, lifting mechanism, first translation mechanism, second translation mechanism, welding gun, welding machine, and wire feeder, so as to realize automatic welding. The present invention controls the welding robot through the automatic welding system, which can further improve the efficiency and accuracy of welding. BRIEF DESCRIPTION OF THE DRAWINGS

[0033] Figure 1 It is a structural schematic diagram of a cap beam skeleton piece welding device according to a preferred embodiment of the present invention.

[0034] Figure 2 It is a schematic diagram of a welding robot of a cap beam skeleton piece welding device according to a preferred embodiment of the present invention.

[0035] Figure 3 It is a schematic diagram of the bottom plate structure of a cap beam skeleton plate welding device according to a preferred embodiment of the present invention.

[0036] Figure 4 It is a schematic structural diagram of the lifting mechanism of a cap beam skeleton plate welding device according to a preferred embodiment of the present invention.

[0037] Figure 5 It is a structural schematic diagram of the first translation mechanism and the second translation mechanism of a cap beam skeleton plate welding device according to a preferred embodiment of the present invention.

[0038] Figure 6 It is a schematic diagram of the directional motor structure of a cap beam skeleton plate welding device according to a preferred embodiment of the present invention.

[0039] Figure 7 It is a structural block diagram of an automatic welding system of a cap beam skeleton piece welding device according to a preferred embodiment of the present invention.

[0040] In the figure, 1-welding base, 2-welding robot, 21-bottom plate, 211-vertical plate, 22-support plate, 221-sliding frame, 23-first translation frame, 24-second translation frame, 25-welding gun, 26-welding machine, 27-wire feeder, 31-lifting ball screw, 311-lifting motor, 32-first ball screw, 321-first translation motor, 41-travel drive module, 42-shooting module, 43-identification module, 44-positioning module, 45-welding control module, 5-first binocular camera, 61-driven wheel, 62-driving wheel, 63-direction motor, 64-protective shell, 65-second binocular camera. DETAILED DESCRIPTION

[0041] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of the present invention.

[0042] It should be noted that when a component is referred to as being "fixed to" another component, it may be directly on the other component or there may also be a central component. When a component is considered to be "connected to" another component, it may be directly connected to the other component or there may also be a central component. When a component is considered to be "set on" another component, it may be directly set on the other component or there may also be a central component. The terms "vertical", "horizontal", "left", "right" and similar expressions used herein are for illustrative purposes only.

[0043] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by those skilled in the art to which this invention pertains. The terms used in this specification of the present invention are for the purpose of describing specific embodiments only and are not intended to limit the present invention. The term "and / or" as used herein includes any and all combinations of one or more of the associated listed items.

[0044] Please also see Figures 1 to 7 A cap beam skeleton piece welding device according to a preferred embodiment of the present invention comprises a welding base 1 and a welding robot 2. Figure 1 As shown, the welding base 1 is used for placing steel bars.

[0045] like Figure 1 Hehe Figure 2 As shown, there are several welding robots 2, which are arranged around the welding base 1. The welding robots 2 include a base plate 21 and a support plate 22. In this embodiment, there are two welding robots.

[0046] A wheel body is provided on the bottom surface of the bottom plate 21 , and the support plate 22 is connected to the bottom plate 21 through a lifting mechanism to adjust the height of the support plate 22 .

[0047] like Figure 3As shown, a vertical plate 211 is fixedly provided on one side of the base plate 21, and a sliding frame 221 is fixedly provided on one side of the support plate 22. The sliding frame 221 is slidingly connected to the vertical plate 211. The lifting mechanism includes a lifting ball screw 31 and a lifting motor 311. The lifting ball screw 31 is rotationally connected to the vertical plate 211, and the output part of the lifting ball screw 31 is fixedly connected to the sliding frame 221. The lifting motor 311 is transmission-connected to the lifting ball screw 31; and the lifting motor 311 is fixedly connected to the vertical plate 211.

[0048] The support plate 22 is provided with a first translation frame 23, which is connected to the support plate 22 through a first translation mechanism so that the first translation frame 23 can move along the length direction of the support plate 22;

[0049] like Figure 3 and Figure 5 As shown, the first translation frame 23 is slidably connected to the support plate 22, and the first translation mechanism includes a first ball screw 32 and a first translation motor 321. The first ball screw 32 is rotatably connected to the support plate 22, and the first ball screw 32 is rotatably connected to the support plate 22, and the output portion of the first ball screw 32 is fixedly connected to the first translation frame 23, the first translation motor 321 is transmission-connected to the first ball screw 32, and the first translation motor 321 is fixedly connected to the support plate 22. In this embodiment, the first translation frame 23 is slidably connected to the support plate 22 via a slide rail.

[0050] The second translation frame 24 is provided on the first translation frame 23 . The second translation frame 24 is connected to the first translation frame 23 via a second translation mechanism, so that the second translation frame 24 can move along the width direction of the support plate 22 .

[0051] like Figure 3 and Figure 6 As shown, the second translation frame 24 is slidably connected to the first translation frame 23. The second translation mechanism includes a second ball screw 32 and a second translation motor 321. The second ball screw 32 is rotationally connected to the first translation frame 23 and is perpendicular to the first ball screw 32. The output portion of the second ball screw 32 is fixedly connected to the second translation frame 24. The second translation motor 321 is transmission-connected to the second ball screw 32, and the second translation motor 321 is fixedly connected to the first translation frame 23. In this embodiment, the second translation frame 24 is slidably connected to the first translation frame 23 via a slide rail.

[0052] The second translation frame 24 is provided with a welding gun 25, which is fixedly connected to one end of the second translation frame 24 close to the welding base 1. The base plate 21 is provided with a welder 26 and a wire feeder 27, and the welding gun 25 is connected to the welder 26 and the wire feeder 27 respectively.

[0053] In this embodiment, the lifting mechanism is used to control the height of the welding gun 25, and the second translation mechanism is used to control the depth of the welding gun 25 extending above the welding base 1 so that the welding gun 25 can be located above the desired welding point; the first translation mechanism is used to control the welding path of the welder 25.

[0054] By controlling the welding robot 2 to move to a suitable position around the welding base 1, the welding robot 2 is positioned near the gap between two adjacent steel bars. The support plate 22 is adjusted to a suitable height by controlling the lifting mechanism so that the welding gun 25 is above the steel bars. The second translation mechanism is controlled to adjust the second translation frame 24 to a suitable position so that the welding gun 25 is aligned with the top of the gap. The position of the welding robot 2 is fine-tuned so that the welding gun 25 is aligned with the initial position of the gap. The first translation mechanism controls the movement of the first translation frame 23, and simultaneously starts the welder 26 and the wire feeder 27, so that the welding gun 25 welds the gap. The present invention can improve the accuracy of welding by adjusting the position of the steel bars by the welding robot 2, eliminating the need for a dedicated steel bar clamping device. Moreover, after the cap beam frame piece is welded, the steel bars of the next cap beam frame piece can be stacked on the cap beam frame piece for welding the next cap beam frame piece, eliminating the need to repeatedly transport the cap beam frame piece, thereby improving welding efficiency. The welding robot 2 of the present invention is small in size, easy to maintain, and relatively safe to use, thereby reducing factory costs and increasing the safety of the welding process.

[0055] The welding device is further provided with an automatic welding system, which includes a travel drive module 41 , a shooting module 42 , an identification module 43 , a positioning module 44 and a welding control module 45 .

[0056] The travel drive module 41 is used for controlling the movement of the welding robot 2 so as to enable the welding robot 2 to move along the corresponding area around the welding base 1 .

[0057] like Figure 2 and Figure 7 As shown, the wheel body includes a driven wheel 61, a driving wheel 62 and a direction motor 63. There are two driven wheels 61, and the driven wheels 61 are respectively connected to the two sides of the rear bottom surface of the bottom plate 21 for rotation; the driving wheel 62 is a motor hub, and the driving wheel 62 is connected to the front of the bottom surface of the bottom plate 21 for rotation through a connecting shaft 621;

[0058] The direction motor 63 is fixedly connected to the base plate 21 , and the output shaft of the direction motor 63 is transmission-connected to the connecting shaft 621 to adjust the angle of the driving wheel 62 .

[0059] One end of the connecting shaft 621 is fixedly connected to the driving wheel 62, and the other end is inserted through the base plate 21 and is rotationally connected to the base plate 21. A first gear 622 is fixedly provided on the end of the connecting shaft 621 away from the driving wheel 62. A second gear 631 is fixedly provided on the output shaft of the directional motor 63, which meshes with the first gear. The directional motor 63 can control the angle of the driving wheel 62 to achieve turning of the welding robot 2.

[0060] In this embodiment, guide marking lines are provided around the welding base 1, and the outer cover of the direction motor 63 is provided with a protective shell 64. A second binocular camera 65 is provided on the side of the protective shell 64 facing the welding base 1. The second binocular camera 65 is used to identify the guide marking lines, so that the walking drive module 41 and the welding control module 45 can control the welding robot 2 to maintain a preset spacing and move around the welding base 1 according to the distance between the second binocular camera 65 and the guide marking line.

[0061] The camera module 42 is used to capture the rebar at the corresponding position of the welding base 1 using the first binocular camera 5 during movement, thereby obtaining an image of the area. In this embodiment, the base plate 2 is provided with a housing 201, and the first binocular camera 5 is fixedly connected to the housing 201. The first binocular camera 5 is tilted and oriented toward the welding base 1, so that the first binocular camera 5 can capture the rebar on the welding base 1.

[0062] The recognition module 43 is used to acquire data from the shooting module 42, and the recognition module 43 constructs a recognition model to identify the gaps between adjacent steel bars in the regional image through a convolutional neural network.

[0063] The positioning module 44 is used to acquire data from the shooting module 41 and the recognition module 42 , and to determine the welding position in the regional image by constructing three-dimensional coordinates.

[0064] The positioning module 44 constructs three-dimensional coordinates in the regional image. The positioning module 44 determines the horizontal position of the welding according to the position of the innermost gap, and the positioning module 44 determines the height position of the welding according to the distance between the gap and the welding base 1, so as to obtain the interval coordinate points of each welding position in the regional image according to the horizontal position and the height position.

[0065] The welding control module 45 is used to obtain data from the positioning module 44 to control the wheel body, the lifting mechanism, the first translation mechanism, the second translation mechanism, the welding gun 25, the welding machine 26, and the wire feeder 27 to perform welding at the welding position.

[0066] In this embodiment, when the shooting module 42 is capturing the regional image, the driving wheel 62 is located behind the moving direction of the welding robot 2 , and the positioning module 44 uses the end point after shooting as the zero point of the three-dimensional coordinates.

[0067] When the welding control module 45 controls the welding robot 2 to weld, the driving wheel 62 is located behind the moving direction of the welding robot 2. The welding control module 45 controls the initial position of the welding gun 25 to stop at the end point of the interval coordinate point, and controls the welding gun 25 to weld along the starting direction of the interval coordinate point.

[0068] In this embodiment, the lifting mechanism is used to control the movement of the welding gun 25 on the z-axis, the first translation mechanism is used to control the movement of the welding gun 25 on the x-axis, and the second translation mechanism is used to control the movement of the welding gun 25 on the y-axis. Figure 1 As shown, after the steel bars are placed on the welding base 1, the innermost gap is used as the first welding position of each welding joint. If the welding joint has multiple gaps, the welding gun 25 is controlled to move on the x-axis so that the welding positions of the remaining gaps are aligned with the first welding position.

[0069] In this embodiment, under the action of the walking drive module 41, the welding robot 2 can move along the corresponding area around the welding base 1, thereby providing the necessary conditions for automatic welding; the shooting module 42 uses the first binocular camera 5 to obtain a regional image with specific depth information; the recognition module 43 identifies the gap between adjacent steel bars in the regional image, so that the positioning module 44 determines the welding position according to the gap data; the welding control module 45 is used to control the wheel body, lifting mechanism, first translation mechanism, second translation mechanism, welding gun 25, welding machine 26, and wire feeder 27, so as to realize automatic welding. This embodiment controls the welding robot 2 through the automatic welding system, which can further improve the efficiency and accuracy of welding.

[0070] In this embodiment, the welding steps of the cap beam frame plate welding device include:

[0071] S1. Place the steel bars on the welding base 1.

[0072] S2 sets the welding area for the two welding robots 2, and moves the welding robot 2 in the corresponding welding area through the walking drive module 41, while obtaining the regional image through the shooting module 42:

[0073] S3 recognition module 43 of the recognition model through a convolutional neural network to identify the gap between adjacent steel bars in the regional image;

[0074] S4. The positioning module 44 constructs three-dimensional coordinates in the regional image. The positioning module 44 determines the horizontal position of the weld according to the position of the innermost gap, and the positioning module 44 determines the height position of the weld according to the distance between the gap and the welding base 1, so as to obtain the interval coordinate points of each welding position in the regional image according to the horizontal position and the height position;

[0075] S5. The welding control module 45 controls the lifting motor 311 and the second translation motor 321 according to the interval coordinate point to move the welding gun 25 to the corresponding z-axis position and x-axis position. The welding control module 45 controls the driving wheel 62 to move until the welding gun 25 stops at the end point of the interval coordinate point of the welding area. The welding control module 45 controls the second translation motor 321, the welder 26, and the wire feeder 27 to cause the welding gun 25 to weld at the welding position. After welding at the welding position is completed, the second translation motor 321 is controlled to reset, causing the welding gun 25 to return to its initial position.

[0076] S6. When the weld has multiple gaps, the welding gun 25 is controlled to move on the x-axis and weld so that the welding positions of the remaining gaps are aligned with the welding position to complete the welding of this weld;

[0077] S7. The welding control module 45 controls the driving wheel 62 to move and reach the next welding position for welding, and repeats steps S5-S6 until the welding robot 2 completes welding of the corresponding welding area.

[0078] S8. After the steel bars are welded to form a cap beam skeleton piece, the steel bars of the next cap beam skeleton piece are placed on the welding base 1 and steps S2-S7 are repeated to perform automated welding.

Claims

1. A cap beam frame plate welding device, characterized in that: It comprises a welding base (1) and a welding robot (2), wherein the welding base (1) is used for placing steel bars; The welding robot (2) is provided with a plurality of stations and is arranged around the welding base (1). The welding robot (2) includes a bottom plate (21) and a support plate (22). The bottom surface of the base plate (21) is provided with a wheel body, and the support plate (22) is connected to the base plate (21) through a lifting mechanism to adjust the height of the support plate (22); the support plate (22) is provided with a first translation frame (23), and the first translation frame (23) is connected to the support plate (22) through a first translation mechanism so that the first translation frame (23) can move along the length direction of the support plate (22); the first translation frame (23) is provided with a second translation frame (24), and the second translation frame (24) is connected to the first translation frame (23) through a second translation mechanism so that the second translation frame (24) can move along the width direction of the support plate (22); the second translation frame (24) is provided with a welding gun (25), and the welding gun (25) is fixedly connected to one end of the second translation frame (24) close to the welding base (1); the base plate (21) is provided with a welding machine (26) and a wire feeder (27), and the welding gun (25) is respectively connected to the welding machine (26) and the wire feeder (27).

2. A cap beam frame sheet welding device according to claim 1, characterized in that: A vertical plate (211) is fixedly provided on one side of the bottom plate (21), a sliding frame (221) is fixedly provided on one side of the support plate (22), the sliding frame (221) is slidably connected to the vertical plate (211), the lifting mechanism comprises a lifting ball screw (31) and a lifting motor (311), the lifting ball screw (31) is rotationally connected to the vertical plate (211), and the output portion of the lifting ball screw (31) is fixedly connected to the sliding frame (221), the lifting motor (311) is transmission-connected to the lifting ball screw (31); and the lifting motor (311) is fixedly connected to the vertical plate (211); The first translation frame (23) is slidably connected to the support plate (22), the first translation mechanism includes a first ball screw (32) and a first translation motor (321), the first ball screw (32) is rotationally connected to the support plate (22), and the first ball screw (32) is rotationally connected to the support plate (22), and the output portion of the first ball screw (32) is fixedly connected to the first translation frame (23), the first translation motor (321) is transmission-connected to the first ball screw (32), and the first translation motor (321) is fixedly connected to the support plate (22); The second translation frame (24) is slidably connected to the first translation frame (23); the second translation mechanism comprises a second ball screw (32) and a second translation motor (321); the second ball screw (32) is rotationally connected to the first translation frame (23), and the second ball screw (32) is perpendicular to the first ball screw (32); the output portion of the second ball screw (32) is fixedly connected to the second translation frame (24); the second translation motor (321) is transmission-connected to the second ball screw (32), and the second translation motor (321) is fixedly connected to the first translation frame (23).

3. The cap beam frame sheet welding device according to claim 1, characterized in that: The welding device is further provided with an automatic welding system, which includes a travel drive module (41), a shooting module (42), an identification module (43), a positioning module (44) and a welding control module (45). The walking drive module (41) is used for controlling the movement of the welding robot (2) so as to enable the welding robot (2) to move along the corresponding area around the welding base (1). The shooting module (42) is used to shoot the steel bars at corresponding positions of the welding base (1) through the first binocular camera (5) during movement to obtain a regional image; The recognition module (43) is used for acquiring data from the shooting module (42), and the recognition module (43) constructs a recognition model to recognize gaps between adjacent steel bars in the regional image through a convolutional neural network; The positioning module (44) is used to acquire data from the shooting module (41) and the recognition module (42), and to determine the welding position in the regional image by constructing three-dimensional coordinates; The welding control module (45) is used to obtain data from the positioning module (44) to control the wheel body, the lifting mechanism, the first translation mechanism, the second translation mechanism, the welding gun (25), the welding machine (26), and the wire feeder (27) to perform welding on the welding position.

4. A cap beam frame sheet welding device according to claim 3, characterized in that: The wheel body comprises a driven wheel (61), a driving wheel (62) and a direction motor (63), wherein two driven wheels (61) are provided, and the driven wheels (61) are respectively connected to the two sides of the rear bottom surface of the bottom plate (21) for rotation; the driving wheel (62) is a motor hub, and the driving wheel (62) is connected to the front of the bottom surface of the bottom plate (21) for rotation via a connecting shaft (621); The directional motor (63) is fixedly connected to the base plate (21), and the output shaft of the directional motor (63) is transmission-connected to the connecting shaft (621) to adjust the angle of the driving wheel (62).

5. The cap beam frame plate welding device according to claim 4, characterized in that: One end of the connecting shaft (621) is fixedly connected to the driving wheel (62), and the other end is passed through the bottom plate (21) and is rotatably connected to the bottom plate (21). A first gear (622) is fixedly provided at one end of the connecting shaft (621) away from the driving wheel (62), and a second gear (631) meshing with the first gear is fixedly provided on the output shaft of the directional motor (63).

6. The cap beam frame plate welding device according to claim 4, characterized in that: The positioning module (44) constructs three-dimensional coordinates in the regional image, the positioning module (44) determines the horizontal position of the welding according to the position of the innermost gap, and the positioning module (44) determines the height position of the welding according to the distance between the gap and the welding base (1), so as to obtain the interval coordinate points of each welding position in the regional image according to the horizontal position and the height position.

7. The cap beam frame plate welding device according to claim 6, characterized in that: When the shooting module (42) acquires the regional image, the driving wheel (62) is located behind the moving direction of the welding robot (2), and the positioning module (44) uses the end point after shooting as the zero point of the three-dimensional coordinates; When the welding control module (45) controls the welding robot (2) to weld, the driving wheel (62) is located behind the moving direction of the welding robot (2), and the welding control module (45) controls the initial position of the welding gun (25) to stop at the end point of the interval coordinate point, and controls the welding gun (25) to weld along the starting direction of the interval coordinate point.

8. The cap beam frame sheet welding device according to claim 4, characterized in that: Guide marking lines are provided around the welding base (1); a protective shell (64) is provided on the outer cover of the direction motor (63); a second binocular camera (65) is provided on the side of the protective shell (64) facing the welding base (1); the second binocular camera (65) is used to identify the guide marking lines, so that the walking drive module (41) and the welding control module (45) can control the welding robot (2) to maintain a preset spacing and move around the welding base (1) based on the distance between the second binocular camera (65) and the guide marking lines.

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