Steel structure beam column automatic welding robot and method

Abstract

The present application relates to the technical field of steel structure welding, and particularly relates to a steel structure beam column automatic welding robot and method, the welding robot comprising a welding mechanical arm, a feeding mechanism, a position correction mechanism and a cooperation mechanism, the cooperation mechanism is linked with the position correction mechanism through a connecting assembly, the cooperation mechanism comprises a guide assembly, the shape of the guide assembly is matched with the concave-convex weld path at the butt joint of the H-shaped steel, and the guide assembly is used for providing a physical guide path for a welding gun on the welding mechanical arm, a slow cooling assembly is installed on the guide assembly, and a local heat preservation environment is formed for the formed weld area during the movement of the welding gun along the guide assembly. The present application integrates position correction, path guidance, synchronous welding and heat preservation, provides a stable motion trajectory for the welding mechanical arm, and realizes the synchronous welding and heat preservation through the local heat preservation mechanism which can dynamically follow on the guide assembly.

Description

Technical Field

[0001] This invention relates to the field of steel structure welding technology, and in particular to an automatic welding robot and method for steel structure beams and columns. Background Technology

[0002] H-beams are one of the most essential and widely used structural members in modern steel structure engineering. They are mainly used as beams (horizontal bending members) and columns (vertical compression members). Due to limitations in material length and transportation length, multiple H-beams often need to be connected into a whole along their length. The main connection methods are bolted connections, welded connections, and bolted-welded hybrid connections. Among these, welded connections are the best way to achieve equal strength connections and ensure continuity, and therefore are widely used.

[0003] When using welding connections, the interface shapes of the two H-beam sections are divided into three types: straight, concave-convex, and Z-shaped. The concave-convex interface allows the flange joint and the web joint to be staggered along the beam length, thus avoiding weld intersections and improving welding operability. Furthermore, the interlocking part provides natural positioning during installation, facilitating assembly. Simultaneously, the interlocking side contact can directly bear some shear force, reducing the pure shear load on the weld. However, the weld path of the concave-convex interface is more complex, and deviations can easily occur when using existing welding robotic arms, affecting the welding effect.

[0004] In addition, during welding, in order to ensure welding quality and prevent cracks, the weld seam needs to be insulated as soon as possible. Currently, it is generally done after the entire weld seam is formed, using insulation materials such as asbestos cloth and ceramic fiber blankets to insulate the weld seam area as a whole. Due to the complex shape of the concave-convex interface, it takes a certain amount of time. If the insulation treatment is carried out after the interface is completely welded, the temperature of the weld seam formed earlier will drop significantly, which poses a risk of cracking. Summary of the Invention

[0005] In view of this, the purpose of this invention is to provide an automatic welding robot for steel structure beams and columns to solve the technical problems existing in the prior art, including a welding robotic arm, a feeding mechanism, a positioning mechanism and a coordination mechanism.

[0006] The feeding mechanism is used for horizontally conveying H-beams.

[0007] The alignment mechanism is installed on the feeding mechanism and is used to correct the position of the H-beam. There are two alignment mechanisms symmetrically arranged in the horizontal direction, and the two alignment mechanisms correspond to the two sections of H-beam to be welded respectively.

[0008] The cooperating mechanism is linked with the alignment mechanism through connecting components.

[0009] The mating mechanism includes a guide assembly whose shape matches the concave-convex weld path at the H-beam joint, which provides a physical guide path for the welding torch on the welding robot arm. A slow cooling assembly is installed on the guide assembly to create a localized heat preservation environment for the weld area as the welding torch moves along the guide assembly during welding.

[0010] When the alignment mechanism corrects the position of the H-beam, the connecting component drives the guide component and the slow cooling component to fit into the predetermined welding position of the H-beam, forming a physical welding guidance path and a real-time local insulation environment; when the alignment mechanism releases the alignment, the connecting component drives the guide component and the slow cooling component to separate from the surface of the H-beam.

[0011] Preferably, the alignment mechanism includes two mounting seats symmetrically fixedly installed on the feeding mechanism. An electric telescopic rod is mounted on the mounting seat via a support rod. A correction plate is fixedly installed on the telescopic end of the electric telescopic rod, and the side of the correction plate away from the electric telescopic rod is the clamping surface.

[0012] Preferably, the guiding assembly includes a horizontal guide, an L-shaped guide, and a U-shaped guide. The horizontal guides are symmetrically divided into two groups, with two horizontally distributed horizontal guides forming one group. L-shaped guides are installed on both ends of the opposite sides of the two corresponding horizontal guides. U-shaped guides are installed on the opposite sides of the two corresponding L-shaped guides. The openings of the two U-shaped guides in the same guiding assembly face the same direction.

[0013] Preferably, the slow cooling assembly includes an opening plate and a closing plate. The opening plate is horizontally and elastically slidably installed on the opposite sides of the horizontal guide, the opposite sides of the L-shaped guide, and the opposite sides of the U-shaped guide. The opening plate has a fan-shaped guide notch at its end. The closing plate is installed on the side of the horizontal guide, the L-shaped guide, and the U-shaped guide that is close to the H-beam.

[0014] Preferably, the horizontal guide is slidably connected to the L-shaped guide, and the L-shaped guide is fixedly connected to the U-shaped guide. Both ends of the horizontal guide are provided with abutment surfaces, which are inclined surfaces that gradually slope downward from the inside to the outside. The end of the L-shaped guide that is close to the corresponding horizontal guide is an inclined surface that fits against the abutment surface.

[0015] Preferably, the connecting assembly includes a horizontal moving frame and a vertical moving frame. The U-shaped guide and the adjacent correction plate are fixedly connected together by the horizontal moving frame. The opposite sides of the vertically opposed horizontal guides are slidably connected to the vertical moving frame by springs. The vertical moving frame and the mounting base on the adjacent side are fixedly connected by a connecting rod.

[0016] Preferably, the shapes of the enclosure plate and the horizontal guide, the L-shaped guide and the U-shaped guide are matched. The enclosure plate installed on the L-shaped guide is divided into a vertical section and a horizontal section, wherein the vertical section is fixedly connected to the L-shaped guide, and the horizontal section is slidably connected to the L-shaped guide.

[0017] Preferably, a guide structure is provided on the horizontal section. The guide structure consists of a horizontal guide groove and an inclined guide groove. The upper end of the inclined guide groove is connected to the horizontal guide groove. A slide rod is slidably connected inside the inclined guide groove, and the slide rod is fixedly connected to the connecting rod.

[0018] Preferably, the opening and closing plates on the horizontal guide, L-shaped guide, and U-shaped guide are configured as multiple independent plates.

[0019] As can be seen from the above technical solutions, the present invention has the following beneficial effects:

[0020] 1. In view of the problem that the weld path of concave-convex interface is complicated and prone to welding deviation, the present invention designs a guide assembly composed of horizontal, L-shaped and U-shaped guides to form a guide path that matches the shape of the interface, guides the welding gun to move accurately, and improves the following accuracy of the welding path.

[0021] 2. The present invention integrates a slow cooling component on the guide component. A partially enclosed space is formed by the opening and closing plate and the enclosure plate. The space opens and closes dynamically with the movement of the welding torch, so as to realize the synchronous operation of welding and heat preservation, avoid the sudden drop in weld temperature, reduce the risk of cracking, and solve the problem of delayed overall heat preservation after traditional welding. Attached Figure Description

[0022] The present invention will be further described below with reference to the accompanying drawings and embodiments.

[0023] Figure 1 This is a three-dimensional structural diagram of the present invention.

[0024] Figure 2 This is a three-dimensional structural diagram of the present invention after removing the welding robotic arm and feeding mechanism.

[0025] Figure 3 This is a side plan view of the present invention after removing the welding robotic arm and feeding mechanism.

[0026] Figure 4 This is a frontal planar structural diagram of the vertical moving frame, guide assembly, and slow cooling assembly.

[0027] Figure 5 This is a top-view plan view of the horizontal guide components and the opening / closing plate.

[0028] Figure 6 This is a three-dimensional structural diagram of the present invention after removing the H-beam, welding robotic arm, and feeding mechanism.

[0029] Figure 7 yes Figure 6 Enlarged view of point A in the middle.

[0030] Figure 8 yes Figure 6 Enlarged view of point B in the middle.

[0031] Reference numerals: 1. Welding robotic arm; 2. Feeding mechanism; 3. Alignment mechanism; 4. Coordination mechanism; 31. Mounting base; 32. Electric telescopic rod; 33. Alignment plate; 41. Connecting assembly; 42. Guiding assembly; 43. Slow cooling assembly; 411. Horizontal moving frame; 412. Vertical moving frame; 413. Connecting rod; 421. Horizontal guide; 422. L-shaped guide; 423. U-shaped guide; 424. Abutment surface; 431. Opening plate; 432. Enclosing plate; 433. Guide notch; 434. Horizontal guide groove; 435. Inclined guide groove; 436. Sliding rod; 437. Z-shaped frame. Detailed Implementation

[0032] To enable those skilled in the art to better understand the present invention, the invention will be further described in detail below with reference to the accompanying drawings and specific embodiments. Obviously, the described embodiments are merely some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0033] See Figure 1 An automatic welding robot for steel structure beams and columns is used to weld H-beams and columns. It includes a welding robotic arm 1, a feeding mechanism 2, a positioning mechanism 3, and a cooperating mechanism 4. The welding robotic arm 1 is equipped with a welding torch and is the main body for performing welding operations. The feeding mechanism 2 is used to horizontally transport the H-beams. The feeding mechanism 2 adopts existing technology, such as a common roller conveyor. The positioning mechanism 3 is installed on the feeding mechanism 2 and is used to correct the position of the H-beams. There are two positioning mechanisms 3 symmetrically arranged in the horizontal direction, and the two positioning mechanisms 3 correspond to the two sections of H-beams to be welded.

[0034] See Figure 1 and Figure 2 The alignment mechanism 3 includes two mounting seats 31 that are symmetrically fixedly installed on the fixed part of the feeding mechanism 2. An electric telescopic rod 32 is installed on the mounting seat 31 through a support rod. A correction plate 33 is fixedly installed on the telescopic end of the electric telescopic rod 32. The side of the correction plate 33 away from the electric telescopic rod 32 is a clamping surface. To improve the clamping effect, a rubber layer is provided on the clamping surface.

[0035] The feeding mechanism 2 conveys the two H-beams to be welded, ensuring that the joint between the two H-beams is aligned.

[0036] After the welding robotic arm 1 is completed, the electric telescopic rod 32 can drive the two front and rear correction plates 33 to move relative to each other. After the clamping surfaces of the two correction plates 33 come into contact with the side wall of the H-beam, they work together to center and correct the H-beam, ensuring that the H-beam is placed neatly, thus preparing for subsequent welding operations, ensuring the flatness of the weld after welding, and thus ensuring the welding quality.

[0037] See Figure 1 , Figure 2 and Figure 4 The cooperating mechanism 4 is connected to the positioning mechanism 3 via the connecting component 41. The cooperating mechanism 4 includes a guide component 42 distributed along the welding path to guide the movement of the welding torch on the welding robotic arm 1. A slow cooling component 43 for timely heat preservation of the weld is installed on the guide component 42.

[0038] See Figure 3 and Figure 4 The guiding assembly 42 includes a horizontal guide 421, an L-shaped guide 422, and a U-shaped guide 423. The horizontal guide 421 is symmetrically divided into two groups, with two horizontally distributed horizontal guides 421 forming one group. The two horizontal guides 421 are connected at opposite ends with L-shaped guides 422. The two L-shaped guides 422 are connected at opposite ends with U-shaped guides 423. The openings of the two U-shaped guides 423 in the same guiding assembly 42 have the same orientation.

[0039] The horizontal guide 421, the L-shaped guide 422 and the U-shaped guide 423 form a concave-convex welding guide path, thereby providing effective mechanical guidance for the welding torch during welding, ensuring welding stability and improving weld quality.

[0040] See Figure 3 , Figure 4 and Figure 5 The slow-cooling assembly 43 includes an opening plate 431 and a retaining plate 432. The opening plate 431 is horizontally and elastically slidably mounted on the opposite sides of the horizontal guide 421, the opposite sides of the L-shaped guide 422, and the opposite sides of the U-shaped guide 423. A fan-shaped guide notch 433 is provided at the end of each opening plate 431. A retaining plate 432 is mounted on the side of the horizontal guide 421, the L-shaped guide 422, and the U-shaped guide 423 closest to the H-beam. During welding, the side of the retaining plate 432 closest to the H-beam is in contact with the H-beam, and the two horizontally opposite opening plates 431 that are not in contact with the welding torch are in contact with each other.

[0041] See Figure 4The horizontal guide 421, L-shaped guide 422, and U-shaped guide 423 are provided with multiple opening and closing plates 431. The length of the opening and closing plates 431 is determined according to actual needs. The multiple opening and closing plates 431 are fitted together end to end. Except for the opening and closing plate 431 that is in contact with the welding torch and is in an open state, the other horizontally opposite opening and closing plates 431 are fitted together, thereby reducing the rate of heat loss and avoiding a sudden drop in weld temperature. It should be noted that, in order to avoid mutual interference during movement, such as Figure 4 As shown, in the closed state, there is a certain gap between the two adjacent opening and closing plates 431 at the external corner of the U-shaped guide 423. The gap is small and will not affect the heat preservation effect.

[0042] During welding, the welding torch is inserted between two horizontally opposite opening and closing plates 431 through the guide notch 433. When the welding robotic arm 1 drives the welding torch to move along the welding guide path, the welding torch sequentially pushes the two horizontally opposite opening and closing plates 431. The corresponding opening and closing plates 431 retract into the horizontal guide 421, L-shaped guide 422, or U-shaped guide 423 to avoid obstructing the movement of the welding torch. When the welding torch separates from the opening and closing plates 431, the opening and closing plates 431 return to their original position under the action of a spring. Throughout the welding process, a relatively enclosed space can be formed through the cooperation of the enclosure plate 432, the opening and closing plates 431, and the guide assembly 42, preventing the weld from losing heat too quickly and causing a sudden drop in temperature. It should be noted that an electric heating block (not shown in the figure) can also be installed on the side of the enclosure plate 432 near the H-beam to preheat the welding position before welding or to heat and maintain the temperature after welding.

[0043] like Figure 3 As shown, to avoid wear caused by friction between the H-beam and the guide assembly 42 during the movement of the H-beam, the present invention is designed as follows: the horizontal guide 421 is slidably connected to the L-shaped guide 422, the L-shaped guide 422 is fixedly connected to the U-shaped guide 423, and the horizontal guide 421 has abutment surfaces 424 on the lower sides of both ends. The abutment surfaces 424 are inclined surfaces that gradually slope downward from the inside to the outside. The end of the L-shaped guide 422 that is close to the corresponding horizontal guide 421 is an inclined surface that fits against the abutment surface 424.

[0044] See Figure 2 The connecting assembly 41 includes a horizontal moving frame 411 and a vertical moving frame 412. The U-shaped guide 423 and the adjacent correction plate 33 are fixedly connected to the horizontal moving frame 411. The opposite sides of the horizontal guide 421 are slidably connected to the vertical moving frame 412 by springs. The vertical moving frame 412 is fixedly connected to the adjacent support rod or mounting base 31 by a connecting rod 413.

[0045] After the welding of the two H-beam sections is completed, the electric telescopic rod 32 drives the two opposing straightening plates 33 to move away from each other, releasing the restriction on the H-beam so that the feeding mechanism 2 can send the H-beam to the next station. At the same time as the opposing straightening plates 33 move away from each other, the straightening plates 33 drive the U-shaped guide 423 and L-shaped guide 422 to move away from the H-beam through the corresponding transverse frame 411, so that the corresponding enclosure plate 432 moves away from the front and rear side walls of the H-beam. At the same time, the L-shaped guide 422 and the horizontal guide 421 move relative to each other. The L-shaped guide 422 generates a thrust away from the upper and lower end faces of the H-beam through its inclined surface on the abutment surface 424 of the horizontal guide 421. The horizontal guide 421 drives the enclosure plate 432 installed on it to separate from the upper and lower side walls of the H-beam, thereby avoiding wear caused by friction between the enclosure plate 432 and the H-beam.

[0046] When the joint of the two H-beams in the next batch moves to the position of the welding robotic arm 1, the electric telescopic rod 32 drives the correction plate 33 to move relative to each other again, thereby correcting the two H-beams and resetting the U-shaped guide 423 and the L-shaped guide 422. After the L-shaped guide 422 is reset, the horizontal guide 421 is reset under the elastic force of the spring, so that the corresponding enclosure plate 432 can fit against the side wall of the H-beam.

[0047] See Figure 3 and Figure 7 The shape of the enclosure plate 432 matches that of the horizontal guide 421, the L-shaped guide 422, and the U-shaped guide 423 (which are respectively straight, L-shaped, and U-shaped). In order to further avoid friction, the enclosure plate 432 installed on the L-shaped guide 422 is divided into a vertical section and a horizontal section. The vertical section is fixedly connected to the L-shaped guide 422, and the horizontal section is slidably connected to the L-shaped guide 422.

[0048] See Figure 3 , Figure 6 and Figure 8 The enclosing plate 432 installed on the L-shaped guide 422 has a guide structure on its horizontal section. The guide structure consists of a horizontal guide groove 434 and an inclined guide groove 435. The upper end of the inclined guide groove 435 is connected to the horizontal guide groove 434. A slide rod 436 is slidably connected in the inclined guide groove 435. The slide rod 436 is fixedly connected to the connecting rod 413 through a Z-shaped frame 437.

[0049] When the straightening plate 33 indirectly drives the L-shaped guide 422 to move in the front-back direction away from the H-beam via the U-shaped guide 423, the enclosing plate 432 on the L-shaped guide 422 also moves accordingly. Meanwhile, the sliding rod 436 remains stationary under the constraint of the Z-shaped frame 437 and the connecting rod 413, allowing it to slide along the inclined guide groove 435. During this sliding process, the sliding rod 436 exerts a pushing force on the horizontal section of the enclosing plate 432 through the inclined guide groove 435, causing the horizontal section of the enclosing plate 432 to move away from the H-beam, thus preventing friction between the two during the movement of the H-beam. In special circumstances where the straightening plate 33 needs to move a longer distance away from the H-beam, the sliding rod 436 enters the horizontal guide groove 434. During the sliding of the sliding rod 436 along the horizontal guide groove 434, the horizontal section of the enclosing plate 432 will not continue to move towards the L-shaped guide 422.

[0050] It should be noted that, in order to avoid the enclosure plate 432 on the U-shaped guide 423 obstructing the movement of the horizontal section of the enclosure plate 432 installed on the L-shaped guide 422, such as Figure 7 As shown, a clearance groove is provided at the end of the enclosure plate 432 on the U-shaped guide 423.

[0051] This invention also provides an automatic welding method for steel structure beams and columns, which is used in conjunction with the aforementioned automatic welding robot for steel structure beams and columns, and includes the following steps:

[0052] S1. Place the two sections of H-beams to be welded on the feeding mechanism 2, and transport the H-beams to the welding station through the feeding mechanism 2.

[0053] S2. Start the correction mechanism 3. The electric telescopic rod 32 drives the correction plate 33 to clamp the H-beam and complete the centering correction. At the same time, through the linkage of the connecting component 41, the guide component 42 and the slow cooling component 43 are precisely attached to the joint of the H-beam to form a complete welding guide path and insulation cavity.

[0054] S3. The welding torch is driven by the welding robot arm 1 to weld the H-beam joint along the guide assembly 42. During the welding process, the welding torch pushes open the front opening plate 431 in sequence as it moves forward, and the opening plate 431 behind it closes immediately. The entire welding process is carried out in a relatively enclosed space formed by the enclosure plate 432 and the closed opening plate 431, so as to achieve real-time dynamic heat preservation of the weld.

[0055] S4. After welding is completed, the correction mechanism 3 is reset and the correction plate 33 is released from the H-beam. This action is achieved through the linkage of the connecting component 41, so that the slow cooling component 43 is completely separated from the H-beam according to the aforementioned anti-friction mechanism. Then, the welded H-beam is conveyed to the next position through the feeding mechanism 2, and the cycle is repeated until the required length of H-beam beam and column is formed.

[0056] In summary, this invention integrates position correction, path guidance, synchronous welding, and heat preservation into one unit. The core of the invention lies in providing a stable motion trajectory for the welding robotic arm 1 through a set of physical guidance components 42 that precisely match the shape of the interface. Furthermore, a dynamically adaptable local heat preservation mechanism is integrated on this guidance component 42 to achieve synchronous welding and heat preservation. This fundamentally solves the problems of large deviations in the welding path of concave-convex interfaces and the tendency of welds to crack due to delayed post-weld heat preservation.

[0057] In the description of this invention, it should be understood that the orientation or positional relationship indicated by directional terms such as "front, back, up, down, left, right", "horizontal, vertical, horizontal" and "top, bottom" is generally based on the orientation or positional relationship shown in the accompanying drawings, and is only for the convenience of describing this invention and simplifying the description. Unless otherwise stated, these directional terms do not indicate or imply that the device or element referred to must have a specific orientation or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation on the scope of protection of this invention; the directional terms "inner" and "outer" refer to the inner and outer contours relative to the outline of each component itself.

[0058] In the description of this invention, unless otherwise explicitly specified and limited, "above" or "below" the second feature can mean that the first and second features are in direct contact, or that the first and second features are in indirect contact through an intermediate medium. Furthermore, "above," "over," and "on top" of the second feature can mean that the first feature is directly above or diagonally above the second feature, or simply indicates that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature can mean that the first feature is directly below or diagonally below the second feature, or simply indicates that the first feature is at a lower horizontal level than the second feature.

[0059] In the description of this invention, it should also be noted that, unless otherwise explicitly specified and limited, the terms "set," "connected," "installed," and "linked" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal communication between two components. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0060] The above provides a detailed description of the automatic welding robot and method for steel structure beams and columns provided by the present invention. For those skilled in the art, based on the ideas of the embodiments of the present invention, there will be changes in the specific implementation methods and application scope. Therefore, the content of this specification should not be construed as a limitation of the present invention.

Claims

1. An automatic welding robot for steel structure beams and columns, used for welding H-shaped steel beams and columns, characterized in that, This includes a welding robotic arm, a feeding mechanism, a positioning mechanism, and a cooperating mechanism. The feeding mechanism is used for horizontal conveying of H-beams; The alignment mechanism is installed on the feeding mechanism and is used to correct the position of the H-beam. There are two alignment mechanisms symmetrically arranged in the horizontal direction, and the two alignment mechanisms correspond to the two H-beams to be welded respectively. The cooperating mechanism is linked to the alignment mechanism via connecting components; The mating mechanism includes a guide assembly whose shape matches the concave and convex weld seam path at the H-beam joint, which is used to provide a physical guide path for the welding torch on the welding robot arm. A slow cooling assembly is installed on the guide assembly to form a localized heat preservation environment for the weld seam area as the welding torch moves along the guide assembly during welding. The alignment mechanism includes two mounting seats that are symmetrically fixedly installed on the feeding mechanism. An electric telescopic rod is mounted on the mounting seat via a support rod. A correction plate is fixedly installed on the telescopic end of the electric telescopic rod. The side of the correction plate away from the electric telescopic rod is the clamping surface. The guiding assembly includes horizontal guides, L-shaped guides, and U-shaped guides. The horizontal guides are symmetrically divided into two groups, with two horizontally distributed horizontal guides forming one group. L-shaped guides are installed on both ends of the opposite sides of the two corresponding horizontal guides. U-shaped guides are installed on the opposite sides of the two corresponding L-shaped guides. The openings of the two U-shaped guides in the same guiding assembly face the same direction. The slow cooling assembly includes an opening plate and a enclosure plate. The opening plate is horizontally and elastically slidably installed on the opposite sides of the horizontal guide, the opposite sides of the L-shaped guide, and the opposite sides of the U-shaped guide. The opening plate has a fan-shaped guide notch at its end. The enclosure plate is installed on the side of the horizontal guide, the L-shaped guide, and the U-shaped guide that is close to the H-beam. An electric heating block is installed on the side of the enclosure plate that is close to the H-beam. The opening and closing plates on the horizontal guide, L-shaped guide and U-shaped guide are configured as multiple independent plates; When the alignment mechanism corrects the position of the H-beam, the connecting component drives the guide component and the slow cooling component to fit into the predetermined welding position of the H-beam, forming a physical welding guidance path and a real-time local insulation environment; when the alignment mechanism releases the alignment, the connecting component drives the guide component and the slow cooling component to separate from the surface of the H-beam.

2. The automatic welding robot for steel structure beams and columns according to claim 1, characterized in that, The horizontal guide is slidably connected to the L-shaped guide, and the L-shaped guide is fixedly connected to the U-shaped guide. Both ends of the horizontal guide are provided with abutment surfaces, which are inclined surfaces that gradually slope downward from the inside to the outside. The end of the L-shaped guide that is close to the corresponding horizontal guide is an inclined surface that fits against the abutment surface.

3. The automatic welding robot for steel structure beams and columns according to claim 2, characterized in that, The connecting assembly includes a horizontal moving frame and a vertical moving frame. The U-shaped guide and the adjacent correction plate are fixedly connected by the horizontal moving frame. The opposite sides of the vertically opposed horizontal guides are slidably connected to the vertical moving frame by springs. The vertical moving frame and the adjacent mounting base are fixedly connected by a connecting rod.

4. The automatic welding robot for steel structure beams and columns according to claim 3, characterized in that, The shape of the enclosure plate matches that of the horizontal guide, the L-shaped guide, and the U-shaped guide. The enclosure plate installed on the L-shaped guide is divided into a vertical section and a horizontal section. The vertical section is fixedly connected to the L-shaped guide, and the horizontal section is slidably connected to the L-shaped guide.

5. The automatic welding robot for steel structure beams and columns according to claim 4, characterized in that, The L-shaped guide is equipped with a guide structure on the horizontal section of the enclosure plate. The guide structure consists of a horizontal guide groove and an inclined guide groove. The upper end of the inclined guide groove is connected to the horizontal guide groove. A sliding rod is slidably connected inside the inclined guide groove, and the sliding rod is fixedly connected to the connecting rod.

6. An automatic welding method for steel structure beams and columns, performed in conjunction with an automatic welding robot for steel structure beams and columns as described in claim 1, characterized in that, Includes the following steps: S1. Place the two H-beams to be welded on the feeding mechanism and transport them to the welding station; S2. The position of the H-beam is corrected by the correction mechanism. At the same time, the linkage mechanism makes the guide assembly and the slow cooling assembly fit into the predetermined welding position of the H-beam. S3. The welding torch is driven by the welding robot arm to weld the joint of the H-beam along the guide assembly. During the welding process, the weld is kept warm by the slow cooling assembly. S4. After welding is completed, the correction mechanism is reset and the welded H-beam is transported to the next position through the feeding mechanism. This process is repeated until the predetermined length of the H-beam column is formed.

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