Steel structure welding equipment based on construction and welding method thereof

Abstract

The invention provides construction-based steel structure welding equipment and a welding method thereof. The construction-based steel structure welding equipment comprises a fixed frame body, a moving assembly, a manipulator assembly and a tool storage box, the moving assembly comprises a vertical reciprocating part, a left-right reciprocating part, a front-back reciprocating part and a lifting plate. The fixed frame body comprises a top annular frame, a bottom annular frame and four vertical rods extending in the vertical direction, the four vertical rods are fixed between the top annular frame and the bottom annular frame, the vertical reciprocating parts are installed in the vertical rods, and the lifting plate is in transmission connection with the vertical reciprocating parts; through flexible configuration of the moving assembly, position adjustment of the manipulator assembly and the tool storage box according to needs can be achieved, and therefore the flexibility of welding or polishing operation is remarkably improved. And meanwhile, the manipulator assembly supports multi-angle adjustment of the welding head or the grinding head, the working posture and the coverage range are further optimized, and the efficiency and adaptability of welding and grinding operation are comprehensively improved.

Description

Technical Field

[0001] This invention relates to the field of steel welding technology, specifically to steel structure welding equipment and welding methods based on construction. Background Technology

[0002] The steel structure welding equipment based on robotic arms is an advanced welding device that integrates high-precision sensors, intelligent algorithms, and automated control technologies. Leveraging its flexible and versatile motion trajectory and precise positioning capabilities, the robotic arm can reach into every corner of complex steel structures to perform welding operations. High-precision sensors collect key parameters such as temperature, current, and voltage in real time during the welding process. Intelligent algorithms quickly analyze this data and automatically adjust welding parameters to ensure stable and reliable welding quality. The automated control system automates the welding process, greatly improving welding efficiency and reducing the difficulty and labor intensity of manual operation. It is an indispensable core device in the intelligent construction of modern steel structure engineering.

[0003] Patent publication number CN120940946A discloses a steel structure welding equipment and welding method based on construction. This invention relates to the field of steel structure welding technology, and specifically discloses a steel structure welding equipment based on construction, including a welding assembly and a clamping assembly. The clamping assembly includes a first linear motor base and two movable slides mounted on the top movable end of the linear motor base, a motor head, and a mounting plate. A multi-functional clamping mechanism is provided on the inner side of the mounting plate. The multi-functional clamping mechanism includes two sets of square steel clamps, with two square steel clamps in each set. A cylinder is provided on the outer side of the mounting plate. A movable groove is opened between the mounting plate and the square steel clamps. The output end of the cylinder is installed from top to bottom and is fixedly connected to the square steel clamps through a connecting rod. The cylinder is used to drive the square steel clamps to move up and down. A square steel chuck is provided at one end of the square steel clamp. This invention solves the technical problems of low welding efficiency and poor butt joint accuracy in traditional steel structure welding. Patent publication number CN116393873A discloses a robotic steel structure welding mobile device and its usage method. This invention discloses a robotic steel structure welding mobile device and its usage method, including a derivation and rotation structure, a parallel angle adjustment structure, and a moving clamping structure. The derivation and rotation structure is connected to the parallel angle adjustment structure to drive the horizontal movement and circumferential rotation angle adjustment of the parallel angle adjustment structure. The parallel angle adjustment structure is connected to the moving clamping structure to drive the horizontal rotation angle adjustment of the moving clamping structure. The moving clamping structure is used to clamp and fix the steel structure. Through the coordinated design of the derivation and rotation structure and the parallel angle adjustment structure, this invention allows for easy adjustment of various angles and pushing distances for the steel structure parts to be welded, greatly improving application convenience. The design of the moving clamping structure facilitates the device to clamp and fix the steel structure from opposite directions, making it easy to pick up the steel structure and improving the automation and convenience of the movement process.

[0004] While the aforementioned patents can improve welding efficiency and automation, they still have the following shortcomings: Current welding equipment, although possessing basic movement capabilities, typically has a limited effective displacement range. This restricts operational flexibility and makes it difficult to adapt to the welding needs of complex or large workpieces. Furthermore, after steel structure welding is completed, subsequent processes such as weld grinding and surface treatment are often required, and these steps still rely on manual operation. This not only increases the connection time between processes and reduces overall work efficiency but also subjects operators to greater labor intensity and repetitive workloads, becoming a significant bottleneck restricting production automation and efficiency improvement. Summary of the Invention

[0005] The purpose of this invention is to provide a steel structure welding equipment and welding method based on construction, which aims to solve the problems of poor flexibility of existing welding devices, making it difficult to adapt to complex or large-sized workpieces, and the single function, which also requires manual grinding and other processes, increasing the workload.

[0006] To achieve the above objectives, the present invention adopts the following technical solution: the steel structure welding equipment and welding method based on construction includes a fixed frame, a moving component, a robotic arm component, and a tool storage box; The moving component includes a vertical reciprocating component, a left-right reciprocating component, a front-back reciprocating component, and a lifting plate; The fixed frame includes a top annular frame, a bottom annular frame, and four vertical rods extending in the vertical direction. The four vertical rods are fixed between the top annular frame and the bottom annular frame. The vertical reciprocating component is installed inside the vertical rods. The lifting plate is connected to the vertical reciprocating component in a transmission manner. The front and rear reciprocating components and the left and right reciprocating components are all installed on the lifting plate. The left and right reciprocating components are equipped with a fixed plate. The robotic arm assembly and the tool storage box are all installed on the fixed plate. The tool storage box is equipped with a welding head and a grinding head, and the robotic arm assembly is detachably connected to the welding head or the grinding head.

[0007] Preferably, the robotic arm assembly includes a robotic arm body and a positioning component; The robotic arm is fixedly mounted on a fixed plate, and the connector end of the robotic arm is fixedly connected to the positioning component.

[0008] Preferably, the positioning assembly includes a motor, a fixed disk, a rotating disk, and a positioning element; The joint of the robotic arm is fixedly connected to the motor, the output shaft of the motor is fixedly connected to the rotating disk, the fixed disk is fixedly connected to the joint of the robotic arm via a connecting rod, and the positioning components are a plurality of them, which slide in a circular array within the fixed disk. The rotating disk has an arc-shaped hole for guiding the positioning component to slide. Both the welding head and the grinding head are fixed with a connecting plate, and the connecting plate has a positioning groove for the positioning component to be inserted.

[0009] Preferably, the positioning component includes a positioning pin and a plug plate. The fixed plate has a limiting groove for guiding the plug plate to slide. The positioning pin is fixedly connected to the plug plate and is guided and inserted into the arc-shaped hole.

[0010] Preferably, the top of the connecting plate has an upward-facing cross groove for guiding the insertion of the fixing plate, and the positioning groove is formed on the inner sidewall of each cross groove.

[0011] Preferably, the tool storage box includes several upward-facing placement slots, in which the welding head and grinding head are placed.

[0012] Preferably, the vertical reciprocating component includes two first lead screws extending in the vertical direction, two first guide rods extending in the vertical direction, and two second motors; Each of the vertical rods is provided with a chamber. The first lead screw rotates on the inner top wall of the chamber. The first guide rod is fixed inside the chamber. The output shaft of the second motor is fixedly connected to the first lead screw. The lifting plate is fitted on the first lead screw and the first guide rod, and the lifting plate is threadedly connected to the first lead screw.

[0013] Preferably, the reciprocating component includes a second lead screw extending in the front-rear direction, a second guide rod extending in the front-rear direction, a third motor, and a moving plate; The left and right reciprocating components are mounted on the moving plate; The third motor is fixed on the lifting plate, and the output shaft of the third motor is fixedly connected to the second lead screw. The second lead screw is rotatably mounted on the lifting plate, and the second guide rod is fixed on the lifting plate. The movable plate is fitted onto the second lead screw and the second guide rod and is threadedly connected to the second lead screw.

[0014] Preferably, the reciprocating component includes a third lead screw extending in the left-right direction, a limiting slide groove extending in the left-right direction, and a fourth motor. The fourth motor is fixed to the moving plate, and the output shaft of the fourth motor is fixedly connected to the third lead screw. The limiting groove is opened on the moving plate, and the fixed plate is threadedly connected to the third lead screw. The fixed plate slides within the limiting groove on the moving plate by a slider.

[0015] The welding method based on the constructed steel structure welding equipment is as follows: S1, Place the steel structure to be welded into the fixed frame and position the steel structure below the robot arm assembly; S2, then the robot arm starts up as a whole, moves to the tool storage box, and makes a relatively fixed connection with the welding head placed in the tool storage box. Then the robot arm rotates out to weld the steel structure. S3, the second motor starts, which can drive the lifting plate to move up and down along the extension direction of the first guide rod through the first lead screw, so as to adjust the height of the robot arm and the tool storage box; S4, the third motor starts, causing the moving plate to move along the extension direction of the second guide rod, thereby adjusting the front and rear positions of the robot and the tool storage box; S5, then start the fourth motor. The output shaft of the fourth motor drives the third lead screw to rotate, so that the fixed plate moves along the extension direction of the limit slide groove, so as to adjust the left and right positions of the robot and the tool storage box, so that the welding head can weld the steel structure. S6. After welding is completed, move the robot arm to the tool storage box, place the welding head in the tool storage box, and then repeat the S2 operation to fix it in the grinding head in the tool storage box. S7. Repeat steps S3-S5, using a grinding head to grind the welded areas of the steel structure to remove burrs.

[0016] The beneficial effects are: 1. Through flexible configuration of the moving components, the positions of the robotic arm components and tool storage boxes can be adjusted as needed, thereby significantly improving the flexibility of welding or grinding operations. At the same time, the robotic arm components themselves support multi-angle adjustment of the welding head or grinding head, further optimizing the working posture and coverage area, and comprehensively improving the efficiency and adaptability of welding and grinding operations.

[0017] 2. Through the integrated design of the tool storage box, the robotic arm can automatically change welding or grinding heads during operation according to task requirements, achieving tool switching without manual intervention. This feature not only reduces reliance on human labor but also expands the functional coverage of the equipment, thereby significantly improving the overall practicality and operational continuity of the device.

[0018] 3. The positioning components and fixing plate adopt a snap-fit ​​connection structure, which allows for quick assembly and disassembly of the robot during tool changes, while ensuring that the welding head or grinding head is firmly locked during operation, effectively preventing accidental detachment. This design significantly enhances the connection stability between the tool and the robot body, thereby ensuring the smooth operation and reliability of the equipment during continuous operation. Attached Figure Description

[0019] Figure 1 This is a side view of the structure during the use of the present invention; Figure 2 This is a structural schematic diagram of the fixing frame of the present invention; Figure 3 In this invention Figure 1 A magnified structural diagram at point A; Figure 4 This is a top view of the structure of the present invention; Figure 5 In this invention Figure 4 A magnified structural diagram at point B; Figure 6 This is a schematic diagram of the structure in which the positioning component and the connecting plate of the present invention can be detachably connected; Figure 7 This is a partial cross-sectional view of the positioning component and connecting disk of the present invention.

[0020] In the diagram: 1. Fixed frame; 101. Top annular frame; 102. Bottom annular frame; 103. Vertical rod; 2. Vertical reciprocating component; 201. First lead screw; 202. First guide rod; 203. Second motor; 301. Overall robot arm; 302. Positioning assembly; 3021. Motor; 3022. Fixed plate; 3023. Rotating plate; 3024. Positioning component; 4. Left and right reciprocating component; 401. Third lead screw; 402. Limiting groove; 403. Fourth motor; 5. Front and rear reciprocating component; 501. Second lead screw; 502. Second guide rod; 503. Third motor; 504. Moving plate; 6. Lifting plate; 7. Fixed plate; 8. Welding head; 9. Grinding head; 10. Connecting plate; 11. Arc hole; 12. Placement groove; 13. Cross groove. Detailed Implementation

[0021] The specific embodiments of the present invention will be further described below with reference to the accompanying drawings.

[0022] Example 1 describes a steel structure welding equipment, including a fixed frame 1, a moving component, and a robotic arm component. The fixed frame 1 provides support for the device, enabling the robotic arm component to weld the steel structure, thereby improving welding efficiency.

[0023] like Figure 1 and Figure 2 As shown, the fixed frame 1 includes a top annular frame 101, a bottom annular frame 102, and four vertical rods 103 extending in the vertical direction. The four vertical rods 103 are fixed between the top annular frame 101 and the bottom annular frame 102. The vertical reciprocating component 2 is installed inside the vertical rods 103. The arrangement of the top annular frame 101, the bottom annular frame 102, and the vertical rods 103 makes the device more stable during use.

[0024] like Figures 1-5As shown, the moving component includes a vertical reciprocating component 2, a left-right reciprocating component 4, a front-back reciprocating component 5, and a lifting plate 6. The lifting plate 6 is connected to the vertical reciprocating component 2 so that the lifting plate 6 can move up and down in the vertical direction. The front-back reciprocating component 5 and the left-right reciprocating component 4 are both mounted on the lifting plate 6. A fixed plate 7 is mounted on the left-right reciprocating component 4. The robotic arm component is mounted on the fixed plate 7 so that the robotic arm component and the fixed plate 7 can be adjusted in position under the action of the vertical reciprocating component 2, the left-right reciprocating component 4, and the front-back reciprocating component 5.

[0025] Specifically, the vertical reciprocating component 2 includes two first lead screws 201 extending in the vertical direction, two first guide rods 202 extending in the vertical direction, and two second motors 203. Each vertical rod 103 has a chamber. The first lead screws 201 rotate on the inner top wall of the chamber, and the first guide rods 202 are fixed inside the chamber. The output shaft of the second motor 203 is fixedly connected to the first lead screws 201. The lifting plate 6 is fitted on the first lead screws 201 and the first guide rods 202, and the lifting plate 6 is threadedly connected to the first lead screws 201, so that the second motors 203 can be started. The output shaft of the second motors 203 can drive the first lead screws 201 to rotate. When the first lead screws 201 rotate, the lifting plate 6 can move up and down along the extension direction of the first guide rods 202, thereby enabling the front and rear reciprocating component 5, the left and right reciprocating component 4, and the robotic arm assembly to move up and down and adjust the welding height.

[0026] The reciprocating component 5 includes a second lead screw 501 extending in the front-back direction, a second guide rod 502 extending in the front-back direction, a third motor 503, and a moving plate 504; the left-right reciprocating component 4 is mounted on the moving plate 504; the third motor 503 is fixed on the lifting plate 6, and the output shaft of the third motor 503 is fixedly connected to the second lead screw 501. The second lead screw 501 is rotatably mounted on the lifting plate 6, the second guide rod 502 is fixed on the lifting plate 6, and the moving plate 504 is fitted onto the second lead screw 501 and the second guide rod 502 and threadedly connected to the second lead screw 501. When the third motor 503 is started, the third motor 503 can drive the second lead screw 501 to rotate, so that the moving plate 504 moves along the extension direction of the second guide rod 502 under the action of the second lead screw 501.

[0027] The reciprocating component 4 includes a third lead screw 401 extending in the left-right direction, a limiting slide groove 402 extending in the left-right direction, and a fourth motor 403. The fourth motor 403 is fixed on the moving plate 504, and the output shaft of the fourth motor 403 is fixedly connected to the third lead screw 401. The limiting slide groove 402 is formed in the moving plate 504. The fixed plate 7 is threadedly connected to the third lead screw 401. The fixed plate 7 slides in the limiting slide groove 402 on the moving plate 504 through a slider guide, so that the fourth motor 403 can be started, which can drive the third lead screw 401 to rotate, and make the fixed plate 7 move along the extension direction of the moving plate 504.

[0028] In this embodiment, the position of the robotic arm assembly can be adjusted by the coordinated operation of the vertical reciprocating component 2, the left and right reciprocating component 4, the front and rear reciprocating component 5, and the lifting plate 6 to achieve the best welding position.

[0029] like Figure 1 As shown, the robotic arm assembly includes a robotic arm body 301, which is fixedly mounted on a fixed plate 7. A welding head 8 is fixedly connected to the connector end of the robotic arm body 301, so that the welding head 8 can be fixedly connected to the robotic arm body 301. In this embodiment, the model of the robotic arm body 301 is Kelda KRC-2100 series. The structure and principle of the robotic arm body 301 are existing technologies and will not be described in detail here.

[0030] The welding method based on the constructed steel structure welding equipment is as follows: S1, place the steel structure to be welded inside the fixed frame 1, and position the steel structure below the robot arm assembly; S2, the second motor 203 starts, which can drive the lifting plate 6 to move up and down along the extension direction of the first guide rod 202 through the first lead screw 201, so as to adjust the height of the robot arm 301; S3, the third motor 503 is started, causing the moving plate 504 to move along the extension direction of the second light rod 502, thereby adjusting the front and rear position of the robot arm overall 301; S4, then start the fourth motor 403. The output shaft of the fourth motor 403 drives the third lead screw 401 to rotate, so that the fixed plate 7 moves along the extension direction of the limit slide 402, so as to adjust the left and right position of the robot arm 301, so that the welding head 8 can weld the steel structure. S5. After welding, the burrs are manually removed by grinding.

[0031] In Example 2, although welding can be performed in the structure of Example 1, manual tool switching or manual grinding is still required after welding, which increases the labor intensity and reduces the work efficiency.

[0032] Based on the above problems, in this embodiment, as follows: Figures 4-7 As shown, the steel structure welding equipment also includes a tool storage box, which contains a welding head 8 and a grinding head 9. In this embodiment, the welding head 8 and the grinding head 9 are used as examples, but this does not mean that only these two types of process components can be placed. The robotic arm assembly is detachably connected to the welding head 8 or the grinding head 9, so that it can be replaced as needed to perform other processes.

[0033] Specifically, the robotic arm assembly includes a robotic arm body 301 and a positioning component 302; the robotic arm body 301 is fixedly mounted on the fixed plate 7, and the connector end of the robotic arm body 301 is fixedly connected to the positioning component 302 so that the positioning component 302 can be fixedly connected to the welding head 8 or the grinding head 9.

[0034] The positioning component 302 includes a motor 3021, a fixed disk 3022, a rotating disk 3023, and positioning elements 3024. The joint of the robot arm assembly 301 is fixedly connected to the motor 3021. The output shaft of the motor 3021 is fixedly connected to the rotating disk 3023. When the motor 3021 starts, it drives the rotating disk 3023 to rotate. The fixed disk 3022 is fixedly connected to the joint of the robot arm assembly 301 via a connecting rod. Several positioning elements 3024 are arranged in a circular array and guided to slide within the fixed disk 3022. The rotating disk 3023 has arc-shaped holes 11 for guiding the positioning elements 3024 to slide. When the rotating disk 3023 rotates, the arc-shaped holes 11 on the rotating disk 3023 drive the positioning elements 3024. Extending or retracting along the direction of the fixed plate 3022, the positioning element 3024 expands or contracts as the rotating plate 3023 rotates due to the coordinated cooperation of the arc-shaped hole 11 and the fixed plate 3022. Both the welding head 8 and the grinding head 9 are fixed with connecting plates 10. The connecting plates 10 have positioning grooves for the positioning element 3024 to be inserted. After the fixed plate 3022 is inserted into the connecting plate 10, the positioning element 3024 extends out from the fixed plate 3022 and is guided and positioned into the positioning groove, so as to realize the relative fixed connection between the robot arm 301 and the welding head 8 or the grinding head 9. Through the snap-fit ​​connection, it can achieve quick assembly and disassembly, and ensure that the welding head 8 or the grinding head 9 is firmly locked during operation, effectively preventing accidental fall-off.

[0035] The positioning component 3024 includes a positioning pin and a plug plate. The fixed disk 3022 has a limiting groove for guiding the plug plate to slide. The positioning pin is fixedly connected to the plug plate. The positioning pin is guided and inserted into the arc-shaped hole 11. Under the action of the rotating disk 3023, the arc-shaped hole 11 can move the positioning pin along the extension direction of the arc-shaped hole 11. While the positioning pin moves, the plug plate can also move along the extension direction of the limiting groove, thereby realizing expansion or contraction.

[0036] The top of the connecting plate 10 is provided with a cross groove 13 with an upward opening for the fixed plate 3022 to be inserted. Positioning grooves are provided on the inner side wall of each cross groove 13. In this embodiment, the cross groove 13 can both limit the fixed plate 3022 and position the fixed plate 3022 when it is inserted, so as to avoid unstable connection.

[0037] The tool storage box includes several upward-facing placement slots 12. The welding head 8 and the grinding head 9 are placed in the placement slots 12. In this embodiment, the placement slots 12 can protect the welding head 8 and the grinding head 9, preventing them from wearing out when not in use.

[0038] Compared to Embodiment 1, in this embodiment, the robotic arm 301 can quickly disassemble and assemble tools during tool replacement, while ensuring that the welding head or grinding head is firmly locked during operation, effectively preventing accidental detachment.

[0039] A welding method based on constructed steel structure welding equipment, characterized by the following specific operations: S1, place the steel structure to be welded inside the fixed frame 1, and position the steel structure below the robot arm assembly; S2, then the robot arm assembly 301 starts up, moves to the tool storage box, and is relatively fixedly connected with the welding head 8 placed in the tool storage box. Then the robot arm assembly 301 rotates out to weld the steel structure. S3, the second motor 203 starts, which can drive the lifting plate 6 to move up and down along the extension direction of the first guide rod 202 through the first lead screw 201, so as to adjust the height of the robot arm 301 and the tool storage box; S4, the third motor 503 starts, causing the moving plate 504 to move along the extension direction of the second light rod 502, thereby adjusting the front and rear positions of the robot arm 301 and the tool storage box; S5, then start the fourth motor 403. The output shaft of the fourth motor 403 drives the third lead screw 401 to rotate, so that the fixed plate 7 moves along the extension direction of the limit slide 402, so as to adjust the left and right positions of the robot arm 301 and the tool storage box, so that the welding head 8 can weld the steel structure. S6. After welding is completed, the robot arm 301 is moved to the tool storage box, the welding head 8 is placed in the tool storage box, and then the operation of S2 is repeated to fix it to the grinding head 9 in the tool storage box. S7. Repeat the operations of S3-S5, and use the grinding head 9 to grind the welded parts of the steel structure to remove burrs.

[0040] The embodiments of the present invention described above do not constitute a limitation on the scope of protection of the present invention. The basic concept of the present invention is that the robotic arm can automatically change the welding head 8 or the grinding head 9 according to the task requirements during operation, realizing tool switching without manual intervention. This not only reduces reliance on manpower but also expands the functional coverage of the equipment. Moreover, the flexible configuration of the moving components allows for on-demand adjustment of the position of the robotic arm components and the tool storage box, thereby significantly improving the flexibility of welding or grinding operations. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of the present invention should be included within the scope of protection of the claims of the present invention.

Claims

1. A steel structure welding equipment based on construction, characterized in that, Includes a fixed frame (1), a moving component, a robotic arm component, and a tool storage box; The moving component includes a vertical reciprocating component (2), a left-right reciprocating component (4), a front-back reciprocating component (5), and a lifting plate (6). The fixed frame (1) includes a top annular frame (101), a bottom annular frame (102) and four vertical rods (103) extending in the vertical direction. The four vertical rods (103) are fixed between the top annular frame (101) and the bottom annular frame (102). The vertical reciprocating component (2) is installed inside the vertical rods (103). The lifting plate (6) is connected to the vertical reciprocating component (2) in a transmission manner. The front and rear reciprocating components (5) and the left and right reciprocating components (4) are all installed on the lifting plate (6). The left and right reciprocating components (4) are equipped with a fixed plate (7). The robotic arm assembly and the tool storage box are both installed on the fixed plate (7). The tool storage box is equipped with a welding head (8) and a grinding head (9), and the robotic arm assembly is detachably connected to the welding head (8) or the grinding head (9).

2. The steel structure welding equipment based on construction according to claim 1, characterized in that, The robotic arm assembly includes a robotic arm body (301) and a positioning assembly (302). The robotic arm assembly (301) is fixedly mounted on the fixed plate (7), and the connector end of the robotic arm assembly (301) is fixedly connected to the positioning component (302).

3. The steel structure welding equipment based on construction according to claim 2, characterized in that, The positioning component (302) includes a motor (3021), a fixed disk (3022), a rotating disk (3023), and a positioning element (3024). The joint of the robotic arm (301) is fixedly connected to the motor (3021), the output shaft of the motor (3021) is fixedly connected to the rotating disk (3023), the fixed disk (3022) is fixedly connected to the joint of the robotic arm (301) through the connecting rod, and there are several positioning elements (3024) that slide in a circular array within the fixed disk (3022). The rotating disk (3023) is provided with an arc-shaped hole (11) for guiding the sliding of the positioning component (3024). Both the welding head (8) and the grinding head (9) are fixed with a connecting plate (10), and the connecting plate (10) has a positioning groove for the positioning component (3024) to be inserted.

4. The steel structure welding equipment based on construction according to claim 3, characterized in that, The positioning component (3024) includes a positioning pin and a plug plate. The fixed plate (3022) has a limiting groove for guiding the plug plate to slide. The positioning pin is fixedly connected to the plug plate and is guided and inserted into the arc-shaped hole (11).

5. The steel structure welding equipment based on construction according to claim 3, characterized in that, The top of the connecting plate (10) has an upward-facing cross groove (13) for guiding the insertion of the fixing plate (3022), and the positioning groove is formed on the inner side wall of each cross groove (13).

6. The steel structure welding equipment based on construction according to claim 1, characterized in that, The tool storage box includes several upward-facing placement slots (12), in which the welding head (8) and grinding head (9) are placed.

7. The steel structure welding equipment based on any one of claims 1-4, characterized in that, The vertical reciprocating component (2) includes two first lead screws (201) extending in the vertical direction, two first guide rods (202) extending in the vertical direction, and two second motors (203). Each of the vertical rods (103) is provided with a chamber. The first lead screw (201) rotates on the inner top wall of the chamber. The first light rod (202) is fixed in the chamber. The output shaft of the second motor (203) is fixedly connected to the first lead screw (201). The lifting plate (6) is fitted on the first lead screw (201) and the first light rod (202), and the lifting plate (6) is threadedly connected to the first lead screw (201).

8. The steel structure welding equipment based on any one of claims 1-4, characterized in that, The reciprocating component (5) includes a second lead screw (501) extending in the front-back direction, a second guide rod (502) extending in the front-back direction, a third motor (503), and a moving plate (504). The left and right reciprocating parts (4) are mounted on the moving plate (504); The third motor (503) is fixed on the lifting plate (6). The output shaft of the third motor (503) is fixedly connected to the second lead screw (501). The second lead screw (501) rotates on the lifting plate 6. The second light rod (502) is fixed on the lifting plate (6). The moving plate (504) is fitted on the second lead screw (501) and the second light rod (502) and is threadedly connected to the second lead screw (501).

9. The steel structure welding equipment based on construction according to claim 8, characterized in that, The reciprocating component (4) includes a third lead screw (401) extending in the left-right direction, a limiting slide (402) extending in the left-right direction, and a fourth motor (403). The fourth motor (403) is fixed on the moving plate (504). The output shaft of the fourth motor (403) is fixedly connected to the third lead screw (401). The limiting groove (402) is opened on the moving plate (504). The fixed plate (7) is threadedly connected to the third lead screw (401). The fixed plate (7) slides in the limiting groove (402) on the moving plate (504) by a slider.

10. A welding method using the construction-based steel structure welding equipment as described in claim 9, characterized in that, The specific steps are as follows: S1, place the steel structure to be welded inside the fixed frame (1) and position the steel structure below the robot arm assembly; S2, then the robot arm assembly (301) starts up, moves to the tool storage box, and is relatively fixedly connected with the welding head (8) placed in the tool storage box. Then the robot arm assembly (301) turns out and welds the steel structure. S3, the second motor (203) starts, which can drive the lifting plate (6) to move up and down along the extension direction of the first guide rod (202) through the first lead screw (201) to adjust the height of the robot arm (301) and the tool storage box; S4, the third motor (503) is started, causing the moving plate (504) to move along the extension direction of the second light rod (502), thereby adjusting the front and rear positions of the robot arm (301) and the tool storage box; S5, then start the fourth motor (403), the output shaft of the fourth motor (403) drives the third lead screw (401) to rotate, so that the fixed plate (7) moves along the extension direction of the limit slide (402) to adjust the left and right positions of the robot arm (301) and the tool storage box, so that the welding head (8) can weld the steel structure. S6. After welding is completed, the robot arm (301) is moved to the tool storage box, the welding head (8) is placed in the tool storage box, and then the operation of S2 is repeated to fix it relative to the grinding head (9) in the tool storage box. S7, repeat the operation of S3-S5, and grind the welded parts of the steel structure with the grinding head (9) to remove burrs.

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