Super high-rise steel structure self-climbing heat preservation welding device and welding method in extremely cold environment

Abstract

The invention discloses a self-climbing heat preservation welding device and method for a super high-rise steel structure in an extremely cold environment. The self-climbing heat preservation welding device comprises a climbing device, a welding device, an annular rail, a heat preservation device and an outer enclosure structure. The welding method comprises the steps of installation of the self-climbing heat preservation welding device, hoisting and fixing of the upper steel column, climbing of the self-climbing heat preservation welding device in place, automatic heat preservation welding of the steel column and dismounting of the device after welding operation is completed. The super high-rise steel structure can be automatically welded at the high altitude through the welding robot, the welding robot automatically climbs upwards along with the structure and conducts intelligent preheating and heat preservation on the welded part in the extremely cold environment, and the welding robot has the advantages of being high in construction efficiency, good in safety performance, capable of effectively shortening the construction period, reliable in welding quality, capable of saving cost and the like.

Description

Technical Field

[0001] This invention relates to the technical field of welding construction of ultra-high-rise buildings in extremely cold environments, and particularly to a self-climbing insulation welding device and welding method for ultra-high-rise steel structures in extremely cold environments. Background Technology

[0002] Welding operations face severe challenges when constructing super high-rise steel structure buildings in extremely cold regions. Currently, they mainly rely on manual labor at high altitudes, where welding quality is significantly affected by low temperatures, easily leading to defects such as weld embrittlement and cracks. Furthermore, traditional insulation methods have limited coverage and insufficient sustainability, making it difficult to ensure that the welding area remains at a suitable temperature throughout. At the same time, high-altitude operations are high-risk and inefficient, placing personnel under dual pressure from the cold and safety concerns, making it difficult to guarantee the stability of construction progress and quality.

[0003] In existing technologies, the vast majority of welding robots are only suitable for ground operations and are mostly based on fixed bases, making them inconvenient to move freely. Currently, there is a lack of intelligent equipment that can adapt to extremely cold conditions, climb with the structure, and integrate continuous heat preservation and automatic welding functions. In extremely cold environments, preheating and heat preservation measures for welding parts are difficult to guarantee manually, which can seriously affect the continuity of construction and the overall construction accuracy.

[0004] Therefore, there is an urgent need for an integrated intelligent equipment that can achieve automated high-altitude welding, provide dynamic insulation, and autonomously climb with the construction of steel structures, in order to improve the quality, safety, and efficiency of ultra-high-rise steel structure construction in extremely cold environments. Summary of the Invention

[0005] This invention aims to address the shortcomings of existing technologies by providing a self-climbing insulation welding device and method for ultra-high-rise steel structures in extremely cold environments. This device enables multiple functions, including automatic welding of ultra-high-rise steel structures at high altitudes by a welding robot, automatic upward climbing of the welding robot along with the structure, and intelligent preheating and insulation of the welding area in extremely cold environments.

[0006] To achieve the above objectives, the present invention adopts the following technical solution:

[0007] A self-climbing, insulated welding device for ultra-high-rise steel structures in extremely cold environments, comprising a climbing device, a welding device, a circular track, an insulation device, and an external enclosure structure;

[0008] The external enclosure structure is mounted on the steel columns to form a protective enclosure for the welding area; the insulation device is installed on the inner wall of the external enclosure structure to regulate the temperature of the welding environment; the circular track is installed on the inner bottom wall of the external enclosure structure to support the welding device; the welding device is moved and set on the circular track for welding the steel structure; the climbing device is installed at the top and bottom of the external enclosure structure to attach to the steel columns and perform climbing operations.

[0009] The climbing device includes a worm gear system, a lead screw, a worm power system, a base plate, a lead screw protective sleeve, an electromagnet, and an electromagnet control device.

[0010] The base plate is fixed to the top and bottom of the outer enclosure structure with bolts. The worm gear system, worm power system, and lead screw protective sleeve are installed on the base plate. The worm power system includes a servo motor and a worm. The servo motor is connected to a PLC or motion controller. The worm gear system includes a worm wheel. The worm of the worm power system and the worm wheel of the worm gear system are meshed together. The lead screw thread is installed in the center of the worm wheel of the worm gear system and passes through the inside of the lead screw protective sleeve. The electromagnet control device is rotatably installed at the end of the lead screw through an adjustable component. The attraction electromagnet is installed on one side of the electromagnet control device.

[0011] The adjustable components include a sliding electromagnet and a chute base;

[0012] The sliding electromagnet has an inverted T-shaped structure and is fixed outside the electromagnet control device and is regulated by the electromagnet control device. The slide base is rotatably mounted on the end of the lead screw. The slide base is provided with an adjustment slide groove, and the sliding electromagnet is embedded in the adjustment slide groove of the slide base.

[0013] There are a total of 16 climbing devices. Eight of them are set on the top of the outer enclosure structure as upper climbing devices, with two devices set on each side of the steel column. The other eight are set on the bottom of the outer enclosure structure as lower climbing devices, with two devices set on each side of the steel column.

[0014] The welding equipment includes a control integration system, wheels, welding equipment base plate, base, robotic arm motor, welding robotic arm, welding torch and welding torch tube;

[0015] The control integration system includes a power supply system, a welding control system, a wheel power system, and a welding gas supply system. Two sets of wheels are installed at the bottom of the control integration system, and the wheels are connected to the wheel power system. The wheels are rolled on a circular track. The base is fixed to the bottom plate of the welding device, and the bottom plate of the welding device is fixed to the top of the control integration system with bolts. The welding robot arm is fixed to the base through a flange. A robot arm motor that drives the movement of the welding robot arm is fixed to the side of the base. The robot arm motor is connected to the welding control system. The welding torch is installed on the welding robot arm, and the welding torch tube is installed on the welding torch. The welding torch tube is connected to the welding gas supply system.

[0016] A circular track consists of an outer track, an inner track, and sleepers, with the sleepers connecting the outer and inner tracks.

[0017] The heat preservation device includes a heat preservation device shell, an infrared heating tube, a temperature sensor, and a temperature controller. The infrared heating tube is installed inside the heat preservation device shell, and both the infrared heating tube and the temperature sensor are connected to the temperature controller.

[0018] The external enclosure structure includes an enclosure top plate, an enclosure bottom plate, and an enclosure shell. Both the enclosure top plate and the enclosure bottom plate are provided with through holes for steel columns to pass through.

[0019] A welding method utilizing the aforementioned self-climbing, heat-insulating welding device for ultra-high-rise steel structures in extremely cold environments, comprising the following specific steps:

[0020] S1. Equipment assembly and hoisting:

[0021] Eight climbing devices are fixed to the top of the outer enclosure structure, and another eight climbing devices are fixed to the bottom of the outer enclosure structure. Then, a circular track is installed on the inner bottom wall of the outer enclosure structure, and the welding device is set on the circular track. Finally, four insulation devices are fixed to the inner walls of the four side walls of the outer enclosure structure. After the device is assembled, a crane is used to lift the device to the top of the steel column and lower it so that the outer enclosure structure passes through the steel column. The position of the sliding electromagnet in the bottom support of the chute is adjusted by the climbing device until the adsorption electromagnet of all climbing devices is tightly attached to the steel column and can be stably adsorbed on the steel column. The preparation work is completed.

[0022] S2. Hoisting and fixing of steel columns:

[0023] The upper section of steel column is hoisted to the top of the device and temporarily fixed to the lower section of steel column by installation bolts, with a certain misalignment allowance left at the joint end of the two sections of steel column;

[0024] S3. The device climbs into place:

[0025] The climbing device starts to operate, and automatic climbing is achieved through the coordinated operation of the upper and lower climbing devices;

[0026] S4. Automatic heat-insulating welding of steel columns:

[0027] Before starting the welding operation, the ambient temperature inside the outer enclosure structure is heated, and the insulation devices on all four sides are activated to raise the ambient temperature to above 0°C. Then, the welding device on the circular track sprays low-temperature flames outward to preheat the welding position. After preheating, the welding device is aligned with the welding area, the welding temperature, welding wire and welding shielding gas are adjusted, and the forward speed of the wheels is controlled to complete the high-altitude automatic heat preservation welding of the steel column.

[0028] S5. Dismantle the device after welding is completed:

[0029] After all the circumferential welding work on the steel column is completed, the climbing device will lift the equipment to the top of the column, and the equipment will be dismantled by lifting machinery.

[0030] In step S3, the specific steps for the coordinated operation of the upper and lower climbing devices to achieve automatic climbing are as follows:

[0031] S31. The electromagnet control device provides positive current to the adsorption electromagnet of the lower climbing device, thereby enhancing the adsorption capacity of the lower climbing device and enabling it to bear the full weight of the device. At the same time, the electromagnet control device provides reverse current to the adsorption electromagnet of the upper climbing device, thereby releasing the upper climbing device.

[0032] S32. With the cooperation of the worm gear system and the worm power system, all the lead screws of the climbing device are moved upward a certain distance. After they are moved into place, the electromagnet control device is used to energize the electromagnet of the climbing device in the positive direction, so that the climbing device is attracted to the steel column.

[0033] S33. The electromagnet of the lower climbing device is demagnetized by reverse energizing the electromagnet of the lower climbing device through the electromagnet control device. After demagnetization, all the lead screws of the upper climbing device are synchronously retracted a certain distance.

[0034] S34. Repeat steps S31-S33 until the device is raised to the part to be welded.

[0035] The beneficial effects of this invention are: this invention can realize multiple functions such as automatic welding of ultra-high-rise steel structures by welding robots at high altitudes, automatic upward climbing of welding robots along with the structure, and intelligent preheating and insulation of the welding parts in extremely cold environments. Attached Figure Description

[0036] Figure 1 This is a schematic diagram of the structure of the self-climbing intelligent heat preservation welding device in this invention;

[0037] Figure 2 This is a schematic diagram of the climbing device in this invention;

[0038] Figure 3 This is a schematic diagram of the adjusting slide groove of the sliding electromagnet and the slide groove base in the electromagnet control device of the present invention.

[0039] Figure 4 This is a schematic diagram of the welding device in this invention;

[0040] Figure 5 This is a schematic diagram of the structure of the circular track in this invention;

[0041] Figure 6 This is a schematic diagram of the heat preservation device in this invention;

[0042] Figure 7 This is a schematic diagram showing the welding preparation after the device is in place in this invention;

[0043] In the diagram: 1-Climbing device; 2-Welding device; 3-Circular track; 4-Insulation device; 5-External enclosure structure; 6-Steel column;

[0044] 101-Worn gear system; 102-Lead screw; 103-Worn power system; 104-Supporting base plate; 105-Lead screw protective sleeve; 106-Attraction electromagnet; 107-Electromagnet control device; 108-Sliding electromagnet; 109-Slide groove base support;

[0045] 201-Control integration system; 202-Wheel; 203-Welding device base plate; 204-Base; 205-Robot arm motor; 206-Welding robot arm; 207-Welding torch; 208-Welding torch tube;

[0046] 301 - Outer track; 302 - Inner track; 303 - Sleeper;

[0047] 401 - Insulation device housing; 402 - Infrared heating tube;

[0048] 501 - Enclosure top plate; 502 - Enclosure bottom plate; 503 - Enclosure outer shell;

[0049] The following will describe in detail, with reference to the accompanying drawings, embodiments of the present invention. Detailed Implementation

[0050] The principles and features of the present invention are described below with reference to the accompanying drawings. The embodiments given are for illustrative purposes only and are not intended to limit the scope of the invention. The invention is described more specifically in the following paragraphs by way of example with reference to the accompanying drawings. The advantages and features of the invention will become clearer from the following description. It should be noted that the drawings are in a very simplified form and use non-precise proportions, and are only used to facilitate and clarify the illustration of the embodiments of the invention.

[0051] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention pertains. The terminology used herein in the description of the invention is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. The term "and / or" as used herein includes any and all combinations of one or more of the associated listed items.

[0052] The present invention will be further described below with reference to the accompanying drawings and embodiments:

[0053] Self-climbing insulation welding device for ultra-high-rise steel structures in extremely cold environments, such as Figure 1 As shown, it includes a climbing device 1, a welding device 2, a circular track 3, a heat preservation device 4, and an external protective structure 5.

[0054] The outer enclosure structure 5 is movably mounted on the steel column 6 to form an enclosure for the welding area; the insulation device 4 is installed on the inner wall of the outer enclosure structure 5 to regulate the temperature of the welding environment; the circular track 3 is installed on the inner bottom wall of the outer enclosure structure 5 to support the welding device 2; the welding device 2 is movably mounted on the circular track 3 for welding the steel structure; the climbing device 1 is installed on the top and bottom of the outer enclosure structure 5 to adhere to the steel column 6 and perform climbing operations.

[0055] Climbing device 1 Figures 2-3 As shown, it includes a worm gear system 101, a lead screw 102, a worm power system 103, a receiving base plate 104, a lead screw protective sleeve 105, an adsorption electromagnet 106, and an electromagnet control device 107.

[0056] The base plate 104 is fixed to the top and bottom of the outer enclosure structure 5 by bolts. The worm gear system 101, the worm power system 103, and the lead screw protective sleeve 105 are installed on the base plate 104. The worm power system 103 includes a servo motor and a worm. The servo motor is connected to a PLC or motion controller. The worm gear system 101 includes a worm wheel. The worm of the worm power system 103 and the worm wheel of the worm gear system 101 are meshed and installed. The lead screw 102 is threaded into the center of the worm wheel of the worm gear system 101 and passes through the inside of the lead screw protective sleeve 105.

[0057] Each climbing device 1 is independently equipped with a servo motor, and can operate in coordination with a PLC or motion controller (such as Beckhoff TwinCAT or Mitsubishi Q series) and a bus system (such as EtherCAT or CANopen).

[0058] The movement of the lead screw 102 is jointly controlled by the worm gear system 101 and the worm power system 103. Specifically, the worm inside the worm power system 103 rotates, which drives the worm wheel inside the worm gear system 101 to rotate, so that the lead screw 102 moves linearly in the vertical direction.

[0059] A lead screw protective sleeve 105 is provided below the worm gear system 101. When the worm rotates in the forward direction, the lead screw 102 embedded in the lead screw protective sleeve 105 moves vertically upward. When the worm rotates in the reverse direction, the lead screw 102 will move vertically downward. The extension length of the lead screw 102 is controlled by the worm power system 103.

[0060] The electromagnet control device 107 is rotatably mounted on the end of the lead screw 102 via an adjustable component, and the attracting electromagnet 106 is mounted on one side of the electromagnet control device 107.

[0061] The electromagnet control device 107 can be in the form of a KSZ-5A2 type magnetization / demagnetization controller, a WDC05S electromagnetic chuck controller, or the like.

[0062] The adjustable components include a sliding electromagnet 108 and a chute base 109.

[0063] The sliding electromagnet 108 has an inverted T-shaped structure and is fixed outside the electromagnet control device 107 and is regulated by the electromagnet control device 107. The slide base 109 is rotatably mounted on the end of the lead screw 102. The slide base 109 is provided with an adjustment slide groove, and the sliding electromagnet 108 is embedded in the adjustment slide groove of the slide base 109.

[0064] The adsorption electromagnet 106 and the sliding electromagnet 108 are composed of a permanent magnet and an electromagnetic coil. The permanent magnet provides a basic, constant, and unaffected adsorption force. The electromagnetic coil can change the permanent magnetic field after being energized, so as to realize the rapid control of the adsorption force. That is, when the electromagnet control device 107 is energized in the forward direction, the magnetism of the adsorption electromagnet 106 and the sliding electromagnet 108 is enhanced, realizing the adsorption function. When energized in the reverse direction, the magnetism of the adsorption electromagnet 106 and the sliding electromagnet 108 is weakened, realizing the release effect.

[0065] The sliding electromagnet 108 can be adjusted in the adjusting groove of the slide base 109, and can be adapted to steel columns 6 with different cross-sectional dimensions.

[0066] There are a total of 16 climbing devices 1. Eight of them are set on the top of the outer enclosure structure 5 as upper climbing devices, with two devices set on each side of the steel column 6. The other eight are set on the bottom of the outer enclosure structure 5 as lower climbing devices, with two devices set on each side of the steel column 6.

[0067] The upper climbing device can be synchronously climbed by a PLC or motion controller, and the lower climbing device can be synchronously climbed by a PLC or motion controller.

[0068] Welding device 2, for example Figure 4 As shown, it includes a control integration system 201, wheels 202, welding device base plate 203, base 204, robotic arm motor 205, welding robotic arm 206, welding torch 207, and welding torch tube 208.

[0069] The control integration system 201 includes a power supply system, a welding control system, a wheel power system, and a welding gas supply system. These systems work together to ensure the normal operation of the device of the present invention.

[0070] Two sets of wheels 202 are installed at the bottom of the control integration system 201. The wheels 202 are connected to the wheel power system and are rolled on the circular track 3. The base 204 is fixed on the welding device base plate 203. The welding device base plate 203 is fixed to the top of the control integration system 201 by bolts. The welding robot arm 206 is fixedly connected to the base 204 by a flange. A robot arm motor 205 that drives the welding robot arm 206 is fixed on the side of the base 204. The robot arm motor 205 is connected to the welding control system. The welding torch 207 is installed on the welding robot arm 206. The welding torch tube 208 is installed on the welding torch 207 and is connected to the welding gas supply system.

[0071] The welding control system of welding device 2 can refer to the SRC4 robot control cabinet or Panasonic TAWERS controller. The angle and position of welding robotic arm 206 are controlled by the program, thereby adjusting the spatial position of welding torch 207 and welding torch tube 208 to the required welding position.

[0072] The mobile system of welding device 2 and the welding robotic arm can be referenced from the AGV trolley Bronte 6-axis robot omnidirectional mobile chassis intelligent vehicle.

[0073] Circular track 3 Figure 5 As shown, the track includes an outer track 301, an inner track 302, and sleepers 303, with sleepers 303 connecting the outer track 301 and the inner track 302. Both the outer track 301 and the inner track 302 consist of straight sections and circular arc sections. In the circular arc sections, the outer track 301 and the inner track 302 have the same center but different radii, ensuring that the track spacing in the circular arc sections is the same as that in the straight sections. Wooden sleepers 303 are laid beneath the I-beam rails, and the welding device 2 moves on the circular track 3 via wheels 202.

[0074] Insulation device 4 Figure 6 As shown, the device includes a heat preservation device housing 401, an infrared heating element 402, a temperature sensor, and a temperature controller. The infrared heating element 402 is installed inside the heat preservation device housing 401. Both the infrared heating element 402 and the temperature sensor are connected to the temperature controller. The heat preservation device housing 401 provides protection. After the infrared heating element 402 is powered on, it continuously inputs heat to prevent the low ambient temperature from affecting the welding quality. The temperature sensor transmits the temperature to the temperature controller, which, upon detecting the temperature, controls the opening and closing of the infrared heating element 402.

[0075] External envelope 5 such as Figure 7 As shown, it includes a top enclosure 501, a bottom enclosure 502, and an outer enclosure 503. Both the top enclosure 501 and the bottom enclosure 502 are provided with through holes for the steel columns 6 to pass through.

[0076] A welding method utilizing the aforementioned self-climbing, heat-insulating welding device for ultra-high-rise steel structures in extremely cold environments, comprising the following specific steps:

[0077] S1. Equipment assembly and hoisting:

[0078] Eight climbing devices 1 are fixed to the top of the outer enclosure structure 5, and another eight climbing devices 1 are fixed to the bottom of the outer enclosure structure 5. Next, a circular track 3 is installed on the inner bottom wall of the outer enclosure structure 5, and a welding device 2 is placed on the circular track 3. Finally, four insulation devices 4 are fixed to the inner walls of the four side walls of the outer enclosure structure 5 respectively. After the assembly is complete, a crane is used to lift the device to the top of the steel column 6 and lower it so that the outer enclosure structure 5 passes through the steel column 6. The position of the sliding electromagnet 108 in the slide rail base 109 is adjusted using the climbing devices 1 until all the electromagnets 106 of the climbing devices 1 are tightly attached to the steel column 6 and can be stably attached to the steel column 6. Figure 7 As shown, the preparations are complete;

[0079] S2, hoisting and fixing of steel column 6:

[0080] The upper section of steel column 6 is hoisted to the top of the device and temporarily fixed to the lower section of steel column 6 by installation bolts. A certain misalignment margin is left at the joint end of the two sections of steel column 6, which helps to improve the installation accuracy of steel column 6 during hoisting and reduce the installation difficulty.

[0081] S3. The device climbs into place:

[0082] The climbing device 1 starts operating, achieving automatic climbing through the coordinated operation of the upper and lower climbing devices. The specific steps are as follows:

[0083] S31. The electromagnet control device 107 provides positive energization to the adsorption electromagnet 106 of the lower climbing device, thereby enhancing the adsorption capacity of the lower climbing device and enabling it to bear the full weight of the device. At the same time, the electromagnet control device 107 provides reverse energization to the adsorption electromagnet 106 of the upper climbing device, thereby releasing the upper climbing device.

[0084] S32. With the cooperation of the worm gear system 101 and the worm power system 103, all the lead screws 102 of the upper climbing device are moved upward a certain distance. After they are moved into place, the electromagnet control device 107 energizes the electromagnet 106 of the upper climbing device in the positive direction, so that the upper climbing device is attracted to the steel column 6.

[0085] S33. The electromagnet control device 107 reverses the current to the adsorption electromagnet 106 of the lower climbing device to complete the demagnetization. After demagnetization, all the lead screws 102 of the upper climbing device are synchronously retracted a certain distance.

[0086] S34. Repeat steps S31-S33 until the device is raised to the part to be welded;

[0087] Automatic heat preservation welding of S4 and steel column 6:

[0088] Before starting the welding operation, the ambient temperature inside the outer enclosure structure 5 is heated, and the four-sided heat preservation device 4 is activated to raise the ambient temperature to above 0°C. Then, the welding device 2 on the circular track 3 sprays low-temperature flames outward to preheat the welding position. After preheating, the welding device 2 is aligned with the welding position, the welding temperature, welding wire and welding shielding gas are adjusted, and the forward speed of the wheel 202 is controlled to complete the high-altitude automatic heat preservation welding of the steel column 6.

[0089] S5. Dismantle the device after welding is completed:

[0090] After all the circumferential welding work on the steel column 6 is completed, the climbing device 1 is used to climb to the top of the column, and the device is then dismantled by a crane.

[0091] The beneficial effects of this invention are mainly reflected in the following aspects: First, the double-climbing device 1 provides double protection, fundamentally eliminating the risk of falling from heights; second, the device can climb autonomously without relying on external mechanical equipment, greatly improving construction efficiency and shortening the construction period; third, it has intelligent heat preservation welding function, ensuring stable and reliable welding quality in extremely cold environments while effectively avoiding the dangers of manual work at heights; in addition, it adopts a fully enclosed frame structure with strong wind and torsional resistance, and all equipment is built into it, which can withstand the effects of harsh environments such as extreme cold and snow; finally, the device has good reusability and can be adapted to the welding construction of different steel columns 6 of similar size, making it flexible in turnover and significantly saving overall costs.

[0092] This invention creatively integrates climbing robot technology, welding robot technology, environmental constant temperature control technology, and modular enclosure structure into a single intelligent and integrated construction solution for welding ultra-high-rise steel structures in extremely cold environments. It is not merely an innovation in single equipment, but also a practical application of a new construction method, possessing significant engineering application value for promoting the development of industrialized and intelligent construction in extreme environments.

[0093] The present invention has been described above by way of example with reference to the accompanying drawings. Obviously, the specific implementation of the present invention is not limited to the above-described manner. Any improvements made using the inventive concept and technical solution of the present invention, or direct application to other occasions without modification, are all within the protection scope of the present invention.

Claims

1. A self-climbing, heat-insulating welding device for ultra-high-rise steel structures in extremely cold environments, characterized in that, It includes a climbing device (1), a welding device (2), a circular track (3), a heat preservation device (4), and an external enclosure structure (5); The outer enclosure structure (5) is movably mounted on the steel column (6) to form an enclosure for the welding area; the heat preservation device (4) is installed on the inner wall of the outer enclosure structure (5) to regulate the temperature of the welding environment; the ring track (3) is installed on the inner bottom wall of the outer enclosure structure (5) to support the welding device (2); the welding device (2) is moved and set on the ring track (3) to weld the steel structure; the climbing device (1) is installed on the top and bottom of the outer enclosure structure (5) to adhere to the steel column (6) and perform climbing operations; The climbing device (1) includes a worm gear system (101), a lead screw (102), a worm power system (103), a base plate (104), a lead screw protective sleeve (105), an electromagnet (106), and an electromagnet control device (107). The base plate (104) is fixed to the top and bottom of the outer enclosure structure (5) by bolts. The worm gear system (101), the worm power system (103), and the lead screw protective sleeve (105) are installed on the base plate (104). The worm power system (103) includes... The servo motor and worm gear are connected to a PLC or motion controller. The worm gear system (101) includes a worm gear. The worm of the worm power system (103) and the worm gear of the worm gear system (101) are meshed and installed. The lead screw (102) is threaded on the center of the worm gear of the worm gear system (101) and passes through the inside of the lead screw protective sleeve (105). The electromagnet control device (107) is rotatably installed at the end of the lead screw (102) through an adjustable component. The attracting electromagnet (106) is installed on one side of the electromagnet control device (107).

2. The self-climbing heat-insulating welding device for ultra-high-rise steel structures in extremely cold environments according to claim 1, characterized in that, The adjustable components include a sliding electromagnet (108) and a chute base (109). The sliding electromagnet (108) has an inverted T-shaped structure and is fixed outside the electromagnet control device (107) and controlled by the electromagnet control device (107). The slide base (109) is rotatably mounted on the end of the lead screw (102). The slide base (109) is provided with an adjustment slide groove, and the sliding electromagnet (108) is embedded in the adjustment slide groove of the slide base (109).

3. The self-climbing insulation welding device for ultra-high-rise steel structures in extremely cold environments according to claim 2, characterized in that, There are 16 climbing devices (1), eight of which are set on the top of the outer enclosure structure (5) as upper climbing devices, two of which are set on each side of the steel column (6), and the other eight are set on the bottom of the outer enclosure structure (5) as lower climbing devices, two of which are set on each side of the steel column (6).

4. The self-climbing heat-insulating welding device for ultra-high-rise steel structures in extremely cold environments according to claim 3, characterized in that, The welding device (2) includes a control integration system (201), wheels (202), a welding device base plate (203), a base (204), a robotic arm motor (205), a welding robotic arm (206), a welding torch (207), and a welding torch tube (208). The control integration system (201) is equipped with a power supply system, a welding control system, a wheel power system, and a welding gas supply system. Two sets of wheels (202) are set at the bottom of the control integration system (201). The wheels (202) are connected to the wheel power system and are rolled on a circular track (3). The base (204) is fixed on the welding device base plate (203). The welding device base plate (203) is fixed to the top of the control integration system (201) by bolts. The welding robot arm (206) is fixedly connected to the base (204) by a flange. A robot arm motor (205) that drives the welding robot arm (206) is fixed on the side of the base (204). The robot arm motor (205) is connected to the welding control system. The welding torch (207) is installed on the welding robot arm (206). The welding torch tube (208) is installed on the welding torch (207) and is connected to the welding gas supply system.

5. The self-climbing heat-insulating welding device for ultra-high-rise steel structures in extremely cold environments according to claim 1, characterized in that, The circular track (3) includes an outer track (301), an inner track (302) and sleepers (303), with the sleepers (303) connecting the outer track (301) and the inner track (302).

6. The self-climbing heat-insulating welding device for ultra-high-rise steel structures in extremely cold environments according to claim 1, characterized in that, The heat preservation device (4) includes a heat preservation device housing (401), an infrared heating tube (402), a temperature sensor, and a temperature controller. The infrared heating tube (402) is installed inside the heat preservation device housing (401), and both the infrared heating tube (402) and the temperature sensor are connected to the temperature controller.

7. The self-climbing insulation welding device for ultra-high-rise steel structures in extremely cold environments according to claim 1, characterized in that, The outer enclosure structure (5) includes an enclosure top plate (501), an enclosure bottom plate (502) and an enclosure shell (503). The enclosure top plate (501) and the enclosure bottom plate (502) are provided with through holes for the steel column (6) to pass through.

8. A welding method, utilizing the self-climbing heat-insulating welding device for ultra-high-rise steel structures in extremely cold environments as described in claim 4, characterized in that, The specific steps are as follows: S1. Equipment assembly and hoisting: Eight climbing devices (1) are fixed on the top of the outer enclosure structure (5), and another eight climbing devices (1) are fixed on the bottom of the outer enclosure structure (5). Then, a ring track (3) is installed on the inner bottom wall of the outer enclosure structure (5), and a welding device (2) is set on the ring track (3). Finally, four insulation devices (4) are fixed on the inner walls of the four side walls of the outer enclosure structure (5). After the device is assembled, a crane is used to lift the device to the top of the steel column (6) and lower it so that the outer enclosure structure (5) passes through the steel column (6). The position of the sliding electromagnet (108) in the slide bottom support (109) is adjusted by the climbing device (1) until the adsorption electromagnet (106) of all the climbing devices (1) is tightly attached to the steel column (6) and can be stably adsorbed on the steel column (6). The preparation work is completed. S2, hoisting and fixing of steel column (6): The upper section of steel column (6) is hoisted to the top of the device and temporarily fixed to the lower section of steel column (6) by means of installation bolts. A certain misalignment allowance is left at the joint end of the two sections of steel column (6). S3. The device climbs into place: The climbing device (1) starts to operate, and automatic climbing is achieved through the cooperation of the upper climbing device and the lower climbing device; S4. Automatic heat preservation welding of steel column (6): Before starting the welding operation, the ambient temperature inside the outer enclosure structure (5) is heated, and the four-sided heat preservation device (4) is activated to raise the ambient temperature to above 0°C. Then, the welding device (2) on the circular track (3) sprays low-temperature flames outward to preheat the welding position. After preheating, the welding device (2) is aligned with the welding position, the welding temperature, welding wire and welding shielding gas are adjusted, and the forward speed of the wheel (202) is controlled to complete the high-altitude automatic heat preservation welding of the steel column (6). S5. Dismantle the device after welding is completed: After all the circumferential welding work on the steel column (6) is completed, the climbing device (1) drives the device to climb to the top of the column, and the device is dismantled by the lifting machinery.

9. A welding method according to claim 8, characterized in that, In step S3, the specific steps for the coordinated operation of the upper and lower climbing devices to achieve automatic climbing are as follows: S31. The electromagnet control device (107) provides positive power to the adsorption electromagnet (106) of the lower climbing device, thereby enhancing the adsorption capacity of the lower climbing device and enabling it to bear the full weight of the device. At the same time, the electromagnet control device (107) provides reverse power to the adsorption electromagnet (106) of the upper climbing device, thereby enabling the upper climbing device to be in a released state. S32. With the cooperation of the worm gear system (101) and the worm power system (103), all the lead screws (102) of the climbing device are moved upward a certain distance. After they are moved into place, the electromagnet control device (107) is used to energize the electromagnet (106) of the climbing device in the positive direction so that the climbing device is attracted to the steel column (6). S33. The electromagnet control device (107) reverses the current to the adsorption electromagnet (106) of the lower climbing device to complete the demagnetization. After demagnetization, all the lead screws (102) of the upper climbing device are synchronously retracted a certain distance. S34. Repeat steps S31-S33 until the device is raised to the part to be welded.

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