Multi-scene adaptive gantry welding robot device

Abstract

The invention relates to the technical field of welding robots and discloses a multi-scene adaptive gantry welding robot device which comprises a portal frame, a sliding rail is arranged at the bottom end of the portal frame, a mechanical arm is arranged at the end, away from the sliding rail, of the portal frame, an auxiliary frame is connected to the end of the mechanical arm, and a bottom base frame is fixed to the bottom of the auxiliary frame. A welding frame is slidably connected to the end of the bottom base frame, a grabbing plate and an auxiliary positioning frame are arranged on the two sides of the bottom base frame and the two sides of the welding frame correspondingly, through cooperation of the bottom base frame and the welding frame, workpieces to be welded can be alternately grabbed, continuous welding operation is achieved for the workpieces of different lengths, and the working efficiency is improved. And in the welding process, the angle of the welding seam position of the workpiece can be adjusted, the welding seam position of the workpiece and welding seam parameters can be adjusted, and compared with a traditional welding mode of the to-be-welded workpiece, grabbing, transferring, adjusting and welding integration of the workpiece can be achieved, the operation convenience of equipment is effectively improved, and the welding efficiency is improved. And the operation efficiency and the use effect of the equipment are improved.

Description

Technical Field

[0001] This invention relates to the field of welding robot technology, specifically to a gantry welding robot device adaptable to multiple scenarios. Background Technology

[0002] A gantry welding robot is an automated welding device that achieves wide-range, high-rigidity motion control through a gantry-type frame structure. Widely used in equipment manufacturing, it offers greater stability and coverage in workpiece welding compared to traditional articulated robots, making it a key piece of equipment in intelligent manufacturing upgrades. It can automatically complete welding workpieces under the control of multiple walking mechanisms and a computer system. Referring to Chinese patent publication number CN117718656A, "A Gantry Welding Robot," this patent points out that current welding equipment is inconvenient for adjusting the angle of the welding torch, affecting the equipment's performance. However, the aforementioned equipment still suffers from cumbersome workpiece transport and welding position adjustments, requiring existing track conveyors and other auxiliary components for workpiece transfer. This makes it difficult to achieve integrated workpiece gripping, transfer, and welding, and hinders multi-angle welding adjustments during the transfer and welding process. To address these issues, we propose a multi-scenario adaptable gantry welding robot device. Summary of the Invention

[0003] To address the shortcomings of existing technologies, this invention provides a gantry welding robot device that is adaptable to multiple scenarios, thus solving the problems mentioned in the background section.

[0004] To achieve the above objectives, the present invention is implemented through the following technical solution: a gantry welding robot device adaptable to multiple scenarios, including a gantry frame, a slide rail at the bottom of the gantry frame, a robotic arm at the end of the gantry frame away from the slide rail, an auxiliary frame connected to the end of the robotic arm, a base frame fixed to the bottom of the auxiliary frame, a welding frame slidably connected to the end of the base frame, a gripping plate and an auxiliary positioning frame respectively on both sides of the base frame and the welding frame, and multiple negative pressure suction cups at the bottom of the gripping plate and the auxiliary positioning frame for alternately gripping the workpiece to be welded; A fixing plate is fixedly installed at the bottom of the welding frame, and a welding end is fixedly installed at the end of the fixing plate. A drive cylinder is provided between the welding frame and the base frame to drive the welding frame to extend, so that the welding end completes the welding operation along the weld seam. The base frame is internally connected to a drive plate, and the gripping plates on both sides are connected to the sides of the drive plate with adjustable slide plates. The drive plate rotates to drive the gripping plates on both sides to move up and down in opposite directions, thereby adjusting the welding angle of the workpiece to be welded. Both sides of the base frame are slidably connected to limit slide plates, which are slidably connected to the corresponding gripping plates to drive the corresponding gripping plates to move laterally and adjust the welding position of the workpiece to be welded.

[0005] Preferably, the adjusting slide plate is slidably installed inside the drive plate, and a piston rod is fixedly installed at the end of the adjusting slide plate. The end of the piston rod passes through the drive plate and leaves a cavity between it and the interior of the drive plate. Negative pressure pipes communicating with the cavity are installed on both sides of the top of the drive plate to drive the adjusting slide plate to move horizontally. A connecting roller is connected between the gripping plate and the corresponding adjusting slide plate.

[0006] Preferably, one end of the connecting roller is rotatably connected to the corresponding adjusting slide plate, and the end of the connecting roller away from the adjusting slide plate is fixedly connected to the corresponding gripping plate.

[0007] Preferably, the inner sides of the gripping plates on both sides are provided with limiting slide plates, which are slidably connected to the inside of the base frame. An extension plate is fixedly installed on the top of the gripping plate. Limiting slots are opened on the inner sides of both the gripping plate and the extension plate. The limiting slide plates are slidably connected to the corresponding limiting slots, so that the gripping plate can move up and down along the limiting slide plates.

[0008] Preferably, a drive rod is fixedly installed on the top of the limiting slide plate, and an adjusting cylinder is fixedly installed on both sides of the inner side of the base frame. The ends of the adjusting cylinders are provided with connecting pipes, and the piston end of the adjusting cylinder is fixedly connected to the corresponding drive rod for driving the drive rod and the limiting slide plate to move horizontally.

[0009] Preferably, the base frame has arc-shaped slots on both sides inside, and the drive rod is slidably installed inside the corresponding arc-shaped slot.

[0010] Preferably, a connecting flange connects the auxiliary frame and the robotic arm, a hydraulic cylinder is fixedly installed inside the auxiliary frame, a drive frame is fixedly installed at the piston end of the hydraulic cylinder, a limit shaft is fixedly installed inside the drive plate, the limit shaft is rotatably installed inside the base frame, the drive frame is rotatably connected to the limit shaft, and a drive assembly is provided between the drive frame and the drive plate for driving the drive plate to deflect at an angle inside the base frame.

[0011] Preferably, the drive assembly includes a drive gear and a transmission gear. A drive motor is fixedly mounted on the end of the drive frame. The drive gear is fixedly sleeved on the output end of the drive motor. The transmission gear is fixedly sleeved on the output end of the limiting shaft. The drive gear and the transmission gear mesh with each other.

[0012] Preferably, the auxiliary positioning frame is a telescopic gripper, used to position the workpiece to be welded by a negative pressure suction cup at the bottom of the auxiliary positioning frame after the welding frame has been extended.

[0013] Preferably, the fixing plate is provided with a cleaning component at one end near the welding end, the cleaning component being used to clean the working environment.

[0014] This invention provides a gantry welding robot device adaptable to multiple scenarios. Compared with the prior art, it has the following advantages: 1. This multi-scenario adaptable gantry welding robot device, through the cooperation of the base frame and the welding frame, can perform alternating gripping operations on the workpieces to be welded, and can continuously weld workpieces of different lengths during the gripping process. During the welding process, it can adjust the angle of the weld position of the workpiece. Compared with the traditional workpiece welding and transportation methods, this application can realize the integration of workpiece gripping, transfer, adjustment and welding, and can also make multi-angle adjustments to the transported workpieces, thereby realizing multi-angle welding adjustment operations on the workpiece weld, effectively improving the ease of operation of the equipment, improving the operating efficiency and the effect of the equipment.

[0015] 2. This multi-scenario adaptable gantry welding robot device, through the cooperation of the gripping plate and the limiting slide plate, can ensure the operational stability of the gripping plate when adjusting the angle of the workpiece. At the same time, through the operation of the limiting slide plate, it can drive the corresponding gripping plate and the gripped workpiece to be welded to adjust their positions, thereby enabling the adjustment of the weld position and weld parameters of the workpiece, realizing multi-angle adjustment welding of the weld and welding position adjustment of the weld. Attached Figure Description

[0016] Figure 1 This is a schematic diagram of the overall invention; Figure 2 This is a schematic diagram of the auxiliary frame and the base frame of the present invention; Figure 3 This is a schematic diagram of the extended welding frame structure of the present invention; Figure 4 For the present invention Figure 3 Frontal view of the diagram; Figure 5 For the present invention Figure 3 A cross-sectional view; Figure 6 For the present invention Figure 5 Enlarged view of point A in the middle; Figure 7 This is a schematic diagram of the structure of the drive board and gripping board of the present invention; Figure 8 For the present invention Figure 7 Enlarged view of point B in the middle; Figure 9 For the present invention Figure 7 A side view diagram; Figure 10 This is a cross-sectional schematic diagram of the base frame of the present invention.

[0017] In the diagram: 1. Gantry frame; 2. Slide rail; 3. Robotic arm; 4. Auxiliary frame; 401. Connecting flange; 402. Hydraulic cylinder; 403. Drive frame; 5. Base frame; 501. Arc-shaped groove; 6. Welding frame; 601. Drive cylinder body; 7. Auxiliary positioning frame; 8. Fixing plate; 801. Welding end; 802. Cleaning assembly; 9. Drive plate; 901. Limiting shaft; 902. Transmission gear; 10. Gripping plate; 1001. Extension plate; 1002. Negative pressure suction cup; 1003. Connecting roller; 11. Adjusting slide plate; 1101. Piston rod; 1102. Negative pressure pipeline; 12. Limiting slide plate; 1201. Drive rod; 13. Drive motor; 1301. Drive gear; 14. Adjusting cylinder body; 1401. Connecting pipeline; 15. Limiting groove. Detailed Implementation

[0018] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only 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.

[0019] Please see Figures 1-10 The present invention provides two technical solutions, specifically including the following embodiments: Example 1: In this embodiment of the invention, a gantry welding robot device adaptable to multiple scenarios includes a gantry frame 1, a slide rail 2 at the bottom of the gantry frame 1, a robotic arm 3 at the end of the gantry frame 1 away from the slide rail 2, an auxiliary frame 4 connected to the end of the robotic arm 3, a base frame 5 fixed to the bottom of the auxiliary frame 4, a welding frame 6 slidably connected to the end of the base frame 5, a gripping plate 10 and an auxiliary positioning frame 7 respectively on both sides of the base frame 5 and the welding frame 6, and multiple negative pressure suction cups 1002 at the bottom of both the gripping plate 10 and the auxiliary positioning frame 7 for alternately gripping the workpiece to be welded; In this embodiment of the invention, specifically, the gantry frame 1 and the robotic arm 3 are both existing equipment. The gantry frame 1 is used to translate along the slide rail 2, drive the robotic arm 3 to move, and realize the gripping and welding operation of the workpiece to be welded through the robotic arm 3. It will not be described in detail here. In this embodiment of the invention, a fixing plate 8 is fixedly installed at the bottom of the welding frame 6, and a welding end 801 is fixedly installed at the end of the fixing plate 8. A driving cylinder 601 is provided between the welding frame 6 and the base frame 5 to drive the welding frame 6 to extend, so that the welding end 801 completes the welding operation along the weld seam. In this embodiment of the invention, specifically, when the robotic arm 3 drives the auxiliary frame 4 to approach the workpiece to be welded, the workpiece to be welded is first gripped by the negative pressure suction cup 1002 at the bottom of the gripping plate 10 until the welding end 801 is located at the weld seam of the workpiece to be welded. At this time, the drive cylinder 601 is driven to extend the welding frame 6, and with the cooperation of the fixing plate 8, the welding end 801 can be moved horizontally along the weld seam of the workpiece to be welded to realize the welding operation. When the welding frame 6 extends to the preset stroke, the auxiliary positioning frame 7 moves down to complete the auxiliary gripping of the workpiece to be welded. Then the gripping plate 10 is removed from the suction positioning of the workpiece to be welded. At this time, the drive cylinder 601 is reset to reset the welding frame 6 to the end of the base frame 5. Then the gripping plate 10 is used to complete the gripping operation of the workpiece to be welded again, realizing the alternating gripping and welding process of the workpiece. In this embodiment of the invention, specifically, the preset stroke of the welding frame 6 is set according to the length of the workpiece to be welded, and the maximum extension length of the welding frame 6 exceeds the length of the base frame 5, so that the welding end 801 can guarantee the welding length of a single extension stroke and ensure the operating efficiency of the equipment. In this embodiment of the invention, a drive plate 9 is rotatably connected inside the base frame 5, and an adjustment slide plate 11 is connected to both the gripping plates 10 on both sides and the side of the drive plate 9. The adjustment slide plate 11 is used to drive the gripping plates 10 on both sides to move up and down in opposite directions by rotating the drive plate 9, so as to adjust the welding angle of the workpiece to be welded. In this embodiment of the invention, the adjusting slide plate 11 is slidably installed inside the drive plate 9. A piston rod 1101 is fixedly installed at the end of the adjusting slide plate 11. The end of the piston rod 1101 passes through the drive plate 9 and leaves a cavity between it and the interior of the drive plate 9. The piston rod 1101 is slidably connected inside the cavity. Negative pressure pipes 1102 that communicate with the cavity are installed on both sides of the top of the drive plate 9 for driving the adjusting slide plate 11 to move horizontally. A connecting roller 1003 is connected between the gripping plate 10 and the corresponding adjusting slide plate 11. Specifically, one end of the connecting roller 1003 is rotatably connected to the corresponding adjusting slide plate 11, and the end of the connecting roller 1003 away from the adjusting slide plate 11 is fixedly connected to the corresponding gripping plate 10. Furthermore, when adjusting the welding angle of the gripped workpiece, the rotation of the drive plate 9 can drive the gripping plates 10 on both sides to move in the opposite direction through the corresponding connecting roller 1003. As the gripping plates 10 on both sides move upward and downward respectively, the gripped workpiece to be welded can be deflected along the weld position, thereby achieving fine adjustment of the welding angle. Specifically, the negative pressure pipeline 1102 is connected to the air circuit terminal through a connecting pipe and is controlled based on the existing cylinder controller. It is used to control the extension and retraction of the adjusting slide plate 11 through the piston rod 1101, which will not be described in detail here. Specifically, when the drive plate 9 rotates to adjust the angle of the workpiece to be welded, the adjusting slide plate 11 on one side of the rotation direction of the drive plate 9 extends, and the adjusting slide plate 11 on the opposite side of the rotation direction of the drive plate 9 retracts. The adjusting slide plate 11 and the corresponding connecting roller 1003 rotate relative to each other to ensure that the workpiece to be welded can be deflected at an angle along the weld position. Specifically, the negative pressure suction cup 1002 is an existing conical suction cup that is connected to the air circuit terminal through a pipe and controlled based on the existing cylinder controller. It is used to grip the workpiece to be welded.

[0020] Example 2: Based on Example 1, on the basis of Example 1, the inner two sides of the base frame 5 are slidably connected to the limiting slide plate 12, and the limiting slide plate 12 is slidably connected to the corresponding gripping plate 10, which is used to drive the corresponding gripping plate 10 to move laterally, so as to adjust the welding position of the workpiece to be welded. In this embodiment of the invention, specifically, the limiting slide plate 12 is used to ensure that the corresponding gripping plate 10 can move up and down in parallel. At the same time, through the translation of the limiting slide plate 12 and the cooperation of the adjusting slide plate 11, the gripping plate 10 can be driven to translate, so that the gripped workpiece can be translated, thereby enabling the adjustment of the welding position of the workpiece to be welded and the position of the weld. Both sides of the gripping plate 10 are provided with limiting slide plates 12 on the inner side. The limiting slide plates 12 are slidably connected to the inside of the base frame 5. An extension plate 1001 is fixedly installed on the top of the gripping plate 10. Limiting slots 15 are opened on the inner side of both the gripping plate 10 and the extension plate 1001. The limiting slide plates 12 are slidably connected to the corresponding limiting slots 15, so that the gripping plate 10 can move up and down along the limiting slide plates 12. Specifically, the extension plate 1001 is used to increase the vertical movement stroke of the gripping plate 10, while ensuring the gripping stability of the workpiece to be welded. Specifically, a drive rod 1201 is fixedly installed on the top of the limiting slide plate 12, and an adjusting cylinder 14 is fixedly installed on both sides of the inside of the base frame 5. The ends of the adjusting cylinder 14 are provided with connecting pipes 1401. The piston end of the adjusting cylinder 14 is fixedly connected to the corresponding drive rod 1201 to drive the drive rod 1201 and the limiting slide plate 12 to move horizontally. In this embodiment of the invention, specifically, the adjusting cylinder 14 is connected to the air circuit terminal through the corresponding connecting pipe 1401, and the control is realized based on the existing cylinder controller. The adjusting cylinder 14 can drive the limiting slide plate 12 to move horizontally, so that the corresponding gripping plate 10 can move laterally with the cooperation of the adjusting slide plate 11, thereby realizing the adjustment operation of the position of the workpiece to be welded. Specifically, the base frame 5 has arc-shaped slots 501 on both sides inside, and the drive rod 1201 is slidably installed inside the corresponding arc-shaped slots 501. A connecting flange 401 connects the auxiliary frame 4 and the robotic arm 3. A hydraulic cylinder 402 is fixedly installed inside the auxiliary frame 4. A drive frame 403 is fixedly installed on the piston end of the hydraulic cylinder 402. A limit shaft 901 is fixedly installed inside the drive plate 9. The limit shaft 901 is rotatably installed inside the base frame 5. The drive frame 403 is rotatably connected to the limit shaft 901. A drive assembly is provided between the drive frame 403 and the drive plate 9 to drive the drive plate 9 to perform angular deflection inside the base frame 5. The hydraulic cylinder 402 is an existing device used to drive the drive plate 9 and the gripping plates 10 on both sides to move up and down, thereby adjusting the height of the gripped workpiece to be welded, so that the welding distance between it and the welding end 801 is adjustable. It will not be described in detail here. The drive assembly includes a drive gear 1301 and a transmission gear 902. A drive motor 13 is fixedly mounted on the end of the drive frame 403. The drive gear 1301 is fixedly sleeved on the output end of the drive motor 13, and the transmission gear 902 is fixedly sleeved on the output end of the limit shaft 901. The drive gear 1301 and the transmission gear 902 mesh with each other. The drive motor 13 is an existing bidirectional motor, used to drive the drive gear 1301 to rotate forward or reverse, which will not be described in detail here; In this embodiment of the invention, to further ensure the stability of gripping the workpiece, a self-locking component is provided between the base frame 5 and the transmission gear 902. When the equipment is operating to grip and weld the workpiece, the self-locking component can lock the transmission gear 902 and the base frame 5 to prevent the limit shaft 901 and the drive plate 9 from rotating. When it is necessary to adjust the welding angle of the workpiece, the self-locking component is opened to adjust the welding angle through the operation of the drive plate 9. The self-locking component is an existing device and is not shown in the figure. Specifically, the auxiliary positioning frame 7 is a telescopic gripper, used to position the workpiece to be welded by the negative pressure suction cup 1002 at the bottom of the auxiliary positioning frame 7 after the welding frame 6 is extended; Specifically, the auxiliary positioning frame 7 has an existing hydraulic module built in, which is used to control the extension of the auxiliary positioning frame 7 to realize the alternating gripping operation on the workpiece to be welded; In this embodiment of the invention, a cleaning component 802 is further provided at one end of the fixing plate 8 near the welding end 801. The cleaning component 802 is used to clean the working environment. Specifically, the cleaning component 802 includes a scraper and an extraction module. The scraper is mainly used to clean the weld seam of the workpiece to be welded to ensure the subsequent welding effect. At the same time, the extraction module can extract the scraped impurities and the fumes generated during the welding process to clean the working environment.

[0021] Furthermore, any content not described in detail in this specification is existing technology known to those skilled in the art.

[0022] The foregoing has provided a detailed description of one embodiment of the present invention, but this description is merely a preferred embodiment and should not be construed as limiting the scope of the invention. All equivalent variations and modifications made within the scope of the present invention should still fall within the scope of the present invention.

Claims

1. A gantry welding robot device adaptable to multiple scenarios, comprising a gantry frame (1), a slide rail (2) at the bottom end of the gantry frame (1), a robotic arm (3) at the end of the gantry frame (1) away from the slide rail (2), and an auxiliary frame (4) connected to the end of the robotic arm (3), characterized in that: The bottom of the auxiliary frame (4) is fixed with a base frame (5), and the end of the base frame (5) is slidably connected with a welding frame (6). The base frame (5) and the welding frame (6) are respectively provided with gripping plates (10) and auxiliary positioning frames (7). The bottom of the gripping plates (10) and the auxiliary positioning frames (7) are provided with multiple negative pressure suction cups (1002) for alternating gripping of the workpiece to be welded. A fixing plate (8) is fixedly installed at the bottom of the welding frame (6), and a welding end (801) is fixedly installed at the end of the fixing plate (8). A drive cylinder (601) is provided between the welding frame (6) and the base frame (5) to drive the welding frame (6) to extend, so that the welding end (801) completes the welding operation along the weld seam. The base frame (5) is internally connected to a drive plate (9), and the gripping plates (10) on both sides are connected to the sides of the drive plate (9) with adjustable slide plates (11), which are used to drive the gripping plates (10) on both sides to move up and down in opposite directions by rotating the drive plate (9) to adjust the welding angle of the workpiece to be welded. The base frame (5) has sliding connection of limit slide plates (12) on both sides inside. The limit slide plates (12) are slidably connected to the corresponding gripping plates (10) to drive the corresponding gripping plates (10) to move laterally and adjust the welding position of the workpiece to be welded. The adjusting slide plate (11) is slidably installed inside the drive plate (9). The end of the adjusting slide plate (11) is provided with a piston rod (1101), which is used to drive the adjusting slide plate (11) to move inside the drive plate (9).

2. The gantry welding robot device adaptable to multiple scenarios according to claim 1, characterized in that: The end of the piston rod (1101) is inserted into the drive plate (9) and a cavity is left between it and the interior of the drive plate (9). Negative pressure pipes (1102) communicating with the cavity are installed on both sides of the top of the drive plate (9) for driving the piston rod (1101) to move horizontally. A connecting roller (1003) is connected between the gripping plate (10) and the corresponding adjusting slide plate (11).

3. The gantry welding robot device adaptable to multiple scenarios according to claim 2, characterized in that: One end of the connecting roller (1003) is rotatably connected to the corresponding adjusting slide plate (11), and the end of the connecting roller (1003) away from the adjusting slide plate (11) is fixedly connected to the corresponding gripping plate (10).

4. The gantry welding robot device adaptable to multiple scenarios according to claim 1, characterized in that: Both sides of the gripping plate (10) are provided with limiting slide plates (12) on their inner sides. The limiting slide plates (12) are slidably connected to the inside of the base frame (5). An extension plate (1001) is fixedly installed on the top of the gripping plate (10). Limiting slots (15) are opened on the inner sides of both the gripping plate (10) and the extension plate (1001). The limiting slide plates (12) are slidably connected to the corresponding limiting slots (15) so that the gripping plate (10) can move up and down along the limiting slide plates (12).

5. The multi-scenario adaptable gantry welding robot device according to claim 4, characterized in that: A drive rod (1201) is fixedly installed on the top of the limiting slide plate (12). An adjusting cylinder (14) is fixedly installed on both sides of the bottom base frame (5). The ends of the adjusting cylinder (14) are provided with connecting pipes (1401). The piston end of the adjusting cylinder (14) is fixedly connected to the corresponding drive rod (1201) to drive the drive rod (1201) and the limiting slide plate (12) to move horizontally.

6. The gantry welding robot device adaptable to multiple scenarios according to claim 5, characterized in that: The base frame (5) has arc-shaped slots (501) on both sides inside, and the drive rod (1201) is slidably installed inside the corresponding arc-shaped slots (501).

7. The gantry welding robot device adaptable to multiple scenarios according to claim 1, characterized in that: A connecting flange (401) is connected between the auxiliary frame (4) and the robotic arm (3). A hydraulic cylinder (402) is fixedly installed inside the auxiliary frame (4). A drive frame (403) is fixedly installed on the piston end of the hydraulic cylinder (402). A limit shaft (901) is fixedly installed inside the drive plate (9). The limit shaft (901) is rotatably installed inside the base frame (5). The drive frame (403) is rotatably connected to the limit shaft (901). A drive assembly is provided between the drive frame (403) and the drive plate (9) to drive the drive plate (9) to deflect at an angle inside the base frame (5).

8. A multi-scenario adaptable gantry welding robot device according to claim 7, characterized in that: The drive assembly includes a drive gear (1301) and a transmission gear (902). A drive motor (13) is fixedly installed at the end of the drive frame (403). The drive gear (1301) is fixedly sleeved on the output end of the drive motor (13), and the transmission gear (902) is fixedly sleeved on the output end of the limiting shaft (901). The drive gear (1301) and the transmission gear (902) mesh with each other.

9. A multi-scenario adaptable gantry welding robot device according to claim 1, characterized in that: The auxiliary positioning frame (7) is a telescopic gripping frame, used to position the workpiece to be welded by the negative pressure suction cup (1002) at the bottom of the auxiliary positioning frame (7) when the welding frame (6) is extended and the workpiece to be welded is gripped alternately.

10. A multi-scenario adaptable gantry welding robot device according to claim 1, characterized in that: The fixing plate (8) is provided with a cleaning component (802) at one end near the welding end (801), and the cleaning component (802) is used to clean the working environment.

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