Multi-angle adjustable steel structure cross joint welding device

Abstract

The application belongs to the technical field of welding devices, and discloses a multi-angle adjustable steel structure cross joint welding device, which comprises a mechanical arm installed on an electric guide rail, and the output end of the mechanical arm is provided with a plasma arc welding head; the device further comprises a support panel arranged at the side end of the mechanical arm; a corrugated cover, an inert gas tank and a gap adaptive adjusting assembly are arranged in a structural cooperation mode, a follow-up closed inert gas protection cavity is constructed outside the plasma arc welding head, the corrugated cover is fixedly supported by the support panel and the follow-up plate to form a special welding operation space, the inert gas tank continuously supplies inert gas into the corrugated cover to replace and discharge the air in the welding area, so that a stable oxygen-free protective atmosphere is formed, and the air bag of the gap adaptive adjusting assembly can automatically stretch and shrink according to the size of the gap of the workpiece and the welding angle, so that the U-shaped plate is always attached to the workpiece operation area, and the closed state of the gap at the bottom of the corrugated cover is effectively maintained.

Description

Technical Field

[0001] This invention belongs to the field of welding equipment technology, specifically a welding device for steel structure cross joints that can be adjusted at multiple angles. Background Technology

[0002] Steel structure cross joints are widely used in building steel structures, heavy equipment frames, bridge engineering and other fields. The welding quality of the cross joints directly determines the structural strength and service stability of the overall steel structure. At present, the industry generally uses plasma arc welding to complete the forming welding of steel structure cross joints. Plasma arc welding has the advantages of high energy density, large penetration depth and high forming accuracy, and is suitable for the welding processing needs of thick plate steel structures.

[0003] For example, a plasma arc welding machine for building steel structure nodes, disclosed in CN120460861A, includes a base with a welding head on at least one side. The welding head is aligned with the welding points of the horizontal and vertical beams. The welding head is slidably connected to the base via a slide rail assembly. When the base and the horizontal beam are relatively fixed, the welding head slides relative to the horizontal beam via the slide rail assembly, thereby covering the welding path of the horizontal and vertical beams. During installation, the base is fitted onto the outer wall of the horizontal beam from above. Locking blocks are provided at both ends of the base, which can be inserted into grooves at both ends of the horizontal beam. This invention, by setting a slide rail assembly and a movable welding head, achieves omnidirectional coverage welding of complex steel structure nodes. The welding head can slide bidirectionally along the horizontal beam, completing continuous welds without frequent adjustments to the base position, significantly improving welding efficiency. It is particularly suitable for batch welding operations of horizontal and vertical beam intersection nodes in building steel structures.

[0004] While the above-mentioned solution is applicable to mass welding operations at the intersection of horizontal and vertical beams in steel structures, existing technologies for plasma arc welding of steel structure cross joints are mostly open welding structures, lacking dedicated closed follow-up protective chambers. The welding operation area is in direct contact with the outside air, and conventional protection methods rely solely on fixed inert gas purging for simple protection. In actual welding operations, the open working environment cannot stably retain inert gas, which is prone to rapid diffusion and leakage. External air can easily penetrate the high-temperature welding area, and the weld metal at high temperatures is highly susceptible to reacting with oxygen and water vapor in the air, resulting in welding defects on the weld surface. This significantly reduces the weld formation quality and mechanical properties, affecting the overall load-bearing capacity of the steel structure cross joint. Summary of the Invention

[0005] To address the problems mentioned in the background art, the present invention provides a steel structure cross joint welding device that can be adjusted at multiple angles.

[0006] To achieve the above objectives, the present invention provides the following technical solution: a steel structure cross joint welding device with multi-angle adjustment, comprising a robotic arm mounted on an electric guide rail, wherein the output end of the robotic arm is provided with a plasma arc welding head, and further comprising: a support panel disposed on the side end of the robotic arm, wherein a corrugated cover is fixedly connected to the end of the support panel near the plasma arc welding head, and a follower plate is fixedly connected to the end of the corrugated cover away from the support panel, wherein the follower plate is interconnected with the robotic arm, and the side end of the support panel is provided with a connection to the space inside the corrugated cover. The inert gas tank has a corrugated cover with a multi-functional component for simultaneously performing pretreatment, heat dissipation, and stress relief on the weld bead. The side wall of the follower plate is equipped with a gap adaptation adjustment component, which includes a groove. An air bladder is fixedly connected to the inner end of the groove. A U-shaped plate is fixedly connected to the end of the air bladder away from the groove. The inner side wall of the U-shaped plate has multiple equidistant annular grooves. A universal ball is rotatably connected in the annular groove to reduce the frictional resistance of the equipment and make the welding operation smooth.

[0007] Preferably, the multifunctional component includes a pretreatment frame installed near one end of the plasma arc welding head, wherein the working surface of the pretreatment frame is elastically connected to an adaptive brush for elastically cleaning and pretreating impurities on the weld surface after welding.

[0008] Preferably, a cooling frame assembly is fixedly connected to the end of the pretreatment frame away from the plasma arc welding head. A water-cooled circulation pipe is fixedly connected inside the cooling frame assembly. A groove is provided at the end of the cooling frame assembly near the working surface. A copper cooling head is assembled in the groove. The copper cooling head and the water-cooled circulation pipe are connected by a flexible hose for circulating water cooling heat exchange to quickly remove residual welding heat from the weld bead after welding.

[0009] Preferably, the copper cooling head is fitted with a floating spring mounted on the inner side wall of the groove, and the outer side wall of the cooling frame assembly is fixedly connected with a valve port that communicates with the liquid inlet and outlet of the water cooling circulation pipe, and a pump is connected to the valve port.

[0010] Preferably, a hammering frame group is fixedly connected to one end of the cooling frame group away from the robotic arm, and a motor is fixedly connected to one end of the hammering frame group. A hammer head close to the working surface is installed at the output end of the motor to perform high-frequency hammering on the weld in the residual heat state, thereby releasing the residual welding stress inside the weld.

[0011] Preferably, the follower plate and the robotic arm adopt a detachable locking connection structure, and the follower plate and the multifunctional component are fixed assembly structures for synchronous displacement following the robotic arm.

[0012] Preferably, the airbag is a high-temperature resistant elastic telescopic bladder structure, used to adaptively expand and contract according to the gap of the workpiece and the welding angle to close the working gap.

[0013] Preferably, the copper cooling head is made of high thermal conductivity pure copper, and the bottom surface of the copper cooling head is provided with a fitting surface adapted to the arc of the weld bead.

[0014] Preferably, the plurality of annular grooves are arranged linearly and equidistantly on the inner sidewall of the U-shaped plate, each annular groove being an embedded limiting groove structure, and the universal ball portion being exposed outside the annular groove and able to rotate freely.

[0015] Preferably, the floating spring is a vertical compression return spring, and the two ends of the floating spring abut against the inner sidewall of the groove and the end face of the copper cooling head, respectively, to achieve adaptive floating return of the copper cooling head.

[0016] Compared with the prior art, the beneficial effects of the present invention are as follows: The present invention constructs a follow-up closed inert gas protection cavity on the outside of the plasma arc welding head by setting up a corrugated cover, an inert gas tank and a gap adaptation adjustment component in cooperation. Specifically, the corrugated cover is formed by the fixed support of the bracket panel and the follow-up plate to form a dedicated welding operation space. The inert gas tank continuously delivers high-purity argon gas into the corrugated cover, gradually replacing and expelling the air in the welding area, thereby forming a stable oxygen-free protective atmosphere, effectively avoiding defects such as oxidation and porosity of the weld at high temperature. At the same time, the air bladder in the gap adaptation adjustment component can extend and retract autonomously according to the size of the workpiece gap and the welding angle, driving the U-shaped plate to always fit the workpiece operation area. The universal ball on the inner side wall of the U-shaped plate significantly reduces the frictional resistance of the movement through rolling and sliding. This invention integrates a pretreatment frame, an adaptive brush, and a cooling frame assembly. Cleaning and heat dissipation modules are sequentially integrated behind the plasma arc welding head. The adaptive brush on the pretreatment frame's working surface flexibly adheres to the newly formed weld surface, continuously removing welding spatter, slag debris, and surface oxide layers, providing a clean surface for subsequent heat dissipation. The water-cooled circulation pipe inside the cooling frame assembly connects to the copper cooling head, forming a circulating heat exchange loop. The copper cooling head, supported by a floating spring, remains in contact with the weld surface, adapting to the weld's height difference. The circulating cooling water continuously removes residual welding heat, rapidly reducing the temperature of the weld and surrounding base material, and suppressing high-temperature heat accumulation. This invention, through the structural coordination of the hammer frame assembly, motor, and hammer head, seamlessly integrates high-frequency hammering stress relief treatment after the cooling process. The motor drives the hammer head to perform high-frequency reciprocating linear motion, continuously and evenly striking the surface metal of the weld in a warm and plastic state, causing the weld metal to undergo slight plastic deformation, gradually releasing the internal residual tensile stress accumulated during the welding heating and rapid cooling process, and effectively improving the local stress concentration state of the weld. Attached Figure Description

[0017] Figure 1 is a schematic diagram of the overall structure of the robotic arm of the present invention.

[0018] Figure 2 is an enlarged schematic diagram of the corrugated cover structure of the present invention.

[0019] Figure 3 is a schematic diagram of the internal structure of the corrugated cover of the present invention.

[0020] Figure 4 is a schematic diagram of the multifunctional component structure of the present invention.

[0021] Figure 5 is a schematic cross-sectional view of the cooling frame assembly of the present invention.

[0022] Figure 6 is a schematic diagram of the gap adaptation adjustment component of the present invention.

[0023] In the diagram: 1. Robotic arm; 2. Plasma arc welding head; 3. Support panel; 4. Corrugated cover; 5. Follower plate; 6. Inert gas tank; 7. Multifunctional component; 700. Pretreatment frame; 701. Adaptive sweeping brush; 702. Cooling frame assembly; 703. Water-cooled circulation pipe; 704. Copper cooling head; 705. Floating spring; 706. Hammering frame assembly; 707. Motor; 708. Groove; 709. Hammer head; 8. Gap adaptation adjustment assembly; 800. Slot; 801. Airbag; 802. U-shaped plate; 803. Annular groove; 804. Universal ball. Detailed Implementation

[0024] 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.

[0025] As shown in Figures 1 to 6, the present invention provides a steel structure cross joint welding device with multi-angle adjustable design, including a robotic arm 1 mounted on an electric guide rail, a plasma arc welding head 2 at the output end of the robotic arm 1, and a support panel 3 disposed on the side of the robotic arm 1. A corrugated cover 4 is fixedly connected to one end of the support panel 3 near the plasma arc welding head 2, and a follower plate 5 is fixedly connected to one end of the corrugated cover 4 away from the support panel 3. The follower plate 5 and the robotic arm 1 are interconnected. An inert gas tank 6 is disposed on the side of the support panel 3 and communicates with the internal space of the corrugated cover 4. A multi-functional component 7 is disposed inside the corrugated cover 4 for simultaneously performing pretreatment, heat dissipation, and stress relief on the weld bead.

[0026] The above scheme is adopted: the robotic arm 1 adopts a multi-axis linkage structure design. After being installed on the electric guide rail, it can complete multi-degree-of-freedom displacement adjustment in the horizontal, vertical and rotational directions. The support panel 3, the corrugated cover 4 and the follower plate 5 constitute a follower closed cavity. The corrugated cover 4 is made of high-temperature resistant silicone rubber and metal composite structure, with stainless steel wire mesh embedded between the layers as a skeleton, so that it can maintain good elasticity and structural rigidity in the long-term high-temperature welding environment. The inert gas tank 6 contains industrial pure argon gas.

[0027] As shown in Figures 1 to 6, the side wall of the follower plate 5 is provided with a gap adaptation adjustment component 8. The gap adaptation adjustment component 8 includes a groove 800. An air bag 801 is fixedly connected to the inner end of the groove 800. A U-shaped plate 802 is fixedly connected to the end of the air bag 801 away from the groove 800. A plurality of annular grooves 803 are opened on the inner side wall of the U-shaped plate 802. A universal ball 804 is rotatably connected in the annular groove 803 to reduce the frictional resistance of the equipment and make the welding operation slide smoothly.

[0028] The above scheme is adopted: the airbag 801 is a single-cavity bladder structure integrally molded from silicone rubber, and the inside of the bladder is filled with compressed air as the working medium. The inflation pressure of the airbag 801 is controlled by a fine-tuning air valve.

[0029] As shown in Figures 1 to 6, the multifunctional component 7 includes a pretreatment frame 700 installed near the plasma arc welding head 2. An adaptive brush 701 is elastically connected to the working surface of the pretreatment frame 700 for elastically cleaning impurities on the weld bead surface after welding. A cooling frame assembly 702 is fixedly connected to the end of the pretreatment frame 700 away from the plasma arc welding head 2. A water-cooled circulation pipe 703 is fixedly connected inside the cooling frame assembly 702. A groove 708 is provided at the end of the cooling frame assembly 702 near the working surface. A copper cooling head 704 is installed inside the groove 708. The copper cooling head 704 and the water-cooled circulation pipe 703 are connected by a flexible hose for circulating water cooling and heat exchange to quickly remove residual welding heat from the weld bead. A floating spring 705 is fitted onto the inner wall of the groove 708 around the copper cooling head 704. The outer wall of the cooling frame assembly 702 is fixedly connected to the water-cooled circulation pipe 703. A valve port with interconnected inlet and outlet liquid circulation is connected to a pump. A hammer frame assembly 706 is fixedly connected to the end of the cooling frame assembly 702 away from the robotic arm 1. A motor 707 is fixedly connected to the end of the hammer frame assembly 706. A hammer head 709 is installed at the output end of the motor 707 near the working surface. The working surface of the hammer head (709) is spherical and is used to perform high-frequency hammering on the weld in the residual heat state to release the residual welding stress inside the weld. The follower plate 5 and the robotic arm 1 adopt a detachable locking connection structure. The follower plate 5 and the multi-functional component 7 are fixed assembly structures and are used to follow the synchronous displacement of the robotic arm 1. The airbag 801 is a high-temperature resistant elastic telescopic bladder structure and is used to adaptively expand and contract according to the gap of the workpiece and the welding angle to close the working gap. The copper cooling head 704 is made of high thermal conductivity pure copper. The bottom surface of the copper cooling head 704 is provided with a fitting surface adapted to the arc of the weld bead. Multiple annular grooves 803 Arranged linearly and equidistantly on the inner wall of the U-shaped plate 802, each annular groove 803 is an embedded limiting groove structure. The universal ball 804 is partially exposed in the annular groove 803 and can rotate freely. The floating spring 705 is a vertical compression return spring. The two ends of the floating spring 705 abut against the inner wall of the groove 708 and the end face of the copper cooling head 704, respectively, to realize the adaptive floating return of the copper cooling head 704.

[0030] The above scheme is adopted: the elastic connection component consists of a compression spring and a guide sleeve. The compression spring is made of stainless steel. The brush body of the sweeping brush adopts a combination structure of high-temperature resistant stainless steel wire bundle and silicon carbide abrasive. The stainless steel wire brush has high wear resistance and high temperature resistance, which can effectively remove welding spatter, slag particles and thin oxide scale from the weld surface. The addition of silicon carbide abrasive enhances the peeling ability of stubborn attachments. The copper cooling head 704 has one or more cooling water channels inside. The inlet and outlet of the channel are connected to the hose respectively. The other end of the hose is connected to the corresponding port of the water cooling circulation pipe 703 to form a complete water cooling circulation loop.

[0031] The working principle and usage process of this invention: The electric guide rail can drive the robotic arm 1 to complete multi-directional displacement adjustment operations. The operator can control the electric guide rail's operation according to the actual welding position and angle of the steel structure cross joint. The electric guide rail drives the robotic arm 1 to complete horizontal, vertical, and angular fine-tuning actions. The robotic arm 1 drives the plasma arc welding head 2 installed at the output end to move synchronously until the plasma arc welding head 2 is precisely aligned with the preset welding position of the steel structure cross joint. After completing the positioning, the robotic arm 1 remains locked, synchronously driving the support panel 3 fixed to the side of the robotic arm 1 to complete the overall following positioning. The support panel 3 follows the robotic arm 1 and is synchronously fixed. The corrugated cover 4 and the follower plate 5 connected to the traction end face of the support panel 3 synchronously complete the position adaptation. The follower plate 5 is fixedly connected and cooperates with the robotic arm 1 to achieve synchronous displacement of the overall auxiliary structure. The corrugated cover 4, relying on the fixed support of the support panel 3 and the follower plate 5, encloses a relatively closed exclusive welding operation space. Before the formal start of the welding operation, the equipment pre-starts the gas supply process. The inert gas tank 6 mounted on the side continuously and uniformly supplies inert gas to the internal cavity of the bellows 4 through the connecting pipeline. The inert gas continuously fills the internal space of the bellows 4, gradually replacing and expelling the air remaining in the welding operation area. The gas replacement operation continues until the inside of the bellows 4 is completely inert gas atmosphere, providing stable oxygen-free protection conditions for subsequent plasma arc high-temperature welding operations throughout the process, effectively avoiding welding defects such as oxidation and porosity of the weld in a high-temperature environment. Throughout the entire welding process, the gap adaptation adjustment component 8 installed on the side wall of the follower plate 5 continuously maintains a dynamic operating state, adapting to the on-site welding conditions in real time. The airbag 801, fixedly connected to the inner end of the groove 800 of the gap adaptation adjustment component 8, can autonomously complete its extension and retraction adjustment according to the real-time changes in the gap size of the steel structure workpiece and the welding angle. During the extension and retraction of the airbag 801, it can drive the U-shaped plate 802 fixed at the end to move synchronously, so that the U-shaped plate 802 always fits the workpiece working area, assisting in limiting and sealing the bottom gap of the corrugated cover 4, so that the internal space of the corrugated cover 4 is kept as closed as possible, and the stability of the internal inert gas protective environment is maintained. The multiple annular grooves 803 equidistantly opened on the inner side wall of the U-shaped plate 802 can provide stable rotation limit space for the universal balls 804 at corresponding positions. During the movement of the equipment, the multiple universal balls 804 continuously roll and slide against the surface of the workpiece, effectively reducing the frictional resistance during the overall movement of the equipment. With its adaptive adjustment and 804 omnidirectional ball joint rolling adaptation structure, the equipment can adapt to welding operation scenarios with different gap specifications, ensuring smooth and continuous progress throughout the welding operation. After completing the initial positioning and gas replacement processes, the plasma arc welding head 2 is started and begins continuous welding operations. During the welding process, the multi-functional component 7, which is fixed to the follower plate 5, moves synchronously and uniformly with the welding direction, maintaining a fixed distance from the plasma arc welding head 2. This enables synchronous linkage processing after welding. The pretreatment frame 700, which is mounted on the side of the multi-functional component 7 closest to the plasma arc welding head 2, prioritizes following the newly formed weld bead area. The adaptive brush 701, which is elastically connected to the working surface of the pretreatment frame 700, continuously and flexibly adheres to the surface of the newly formed high-temperature weld bead. While the equipment moves at a uniform speed, the adaptive brush 701 continuously cleans the weld bead surface, gradually removing welding spatter, slag debris, and surface oxide layer impurities attached to the weld bead surface. Throughout the process, the weld bead surface remains clean and flat, providing a qualified contact surface for subsequent weld bead heat dissipation operations. While the pretreatment and cleaning operations are carried out simultaneously, the cooling frame assembly 702, fixed to the rear of the pretreatment frame 700, moves synchronously with the entire equipment, continuously following the cleaned weld area to carry out heat dissipation. The water-cooled circulation pipe 703, fixedly installed inside the cooling frame assembly 702, connects to an external pump via a valve on its outer side. During operation, the external pump continuously runs, providing stable water circulation power for the cooling water inside the water-cooled circulation pipe 703, ensuring continuous circulation of the cooling water within it. The copper cooling head 704, installed inside the groove 708 on the working surface of the cooling frame assembly 702, is connected to the water-cooled circulation pipe 703 via a connecting hose, forming a complete cooling water circulation heat exchange loop. The circulating cooling water continuously absorbs and removes residual welding heat from the contact area between the copper cooling head 704 and the weld. A floating spring 705, installed on the inner wall of the groove 708 and fitted onto the outside of the copper cooling head 704, continuously provides elastic support to the copper cooling head 704. During welding, the floating spring 705... According to the height difference of the weld surface, the copper cooling head 704 can complete the adaptive vertical floating action, ensuring that the bottom surface of the copper cooling head 704 is always completely in contact with the weld surface, realizing uniform heat dissipation operation throughout the weld, continuously and quickly reducing the welding residual heat of the weld and surrounding base material, suppressing the high temperature heat accumulation phenomenon of the base material, and reducing welding deformation problems caused by uneven temperature. After the real-time heat dissipation and cooling operation of the weld is completed, the hammer frame group 706 fixed at the end of the cooling frame group 702 simultaneously enters the working state, seamlessly connecting with the heat dissipation process. The motor 707 mounted at one end of the hammer frame group 706 continuously outputs power at a constant speed. The motor 707 drives the hammer head 709 installed at the output end to perform high-frequency reciprocating linear motion. The hammer head 709 continuously and evenly strikes the surface metal of the weld in a warm and plastic state. Under the action of high-frequency micro-impact, the weld metal produces a small amount of plastic deformation, gradually releasing the residual stress accumulated in the weld due to the hot and cold deformation process of welding heating and rapid cooling. This effectively improves the state of local stress concentration in the weld and reduces the probability of deformation and weld cracking in the subsequent use of steel structure components.

[0032] It should be noted that, in this document, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such process, method, article, or apparatus.

[0033] Although embodiments of the invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the appended claims and their equivalents.

Claims

1. A steel structure cross joint welding device with multi-angle adjustable features, comprising a robotic arm (1) mounted on an electric guide rail, wherein the output end of the robotic arm (1) is provided with a plasma arc welding head (2), characterized in that: Also includes: A support panel (3) is set on the side of the robotic arm (1). A corrugated cover (4) is fixedly connected to the end of the support panel (3) near the plasma arc welding head (2). A follower plate (5) is fixedly connected to the end of the corrugated cover (4) away from the support panel (3). The follower plate (5) and the robotic arm (1) are connected to each other. An inert gas tank (6) is set on the side of the support panel (3) and communicates with the space inside the corrugated cover (4). A multi-functional component (7) is set inside the corrugated cover (4) for the integrated operation of pretreatment, heat dissipation and stress relief of the weld bead. A gap adaptation adjustment component (8) is set on the side wall of the follower plate (5). The gap adaptation adjustment component (8) includes a groove (800). An air bag (801) is fixedly connected to the inner end of the groove (800). A U-shaped plate (802) is fixedly connected to the end of the air bag (801) away from the groove (800). The inner sidewall of the profile plate (802) is provided with a plurality of equally spaced annular grooves (803), and a universal ball (804) is rotatably connected in the annular grooves (803).

2. The steel structure cross joint welding device with multi-angle adjustment according to claim 1, characterized in that: The multifunctional component (7) includes a pretreatment frame (700) installed near one end of the plasma arc welding head (2), and the working surface of the pretreatment frame (700) is elastically connected to an adaptive brush (701).

3. The steel structure cross joint welding device with multi-angle adjustment according to claim 2, characterized in that: The pretreatment frame (700) is fixedly connected to a cooling frame assembly (702) at the end away from the plasma arc welding head (2). A water-cooled circulation pipe (703) is fixedly connected inside the cooling frame assembly (702). A groove (708) is provided at the end of the cooling frame assembly (702) near the working surface. A copper cooling head (704) is assembled inside the groove (708). The copper cooling head (704) and the water-cooled circulation pipe (703) are connected by a flexible hose.

4. The steel structure cross joint welding device with multi-angle adjustment according to claim 3, characterized in that: The copper cooling head (704) is fitted with a floating spring (705) mounted on the inner side wall of the groove (708). The outer side wall of the cooling frame assembly (702) is fixedly connected to a valve port that communicates with the liquid inlet and outlet of the water cooling circulation pipe (703). A pump is connected to the valve port.

5. The steel structure cross joint welding device with multi-angle adjustment according to claim 4, characterized in that: The cooling frame assembly (702) is fixedly connected to a hammer frame assembly (706) at one end away from the robotic arm (1). A motor (707) is fixedly connected to one end of the hammer frame assembly (706). A hammer head (709) is installed at the output end of the motor (707) near the working surface, which is used to perform high-frequency hammering on the weld in the residual heat state to release the residual welding stress inside the weld.

6. The steel structure cross joint welding device with multi-angle adjustment according to claim 1, characterized in that: The follower plate (5) and the robotic arm (1) adopt a detachable locking connection structure. The follower plate (5) and the multi-functional component (7) are fixed assembly structures, which are used to follow the synchronous displacement of the robotic arm (1).

7. The steel structure cross joint welding device with multi-angle adjustment according to claim 1, characterized in that: The airbag (801) is a high-temperature resistant elastic telescopic bladder structure, which is used to adaptively expand and contract according to the gap of the workpiece and the welding angle to close the working gap.

8. The steel structure cross joint welding device with multi-angle adjustment according to claim 3, characterized in that: The copper cooling head (704) is made of high thermal conductivity pure copper, and the bottom surface of the copper cooling head (704) is provided with a fitting surface adapted to the arc of the weld bead.

9. The steel structure cross joint welding device with multi-angle adjustment according to claim 1, characterized in that: Multiple annular grooves (803) are arranged linearly and equidistantly on the inner sidewall of the U-shaped plate (802). Each annular groove (803) is an embedded limiting groove structure. The universal ball (804) is partially exposed in the annular groove (803) and can rotate freely.

10. The multi-angle adjustable steel structure cross joint welding device according to claim 4, characterized in that: The floating spring (705) is a vertical compression type return spring. The two ends of the floating spring (705) are respectively in contact with the inner wall of the groove (708) and the end face of the copper cooling head (704) to realize the adaptive floating return of the copper cooling head (704).

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