Steel structure high-altitude overhanging joint multi-angle welding equipment

Abstract

The present application belongs to the field of steel structure construction equipment and welding automation, and discloses a kind of steel structure high-altitude overhanging node multi-angle welding equipment, including main clamping base, installation main frame, overhanging load beam, welding mobile mechanism, telescopic welding mechanism, node obstacle avoidance entering mechanism, attitude adjusting mechanism and welding gun compensation mechanism;The telescopic welding mechanism includes first telescopic arm, second telescopic arm and third telescopic arm, for driving welding end to go deep into steel structure overhanging node interior;The node obstacle avoidance entering mechanism includes lateral offset compensation seat, offset drive component, swing guide frame and flexible obstacle avoidance connecting joint, for making welding end avoid node interior barrier structure;The present application can realize the deep welding of high-altitude overhanging node interior weld, obstacle avoidance, multi-angle attitude adjustment and welding gun stable compensation, improve the adaptability and welding quality of complex steel structure node welding operation.

Description

Technical Field

[0001] This invention belongs to the field of steel structure construction equipment and welding automation technology, specifically a multi-angle welding device for high-altitude cantilever nodes of steel structures. Background Technology

[0002] Steel structures are widely used in industrial plants, large-span buildings, and high-rise buildings due to their high load-bearing capacity, light weight, and efficient construction. During steel structure construction, cantilever beams are typically connected to the main structure via connecting plates, webs, and stiffening members to form cantilever joints, which are then welded together. Because these joints are usually located at high altitudes and have complex internal component arrangements, high demands are placed on the installation stability, operating range, and welding precision of the welding equipment.

[0003] Existing methods for high-altitude welding of steel structures mainly employ manual welding, rail-mounted welding equipment, or robotic arm welding equipment. For welds on the outer side of the structure or in relatively open spaces, these methods can meet basic construction requirements. However, for welds inside cantilevered nodes, due to structural constraints such as connecting plates, webs, and stiffening members, it is difficult for welding equipment to stably approach the welding position. When the welding torch enters a narrow area, it is easily obstructed by surrounding components, making it difficult to continuously complete welds on the inner side, back side, and angled positions of some nodes.

[0004] Meanwhile, cantilever nodes typically contain multiple connecting welds in different directions. Existing welding equipment mainly achieves changes in welding posture by adjusting the overall position of the equipment or fixing the angle of the welding torch. When facing node structures with large spatial angle changes, problems such as insufficient adjustment range of welding angle, increased number of equipment movements, and reduced welding continuity are likely to occur.

[0005] In addition, in the high-altitude cantilever environment, welding equipment and its supporting structure are easily affected by equipment operation vibration, minor deformation of cantilever components and external disturbances. When the welding torch approaches the inside of the node through a long supporting structure for welding, the end position is prone to shift, causing the relative position between the welding torch and the weld to change, thereby affecting the stability of the welding trajectory and the quality of the weld formation.

[0006] Therefore, existing welding equipment for high-altitude cantilever joints of steel structures still needs further improvement in terms of accessibility for welding inside the joint, adaptability to welding in multiple directions, and stability of the welding torch under high-altitude working conditions. Summary of the Invention

[0007] The purpose of this invention is to provide a multi-angle welding device for high-altitude cantilever joints of steel structures to solve the problems mentioned in the background art.

[0008] To achieve the above objectives, the present invention provides the following technical solution: a multi-angle welding device for high-altitude cantilever nodes of steel structures, including a main clamping base, a clamping mechanism provided on the main clamping base, an installation main frame provided on the main clamping base, a cantilever bearing beam provided on the installation main frame, and a welding moving mechanism provided on the cantilever bearing beam. The welding moving mechanism is equipped with a telescopic welding mechanism, which includes a first-stage telescopic arm, a second-stage telescopic arm, and a third-stage telescopic arm that are sequentially connected. A telescopic drive assembly and a guide stabilizing assembly are provided between the first-stage, second-stage, and third-stage telescopic arms. Through the multi-stage telescopic structure, the welding end can penetrate deep into the steel structure node along the cantilever direction, thereby improving the operational coverage of the deep weld area.

[0009] The extended end of the three-stage telescopic arm is equipped with a node obstacle avoidance entry mechanism. The node obstacle avoidance entry mechanism includes a lateral offset compensation seat, an offset drive component, a swing guide frame, and a flexible obstacle avoidance connecting joint. The swing guide frame can move laterally relative to the lateral offset compensation seat under the action of the offset drive component, so that the welding end can avoid obstacles such as connecting plates and stiffening components inside the node. The flexible obstacle avoidance connecting joint is set between the swing guide frame and the attitude adjustment mechanism, so that the welding end can adaptively deflect according to the internal space of the node, improving the entry capability of complex node areas.

[0010] The flexible obstacle avoidance connecting section is provided with an attitude adjustment mechanism at the end away from the swing guide frame. The attitude adjustment mechanism includes a horizontal slewing seat, a pitch adjustment frame, and a flip mounting frame. Through horizontal rotation, pitch adjustment, and flipping movements, the slender welding torch mounted on the welding torch mounting seat can adjust the welding attitude according to the weld seam in different directions.

[0011] The flip-mount frame is equipped with a floating welding torch support, and a dual-stage arc stabilization compensation component is provided between the floating welding torch support and the flip-mount frame. The dual-stage arc stabilization compensation component can compensate for the axial and radial displacement of the slender welding torch, thereby improving the stability of the relative position between the welding torch and the weld during the welding process.

[0012] An anti-sway stabilization mechanism is provided between the welding moving mechanism and the first-stage telescopic arm. The anti-sway stabilization mechanism includes a floating vibration isolation frame, a damping buffer, an inertial balance block, and an attitude detector. The floating vibration isolation and inertial stabilization reduce the impact of equipment vibration on the welding process in the high-altitude cantilever environment.

[0013] With the above structure, the present invention enables the welding equipment to be stably installed at the high-altitude cantilever position of the steel structure, and allows the welding torch to penetrate deep into the node along the cantilever direction. It bypasses the internal obstacle structure by means of lateral offset and flexible obstacle avoidance. At the same time, combined with multi-angle attitude adjustment and end compensation structure, it realizes continuous welding of welds in different directions of complex cantilever nodes.

[0014] The beneficial effects of this invention are as follows: 1. This invention forms a multi-stage telescopic welding structure by setting up a first-stage telescopic arm, a second-stage telescopic arm, and a third-stage telescopic arm, so that the welding end can gradually penetrate into the cantilever node from the outside of the steel structure. Through the cooperation of the lateral offset compensation seat, the offset drive component, the swing guide frame, and the flexible obstacle avoidance connecting joint, the welding end can avoid obstacles such as connecting plates and stiffening components inside the node, thereby improving the equipment's adaptability to narrow spaces, deep areas, and complex node welds.

[0015] 2. This invention, by setting up a horizontal rotating base, a pitch adjustment frame, and a flip mounting frame, allows the welding torch installation angle to be adjusted according to welds in different spatial directions, reducing the problem of frequent equipment position adjustments in traditional welding processes. Combined with the slender welding torch structure, the equipment can adapt to continuous welding of welds in different directions in high-altitude cantilever nodes, thereby improving welding efficiency.

[0016] 3. This invention reduces the swaying effect caused by vibration and disturbance on the telescopic welding mechanism when it is suspended at high altitude by setting up an anti-sway stabilization mechanism composed of a floating vibration isolation frame, a damping buffer, and an inertial balance block. The invention also provides axial and radial compensation for the end position of the welding torch through a two-stage arc stabilization compensation component, which enables the welding torch to maintain a stable welding state and improves the weld formation quality and welding reliability. Attached Figure Description

[0017] Figure 1 This is a schematic diagram of the overall structure of a multi-angle welding device for high-altitude cantilever nodes of steel structures according to the present invention; Figure 2 This is a partial structural diagram of the first clamping arm and the second clamping arm in this invention; Figure 3 This is a schematic diagram of the overall structure of a multi-angle welding device for high-altitude cantilevered steel structure nodes according to the present invention from another perspective. Figure 4 This is a schematic diagram of the inclined structure in this invention; Figure 5 In this invention Figure 4 Enlarged structural diagram at point A in the middle; Figure 6 In this invention Figure 4 Enlarged structural diagram at point B.

[0018] In the picture: 1. Main clamping base; 2. First clamping arm; 3. Second clamping arm; 4. Clamping drive cylinder; 5. Anti-slip clamping block; 6. Mounting main frame; 7. Cantilever load-bearing beam; 8. Longitudinal guide rail; 9. Welding moving trolley; 10. Trolley drive motor; 11. Rack and pinion transmission assembly; 12. First-stage telescopic arm; 13. Second-stage telescopic arm; 14. Third-stage telescopic arm; 15. Telescopic drive assembly; 16. Guide stabilizing assembly; 17. Horizontal slewing base; 18. Slewing drive motor 19. Pitch adjustment frame; 20. Pitch drive cylinder; 21. Tilting mounting frame; 22. Tilting drive motor; 23. Welding torch mounting base; 24. Slender welding torch; 25. Floating vibration isolation frame; 26. Damping buffer; 27. Inertial balance block; 28. Attitude detector; 29. ​​Lateral offset compensation seat; 30. Offset drive assembly; 31. Swing guide frame; 32. Flexible obstacle avoidance connecting joint; 33. Floating welding torch bracket; 34. Two-stage arc stabilization compensation assembly. Detailed Implementation

[0019] 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.

[0020] like Figures 1 to 6 As shown, this embodiment provides a multi-angle welding device for high-altitude cantilever nodes of steel structures. This device is used to perform automated, multi-angle welding operations on the connection welds at high-altitude cantilever nodes during the construction of steel structures. The device includes a main clamping base 1, a clamping mechanism, a welding moving mechanism, a telescopic welding mechanism, a node obstacle avoidance entry mechanism, a posture adjustment mechanism, an end welding torch compensation mechanism, and an anti-sway stabilization mechanism. Among them, the main clamping base 1 serves as the installation foundation of the entire welding equipment, which is used to support the various functional components in the welding process and fix the welding equipment on the steel structure cantilever component to be welded. The main clamping base 1 adopts a frame structure with high structural strength, and has installation connection positions on it for installing the clamping mechanism, the main frame 6 and other auxiliary components. The main clamping base 1 is provided with a clamping mechanism, which includes a first clamping arm 2, a second clamping arm 3, a clamping drive cylinder 4, and an anti-slip clamping block 5. The first clamping arm 2 and the second clamping arm 3 are respectively disposed on opposite sides of the main clamping base 1 and are slidably connected to the main clamping base 1, so that the first clamping arm 2 and the second clamping arm 3 can move in the direction of approaching or moving away from the steel structure component. The clamping drive cylinder 4 is fixedly installed on the main clamping base 1. The telescopic end of the clamping drive cylinder 4 is connected to the first clamping arm 2. The first clamping arm 2 is moved by the telescopic movement of the clamping drive cylinder 4. At the same time, a linkage structure is provided between the first clamping arm 2 and the second clamping arm 3 so that the second clamping arm 3 can move synchronously with the movement of the first clamping arm 2. Anti-slip clamping blocks 5 are fixedly installed on the side of the first clamping arm 2 and the second clamping arm 3 that are close to each other. The anti-slip clamping blocks 5 are made of contact material with a high coefficient of friction. When the clamping mechanism is in motion, the anti-slip clamping blocks 5 are in contact with the surface of the steel structure cantilever component, thereby improving the connection stability between the equipment and the steel structure. During equipment installation, the main clamping base 1 is first moved to the vicinity of the steel structure cantilever node, so that the steel structure component is located between the first clamping arm 2 and the second clamping arm 3. Then, the clamping drive cylinder 4 is extended to move the first clamping arm 2 and the second clamping arm 3 towards each other. The steel structure component is clamped by the anti-slip clamping block 5, thereby achieving stable installation of the equipment in a high-altitude environment. A mounting frame 6 is fixedly installed on the main clamping base 1. The mounting frame 6 is used to connect and support the cantilever load-bearing beam 7. The cantilevered load-bearing beam 7 extends along the cantilever direction of the steel structure and is equipped with a welding moving mechanism. The welding moving mechanism includes a longitudinal guide rail 8, a welding moving trolley 9, a trolley drive motor 10, and a rack and pinion transmission assembly 11. The longitudinal guide rail 8 is fixedly installed on the cantilever beam 7, and the welding moving trolley 9 is slidably installed on the longitudinal guide rail 8, so that the welding moving trolley 9 can move along the length of the cantilever beam 7. The trolley drive motor 10 is fixedly mounted on the welding moving trolley 9, and the rack and pinion transmission assembly 11 is located between the cantilever bearing beam 7 and the welding moving trolley 9. When the trolley drive motor 10 is working, the rotational motion is converted into the linear motion of the welding moving trolley 9 through the rack and pinion transmission assembly 11. With the above structure, when welding seams at different locations, there is no need to move the welding equipment as a whole. Only the welding moving trolley 9 needs to be controlled to move along the longitudinal guide rail 8 to enable the welding mechanism to move quickly to the corresponding welding area, thereby improving the welding efficiency of high-altitude cantilever nodes. The welding mobile trolley 9 is equipped with a telescopic welding mechanism, which includes a first-stage telescopic arm 12, a second-stage telescopic arm 13, a third-stage telescopic arm 14, a telescopic drive assembly 15, and a guide and stabilizing assembly 16. Among them, the first-stage telescopic arm 12 is fixedly installed on the welding mobile trolley 9, the second-stage telescopic arm 13 is slidably disposed inside the first-stage telescopic arm 12, and the third-stage telescopic arm 14 is slidably disposed inside the second-stage telescopic arm 13, so that the first-stage telescopic arm 12, the second-stage telescopic arm 13 and the third-stage telescopic arm 14 form a multi-stage sleeve telescopic structure. The telescopic drive assembly 15 is fixedly installed on the first-stage telescopic arm 12, and its drive end is connected to the second-stage telescopic arm 13 and the third-stage telescopic arm 14 respectively, for driving the second-stage telescopic arm 13 and the third-stage telescopic arm 14 to extend or retract in sequence. The guide stabilization assembly 16 is disposed at the sleeve position of the first-stage telescopic arm 12, the second-stage telescopic arm 13 and the third-stage telescopic arm 14, and includes a sliding guide structure to limit the lateral sway between the telescopic arms at each stage. During operation, when the welding position is inside the cantilever node, the telescopic drive assembly 15 is activated, causing the secondary telescopic arm 13 and the tertiary telescopic arm 14 to gradually extend and send the welding end into the node. Through the multi-stage telescopic structure, the effective working range of the welding torch can be expanded, enabling the equipment to adapt to cantilever nodes of different depths. Since the cantilever joints of steel structures are usually equipped with connecting plates, webs and stiffening members, in order to avoid obstruction during the welding process, this embodiment sets a node obstacle avoidance entry mechanism at the end of the three-stage telescopic arm 14. The node obstacle avoidance entry mechanism includes a lateral offset compensation seat 29, an offset drive assembly 30, a swing guide frame 31, and a flexible obstacle avoidance connecting section 32; The lateral offset compensation seat 29 is fixedly connected to the end of the three-stage telescopic arm 14, and the swing guide frame 31 is slidably disposed on the lateral offset compensation seat 29. The offset drive assembly 30 is fixedly mounted on the lateral offset compensation seat 29, and its drive end is connected to the swing guide frame 31 to drive the swing guide frame 31 to move in the lateral direction. When the three-stage telescopic arm 14 extends into the node, if there are obstacles such as stiffening plates in front, the offset drive component 30 drives the swing guide frame 31 to move laterally, so that the rear welding mechanism avoids the obstacle area and enters through a non-linear path. The front end of the swing guide frame 31 is connected to a flexible obstacle avoidance connecting section 32, which includes a front connecting seat, a rear connecting seat, and a universal swing connecting assembly disposed between the two. By setting up the flexible obstacle avoidance connector 32, the welding end can be adaptively deflected according to the internal space of the node, thereby improving the welding accessibility of complex node areas. The flexible obstacle avoidance connecting section 32 is connected to an attitude adjustment mechanism at the end away from the swing guide frame 31, which is used to adjust the attitude of the welding torch according to the spatial position of the weld seam in different directions within the cantilever node of the steel structure. The attitude adjustment mechanism includes a horizontal slewing base 17, a slewing drive motor 18, a pitch adjustment frame 19, a pitch drive cylinder 20, a tilting mounting frame 21, and a tilting drive motor 22; The horizontal rotary seat 17 is fixedly connected to the front end of the flexible obstacle avoidance connecting section 32 and is used as the basic installation component of the attitude adjustment mechanism. A rotary drive motor 18 is provided on the horizontal rotary seat 17. The output end of the rotary drive motor 18 is connected to the rotation connection structure inside the horizontal rotary seat 17, so that the subsequent welding mechanism connected to the horizontal rotary seat 17 can rotate and adjust around the vertical direction. The pitch adjustment frame 19 is rotatably mounted on the horizontal swivel base 17, and the pitch drive cylinder 20 is disposed between the horizontal swivel base 17 and the pitch adjustment frame 19; wherein, one end of the pitch drive cylinder 20 is hinged to the horizontal swivel base 17 and the other end is hinged to the pitch adjustment frame 19, and the pitch adjustment frame 19 is driven to swing around the horizontal axis by the extension and retraction movement of the pitch drive cylinder 20. The flip mounting bracket 21 is rotatably mounted on the pitch adjustment bracket 19. A flip drive motor 22 is fixedly mounted on the flip mounting bracket 21. The output end of the flip drive motor 22 is connected to the flip mounting bracket 21. Through the action of the flip drive motor 22, the welding end mounted on the flip mounting bracket 21 is adjusted in angle around the flip direction. By combining the horizontal swivel seat 17, the pitch adjustment frame 19 and the flip mounting frame 21, the welding end has the ability to adjust its posture in multiple directions. In the actual welding process, the angle of the welding gun can be adjusted according to the weld direction of different connection positions in the cantilever node, so that the slender welding gun 24 can adapt to different welding postures such as flat welding, vertical welding, horizontal welding and overhead welding. The flip-mounted mounting frame 21 is equipped with an end welding mechanism, which includes a floating welding torch bracket 33, a dual-stage arc stabilization compensation component 34, a welding torch mounting base 23, and a slender welding torch 24. The dual-stage arc stabilization compensation component 34 is disposed between the flip mounting frame 21 and the floating welding torch bracket 33, and is used to achieve a small adjustment of the position of the welding torch end. The floating welding torch bracket 33 is connected to the output end of the dual-stage arc stabilization compensation component 34, the welding torch mounting base 23 is fixedly installed on the floating welding torch bracket 33, and the slender welding torch 24 is fixedly installed inside the welding torch mounting base 23. The dual-stage arc stabilization compensation assembly 34 includes an axial compensation unit and a radial compensation unit. The axial compensation unit is used to make the floating welding torch support 33 move slightly along the length of the slender welding torch 24 to compensate for the change in distance between the welding torch and the weld. The radial compensation unit is used to make the floating welding torch support 33 make slight adjustments in the direction perpendicular to the axis of the slender welding torch 24 to compensate for the lateral deviation generated during the welding process. During the welding process, due to the processing error, installation error and welding thermal deformation of the steel structure nodes, the actual weld position may deviate from the theoretical position. The dual-stage arc stabilization compensation component 34 can maintain a stable distance between the slender welding torch 24 and the weld, thereby improving the arc stability and weld formation quality during the welding process. Meanwhile, because the slender welding torch 24 has a longer extension structure, it can enter the deep area of ​​the node that is difficult for traditional welding equipment to reach under the drive of the three-stage telescopic arm 14, thereby improving the welding coverage of complex cantilever nodes. Since this equipment is mainly used in high-altitude cantilever node welding environments, when the telescopic welding mechanism extends a long distance, the end of the equipment is easily affected by the vibration of the cantilever structure, external disturbances, and its own motion inertia. Therefore, this embodiment is equipped with an anti-sway stabilization mechanism. The anti-sway stabilization mechanism includes a floating vibration isolation frame 25, a damping buffer 26, an inertial balance block 27, and an attitude detector 28; The floating vibration isolation frame 25 is located between the welding moving trolley 9 and the first-stage telescopic arm 12, and the first-stage telescopic arm 12 is fixedly connected to the floating vibration isolation frame 25. The damping buffer 26 is disposed between the floating vibration isolation frame 25 and the welding moving trolley 9. One end of the damping buffer 26 is connected to the welding moving trolley 9, and the other end is connected to the floating vibration isolation frame 25. When the telescopic welding mechanism is affected by external vibration, the floating vibration isolation frame 25 can generate a certain range of buffer movement, and consume vibration energy through the damping buffer 26 to reduce the transmission of vibration to the three-stage telescopic arm 14 and the slender welding torch 24. The inertial balance block 27 is fixedly mounted on the floating vibration isolation frame 25 to adjust the overall center of gravity of the telescopic welding mechanism and improve its stability in the telescopic state. The attitude detector 28 is fixedly installed on the floating vibration isolation frame 25 to detect the attitude changes of the floating vibration isolation frame 25 and the telescopic welding mechanism, so as to facilitate the judgment of the equipment operating status. Through the combined action of the anti-sway stabilization mechanism and the dual-stage arc stabilization compensation component 34, multi-stage stabilization control is achieved from the overall equipment to the end of the welding torch.

[0021] Working principle: When welding the cantilevered nodes of the steel structure, the main clamping base 1 is first moved to the vicinity of the cantilevered node to be welded, so that the steel structure component is located between the first clamping arm 2 and the second clamping arm 3. Subsequently, the clamping drive cylinder 4 is controlled to move, so that the first clamping arm 2 and the second clamping arm 3 move closer to each other, and the anti-slip clamping block 5 contacts the surface of the steel structure component, thereby achieving stable fixation of the welding equipment at a high altitude. After the equipment is fixed, the rack and pinion transmission assembly 11 is driven by the trolley drive motor 10 to move according to the welding position, so that the welding moving trolley 9 moves along the longitudinal guide rail 8 and moves the telescopic welding mechanism to the corresponding weld area. When the weld to be welded is located inside the cantilever node, the telescopic drive assembly 15 is activated to drive the secondary telescopic arm 13 and the tertiary telescopic arm 14 to gradually extend, so that the slender welding torch 24 installed at the end can enter the node. When there are obstructing structures such as connecting plates and stiffening plates inside the node, the offset driving component 30 drives the swing guide frame 31 to move in the lateral direction, causing the welding end to shift laterally. At the same time, the swinging ability of the flexible obstacle avoidance connecting joint 32 is used to adjust the entry direction, so that the slender welding torch 24 can bypass the obstacle area and reach the target weld position. After reaching the welding position, the postures of the horizontal rotary seat 17, the pitch adjustment frame 19, and the tilting mounting frame 21 are adjusted by the rotary drive motor 18, the pitch drive cylinder 20, and the tilting drive motor 22 respectively, so that the slender welding torch 24 maintains a suitable angle with the weld seam to be welded. During the welding process, when the equipment as a whole is subjected to vibration or the cantilever structure undergoes slight deformation, the overall swaying effect is reduced by the floating vibration isolation frame 25, the damping buffer 26 and the inertial balance block 27. At the same time, the dual-stage arc stabilization compensation component 34 is used to provide slight compensation to the end position of the welding torch, so that the slender welding torch 24 maintains a stable welding state. Through the above-mentioned structural combination, this equipment can achieve stable installation of high-altitude cantilevered nodes of steel structures, long-distance extension, obstacle avoidance, multi-angle posture adjustment, and stable compensation at the end of the welding torch, thereby improving the adaptability and welding quality of welding operations on complex cantilevered nodes.

[0022] 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.

[0023] 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 multi-angle welding device for high-altitude cantilever nodes of steel structures, comprising a main clamping base (1), a clamping mechanism disposed on the main clamping base (1), a main mounting frame (6) disposed on the main clamping base (1), a cantilever bearing beam (7) disposed on the main mounting frame (6), and a welding moving mechanism disposed on the cantilever bearing beam (7), characterized in that: The welding moving mechanism is provided with a telescopic welding mechanism, which includes a first-stage telescopic arm (12), a second-stage telescopic arm (13), and a third-stage telescopic arm (14) that are sequentially sleeved together. The first-stage telescopic arm (12) is disposed on the welding moving mechanism, the second-stage telescopic arm (13) is slidably disposed within the first-stage telescopic arm (12), and the third-stage telescopic arm (14) is slidably disposed within the second-stage telescopic arm (13). The telescopic welding mechanism is provided with a telescopic drive assembly (15) for driving the second-stage telescopic arm (13) and the third-stage telescopic arm (14) to telescopically move. The extended end of the three-stage telescopic arm (14) is fixedly provided with a lateral offset compensation seat (29), a swing guide frame (31) is slidably provided on the lateral offset compensation seat (29), an offset drive assembly (30) is provided on the lateral offset compensation seat (29), and the drive end of the offset drive assembly (30) is connected to the swing guide frame (31). A flexible obstacle avoidance connecting section (32) is provided at the end of the swing guide frame (31) away from the lateral offset compensation seat (29). A horizontal swivel seat (17) is provided at the end of the flexible obstacle avoidance connecting section (32) away from the swing guide frame (31). A pitch adjustment frame (19) is rotatably provided on the horizontal swivel seat (17). A flip mounting frame (21) is rotatably provided on the pitch adjustment frame (19). A floating welding torch bracket (33) is provided on the flip mounting frame (21). A dual-stage arc stabilization compensation component (34) is provided between the floating welding torch bracket (33) and the flip mounting frame (21). A welding torch mounting seat (23) is fixedly provided on the floating welding torch bracket (33). A slender welding torch (24) is fixedly installed on the welding torch mounting seat (23).

2. The multi-angle welding equipment for high-altitude cantilever joints of steel structures according to claim 1, characterized in that: The clamping mechanism includes a first clamping arm (2), a second clamping arm (3), and a clamping drive cylinder (4). The first clamping arm (2) and the second clamping arm (3) are slidably disposed on both sides of the main clamping base (1). The clamping drive cylinder (4) is fixedly disposed on the main clamping base (1). The drive end of the clamping drive cylinder (4) is connected to the first clamping arm (2). The first clamping arm (2) and the second clamping arm (3) are connected by transmission so that the first clamping arm (2) and the second clamping arm (3) move towards each other or away from each other. Anti-slip clamping blocks (5) are fixedly disposed on the side of the first clamping arm (2) and the second clamping arm (3) that are close to each other.

3. The multi-angle welding equipment for high-altitude cantilever joints of steel structures according to claim 1, characterized in that: The welding moving mechanism includes a longitudinal guide rail (8), a welding moving trolley (9), a trolley drive motor (10), and a rack and pinion transmission assembly (11). The longitudinal guide rail (8) is fixedly mounted on the cantilever bearing beam (7). The welding moving trolley (9) is slidably mounted on the longitudinal guide rail (8). The trolley drive motor (10) is fixedly mounted on the welding moving trolley (9). The output end of the trolley drive motor (10) is connected to the cantilever bearing beam (7) through the rack and pinion transmission assembly (11).

4. The multi-angle welding equipment for high-altitude cantilever joints of steel structures according to claim 3, characterized in that: The first-stage telescopic arm (12) is mounted on the welding moving trolley (9). Guide stabilizing components (16) are provided at the sleeve positions of the first-stage telescopic arm (12), the second-stage telescopic arm (13), and the third-stage telescopic arm (14). The telescopic drive component (15) is fixedly mounted on the first-stage telescopic arm (12). The telescopic drive component (15) is connected to the second-stage telescopic arm (13) and the third-stage telescopic arm (14) respectively.

5. The multi-angle welding equipment for high-altitude cantilever joints of steel structures according to claim 4, characterized in that: The first-stage telescopic arm (12), the second-stage telescopic arm (13) and the third-stage telescopic arm (14) are all rectangular sleeve structures. The guide stabilizing component (16) includes guide rollers disposed at the sleeve positions of adjacent telescopic arms. The wheel surface of the guide rollers makes rolling contact with the outer wall of the telescopic arm located on the inner side.

6. The multi-angle welding equipment for high-altitude cantilever joints of steel structures according to claim 1, characterized in that: The moving direction of the swing guide frame (31) intersects with the telescopic direction of the three-stage telescopic arm (14). The offset drive assembly (30) is fixedly mounted on the lateral offset compensation seat (29). The drive end of the offset drive assembly (30) is fixedly connected to the swing guide frame (31). The flexible obstacle avoidance connecting section (32) includes a front connecting seat, a rear connecting seat, and a universal swing connecting assembly connected between the front connecting seat and the rear connecting seat. The front connecting seat is fixedly connected to the swing guide frame (31), and the rear connecting seat is fixedly connected to the horizontal rotary seat (17).

7. The multi-angle welding equipment for high-altitude cantilever joints of steel structures according to claim 1, characterized in that: A rotary drive motor (18) is fixedly installed on the horizontal rotary base (17), and the output end of the rotary drive motor (18) is connected to the pitch adjustment frame (19) in a transmission connection. A pitch drive cylinder (20) is installed on the pitch adjustment frame (19), one end of the pitch drive cylinder (20) is hinged to the pitch adjustment frame (19), and the drive end of the pitch drive cylinder (20) is hinged to the flip mounting frame (21). A flip drive motor (22) is fixedly installed on the flip mounting frame (21), and the output end of the flip drive motor (22) is connected to the floating welding gun bracket (33) in a transmission connection.

8. The multi-angle welding equipment for high-altitude cantilever joints of steel structures according to claim 1, characterized in that: The dual-stage arc stabilization compensation component (34) is disposed between the flip mounting bracket (21) and the floating welding torch bracket (33). The dual-stage arc stabilization compensation component (34) includes an axial compensation unit and a radial compensation unit. The moving direction of the axial compensation unit is parallel to the axis of the slender welding torch (24), and the moving direction of the radial compensation unit is perpendicular to the axis of the slender welding torch (24). The axial compensation unit and the radial compensation unit are connected in sequence, and the floating welding torch bracket (33) is connected to the radial compensation unit.

9. The multi-angle welding equipment for high-altitude cantilever joints of steel structures according to claim 4, characterized in that: A floating vibration isolation frame (25) is provided between the welding mobile trolley (9) and the first-stage telescopic arm (12). The floating vibration isolation frame (25) is movably connected to the welding mobile trolley (9), and the first-stage telescopic arm (12) is fixedly mounted on the floating vibration isolation frame (25). A damping buffer (26) is provided between the floating vibration isolation frame (25) and the welding mobile trolley (9). One end of the damping buffer (26) is connected to the welding mobile trolley (9), and the other end of the damping buffer (26) is connected to the floating vibration isolation frame (25).

10. A multi-angle welding device for high-altitude cantilever joints of steel structures according to claim 9, characterized in that: An inertial balance block (27) is fixedly installed on the side of the floating vibration isolation frame (25) away from the first-stage telescopic arm (12). An attitude detector (28) is fixedly installed on the floating vibration isolation frame (25). The attitude detector (28) is located between the first-stage telescopic arm (12) and the inertial balance block (27).

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