A welding device and method for processing a metal steel structure

Abstract

The application discloses a welding device and method for metal steel structure processing, and belongs to the technical field of metal steel structure processing. The device comprises an opening and closing base, a positioner and a welding robot. Two head-tail type positioners are arranged on the opening and closing base, a sliding table is arranged on the turnover mechanism of the head-tail type positioner, and a pair of symmetrical clamping mechanisms are slidably arranged on the sliding table. Two clamping parts are symmetrically arranged at the two ends of the clamping mechanism, and the two clamping parts can be opened and closed to adapt to steel frames of different specifications. First mirror reflection switches and first mirrors, and second mirror reflection switches and second mirrors are respectively arranged on the clamping mechanisms of the two sliding tables. The welding robot is arranged at the opening and closing base through a gantry. The application realizes accurate positioning of the clamping mechanism through cooperation of the mirror reflection switches and the mirrors, and realizes multi-angle and multi-station automatic welding of the steel frame in combination with the turnover function of the head-tail type positioner, so that the positioning precision is high, and the welding quality is good.

Description

Technical Field

[0001] This invention relates to the field of metal steel structure processing technology, specifically to a welding apparatus and method for processing metal steel structures. Background Technology

[0002] With the rapid development of the construction and machinery manufacturing industries, metal steel frames are widely used. As a common form of metal steel structure, steel frames are usually welded from multiple square or rectangular steel tubes, and their welding quality and efficiency directly affect the safety and production cost of the overall structure.

[0003] Currently, the welding and processing of steel frames mainly faces the following technical challenges: First, the steel frame is a three-dimensional frame structure formed by connecting multiple square steel tubes in three-dimensional space. Welding requires operations from multiple directions and angles. Traditional manual welding methods require workers to frequently adjust the position and posture of the workpiece, which is labor-intensive, inefficient, and the welding quality is greatly affected by the worker's skill level, making it difficult to guarantee consistency.

[0004] Secondly, while some existing automated welding equipment can complete some welding work, due to the structural characteristics of the steel frame, it is difficult to complete the welding of all welds in a single clamping. Often, the workpiece needs to be clamped and repositioned multiple times during the welding process. Each repositioning introduces positioning errors, causing weld position deviations and affecting the final welding quality.

[0005] Third, in existing welding equipment, the position adjustment of the workpiece clamping mechanism mostly relies on manual measurement and adjustment, which is inefficient and lacks precision. Summary of the Invention

[0006] To address the shortcomings of existing technologies, this invention provides a welding apparatus and method for processing metal steel structures.

[0007] This invention is achieved through the following technical solution: A welding device for processing metal steel structures includes an opening and closing base, a positioner, and a welding robot. Two head-and-tail positioners are mounted on the opening and closing base. Each head-and-tail positioner has a sliding table on its flipping mechanism, and symmetrical clamping mechanisms are slidably mounted on the sliding table. Two clamping parts are symmetrically arranged at both ends of each clamping mechanism, and these two clamping parts can open and close. Each clamping part includes an L-shaped base, an L-shaped positioning frame, a rotary telescopic cylinder, and a pressing part. Stops are provided at both ends of the L-shaped base. The L-shaped positioning frame is slidably mounted on the L-shaped base in the opposite direction to the L-shaped base. Rotary telescopic cylinders are arranged in two directions on the L-shaped base, and pressing parts are provided on the piston rods of the rotary telescopic cylinders. A first mirror reversing switch and a second mirror reversing switch are provided on the clamping mechanism of one slide table, and a first reflector and a second reflector are provided on the clamping mechanism of the other slide table. The first mirror reversing switch and the first reflector are used to determine that the clamping mechanisms on the two slide tables are in the same position along the sliding direction of the slide table when they are in a horizontal state. The second mirror reversing switch and the second reflector are used to determine that the clamping mechanisms on the two slide tables are parallel and perpendicularly aligned to each other when they are in a vertical state.

[0008] The welding robot is mounted on the opening and closing base via a gantry frame.

[0009] Preferably, the opening and closing base is provided with a first positive and negative screw nut mechanism driven by a dual-axis motor, and the two head-and-tail positioners realize the opening and closing action through the first positive and negative screw nut mechanism.

[0010] Preferably, a proximity switch is installed on the head box or tail box of the head-tail positioner via a sensor bracket, and baffles that cooperate with the proximity switch are symmetrically arranged on the flipping mechanism of the head-tail positioner.

[0011] Preferably, the slide table is provided with a sliding end, and the clamping mechanism is provided on the sliding end; the clamping mechanism includes a base plate and a second positive and negative screw nut mechanism driven by a dual-axis motor, and the clamping parts at both ends of the clamping mechanism realize the opening and closing action through the second positive and negative screw nut mechanism.

[0012] Preferably, the two stops of the L-shaped base are provided with sliding grooves, and the two ends of the L-shaped positioning frame are provided with sliding rods that cooperate with the sliding grooves. The sliding rods are slidably disposed in the sliding grooves. The side wall of the sliding groove is provided with threaded holes, and locking screws are provided in the threaded holes.

[0013] Preferably, a first linear module is provided on the crossbeam of the gantry frame, a second linear module is provided on the first linear module along the horizontal direction, a third linear module is provided on the second linear module along the vertical direction, and the welding robot is connected to the third linear module.

[0014] Preferably, the piston rod of the rotary telescopic cylinder is provided with a connecting plate, and a clamping block is provided on the connecting plate.

[0015] A welding device for processing metal steel structures, wherein the welding method is as follows: Step 1: Adjust the two clamping mechanisms on one slide to the required position according to the specifications of the steel frame to be welded, and control the movement of the two clamping mechanisms on the other slide until both first mirror switches have collected signals; Step 2: Place the square steel pipes horizontally on the clamping mechanism. Position the square steel pipes using the stop blocks and L-shaped positioning frames. After placement, control the rotary telescopic cylinder to rotate and retract to press the square steel pipes. Then, place the square steel pipes upright at the four corners of one set of clamping mechanisms. Position the upright square steel pipes by adjusting the height of the L-shaped positioning frames. Step 3: Control the welding robot to perform welding work; Step 4: Control the two head-and-tail positioners to rotate 90 degrees until the clamping mechanisms on the two slides are vertically aligned, i.e., the second mirror switch collects the signal. Then control the two head-and-tail positioners to move closer until the upright square steel pipe touches the steel frame on the other set of clamping mechanisms. Then control the welding robot to perform welding work. Step 5: After welding is completed, control the rotary telescopic cylinder of one set of clamping mechanisms to extend and rotate, control the two head and tail positioners to move away from each other, control the head and tail positioners to flip over, control the rotary telescopic cylinder of the other set of clamping mechanisms to extend and rotate, and then remove the steel frame.

[0016] Preferably, step three employs a step-by-step welding process, controlling the welding robot to perform welding work on the top surface and part of the side surfaces; then controlling the head and tail positioner to rotate 180 degrees to complete the welding work on the bottom surface and the remaining side surfaces.

[0017] The beneficial effects of this invention are reflected in: 1. This invention achieves high-precision automatic alignment of the clamping mechanisms on the two sliding tables in both horizontal and vertical states by correspondingly setting a first mirror-reflecting switch and a first reflector, and a second mirror-reflecting switch and a second reflector on the clamping mechanisms of the two sliding tables. Utilizing the working principle of mirror-reflective photoelectric switches, it achieves this alignment. In the horizontal state, the detection light emitted by the first mirror-reflecting switch is reflected back to the switch receiver by the first reflector. When the two clamping mechanisms are aligned along the sliding direction of the sliding table, the first mirror-reflecting switch outputs a positioning signal. In the vertical state, the second mirror-reflecting switch cooperates with the second reflector to ensure that the two clamping mechanisms remain parallel and perpendicularly aligned after rotating 90°. This alignment method eliminates errors caused by manual measurement and adjustment, greatly improves the positional accuracy between the two stations, ensures the accuracy of workpiece docking in subsequent welding processes, and effectively avoids welding defects caused by misalignment.

[0018] 2. This invention achieves single-clamping, multi-angle welding of a steel frame by setting up two head-and-tail positioners with slides on their flipping mechanisms and an openable clamping mechanism on the slides. During the welding process, the flipping action of the head-and-tail positioners allows the workpiece to be adjusted to different welding postures without disassembling it. Combined with the multi-degree-of-freedom motion of the welding robot, it can complete welds on the steel frame in all directions, avoiding the cumulative positioning errors caused by multiple clamping in traditional methods, and significantly improving welding quality and production efficiency.

[0019] 3. In this invention, the clamping part of the clamping mechanism adopts a structure in which an L-shaped base and an L-shaped positioning frame cooperate. The L-shaped positioning frame is slidably disposed on the L-shaped base and its direction is opposite to that of the L-shaped base, thereby reserving welding space. At the same time, the rotary telescopic cylinder can simultaneously realize the rotational avoidance and linear clamping functions of the clamping action.

[0020] 4. This invention provides a complete and systematic steel frame welding method. By utilizing mirror-reversing switch for positioning, positioner flipping, coordinated action of clamping mechanism and automatic release of clamp by rotary telescopic cylinder, the entire process of steel frame from positioning and clamping to welding completion and workpiece removal is automated. The process is clear, the logic is rigorous, and the repeatability is strong, making it suitable for mass production. Attached Figure Description

[0021] To more clearly illustrate the specific embodiments of the present invention or the technical solutions in the prior art, the accompanying drawings used in the description of the specific embodiments or the prior art will be briefly introduced below. In all the drawings, similar elements or parts are generally identified by similar reference numerals. In the drawings, the elements or parts are not necessarily drawn to scale.

[0022] Figure 1 This is an isometric view of the overall structure of the present invention.

[0023] Figure 2 This is an isometric view of the overall structure of the present invention.

[0024] Figure 3 This is a front view of the overall structure of the present invention.

[0025] Figure 4 This is an isometric view of the welding robot hidden in this invention.

[0026] Figure 5 for Figure 4 Enlarged view of point A.

[0027] Figure 6 for Figure 4 Enlarged view of point B.

[0028] Figure 7 for Figure 4 Enlarged view of point C.

[0029] Figure 8 This invention provides a top view of a hidden welding robot.

[0030] Figure 9 A partial view of the proximity switch and baffle of the present invention.

[0031] Figure 10 A partial view of the sliding end of the slide table of the present invention.

[0032] In the attached diagram: 1. Opening and closing base; 2. First positive and negative lead screw nut mechanism; 3. First slide rail; 4. Head-tail type positioner; 5. Slide table; 6. Sliding end; 7. Base plate; 8. Second positive and negative lead screw nut mechanism; 9. Second slide rail; 10. L-shaped base; 11. Stop block; 12. L-shaped positioning frame; 13. Locking screw; 14. Rotary telescopic cylinder; 15. Connecting plate; 16. Pressing block; 17. First mirror reversing switch; 18. Second mirror reversing switch; 19. First reflector; 20. Second reflector; 21. Sensor bracket; 22. Proximity switch; 23. Baffle plate; 24. Welding robot; 25. Gantry frame; 26. First linear module; 27. Second linear module; 28. Third linear module. Detailed Implementation

[0033] To make the above-mentioned objects, features, and advantages of the present invention more apparent and understandable, specific embodiments of the present invention will be described in detail below with reference to the accompanying drawings. Many specific details are set forth in the following description to provide a thorough understanding of the present invention. However, the present invention can be practiced in many other ways different from those described herein, and those skilled in the art can make similar modifications without departing from the spirit of the present invention. Therefore, the present invention is not limited to the specific embodiments disclosed below.

[0034] It should be noted that when a component is said to be "fixed to" another component, it can be directly attached to the other component or there may be an intervening component. When a component is said to be "connected to" another component, it can be directly connected to the other component or there may be an intervening component.

[0035] For ease of explanation, spatial relative terms such as “up,” “down,” “left,” and “right” may be used herein to describe the relationship of one element or feature shown in the figure relative to another element or feature. It should be understood that, in addition to the orientation shown in the figure, spatial terms are intended to include different orientations of the device in use or operation. For example, if the device in the figure is inverted, an element described as being “down” of other elements or features would be positioned “up” of those other elements or features. Therefore, the exemplary term “down” can encompass both up and down orientations.

[0036] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention pertains. The terminology used herein in the description of the invention is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. The term "and / or" as used herein includes any and all combinations of one or more of the associated listed items.

[0037] The present invention will now be described in detail with reference to the accompanying drawings: A welding device for processing metal steel structures includes an opening and closing base 1, a positioner, and a welding robot 24. The head-tail type positioner 4 is a common welding positioner in the prior art, which usually includes a head box (driving end) and a tail box (driven end). The head box is equipped with a servo motor and a reduction mechanism to drive the flipping mechanism to rotate around a horizontal axis.

[0038] Two head-and-tail positioners 4 are provided on the opening and closing base 1. A slide table 5 is provided on the flipping mechanism of the head-and-tail positioner 4. A symmetrical clamping mechanism is slidably arranged on the slide table 5. Two clamping parts are symmetrically arranged at both ends of the clamping mechanism. The two clamping parts can perform opening and closing actions. The clamping part includes an L-shaped base 10, an L-shaped positioning frame 12, a rotary telescopic cylinder 14 and a pressing part. A stop block 11 is provided at both ends of the L-shaped base 10. The L-shaped positioning frame 12 is slidably arranged on the L-shaped base 10, and its direction is opposite to that of the L-shaped base 10, thereby reserving space for welding work.

[0039] Rotary telescopic cylinders 14 are respectively arranged in two directions on the L-shaped base 10. A connecting plate 15 is provided on the piston rod of the rotary telescopic cylinder 14, and a clamping block 16 is provided on the connecting plate 15. The clamping block 16 is preferably made of polyurethane or rubber material, and its surface facing the square steel tube has anti-slip textures to increase friction and provide elastic clamping force, preventing damage to the workpiece surface. The rotary telescopic cylinder 14 is a pneumatic actuator integrating rotary and linear motion; its piston rod can rotate around its own axis while extending / retracting.

[0040] The working process of the rotary telescopic cylinder 14 is as follows: In the initial state (workpiece loading and unloading state), the piston rod is in the extended state and the clamping block 16 is deflected to a position away from the top of the square steel pipe (i.e., the clearance position) to facilitate the insertion and removal of the square steel pipe; when the square steel pipe is placed in place, the piston rod of the rotary telescopic cylinder 14 first rotates 90° to make the clamping block 16 rotate to the top of the square steel pipe, and then the piston rod retracts, driving the clamping block 16 to press down on the square steel pipe; when it is necessary to release the workpiece, the piston rod extends to release the clamping, and then rotates 90° in the opposite direction to make the clamping block 16 return to the clearance position.

[0041] The clamping mechanisms of the two slides 5 are also equipped with alignment detection components. One slide 5 is equipped with a first mirror reversal switch 17 and a second mirror reversal switch 18, and the other slide 5 is equipped with a first reflector 19 and a second reflector 20. The first mirror reversal switch 17 and the first reflector 19 are used to determine that the clamping mechanisms on the two slides 5 are in the same position along the sliding direction of the slides 5 when in a horizontal state. The second mirror reversal switch 18 and the second reflector 20 are used to determine that the clamping mechanisms on the two slides 5 are parallel and perpendicularly aligned to each other when in a vertical state.

[0042] The welding robot 24 is mounted on the opening and closing base 1 via a gantry frame 25. A first linear module 26 is mounted on the crossbeam of the gantry frame 25. A second linear module 27 is mounted horizontally on the first linear module 26, and a third linear module 28 is mounted vertically on the second linear module 27. The welding robot 24 is connected to the third linear module 28. With the coordinated operation of the three linear modules, the welding robot 24 can adjust its position in the X, Y, and Z directions. Preferably, the welding robot 24 is a six-axis industrial robot with six degrees of freedom. Its end effector is equipped with a welding torch, enabling welding operations in complex postures.

[0043] The opening and closing base 1 is equipped with a first positive and negative lead screw nut mechanism 2 driven by a dual-axis motor. The two head-and-tail positioners 4 achieve opening and closing actions through the first positive and negative lead screw nut mechanism 2. The slide table 5 is provided with a sliding end 6, and a clamping mechanism is provided on the sliding end 6. The sliding end 6 is moved by a gear driven by a servo motor and a rack provided on the slide table 5. The clamping mechanism includes a base plate 7 and a second positive and negative lead screw nut mechanism 8 driven by a dual-axis motor. The clamping parts at both ends of the clamping mechanism achieve opening and closing actions through the second positive and negative lead screw nut mechanism 8. The first positive and negative lead screw nut mechanism 2 and the second positive and negative lead screw nut mechanism 8 are both lead screw nut mechanisms with opposite thread directions driven by a dual-axis servo motor, thereby realizing the corresponding opening and closing actions.

[0044] The head or tail box of the head-tail positioner 4 is equipped with a proximity switch 22 via a sensor bracket 21, and the flipping mechanism of the head-tail positioner 4 is symmetrically equipped with baffles 23 that cooperate with the proximity switch 22.

[0045] The L-shaped base 10 has two stops 11 with sliding grooves, and the two ends of the L-shaped positioning frame 12 are provided with sliding rods that cooperate with the sliding grooves. The sliding rods are slidably disposed in the sliding grooves. The side wall of the sliding groove is provided with threaded holes, and locking screws 13 are provided in the threaded holes.

[0046] A welding device for processing metal steel structures, wherein the welding method is as follows: Step 1: Determine the target positions of the two clamping mechanisms on one slide 5 according to the specifications of the steel frame to be welded. Adjust the two clamping mechanisms on one slide 5 to the required positions by means of the control system or manual adjustment. Then control the movement of the two clamping mechanisms on the other slide 5 until both first mirror switches 17 collect signals and stop the movement of the driven side sliding end 6. At this time, the clamping mechanisms on the two slides 5 are in the same position in the horizontal direction. Step 2: Place the four square steel pipes horizontally on the clamping mechanism. Position the square steel pipes using the stop block 11 and the L-shaped positioning frame 12. After placement, control the rotary telescopic cylinder 14 to rotate and retract to press the square steel pipes. Then, place the square steel pipes upright at the four corners of one of the clamping mechanisms. Position the upright square steel pipes by adjusting the height of the L-shaped positioning frame 12. Step 3: Control the welding robot 24 to perform welding work; Step 4: Control the two head-and-tail positioners 4 to rotate 90 degrees until the clamping mechanisms on the two slides 5 are vertically aligned, i.e. the second mirror switch 18 collects the signal, then control the two head-and-tail positioners 4 to move closer until the upright square steel pipe abuts against the steel frame on the other set of clamping mechanisms, and then control the welding robot 24 to perform welding work. Step 5: After welding is completed, control the rotary telescopic cylinder 14 of one set of clamping mechanisms to extend and rotate, control the two head and tail positioners 4 to move away, control the head and tail positioners 4 to flip over, control the rotary telescopic cylinder 14 of the other set of clamping mechanisms to extend and rotate, and then remove the steel frame.

[0047] The control system in this invention can use a PLC controller as the core control unit, combined with a human-machine interface to realize parameter setting, status monitoring, and manual operation. The control system is electrically connected to the following actuators and sensors: 1. A dual-axis servo motor drives the first positive and negative lead screw nut mechanism 2 inside the opening and closing base 1; 2. Servo motors inside the four-head box of the head-and-tail positioner; 3. The servo motor of the sliding end 6 of the slide table 5; 4. A dual-axis servo motor drives the second positive and negative lead screw nut mechanism 8 on the base plate 7 of the clamping mechanism; 5. The control solenoid valve for the rotary telescopic cylinder 14; 6. The signal output terminals of the first mirror reversal switch 17 and the second mirror reversal switch 18; 7. Signal output terminal of proximity switch 22; 8. Drive motors for the first linear module 26, the second linear module 27, and the third linear module 28; 9. The controller of welding robot 24 (connected to PLC via a communication interface).

[0048] The control system stores preset welding programs and can call up corresponding process parameters for different specifications of steel frames, including welding current, voltage, welding speed, flipping angle, clamping force, etc. In automatic operation mode, the control system automatically executes the entire welding process according to the sequence of steps.

[0049] Preferably, step three employs a step-by-step welding process, controlling the welding robot 24 to perform welding work on the top surface and part of the side surface; then controlling the head-tail positioner 4 to rotate 180 degrees, thereby completing the welding work on the bottom surface and the remaining side surface.

[0050] For the 90° flip position required in step four, since the baffle 23 is only set at the 0° and 180° positions, the detection of the 90° position can be achieved in the following way: The control system sets the rotation pulse count of the servo motor or the encoder feedback value. When the motor rotates from the 0° position to the preset 90° pulse count, the control system determines that the flip is complete. Simultaneously, an additional proximity switch 22 can be set at the 90° position, or the positional relationship between the two baffles 23 can be used for auxiliary judgment. In an alternative solution, two additional baffles 23 can be set at the 90° and 270° positions on the flipping mechanism, and proximity switches 22 can be set at corresponding positions on the headbox to directly detect the 90° and 270° positions.

[0051] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, and not to limit them. Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some or all of the technical features therein. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present invention, and they should all be covered within the scope of the claims and specification of the present invention.

Claims

1. A welding device for processing metal steel structures, characterized in that: The system includes an opening and closing base (1), a positioner, and a welding robot (24). The opening and closing base (1) is equipped with two head-and-tail positioners (4). The flipping mechanism of the head-and-tail positioner (4) is equipped with a slide table (5). The slide table (5) is equipped with a symmetrical clamping mechanism. The clamping mechanism is symmetrically equipped with two clamping parts at both ends. The two clamping parts can perform opening and closing actions. The clamping part includes an L-shaped base (10), an L-shaped positioning frame (12), a rotary telescopic cylinder (14), and a pressing part. The two ends of the L-shaped base (10) are respectively equipped with a stop block (11). The L-shaped positioning frame (12) is slidably mounted on the L-shaped base (10) and its direction is opposite to that of the L-shaped base (10). The two directions of the L-shaped base (10) are respectively equipped with a rotary telescopic cylinder (14). The piston rod of the rotary telescopic cylinder (14) is equipped with a pressing part. A first mirror switch (17) and a second mirror switch (18) are provided on the clamping mechanism of one slide (5), and a first reflector (19) and a second reflector (20) are provided on the clamping mechanism of the other slide (5). The first mirror switch (17) and the first reflector (19) are used to determine that the clamping mechanisms on the two slides (5) are in the same position along the sliding direction of the slide (5) when they are in the horizontal state. The second mirror switch (18) and the second reflector (20) are used to determine that the clamping mechanisms on the two slides (5) are parallel and perpendicular to each other when they are in the vertical state. The welding robot (24) is mounted on the opening and closing base (1) via a gantry frame (25).

2. The welding apparatus for processing metal steel structures as described in claim 1, characterized in that: The opening and closing base (1) is equipped with a first positive and negative screw nut mechanism (2) driven by a dual-axis motor. The two head and tail type positioners (4) realize the opening and closing action through the first positive and negative screw nut mechanism (2).

3. The welding apparatus for processing metal steel structures as described in claim 1, characterized in that: The head or tail positioner (4) is equipped with a proximity switch (22) via a sensor bracket (21), and the flipping mechanism of the head and tail positioner (4) is symmetrically equipped with baffles (23) that cooperate with the proximity switch (22).

4. The welding apparatus for processing metal steel structures as described in claim 1, characterized in that: The slide (5) is provided with a sliding end (6), and the clamping mechanism is provided on the sliding end (6); the clamping mechanism includes a base plate (7) and a second positive and negative screw nut mechanism (8) driven by a dual-axis motor, and the clamping parts at both ends of the clamping mechanism realize the opening and closing action through the second positive and negative screw nut mechanism (8).

5. The welding apparatus for processing metal steel structures as described in claim 1, characterized in that: The L-shaped base (10) has two stops (11) with sliding grooves. The two ends of the L-shaped positioning frame (12) are provided with sliding rods that cooperate with the sliding grooves. The sliding rods are slidably disposed in the sliding grooves. The side wall of the sliding groove is provided with threaded holes, and locking screws (13) are provided in the threaded holes.

6. The welding apparatus for processing metal steel structures as described in claim 1, characterized in that: The gantry (25) has a first linear module (26) on its crossbeam, a second linear module (27) on the first linear module (26) along the horizontal direction, a third linear module (28) on the second linear module (27) along the vertical direction, and a welding robot (24) connected to the third linear module (28).

7. The welding apparatus for processing metal steel structures as described in claim 1, characterized in that: The piston rod of the rotary telescopic cylinder (14) is provided with a connecting plate (15), and a pressing block (16) is provided on the connecting plate (15).

8. The welding apparatus for processing metal steel structures as described in claim 1, wherein the welding method is as follows: Step 1: Adjust the two clamping mechanisms on one slide (5) to the required position according to the specifications of the steel frame to be welded, and control the movement of the two clamping mechanisms on the other slide (5) until both first mirror switches (17) collect signals. Step 2: Place the square steel pipes horizontally on the clamping mechanism. Position the square steel pipes using the stop block (11) and the L-shaped positioning frame (12). After placement, control the rotary telescopic cylinder (14) to rotate and retract to press the square steel pipes. Then, place the square steel pipes upright at the four corners of one of the clamping mechanisms. Position the upright square steel pipes by adjusting the height of the L-shaped positioning frame (12). Step 3: Control the welding robot (24) to perform welding work; Step 4: Control the two head-and-tail positioners (4) to rotate 90 degrees until the clamping mechanisms on the two slides (5) are vertically aligned, that is, the second mirror switch (18) collects the signal, and then control the two head-and-tail positioners (4) to move closer until the upright square steel pipe abuts against the steel frame on the other set of clamping mechanisms, and then control the welding robot (24) to perform welding work. Step 5: After welding is completed, control the rotary telescopic cylinder (14) of one set of clamping mechanisms to extend and rotate, control the two head-tail positioners (4) to move away, control the head-tail positioners (4) to flip over, control the rotary telescopic cylinder (14) of the other set of clamping mechanisms to extend and rotate, and then remove the steel frame.

9. The welding method of the welding apparatus for metal steel structure processing as described in claim 8, characterized in that: Step 3 adopts a step-by-step welding method, controlling the welding robot (24) to perform welding work on the top surface and part of the side surface; then controlling the head and tail positioner (4) to rotate 180 degrees, thereby completing the welding work on the bottom surface and the remaining side surface.

Images