Intelligent gantry submerged arc automatic welding machine
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- CHENGDU YASKAWA WELDING & CUTTING EQUIP CO LTD
- Filing Date
- 2025-06-05
- Publication Date
- 2026-06-26
AI Technical Summary
但是由于工件的厚度较厚，焊接时候会产生大量的热源，由此给焊接工人严重增加了工作强度
[0011]本实用新型有益效果在于：该智能龙门式埋弧自动焊机通过集成化、自动化设计，显著提升了工字形钢结构焊接的效率和质量。从而解决传统人工焊接中因工件厚重导致的劳动强度大、热变形控制难、焊缝一致性差等问题。适用于建筑、桥梁、工程机械等领域的长尺寸、厚钢板工字形构件的批量焊接。其中放件槽通过其截面轮廓限定，来约束带焊接板片的角度与位置，使带焊接的焊缝向上精准的暴露出来。在焊接过程中，操作人员通过控制器运行系统，使龙门式焊接机床沿轨道移动，覆盖工件全长，并实现多工位同步焊接。第一步进电机驱动焊枪横向微调，从而适配不同尺寸的工字形腹板与翼板焊缝焊接要求。伸缩臂通过控制器能动态调节焊枪高度，适应工件热变形导致的起伏，保持焊枪与焊缝的最佳距离。自动送丝机与焊机电源配合，通过熔剂层保护电弧，减少飞溅和热辐射，提升焊缝质量。其中，控制器作为智能控制核心，实时协调行走机构、焊枪位移、送丝速度及电流参数，确保焊接路径与工艺参数的精准匹配。最终使得该智能龙门式埋弧自动焊机有效的提升焊接质量，保证了焊缝的一致性，通过机械自动化避免人工操作的随机误差，使焊缝均匀饱满。并且在热变形控制方面，埋弧焊低热输入+多焊枪同步焊接，减少局部热积累导致的变形。多工位并行作业，实现批量焊接，连续作业能力强，无需频繁吊装调整，缩短工序间隔时间，减少对高技术焊工的依赖，降低劳动强度及人力成本，同时还能精准控制减少缺陷，降低了返工率，节省后期矫正成本。综上，龙门式多焊枪协同与放件槽定位，解决长工件焊接的定位与变形难题，通过控制器整合机械运动与焊接参数，实现自适应调节，埋弧焊与自动化结合，尤其适合厚板、长焊缝的高质量需求场景，在效率、质量、成本三个维度实现了传统焊接工艺的升级。激光跟踪器和摄像头进一步提升了焊接过程的智能化水平和精度控制能力，其中，激光跟踪器主动扫描，通过激光束投射到焊缝表面，实时检测焊缝的几何特征，摄像头将扫描影像实时传输至控制器，控制器通过横滑台和伸缩臂动态调整焊枪的横向位置和高度，确保焊枪始终对准焊缝中心，此外还拍摄焊缝及周边区域的实时图像，识别焊缝边缘、熔池状态、表面缺陷。控制器通过图像处理算法或深度学习模型结合AI分析来判断焊接质量，并反馈至焊机电源和自动送丝机调整参数。因此，通过引入激光跟踪和视觉监控，该方案从被动执行焊接升级为主动感知-决策-执行的智能系统，显著提升了复杂工况下的焊接可靠性和一致性。编码器监测减速马达的转速和行走轮位移，将位置信号反馈至控制器，形成闭环控制，确保焊接机床沿轨道移动时的定位精度。两侧减速马达的编码器数据可对比，若出现行走不同步，控制器动态调整两侧马达转速，保持龙门架水平移动。此外，根据焊接工艺需求，控制器通过编码器反馈实时调节减速马达输出，实现无级变速，避免急启急停造成的振动或焊缝不均匀。每个横滑台由独立的步进电机驱动，可适配不同宽度的工字形工件，实现柔性化生产。焊接过程中，工件受热可能导致翼板局部翘曲，通过激光跟踪器反馈的偏移信号，控制器实时调整第一步进电机转角，驱动横滑台微调焊枪横向位置，保持焊缝对中，解决了工字形钢结构焊接中因工件尺寸差异、热变形或组对误差导致的焊枪对位难题。控制器通过第二步进电机微调伸缩臂，保持焊枪与焊缝的恒定距离，确保电弧稳定性。吸尘口紧邻焊枪，利用负压直接抽取刚产生的烟尘和金属氧化物颗粒，避免扩散到车间空气中。吸尘口随焊枪同步移动，确保任何焊接位置都能有效覆盖。此外，吸尘器与焊接电源同步启停，避免工人遗忘操作。
Smart Images
Figure CN224406622U_ABST
Abstract
Description
Technical Field
[0001] This utility model relates to the field of welding equipment technology, specifically to an intelligent gantry-type submerged arc automatic welding machine. Background Technology
[0002] Currently, with the increasing market demand, steel structures are being used more and more widely, appearing in buildings, bridges, and other engineering machinery.
[0003] In the current production method, workers assemble the prepared steel sheets into an "I" shape. Then, they are manually hoisted onto the welding platform and placed securely before being welded manually. However, due to the thickness of the workpiece, a large amount of heat is generated during welding, significantly increasing the workload for the welders. Furthermore, the relatively long length of the workpiece causes thermal deformation during welding, resulting in inconsistent weld positions, incomplete welds, and other defects. Utility Model Content
[0004] This invention provides an intelligent gantry-type submerged arc welding machine, which significantly improves the efficiency and quality of welding I-shaped steel structures through integrated and automated design.
[0005] To achieve the above objectives, this utility model provides the following technical solution: an intelligent gantry-type submerged arc welding machine, comprising: a workpiece placement platform, which is horizontally arranged and has multiple workpiece placement slots along its length at its top, and machine tool tracks on opposite sides of the workpiece placement platform; a welding machine tool, which is transversely placed above the workpiece placement platform and has traveling mechanisms at both ends that cooperate with the machine tool tracks; a welding power supply and an automatic wire feeder are respectively provided on the top of the welding machine tool corresponding to each of the workpiece placement slots; and a moving crossbeam, which is horizontally arranged in the middle of the welding machine tool. Furthermore, the moving crossbeam is equipped with a transverse slide corresponding to each of the placement slots, and each transverse slide is equipped with a first stepper motor; multiple telescopic arms are provided and are respectively connected to each of the corresponding transverse slides, and each telescopic arm is equipped with a welding torch at its bottom end, and the welding torch is connected to the corresponding welding machine power supply and the automatic wire feeder; the controller is located on one side of the welding machine tool, and the traveling mechanism, each of the first stepper motors, the telescopic arms, the welding machine power supply, the automatic wire feeder, and the welding torch are respectively electrically connected to the controller.
[0006] Preferably, the device further includes a laser tracker and a camera, the laser tracker and the camera being fixedly mounted on both sides of the bottom of the welding torch, and the laser tracker and the camera being electrically connected to the controller.
[0007] Preferably, the traveling mechanism includes traveling wheels that cooperate with the machine tool track, and a reduction motor that drives the traveling wheels. Each reduction motor is equipped with an encoder, and the reduction motor and the encoder are electrically connected to the controller.
[0008] Preferably, the moving crossbeam is provided with a horizontal base rail for each of the transverse slides, each transverse slide is connected to the base rail by a ball screw, each stepper motor is fixedly connected to the corresponding base rail, and the output shaft of the stepper motor is connected to the corresponding ball screw.
[0009] Preferably, a vertical telescopic track is provided on one side of the horizontal slide table corresponding to the telescopic arm. Each telescopic arm is respectively connected to the telescopic track via a ball screw. A second stepper motor is provided at the top of the telescopic track, and the output shaft of the second stepper motor is connected to the corresponding ball screw. The second stepper motor is electrically connected to the controller.
[0010] Preferably, a dust suction port is provided on one side of the bottom of the welding torch, and a vacuum cleaner is provided at the top of the telescopic arm. The dust inlet pipe of the vacuum cleaner is connected to the dust suction port, and the vacuum cleaner is electrically connected to the controller.
[0011] The beneficial effects of this utility model are as follows: This intelligent gantry-type submerged arc welding machine, through integrated and automated design, significantly improves the efficiency and quality of welding I-beam steel structures. It solves the problems of high labor intensity, difficulty in controlling thermal deformation, and poor weld consistency caused by the weight of the workpiece in traditional manual welding. It is suitable for batch welding of long, thick steel plate I-beam components in fields such as construction, bridges, and engineering machinery. The placement groove, defined by its cross-sectional contour, constrains the angle and position of the welded plates, ensuring precise upward exposure of the weld seam. During welding, the operator uses the controller to move the gantry welding machine along the track, covering the entire length of the workpiece and achieving simultaneous welding at multiple stations. The first stepper motor drives the welding torch for lateral fine-tuning, adapting to the welding requirements of different sized I-beam web and flange weld seams. The telescopic arm, controlled by the controller, dynamically adjusts the welding torch height to accommodate the undulations caused by workpiece thermal deformation, maintaining the optimal distance between the welding torch and the weld seam. The automatic wire feeder, in conjunction with the welding machine power supply, protects the arc with a flux layer, reducing spatter and heat radiation, and improving weld quality. The controller, as the core of intelligent control, coordinates the walking mechanism, welding torch displacement, wire feed speed, and current parameters in real time to ensure precise matching between the welding path and process parameters. Ultimately, this intelligent gantry-type submerged arc welding machine effectively improves welding quality, ensures weld consistency, and avoids random errors from manual operation through mechanical automation, resulting in uniform and full welds. Furthermore, in terms of heat deformation control, the low heat input of submerged arc welding combined with simultaneous welding of multiple welding torches reduces deformation caused by localized heat accumulation. Multi-station parallel operation enables batch welding, strong continuous operation capability, eliminates the need for frequent hoisting and adjustments, shortens process intervals, reduces reliance on highly skilled welders, lowers labor intensity and labor costs, and also precisely controls and reduces defects, decreasing rework rates and saving on subsequent correction costs. In summary, the gantry-type multi-welding torch collaboration and workpiece placement slot positioning solve the positioning and deformation problems of welding long workpieces. By integrating mechanical motion and welding parameters through the controller, adaptive adjustment is achieved. The combination of submerged arc welding and automation is particularly suitable for high-quality demand scenarios involving thick plates and long welds, achieving an upgrade of traditional welding processes in terms of efficiency, quality, and cost. Laser trackers and cameras further enhance the intelligence and precision control of the welding process. The laser tracker actively scans the weld surface, projecting a laser beam to detect its geometric features in real time. The camera transmits the scanned images to the controller, which dynamically adjusts the lateral position and height of the welding torch via a sliding table and telescopic arm to ensure the torch is always aligned with the weld center. It also captures real-time images of the weld and surrounding area, identifying weld edges, molten pool condition, and surface defects. The controller uses image processing algorithms or deep learning models combined with AI analysis to determine welding quality and feeds this feedback to the welding machine power supply and automatic wire feeder to adjust parameters.Therefore, by introducing laser tracking and visual monitoring, this solution upgrades welding from passive execution to an intelligent system of proactive perception, decision-making, and execution, significantly improving welding reliability and consistency under complex working conditions. The encoder monitors the speed of the reduction motor and the displacement of the traveling wheels, feeding the position signal back to the controller to form a closed-loop control, ensuring the positioning accuracy of the welding machine tool as it moves along the track. The encoder data from the two reduction motors can be compared; if asynchronous movement occurs, the controller dynamically adjusts the speed of both motors to maintain the horizontal movement of the gantry. Furthermore, according to welding process requirements, the controller adjusts the output of the reduction motor in real time through encoder feedback, achieving stepless speed regulation and avoiding vibration or uneven weld seams caused by sudden starts and stops. Each transverse slide is driven by an independent stepper motor, adaptable to I-shaped workpieces of different widths, enabling flexible production. During welding, workpiece heating may cause local warping of the flange. Using the offset signal fed back by the laser tracker, the controller adjusts the rotation angle of the first stepper motor in real time, driving the transverse slide to fine-tune the lateral position of the welding torch, maintaining weld centering, and solving the welding torch alignment problem caused by workpiece size differences, thermal deformation, or assembly errors in the welding of I-shaped steel structures. The controller uses a second stepper motor to fine-tune the telescopic arm, maintaining a constant distance between the welding torch and the weld seam to ensure arc stability. The dust extraction port is located adjacent to the welding torch, using negative pressure to directly extract freshly generated fumes and metal oxide particles, preventing them from spreading into the workshop air. The dust extraction port moves synchronously with the welding torch, ensuring effective coverage of any welding position. Furthermore, the dust collector starts and stops synchronously with the welding power supply to prevent workers from forgetting to operate it. Attached Figure Description
[0012] To more clearly illustrate the technical solutions in the embodiments of this utility model or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this utility model. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.
[0013] Figure 1 This is a front view of the overall structure of this utility model;
[0014] Figure 2 This is a side view of the overall structure of this utility model;
[0015] Figure 3 This is a partial structural diagram of the present invention.
[0016] In the diagram: 1. Part placement platform; 2. Part placement slot; 3. Machine tool track; 4. Welding machine tool; 5. Welding machine power supply; 6. Automatic wire feeder; 7. Moving crossbeam; 8. Horizontal slide table; 9. First stepper motor; 10. Telescopic arm; 11. Welding torch; 12. Controller; 13. Laser tracker; 14. Camera; 15. Traveling wheels; 16. Gear motor; 17. Encoder; 18. Base track; 19. Telescopic track; 20. Second stepper motor; 21. Dust suction port; 22. Vacuum cleaner. Detailed Implementation
[0017] The technical solution of this utility model will now be clearly and completely described with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this utility model, and not all embodiments. Based on the embodiments of this utility model, all other embodiments obtained by those skilled in the art without creative effort are within the protection scope of this utility model.
[0018] according to Figure 1 , Figure 2 , Figure 3 As shown, an intelligent gantry-type submerged arc welding machine includes: a workpiece placement platform 1, which is horizontally arranged and has multiple workpiece placement slots 2 along its length at its top, and machine tool tracks 3 on opposite sides of the workpiece placement platform 1; a welding machine tool 4, which is horizontally positioned above the workpiece placement platform 1 and has traveling mechanisms at both ends that cooperate with the machine tool tracks 3; a welding power supply 5 and an automatic wire feeder 6 are respectively provided on the top of the welding machine tool 4 corresponding to each of the workpiece placement slots 2; and a moving crossbeam 7, which is horizontally arranged in the middle of the welding machine tool 4 and has mechanisms that cooperate with each of the workpiece placement slots 2. The groove 2 corresponds to a horizontal slide table 8, and each horizontal slide table 8 is equipped with a first stepper motor 9; there are multiple telescopic arms 10, which are respectively connected to each of the corresponding horizontal slide tables 8, and each telescopic arm 10 is equipped with a welding torch 11 at its bottom end. The welding torch 11 is connected to the corresponding welding machine power supply 5 and the automatic wire feeder 6; the controller 12 is located on one side of the welding machine tool 4, and the traveling mechanism, each of the first stepper motors 9, the telescopic arms 10, the welding machine power supply 5, the automatic wire feeder 6, and the welding torch 11 are electrically connected to the controller 12.
[0019] Through the above design, this intelligent gantry-type submerged arc welding machine significantly improves the efficiency and quality of I-beam steel structure welding through integrated and automated design. This solves the problems of high labor intensity, difficulty in controlling thermal deformation, and poor weld consistency caused by the weight of the workpiece in traditional manual welding. It is suitable for batch welding of long, thick steel plate I-beam components in fields such as construction, bridges, and engineering machinery. The placement groove 2, through its cross-sectional contour, constrains the angle and position of the welded plates, ensuring that the weld seam is precisely exposed upwards. During welding, the operator uses the controller 12 to operate the system, moving the gantry welding machine 4 along the track to cover the entire length of the workpiece and achieve multi-station synchronous welding. The first stepper motor 9 drives the welding torch 11 for lateral fine-tuning, adapting to the welding requirements of different sized I-beam web and flange weld seams. The telescopic arm 10, through the controller 12, can dynamically adjust the height of the welding torch 11 to adapt to the fluctuations caused by workpiece thermal deformation, maintaining the optimal distance between the welding torch 11 and the weld seam. The automatic wire feeder 6 works in conjunction with the welding power supply 5, protecting the arc with a flux layer to reduce spatter and heat radiation, thus improving weld quality. The controller 12, as the intelligent control core, coordinates the traveling mechanism, welding torch 11 displacement, wire feed speed, and current parameters in real time to ensure precise matching of the welding path and process parameters. Ultimately, this intelligent gantry-type submerged arc welding machine effectively improves welding quality, ensures weld consistency, and avoids random errors from manual operation through mechanical automation, resulting in uniform and full welds. Furthermore, in terms of heat deformation control, the low heat input of submerged arc welding combined with simultaneous welding by multiple welding torches 11 reduces deformation caused by localized heat accumulation. Multi-station parallel operation enables batch welding, provides strong continuous operation capabilities, eliminates the need for frequent hoisting and adjustments, shortens process intervals, reduces reliance on highly skilled welders, lowers labor intensity and labor costs, and also allows for precise control to reduce defects, lower rework rates, and save on subsequent correction costs.
[0020] In summary, the gantry-type multi-welding torch 11, in coordination with the placement slot 2, solves the positioning and deformation problems of welding long workpieces. The controller 12 integrates mechanical motion and welding parameters to achieve adaptive adjustment. The combination of submerged arc welding and automation is particularly suitable for high-quality demand scenarios with thick plates and long welds, and upgrades the traditional welding process in terms of efficiency, quality, and cost.
[0021] It also includes a laser tracker 13 and a camera 14, which are respectively fixedly mounted on both sides of the bottom of the welding torch 11, and the laser tracker 13 and the camera 14 are electrically connected to the controller 12.
[0022] This setup, with the addition of a laser tracker 13 and a camera 14, further enhances the intelligence and precision control of the welding process. The laser tracker 13 actively scans, projecting a laser beam onto the weld surface to detect its geometric features in real time. The camera 14 transmits the scanned images to the controller 12 in real time. The controller 12 dynamically adjusts the lateral position and height of the welding torch 11 via the horizontal slide table 8 and the telescopic arm 10, ensuring that the torch 11 is always aligned with the weld center. It also captures real-time images of the weld and surrounding area, identifying weld edges, molten pool conditions, and surface defects. The controller 12 uses image processing algorithms or deep learning models combined with AI analysis to determine welding quality and feeds this information back to the welding machine power supply 5 and the automatic wire feeder 6 to adjust parameters. Therefore, by introducing laser tracking and visual monitoring, this solution upgrades welding from a passive process to an active perception-decision-execution intelligent system, significantly improving welding reliability and consistency under complex conditions.
[0023] The traveling mechanism includes traveling wheels 15 that cooperate with the machine tool track 3, and a reduction motor 16 that drives the traveling wheels 15. Each reduction motor 16 is equipped with an encoder 17, and the reduction motor 16 and the encoder 17 are electrically connected to the controller 12.
[0024] This design further optimizes the motion control accuracy and stability of the gantry welding machine. The encoder 17 monitors the speed of the reduction motor 16 and the displacement of the traveling wheels 15, feeding back the position signal to the controller 12 to form a closed-loop control, ensuring the positioning accuracy of the welding machine tool 4 as it moves along the track. The encoder data from the two reduction motors 16 can be compared; if asynchronous movement occurs, the controller 12 dynamically adjusts the speed of both motors to maintain the horizontal movement of the gantry. Furthermore, according to welding process requirements, the controller 12 adjusts the output of the reduction motor 16 in real time through encoder feedback, achieving stepless speed regulation and avoiding vibration or uneven weld seams caused by sudden starts and stops.
[0025] The moving crossbeam 7 is provided with a horizontal base rail 18 corresponding to each of the horizontal slide tables 8. Each of the horizontal slide tables 8 is connected to the base rail 18 by a ball screw. Each of the first stepper motors 9 is fixedly connected to the corresponding base rail 18, and the output shaft of the first stepper motor 9 is connected to the corresponding ball screw.
[0026] This technical solution achieves high-precision control of the lateral movement of the welding torch 11, ensuring accurate alignment of the welding torch 11 at the junction of the web and flange of the I-shaped component. Each transverse slide 8 is driven by an independent stepper motor, which can adapt to I-shaped workpieces of different widths, enabling flexible production. During welding, the workpiece may warp locally due to heat. Based on the offset signal fed back by the laser tracker 13, the controller 12 adjusts the rotation angle of the first stepper motor 9 in real time, driving the transverse slide 8 to fine-tune the lateral position of the welding torch 11, maintaining weld alignment, and solving the problem of welding torch 11 alignment caused by workpiece size differences, thermal deformation, or assembly errors in the welding of I-shaped steel structures.
[0027] A vertical telescopic rail 19 is provided on one side of the horizontal slide table 8 corresponding to the telescopic arm 10. Each telescopic arm 10 is connected to the telescopic rail 19 by a ball screw. A second stepper motor 20 is provided at the top of the telescopic rail 19. The output shaft of the second stepper motor 20 is connected to the corresponding ball screw. The second stepper motor 20 is electrically connected to the controller 12.
[0028] This technical solution enables precise adjustment of the height of the welding torch 11. When welding thick plates, the workpiece may bulge or sink locally due to heat. Therefore, the height change is detected in real time by the laser tracker 13. The controller 12 finely adjusts the telescopic arm 10 through the second stepper motor 20 to maintain a constant distance between the welding torch 11 and the weld seam, thus ensuring arc stability.
[0029] The welding torch 11 for submerged arc welding is provided with a dust suction port 21 on one side of its bottom, and a vacuum cleaner 22 is provided at the top of the telescopic arm 10. The dust inlet pipe of the vacuum cleaner 22 is connected to the dust suction port 21, and the vacuum cleaner 22 is electrically connected to the controller 12.
[0030] This technical solution enables the source collection and real-time treatment of welding fumes. The suction port 21 is located adjacent to the welding torch 11, using negative pressure to directly extract the newly generated fumes and metal oxide particles, preventing them from spreading into the workshop air. The suction port 21 moves synchronously with the welding torch 11, ensuring effective coverage of any welding position. In addition, the vacuum cleaner 22 starts and stops synchronously with the welding power supply to prevent workers from forgetting to operate it.
[0031] The above description is merely a specific embodiment of this utility model, but the protection scope of this utility model is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the technical scope disclosed in this utility model should be included within the protection scope of this utility model. Therefore, the protection scope of this utility model should be determined by the scope of the claims.
Claims
1. An intelligent gantry-type submerged arc welding machine, characterized in that, include: The part placement platform (1) is horizontally arranged and has multiple part placement slots (2) along the length direction at the top. Machine tool tracks (3) are provided on opposite sides of the part placement platform (1). Welding machine tool (4), the welding machine tool (4) is horizontally placed above the placement platform (1), and both ends are respectively provided with a walking mechanism that cooperates with the machine tool track (3). The top of the welding machine tool (4) is respectively provided with a welding power supply (5) and an automatic wire feeder (6) corresponding to each placement slot (2); A movable crossbeam (7) is horizontally arranged in the middle of the welding machine tool (4), and the movable crossbeam (7) is provided with a transverse slide (8) corresponding to each of the placement slots (2), and each of the transverse slides (8) is provided with a first stepper motor (9); Telescopic arms (10), multiple telescopic arms (10) are provided and are respectively connected to each of the corresponding horizontal slides (8). Each telescopic arm (10) is provided with a welding gun (11) at its bottom end. The welding gun (11) is connected to the corresponding welding machine power supply (5) and the automatic wire feeder (6). The controller (12) is located on one side of the welding machine tool (4), and the walking mechanism, each of the first stepper motors (9), the telescopic arm (10), the welding power supply (5), the automatic wire feeder (6) and the welding torch (11) are electrically connected to the controller (12).
2. The intelligent gantry-type submerged arc welding machine according to claim 1, characterized in that: It also includes a laser tracker (13) and a camera (14), the laser tracker (13) and the camera (14) being fixedly mounted on both sides of the bottom of the welding torch (11), and the laser tracker (13) and the camera (14) being electrically connected to the controller (12).
3. The intelligent gantry-type submerged arc welding machine according to claim 1, characterized in that: The traveling mechanism includes a traveling wheel (15) that cooperates with the machine tool track (3) and a reduction motor (16) that drives the traveling wheel (15). Each reduction motor (16) is equipped with an encoder (17), and the reduction motor (16) and the encoder (17) are electrically connected to the controller (12).
4. The intelligent gantry-type submerged arc welding machine according to claim 1, characterized in that: The moving crossbeam (7) is provided with a horizontal base rail (18) corresponding to each of the horizontal slides (8). Each of the horizontal slides (8) is connected to the base rail (18) by a ball screw. Each of the first stepper motors (9) is fixedly connected to the corresponding base rail (18), and the output shaft of the first stepper motor (9) is connected to the corresponding ball screw.
5. The intelligent gantry-type submerged arc welding machine according to claim 1, characterized in that: The horizontal slide (8) has a vertical telescopic rail (19) on one side corresponding to the telescopic arm (10). Each telescopic arm (10) is connected to the telescopic rail (19) via a ball screw. The top of the telescopic rail (19) is provided with a second stepper motor (20). The output shaft of the second stepper motor (20) is connected to the corresponding ball screw. The second stepper motor (20) is electrically connected to the controller (12).
6. The intelligent gantry-type submerged arc automatic welding machine according to claim 1, characterized in that: The welding torch (11) is provided with a dust suction port (21) on one side of its bottom, and a vacuum cleaner (22) is provided at the top of the telescopic arm (10). The dust inlet pipe of the vacuum cleaner (22) is connected to the dust suction port (21), and the vacuum cleaner (22) is electrically connected to the controller (12).