CN114669863A

CN114669863A - I-steel truss girder board corner welding robot

Info

Publication number: CN114669863A
Application number: CN202210401863.4A
Authority: CN
Inventors: 温从众; 糜娜; 严钟; 李芳�
Original assignee: Anhui University of Technology AHUT
Current assignee: Anhui University of Technology AHUT
Priority date: 2022-04-18
Filing date: 2022-04-18
Publication date: 2022-06-28

Abstract

The invention provides an I-shaped steel truss girder plate corner welding robot, which relates to the technical field of welding equipment and comprises a support frame, wherein a first feeding mechanism is arranged on one side of the support frame, the first feeding mechanism comprises two feeding slide bars, the two feeding slide bars are fixedly arranged on the support frame, second feeding mechanisms are arranged at the two ends of the support frame, each second feeding mechanism comprises a movable plate, two ends of each movable plate are respectively provided with a movable plate guide rod in a penetrating and sliding manner, guide circular rings are arranged at the two inner ends of the support frame, a gear is matched with a gear ring to generate driving force by starting a moving motor, a moving seat can move by taking a circular ring guide groove as a path through a circular ring sliding block, so that the equipment can be welded around a workpiece during welding, the periphery and corners of the workpiece can be rapidly welded, and the steps of adjusting the position of the workpiece are reduced, the time required by welding is reduced, and the welding efficiency of the equipment is greatly improved.

Description

I-steel truss girder board corner welding robot

Technical Field

The invention relates to the technical field of welding equipment, in particular to an I-shaped steel truss girder plate corner welding robot.

Background

I-steel crossbeam mainly used for building supporting effect, need pass through welding equipment to the both ends welding beam board of I-steel crossbeam in the reproduction process, splice when being used for the installation of I-steel crossbeam, like the multi-functional full-automatic welding robot that patent application No. CN202021776887.0 proposed, including full-automatic welding robot subassembly, including the welding robot base of level placement and with the full-automatic welding robot body that the welding robot base is connected, the workstation subassembly, including the protection outer plywood that is connected with the welding robot base, the opening seted up in the protection outer plywood side, be located protection outer plywood lateral wall and with the layer board of protection outer plywood fixed connection, pass through the opening and with layer board sliding connection's outer weldment work dish, be located the strong magnet that the protection plywood lateral wall was inlayed, with the first baffle of weldment work dish tail end fixed connection, the sliding assembly comprises a connecting shaft connected with the bottom of the welding work disc and a roller connected with the connecting shaft, a protective structure is formed when a workpiece is taken by an end user, a welded part is quickly moved out to the working range of the full-automatic welding robot, and the safety of a worker when the workpiece is taken is guaranteed.

However, according to the technical scheme, when the robot is used, the welding equipment needs to weld the joints and the corners around the I-shaped steel beam and the beam plate, the directions of the I-shaped steel beam need to be adjusted when the joints and the corners around the I-shaped steel beam and the beam plate are welded by the conventional equipment, the operation is troublesome, a large amount of time can be wasted, the phenomenon that the I-shaped steel beam moves easily is caused, the welding equipment needs to be welded again in a positioning mode, the welding efficiency of the equipment is greatly reduced, and therefore the robot is improved, and the robot for welding the corners of the I-shaped steel truss beam plate is provided.

Disclosure of Invention

Aiming at the defects of the prior art, the invention provides an I-steel truss girder plate corner welding robot, which solves the problems that in the prior art, welding equipment needs to weld the joints and corners around an I-steel beam and a girder plate, the direction of the I-steel beam needs to be adjusted when the traditional equipment welds the periphery and the corners, the operation is troublesome, a large amount of time is wasted, the phenomenon that the I-steel beam moves easily occurs, the welding equipment needs to be positioned and welded again, and the welding efficiency of the equipment is greatly reduced.

In order to achieve the purpose, the invention is realized by the following technical scheme: a robot for welding the corner of an I-shaped steel truss girder plate comprises a support frame, wherein a first feeding mechanism is installed on one side of the support frame and comprises two feeding slide bars which are fixedly installed on the support frame, second feeding mechanisms are installed at the two ends of the support frame and comprise movable plates, movable plate guide rods are installed at the two ends of each movable plate in a penetrating and sliding mode, guide rings are arranged at the two inner ends of the support frame, a plurality of sliding sleeves are fixedly installed on the outer wall of each guide ring, each sliding sleeve is sleeved on the outer wall of each guide rod in a sliding mode and installed on the outer wall of each guide rod, the two ends of each guide rod are fixedly installed on the support frame, each guide ring is connected with a driving mechanism, a moving mechanism is installed on the inner wall of each guide ring belt and comprises a moving seat, remove seat swing joint on the inner wall of direction ring, the last surface mounting who removes the seat has the regulation welding mechanism, it includes the supporting seat to adjust welding mechanism, supporting seat fixed mounting is at the upper surface who removes the seat.

Preferably, the outer wall of each feeding sliding rod is sleeved with a feeding sliding sleeve in a sliding mode, the upper surface of each feeding sliding sleeve is integrally provided with supporting rods, and the upper ends of the two supporting rods are fixedly connected with the two ends of the lower surface of the I-beam clamping plate respectively;

one of the feeding slide bars is fixedly provided with a first feeding cylinder, and the output end of the first feeding cylinder is fixedly connected with a feeding sliding sleeve.

Preferably, the two moving plate guide rods are fixedly mounted on the support frame, one side surface of the moving plate is fixedly connected with the output end of a second feeding cylinder, and the second feeding cylinder is fixedly mounted on the moving plate guide rods through a support;

and a beam plate clamping plate is fixedly arranged on the surface of the other side of the moving plate.

Preferably, the driving mechanism comprises two screw rod sleeves, the two screw rod sleeves are respectively and fixedly installed on the outer walls of the two guide circular rings, the two screw rod sleeves are respectively sleeved on the outer walls of the two ends of the bidirectional screw rod and are movably connected with the outer walls of the two ends of the bidirectional screw rod, the bidirectional screw rod is rotatably installed on the supporting frame, one end of the bidirectional screw rod is rotatably connected with the output end of the driving motor through the supporting frame, and the driving motor is fixedly installed on the supporting frame through the motor base.

Preferably, the inner walls of the two sides of the movable seat are fixedly provided with circular ring sliding blocks, the circular ring sliding blocks are respectively and slidably mounted in the two circular ring guide grooves, and the circular ring guide grooves are respectively arranged on the surfaces of the two sides of the guide circular ring.

Preferably, a moving motor is fixedly mounted inside the moving seat, a gear is fixedly mounted at an output end of the moving motor, the gear is rotatably mounted inside the moving seat, a toothed ring is meshed and connected with the lower side of the gear, and the toothed ring is fixedly mounted on the inner wall of the guide circular ring.

Preferably, the upper end swing joint of supporting seat has the connecting seat, the inside fixed mounting of connecting seat has the pivot, the pivot is rotated and is installed in the upper end of supporting seat, the one end of pivot passes connecting seat and adjusting motor's output fixed connection, adjusting motor passes through support fixed mounting on the supporting seat.

Preferably, a piston mounting groove is formed in the connecting seat, a piston is movably connected in the piston mounting groove, a guide supporting rod is fixedly connected to the upper surface of the piston, a supporting plate is fixedly mounted at the upper end of the guide supporting rod, and a laser welding gun is fixedly mounted on the upper surface of the supporting plate.

Preferably, a piston limiting boss is fixedly arranged on the inner wall of the piston mounting groove and below the piston;

fixed mounting has defeated oil pipe on the outer wall of connecting seat, defeated oil pipe's inside and piston mounting groove's inside intercommunication, defeated oil pipe's one end is connected with the output of oil pump, the input and the oil storage jar of oil pump are connected, the fixed mounting of oil storage jar removes the upper surface of seat.

Preferably, guide sliding sleeves are fixedly mounted on the upper surface of the supporting plate and positioned on two sides of the laser welding gun, guide sliding rods are slidably mounted inside the guide sliding sleeves, the upper ends of the guide sliding rods slidably penetrate through the guide sliding sleeves to be fixedly connected with the disc mounting seat, and a disc is rotatably mounted inside the disc mounting seat;

the lower end of the guide sliding rod is fixedly connected with the upper end of the supporting spring, and the lower end of the supporting spring is fixedly connected to the inner surface of the guide sliding sleeve.

The invention provides a robot for welding the corners of an I-shaped steel truss girder plate. The method has the following beneficial effects:

at first start the oil pump and can pass through defeated oil pipe with the inside fluid of oil storage cylinder and carry to the inside of piston mounting groove, can promote that piston and guide support pole elevating movement through fluid, can promote laser welder synchronous motion through the backup pad, through cooperating with accommodate motor, make laser welder extension and rotate, move the welding to needs welded position, when moving the welding, make the outer wall of two discs that are higher than laser welder contact with the welding seam position first-selected, thereby can fix a position the welding seam, avoid appearing welding inclined to one side's phenomenon.

When the movable welding machine is used for movable welding, the pressure contacted with a workpiece can be buffered through the matching of the supporting spring and the guide sliding rod, and the disc mounting seat can be abutted tightly when the disc mounting seat is contacted with the upper end of the guide sliding sleeve, so that a certain gap is reserved between the upper end of the disc and the upper end of the laser welding gun, and the phenomenon of damage caused by the contact of the laser welding gun and the workpiece can be avoided.

Through starting the mobile motor, make the gear cooperate with the ring gear and produce drive power, make to remove the seat and can use the ring guide way to remove as the route through the ring slider, make equipment can weld around the work piece during the welding, can be quick weld the work piece with the corner all around, reduce the step of adjusting the work piece position, reduced the required time of welding, promoted the welding efficiency of equipment greatly.

Drawings

FIG. 1 is a schematic view of the overall structure of the present invention;

FIG. 2 is a schematic structural diagram of a side view device of the present invention;

FIG. 3 is a schematic bottom view of the present invention;

FIG. 4 is a schematic top view of the guide ring of the present invention;

FIG. 5 is a schematic view of the invention taken at A-A in FIG. 4;

FIG. 6 is an enlarged view of the structure of FIG. 5 at B according to the present invention;

FIG. 7 is a side view of the movable base of the present invention;

FIG. 8 is a schematic top view of the movable base of the present invention;

FIG. 9 is a cross-sectional view taken at C-C of FIG. 8 in accordance with the teachings of the present invention;

FIG. 10 is an enlarged view of FIG. 9 at D according to the present invention;

fig. 11 is an enlarged view of fig. 9 at E.

Wherein, 1, a support frame; 2. a first feeding mechanism; 201. a feeding slide bar; 202. a feeding sliding sleeve; 203. a support bar; 204. an I-beam clamping plate; 205. a first feed cylinder; 3. a guide ring; 4. a sliding sleeve; 5. a guide bar; 6. a second feeding mechanism; 601. moving a guide bar; 602. moving the plate; 603. a beam plate clamping plate; 604. a second feed cylinder; 7. a drive mechanism; 701. a screw rod sleeve; 702. a bidirectional screw rod; 703. a drive motor; 704. a motor base; 8. a moving mechanism; 801. a movable seat; 802. a circular ring guide groove; 803. a circular ring slider; 804. a gear; 805. a moving motor; 806. a toothed ring; 9. adjusting the welding mechanism; 901. a supporting seat; 902. a rotating shaft; 903. adjusting the motor; 904. a connecting seat; 905. a reserve tube; 906. an oil pump; 907. an oil delivery pipe; 908. a piston mounting groove; 909. a piston limit boss; 9010. a piston; 9011. a guide support rod; 9012. a support plate; 9013. a laser welding gun; 9014. a guide sliding sleeve; 9015. a guide slide bar; 9016. a support spring; 9017. a disc mounting base; 9018. a disk.

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

Example (b):

as shown in fig. 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, and 11, an embodiment of the present invention provides an i-steel truss plate corner welding robot, which includes a support frame 1, a first feeding mechanism 2 is installed at one side of the support frame 1, the first feeding mechanism 2 includes two feeding slide bars 201, the two feeding slide bars 201 are both fixedly installed on the support frame 1, second feeding mechanisms 6 are installed at both ends of the support frame 1, each second feeding mechanism 6 includes a moving plate 602, moving plate guide bars 601 are installed at both ends of the moving plate 602 in a penetrating and sliding manner, guide rings 3 are respectively installed at both ends of the interior of the support frame 1, a plurality of sliding sleeves 4 are fixedly installed on the outer wall of each guide ring 3, each sliding sleeve 4 is slidably installed on the outer wall of a guide bar 5, both ends of each guide bar 5 are fixedly installed on the support frame 1, every direction ring 3 all is connected with actuating mechanism 7, every moving mechanism 8 is all installed on the inner wall in direction ring 3 area, moving mechanism 8 is including removing seat 801, remove seat 801 swing joint on the inner wall of direction ring 3, the last surface mounting who removes seat 801 has the regulation welding mechanism 9, it includes supporting seat 901 to adjust welding mechanism 9, supporting seat 901 fixed mounting is at the upper surface that removes seat 801.

It should be noted that, the outer wall of each of the feeding slide bars 201 is sleeved with a feeding slide sleeve 202, the upper surface of each of the feeding slide sleeves 202 is provided with support rods 203, the upper ends of the two support rods 203 are fixedly connected to the two ends of the lower surface of the i-beam clamping plate 204, and the clamping grooves formed in the i-beam clamping plate 204 are matched with the shape of the i-beam to position the i-beam.

One of the feeding slide bars 201 is fixedly provided with a first feeding cylinder 205, an output end of the first feeding cylinder 205 is fixedly connected with the feeding sliding sleeve 202, and the first feeding cylinder 205 is started to push the feeding sliding sleeve 202 to move by taking the feeding slide bar 201 as a path.

It should be noted that the two moving plate guide rods 601 are both fixedly mounted on the support frame 1, one side surface of the moving plate 602 is fixedly connected with the output end of the second feeding cylinder 604, the second feeding cylinder 604 is fixedly mounted on the moving plate guide rod 601 through the support, and the second feeding cylinder 604 is started to push the moving plate 602 to move for feeding.

The other side surface of the movable plate 602 is fixedly provided with a beam plate clamping plate 603, a clamping groove matched with the beam plate is formed in the beam plate clamping plate 603, and after welding is completed, the movable plate 602 is moved backwards to enable the beam plate to be moved out of the clamping groove to be separated from the beam plate clamping plate 603, so that welding and blanking work of equipment can be facilitated.

It should be noted that the driving mechanism 7 includes two screw rod sleeves 701, the two screw rod sleeves 701 are respectively and fixedly installed on the outer walls of the two guiding rings 3, the two screw rod sleeves 701 are respectively and movably sleeved on the outer walls of the two ends of the bidirectional screw rod 702, the bidirectional screw rod 702 is rotatably installed on the supporting frame 1, one end of the bidirectional screw rod 702 rotatably penetrates through the supporting frame 1 and is fixedly connected with the output end of the driving motor 703, and the driving motor 703 is fixedly installed on the supporting frame 1 through the motor base 704.

It should be noted that, the ring sliding blocks 803 are fixedly mounted on the inner walls of the two sides of the moving seat 801, the two ring sliding blocks 803 are respectively slidably mounted inside the two ring guiding grooves 802, the two ring guiding grooves 802 are respectively disposed on the surfaces of the two sides of the guiding ring 3, and when the moving seat 801 moves, the moving seat can move by using the ring guiding grooves 802 as a path through the ring sliding blocks 803.

It should be noted that a moving motor 805 is fixedly installed inside the moving seat 801, a gear 804 is fixedly installed at an output end of the moving motor 805, the gear 804 is rotatably installed inside the moving seat 801, a toothed ring 806 is engaged and connected to a lower side of the gear 804, the toothed ring 806 is fixedly installed on an inner wall of the guide ring 3, the gear 804 can be rotated by starting the moving motor 805, and the moving seat 801 is driven to move by matching with the toothed ring 806.

It should be noted that the upper end of the supporting seat 901 is movably connected with a connecting seat 904, a rotating shaft 902 is fixedly mounted inside the connecting seat 904, the rotating shaft 902 is rotatably mounted at the upper end of the supporting seat 901, one end of the rotating shaft 902 penetrates through the connecting seat 904 and is fixedly connected with the output end of the adjusting motor 903, the adjusting motor 903 is fixedly mounted on the supporting seat 901 through a support, the adjusting motor 903 is started to drive the rotating shaft 902 to rotate, and the connecting seat 904 can be driven to rotate through the rotating shaft 902.

It should be noted that a piston mounting groove 908 is formed in the connecting seat 904, a piston 9010 is movably connected in the piston mounting groove 908, a guide support rod 9011 is fixedly connected to the upper surface of the piston 9010, a support plate 9012 is fixedly mounted at the upper end of the guide support rod 9011, and a laser welding gun 9013 is fixedly mounted on the upper surface of the support plate 9012.

It should be noted that a piston limiting boss 909 is fixedly installed below the piston 9010 on the inner wall of the piston installation groove 908, an oil delivery pipe 907 is fixedly installed on the outer wall of the connection seat 904, the inside of the oil delivery pipe 907 is communicated with the inside of the piston installation groove 908, one end of the oil delivery pipe 907 is connected with the output end of the oil pump 906, the input end of the oil pump 906 is connected with the oil storage cylinder 905, the oil storage cylinder 905 is fixedly installed on the upper surface of the moving seat 801, and the oil pump 906 is started to deliver oil inside the oil storage cylinder 905 into the inside of the oil delivery pipe 907 and into the inside of the piston installation groove 908 through the oil delivery pipe 907.

It should be noted that the upper surface of the supporting plate 9012 is fixedly provided with guide sliding sleeves 9014 at both sides of the laser welding gun 9013, a guide sliding rod 9015 is slidably mounted inside the guide sliding sleeve 9014, the upper end of the guide sliding rod 9015 penetrates through the guide sliding sleeve 9014 in a sliding mode to be fixedly connected with the disc mounting seat 9017, a disc 9018 is rotatably mounted inside the disc mounting seat 9017, the lower end of the guide slide bar 9015 is fixedly connected with the upper end of the support spring 9016, the lower end of the supporting spring 9016 is fixedly connected to the inner surface of the guide sliding sleeve 9014, the supporting spring 9016 is matched with the guide slide bar 9015, so that the pressure of the workpiece contacting can be buffered, and when the disc mounting seat 9017 is in contact with the upper end of the guide sliding sleeve 9014, the disc mounting seat 9017 can be abutted, a certain gap is left between the upper end of the disc 9018 and the upper end of the laser welding gun 9013, so that the laser welding gun 9013 can be prevented from contacting with a workpiece.

The working principle is as follows:

when the device is used, firstly, an I-shaped steel beam is clamped in the clamping grooves formed in the I-shaped beam clamping plates 204, then, beam plates at two ends of the I-shaped steel beam are fixed in the clamping grooves formed in the two beam plate clamping plates 603, the first feeding cylinder 205 and the second feeding cylinder 604 are sequentially started, so that the first feeding cylinder 205 pushes the feeding sliding sleeve 202 to move by taking the feeding sliding rod 201 as a path to move the I-shaped steel beam to the circle centers of the two guide circular rings 3, the second feeding cylinder 604 pushes the moving plate 602 to move by taking the moving plate guide rod 601 as a path, the two beam plates are connected to two ends of the I-shaped beam and can be positioned, the I-shaped beam is positioned at the center of the support frame 1, and therefore, the device can conveniently perform positioning welding work on the two ends of the I-shaped beam.

The start-up driving motor 703 can drive the bidirectional screw rod 702 to rotate, and the bidirectional screw rod 702 is matched with the two screw rod sleeves 701 to drive the two guide circular rings 3 to move by taking the guide rod 5 as a path and move to the welding positions at the two ends of the I-shaped beam.

The start oil pump 906 can carry the inside of the inside fluid of oil storage cylinder 905 to piston mounting groove 908 through defeated oil pipe 907, can promote that piston 9010 and guide support bar 9011 elevating movement through fluid, can promote laser welder 9013 simultaneous movement through backup pad 9012, through cooperating with accommodate motor 903, make laser welder 9013 extension and rotation, move the welding to the position that needs the welded, when moving the welding, make the outer wall of two discs 9018 that is higher than laser welder 9013 first-selected and contact with the welding seam position, thereby can fix a position the welding seam, avoid appearing the phenomenon of welding partially.

When the laser welding machine is in moving welding, the supporting spring 9016 is matched with the guide slide bar 9015, pressure in contact with a workpiece can be buffered, and when the disc mounting seat 9017 is in contact with the upper end of the guide slide sleeve 9014, the disc mounting seat 9017 can be abutted tightly, so that a certain gap is reserved between the upper end of the disc 9018 and the upper end of the laser welding gun 9013, and the phenomenon that the laser welding gun 9013 is in contact with the workpiece and damaged can be avoided.

Through starting the moving motor 805, make gear 804 and ring gear 806 cooperate and produce drive power for remove seat 801 and can use ring guide way 802 to remove as the route through ring slider 803, make equipment can weld around the work piece during welding, can be quick weld the corner with the periphery of work piece, reduce the step of adjusting the work piece position, reduced the required time of welding, promoted the welding efficiency of equipment greatly.

It should be understood that the above-mentioned embodiments of the present invention are only examples for clearly illustrating the present invention, and are not intended to limit the embodiments of the present invention, and it will be obvious to those skilled in the art that other variations and modifications can be made on the basis of the above description, and all embodiments cannot be exhaustive, and obvious variations and modifications may be made within the scope of the present invention.

Claims

1. The utility model provides a I-steel longeron board corner welding robot, includes support frame (1), its characterized in that: the automatic feeding device is characterized in that a first feeding mechanism (2) is installed on one side of the support frame (1), the first feeding mechanism (2) comprises two feeding slide bars (201), the two feeding slide bars (201) are fixedly installed on the support frame (1), second feeding mechanisms (6) are installed at two ends of the support frame (1), each second feeding mechanism (6) comprises a movable plate (602), two ends of each movable plate (602) are provided with movable plate guide rods (601) in a penetrating and sliding mode, guide circular rings (3) are arranged at two inner ends of the support frame (1), a plurality of sliding sleeves (4) are fixedly installed on the outer wall of each guide circular ring (3), each sliding sleeve (4) is sleeved on the outer wall of each guide rod (5) in a sliding mode, two ends of each guide rod (5) are fixedly installed on the support frame (1), and each guide circular ring (3) is connected with a driving mechanism (7), every all install moving mechanism (8) on the inner wall in direction ring (3) area, moving mechanism (8) are including removing seat (801), remove seat (801) swing joint on the inner wall of direction ring (3), the last surface mounting who removes seat (801) has regulation welding mechanism (9), it includes supporting seat (901) to adjust welding mechanism (9), supporting seat (901) fixed mounting is at the upper surface that removes seat (801).

2. The I-steel truss girder plate corner welding robot of claim 1, wherein: the outer wall of each feeding sliding rod (201) is sleeved with a feeding sliding sleeve (202) in a sliding mode, the upper surface of each feeding sliding sleeve (202) is integrally provided with a supporting rod (203), and the upper ends of the two supporting rods (203) are fixedly connected with the two ends of the lower surface of an I-beam clamping plate (204) respectively;

one of the feeding sliding rods (201) is fixedly provided with a first feeding cylinder (205), and the output end of the first feeding cylinder (205) is fixedly connected with a feeding sliding sleeve (202).

3. The I-steel truss girder plate corner welding robot of claim 1, wherein: the two moving plate guide rods (601) are fixedly arranged on the support frame (1), one side surface of the moving plate (602) is fixedly connected with the output end of a second feeding cylinder (604), and the second feeding cylinder (604) is fixedly arranged on the moving plate guide rods (601) through a support;

and a beam plate clamping plate (603) is fixedly arranged on the surface of the other side of the moving plate (602).

4. The I-steel truss girder plate corner welding robot of claim 1, wherein: actuating mechanism (7) include two lead screw covers (701), two lead screw cover (701) is fixed mounting respectively on the outer wall of two direction rings (3), two swing joint is established on the both ends outer wall of two-way lead screw (702) is established in cover respectively in lead screw cover (701), two-way lead screw (702) are rotated and are installed on support frame (1), the output fixed connection of support frame (1) and driving motor (703) is passed in the rotation of the one end of two-way lead screw (702), driving motor (703) are through motor cabinet (704) fixed mounting on support frame (1).

5. The I-steel truss girder plate corner welding robot of claim 1, wherein: the inner walls of the two sides of the movable seat (801) are fixedly provided with circular ring sliding blocks (803), the circular ring sliding blocks (803) are respectively installed inside the two circular ring guide grooves (802) in a sliding mode, and the circular ring guide grooves (802) are respectively arranged on the surfaces of the two sides of the guide circular ring (3).

6. The I-steel truss girder plate corner welding robot of claim 1, wherein: the inner part of the movable seat (801) is fixedly provided with a movable motor (805), the output end of the movable motor (805) is fixedly provided with a gear (804), the gear (804) is rotatably arranged in the movable seat (801), the lower side of the gear (804) is connected with a toothed ring (806) in a meshed manner, and the toothed ring (806) is fixedly arranged on the inner wall of the guide circular ring (3).

7. The I-steel truss girder plate corner welding robot of claim 1, wherein: the upper end of the supporting seat (901) is movably connected with a connecting seat (904), a rotating shaft (902) is fixedly installed inside the connecting seat (904), the rotating shaft (902) is rotatably installed at the upper end of the supporting seat (901), one end of the rotating shaft (902) penetrates through the connecting seat (904) to be fixedly connected with the output end of an adjusting motor (903), and the adjusting motor (903) is fixedly installed on the supporting seat (901) through a support.

8. The I-steel truss girder plate corner welding robot of claim 7, wherein: the inside of connecting seat (904) is provided with piston mounting groove (908), the inside swing joint of piston mounting groove (908) has piston (9010), the last fixed surface of piston (9010) is connected with guide support pole (9011), the upper end fixed mounting of guide support pole (9011) has backup pad (9012), the last fixed surface of backup pad (9012) installs laser welder (9013).

9. The i-steel truss girder plate corner welding robot of claim 9, wherein: a piston limiting boss (909) is fixedly arranged on the inner wall of the piston mounting groove (908) and below the piston (9010);

an oil delivery pipe (907) is fixedly mounted on the outer wall of the connecting seat (904), the interior of the oil delivery pipe (907) is communicated with the interior of the piston mounting groove (908), one end of the oil delivery pipe (907) is connected with the output end of an oil pump (906), the input end of the oil pump (906) is connected with an oil storage cylinder (905), and the oil storage cylinder (905) is fixedly mounted on the upper surface of the moving seat (801).

10. The I-steel truss girder plate corner welding robot of claim 1, wherein: the upper surface of the supporting plate (9012) is positioned on two sides of a laser welding gun (9013) and is fixedly provided with a guide sliding sleeve (9014), a guide sliding rod (9015) is slidably arranged inside the guide sliding sleeve (9014), the upper end of the guide sliding rod (9015) slidably penetrates through the guide sliding sleeve (9014) and is fixedly connected with a disc mounting seat (9017), and a disc (9018) is rotatably arranged inside the disc mounting seat (9017);

the lower end of the guide sliding rod (9015) is fixedly connected with the upper end of a support spring (9016), and the lower end of the support spring (9016) is fixedly connected to the inner surface of the guide sliding sleeve (9014).