The invention relates to a multi-freedom-degree bilateral double-wire automatic welding device and belongs to the technical field of automatic welding devices for inverted T-shaped structural members. The multi-freedom-degree bilateral double-wire automatic welding device comprises a fixed base, a column frame, a cantilever beam, translation lifting frames and mechanical hands. The column frame is arranged on the fixed base, the cantilever beam is horizontally connected with the column frame and connected with two translation lifting frames, the two translation lifting frames are parallel to each other, and the mechanical hands are arranged at the lower ends of the translation lifting frames respectively. Through the multi-freedom-degree bilateral double-wire automatic welding device, bilateral double-wire simultaneous welding or unilateral double-wire welding and automatic welding tracking and real-time monitoring of device operation states and parameters can be achieved. The multi-freedom-degree bilateral double-wire automatic welding device has functions of single-pass welding, multilayer welding, multilayer multi-pass welding and swinging automatic welding.