1497results about "Electrode supporting devices" patented technology

The invention relates to the technical field of welding, in particular to a corrosion steel welding cooperative control method and system. Comprising the following steps that welding seam geometric parameters, molten pool dynamic characteristic parameters and welding heat input parameters in the corrosion steel welding process are collected in real time through a multi-dimensional sensor array; constructing a corroded steel welding seam feature space model based on the welding seam geometric parameters, and determining material corrosion grade distribution and mechanical property parameters of a welding seam area in combination with a preset corroded steel material database; a molten pool form evolution prediction model is established through an adaptive Kalman filtering algorithm by utilizing the dynamic characteristic parameters of the molten pool and the welding heat input parameters, and the solidification behavior and the welding seam forming trend of the molten pool are predicted in real time; according to the material corrosion grade distribution, the mechanical property parameters and the molten pool forming trend, a dynamic adjustment strategy of the welding process parameters is generated through a multi-objective optimization algorithm; the reliability and safety of the corrosion steel welding joint can be improved.

The invention discloses a multi-welding-robot collaborative operation system based on digital twinning, and belongs to the technical field of intelligent manufacturing and robot control, the system comprises a physical space module, a virtual space module, a twinning data layer and a control module, and communication connection is established among the physical space module, the virtual space module, the twinning data layer and the control module; the physical space module comprises a plurality of welding robots, a sensor group and a data transmission network; the virtual space module comprises a multi-welding robot twinning body and a workpiece twinning model; the twin data layer is used for connecting the physical space module and the virtual space module; and the control module generates a welding path optimization scheme, a multi-welding-robot collaborative collision avoidance strategy and a welding quality feedback control instruction based on the twin data layer. According to the method, a closed-loop control framework of'physical-virtual 'bidirectional mapping is constructed, so that dynamic collaborative optimization of multi-robot motion trails, welding seam forming and thermal deformation is realized.

The invention relates to the technical field of industrial automatic welding and discloses an intelligent control method and system for industrial robot welding, and the method comprises the steps that after a welding task is started, an initial welding process parameter model is called based on the current workpiece specification, and a first welding control instruction sequence is generated; according to the first welding control instruction sequence, a welding gun is controlled to execute welding operation, and multi-source sensing data flow in the welding process is synchronously collected; carrying out fusion feature extraction on the real-time sensing data stream to generate a current welding situation feature vector, when situation deviation exists between the current welding situation feature vector and the reference welding situation feature vector, obtaining a self-adaptive welding process parameter model through online incremental learning, and obtaining a self-adaptive welding process parameter model on the basis of the self-adaptive welding process parameter model. And generating an optimized welding control instruction sequence and issuing the optimized welding control instruction sequence to a robot controller and a welding gun so as to execute self-adaptive welding operation. The welding quality stability and the production efficiency can be improved, and the equipment maintenance cost is reduced.

The welding gun comprises a machine body and a machine head, the machine head is arranged at one end of the machine body, a containing cavity is formed in the machine head, and the end, away from the machine body, of the containing cavity is open. The U-shaped pipe and the two linear pipes connected with the U-shaped pipe extend into the containing cavity of the machine head from the open end of the containing cavity, the end wall, away from the machine body, of the machine head abuts against the outer side wall of the heat exchanger case, a welding mechanism is arranged on the side, located in the containing cavity, of the machine head, and the welding mechanism is used for welding the inserting positions of the U-shaped pipe and the linear pipes. The machine body is used for driving the machine head to move, the machine head is arranged on the U-shaped pipe and the two linear pipes in a covering mode through the containing cavity, the inserting position of the U-shaped pipe and the linear pipe can be welded, and therefore the dense tube bundle of the heat exchanger can be welded conveniently.

The invention discloses an intelligent welding control system and method based on multiple sensors and electronic equipment, and belongs to the technical field of automatic welding, the system comprises a sensing layer, a decision-making layer and an execution layer, through cooperative work of a front laser vision sensor, a rear laser vision sensor and a molten pool image sensor, a groove three-dimensional model can be accurately established before welding, and the welding precision is improved. And dynamic information of the molten pool is continuously collected in the welding process, a dual monitoring mechanism for the geometric characteristics of the welding line and the state of the molten pool is formed, and multi-source data collection and fusion in the whole welding process are achieved. The control method comprises the steps of pre-scanning modeling, feedforward parameter planning, real-time feedback adjustment of a molten pool, data fusion optimization and the like, and high-precision self-adaptive control over welding parameters is achieved by combining deep learning and the Kalman filtering technology. According to the method, the welding adaptability, the control precision and the intelligent level can be remarkably improved, and the method is suitable for high-precision welding scenes such as pipelines, pressure containers and steel structures and has remarkable engineering application value and popularization prospects.

The invention belongs to the technical field of reinforcement cage auxiliary welding, and mainly relates to a photovoltaic cement ground pile reinforcement cage welding tool which comprises a welding robot and a welding positioning mechanism. The welding positioning mechanism comprises a supporting unit, and the supporting unit is provided with a first positioning station and a second positioning station. When the photovoltaic cement ground pile on the second positioning station is welded by the welding robot, the ground pile pipe, the triangular hoop and the reinforcing steel bar can be fed, positioned and placed at the first positioning station by the worker, so that the two positioning stations cannot be idle; the photovoltaic cement ground piles are welded and fed alternately on the first positioning station and the second positioning station, so that the frequency of manually carrying materials can be reduced, the labor intensity is reduced, and meanwhile, the production efficiency can also be improved.

The invention discloses a magnetic control arc GTAW-GMAW composite narrow gap welding system and method. The system comprises a GTAW welding gun, a GMAW welding gun, a magnetic conductive iron core, a magnet exciting coil, a magnetic boot, an assembling clamp, a GTAW welding power source, a GMAW welding power source and a magnetic control power source. The GTAW welding gun, the GMAW welding gun, the magnetic conductive iron core, the magnet exciting coil and the magnetic shoe are fixed through the assembling clamp to form a welding assembly, and the welding assembly is connected with an end effector of the robot. The GTAW welding gun is connected with a GTAW welding power source through a cable. The GMAW welding gun is connected with a GMAW welding power supply through a cable; the excitation coil is connected with a magnetic control power supply through a cable; the GTAW welding power source, the GMAW welding power source and the magnetic control power source are in communication connection with the robot control system. The defect of incomplete fusion in narrow-gap welding of thick stainless steel plates and high-strength steel is effectively overcome, the optimized energy distribution not only refines the weld structure and improves the mechanical property of a joint, but also reduces deformation caused by heat input, and a stable and reliable high-quality welding result can be obtained.

The invention belongs to the technical field of fusion welding, and particularly relates to a method for planning multi-layer and multi-welding-seam welding parameters according to welding seam feature information, which comprises the following steps: 1) laser emitted by a 3D visual sensor is perpendicular to a welding seam and scans along the direction of the welding seam, and the 3D visual sensor scans welding seam data and transmits the data to a robot controller in real time; (2) the robot controller processes the weld joint data, the whole weld joint is subjected to multi-layer and multi-pass planning calculation, and the number of welding layers and the number of welding passes of each layer are planned; (3) the robot controller calculates the layer number and the channel number of a welding channel needing to be welded currently, a welding gun track coordinate set on a welding path and welding parameters corresponding to welding path points; and (4) the robot controller adjusts the welding track and the welding parameters in real time according to the step (1) to the step (3) in the current welding bead welding process, so that the purpose of multi-layer and multi-pass planning self-adaptive welding of the medium-thickness plate is achieved.

The invention discloses automatic welding equipment for large steel structure joints, and relates to the technical field of steel structure welding. Comprising an automatic welding gun part, a rotary fine adjustment part is installed on the automatic welding gun part, and an upper edge detection part is installed on the rotary fine adjustment part; the upper edge detection piece is used for detecting the upper edge of the steel beam; the rotary fine tuning piece is used for adjusting the angle of the upper edge detection piece; a position test piece is mounted on the rotary fine tuning piece; the position test piece is used for detecting a welding position; the upper edge detection piece can be used for ensuring that welding personnel firstly weld the lower edge groove of the steel beam during welding work, so that the welding quality of the structure can be improved, and the welding hidden danger caused by preferential welding of the upper edge of the steel beam is avoided; the problems that according to an existing steel structure node automatic welding device, the steel beam welding sequence is poor in control, the steel beam welding quality is prone to being affected, and the cable state is inconvenient to test in real time for prompting are solved.

The invention provides a water turbine runner crack electric arc additive repairing track planning method based on an irregular model, and relates to the technical field of hydroelectric power generation equipment crack repairing. The method comprises the steps that crack defects are removed through carbon arc air gouging, and a model of a blade area to be repaired is established; based on a reverse reconstruction technology and a Boolean operation technology, generating a three-dimensional grid model of the irregular repair area; a mixed trajectory planning strategy is optimized, and the repairing area is sliced to generate an electric arc additive repairing trajectory; and welding gun posture optimization based on collision detection is carried out, and the contour track is adjusted according to a given rule. A geometric model of a to-be-repaired area of a blade is established, and a three-dimensional grid model of an irregular repaired area is quickly and accurately established based on a reverse reconstruction technology and Boolean operation.

The invention relates to the technical field of robot teaching-free welding, and particularly discloses a robot teaching-free welding system based on visual localization and a welding method.The robot teaching-free welding system comprises a PLC, a power module, a wireless communication module and a visual localization coordinate conversion module. The path planning optimization module directly generates a welding path according to a visual positioning result, tedious operation is reduced, the problem of poor dependence and adaptability on pre-stored data is solved, the visual acquisition module and the positioning module work cooperatively, workpiece position and posture information is updated in real time, and the positioning precision is improved. The teaching-free intelligent decision-making and optimization module is combined with real-time data to adjust a path and parameters, the image processing and path planning optimization module generates a proper path according to image information for a complex workpiece, the sensor fusion module fuses vision and other sensor data, the adaptability of the system to the complex workpiece is enhanced, and the welding quality is guaranteed.

The invention relates to the technical field of industrial robot welding control, and provides an off-line programming-based elevator car bottom welding path field debugging method, which comprises the following steps of: constructing a three-dimensional process simulation model of a welding robot and an elevator car bottom, and establishing a geometric mapping relationship between the model and a physical scene; virtual welding scene parameters and robot body parameters are configured in the offline programming system; generating an initial welding track based on the 45-degree inclined welding surface, and executing multi-dimensional collision detection and kinematics verification; the optimized welding track is coded into an industrial robot instruction in an ANSI / UTF-8 format, and the industrial robot instruction is deployed to a physical welding system; collecting multi-source sensing data in the welding process in real time, wherein the multi-source sensing data comprise six-axis attitude parameters, process parameters and environmental parameters; and a dynamic comparison mechanism of the actual welding data and the simulation prediction data is established, and when the deviation exceeds a preset threshold value, an iterative optimization closed loop is triggered. The method has the beneficial effects that the efficiency is improved, the precision is guaranteed, the process stability is enhanced, and the compatibility is expanded.

The invention discloses a laser vision welding seam tracking method based on deep learning, and relates to the technical field of industrial welding, a structural light is used for calibrating a welding seam between workpieces, and an image sensor is used for analyzing welding seam data and controlling a welding moving path, and the method comprises the following specific steps that 1, the structural light is emitted to a welding plane; the structured light is captured by the image sensor after being reflected; 2, after an image of the image sensor is read by a system, filtering and denoising processing is carried out, and edge lines on the two sides of a welding seam are obtained; structured light is emitted to a welding plane through a laser emitter, coordinate information of the structured light is captured through an image sensor, continuously-collected image information is integrated to measure an edge line of a welding seam, a median curve of the welding seam is obtained through data fitting, and a welding gun moves along the calculated median curve of the welding seam. The precision of the welding gun moving along the welding seam is improved, and the problem of heat damage caused by the fact that the welding gun is too close to the welding face on one side is solved.

A double-track welding system is provided. A first track is detachably mounted on a first side of a weld seam of a workpiece, and a second track is detachably mounted on a second side of the weld seam of the workpiece. The first track and the second track are both mounted on a fixed support, and the fixed support can drive the first track and second track to move. At least one welding trolley is arranged on each of the first track and the second track. An image acquisition component is used for acquiring an image of a part to be welded; a weld seam scanning device is used for acquiring the weld seam morphology; and a control system is used for controlling, according to the image of the part to be welded, the fixed support to move.

The invention discloses multifunctional threaded fastener welding equipment, and relates to the technical field of welding equipment.The multifunctional threaded fastener welding equipment comprises a bearing frame and a fixing frame, the fixing frame is arranged in front of the bearing frame, a mechanical arm is arranged at the top of the bearing frame, and a welding device is arranged at the top of the mechanical arm; a butt joint device and a clamping device are arranged on the left side of the fixing frame. The gas bottle is installed on the mechanical arm, the flow and pressure of gas are controlled through the pressure reducing valve, the current flow is checked through the flow meter, the gas is conveyed into the plasma arc welding gun through the pipeline, the gas is output from the output port of the plasma arc welding gun during welding, and a welding area can be prevented from making contact with oxygen through protective gas; therefore, oxidation and impurities are avoided, the welding quality is improved, when the gas cylinder is installed, an operator can replace the gas cylinder more quickly and more conveniently by quickly installing and disassembling the gas cylinder, and the shutdown time caused by replacement of the gas cylinder is avoided.

The invention discloses an intelligent robot for body-in-white welding, and relates to the technical field of welding robots, the intelligent robot comprises a base, a robot joint arm and a welding head, the robot joint arm is installed on the base, the welding head is installed at the end, away from the base, of the robot joint arm, and the upper end of the welding head fixedly communicates with a wire feeding pipe; the wire feeder is installed on the upper portion of the base, the end, away from the welding head, of the wire feeding pipe is installed on the wire feeder, the inner scraping ring and the outer scraping ring can clean the inner surface and the outer surface of the welding head, blockages such as splash welding slag generated by welding on the inner surface and the outer surface of a nozzle of the welding head can be scraped away, smooth circulation of protective gas is guaranteed, and a good welding environment is maintained. The conditions that if welding wire residues remain on the inner wall of the contact tube, friction can be increased in the follow-up welding wire conveying process, abrasion occurs, and the hole diameter becomes large are avoided, impurities prone to abrasion can be removed in time through cleaning, components can be kept in a good initial state, and the normal service life of a welding head is prolonged.

A corrugated copper submarine cable and a submarine cable production device. The submarine cable production device comprises a worktable, and further comprises: a fixing compartment arranged in the middle of the upper surface of the worktable, wherein a fixing pipe penetrates the interior of the fixing compartment, a winding assembly is arranged on the circumferential surface of one end of the fixing pipe, and the winding assembly comprises a rotating ring rotatably arranged on the circumferential surface of the fixing pipe; and a welding compartment arranged on one side of the fixing compartment, wherein two support frames are arranged in the welding compartment, the top ends of the two support frames are both fixedly connected to limiting rings, a positioning ring is rotatably arranged between the two limiting rings, the inner wall of the positioning ring is fixedly connected to a plurality of arc welding heads, and the plurality of arc welding heads are distributed in a circumferential array along the inner wall of the positioning ring. By providing a welding assembly, the present invention solves the problem of reduced production efficiency of corrugated copper submarine cables caused by a relatively slow welding speed and low efficiency during normal welding in which welding is performed by a large number of technicians to generate corrugated textures.

The invention relates to the field of transverse GTAW steel pipe butt joint welding wire, welding gun and electric arc attitude control, in particular to a transverse GTAW steel pipe butt joint welding wire, welding gun and electric arc attitude control method based on structured light vision, attitude sensing and passive vision. The invention provides a method for controlling postures of a robot in butt joint with welding wires, welding guns and electric arcs for transverse GTAW steel pipes, aiming at the adverse effects of welding wire, welding gun and electric arc postures deviation on welding seam forming in butt joint welding of the transverse GTAW steel pipes. Recognizing the posture of the steel pipe by using a structured light visual sensing steel pipe posture recognition method; the wire filling posture is controlled through a robot GTAW steel pipe butt joint wire filling posture closed-loop control method; the posture of the welding gun is controlled through a robot GTAW steel pipe butt joint welding gun posture closed-loop control method; the electric arc heat is controlled through the electric arc heat control method based on passive vision.

The invention provides a welding device for machining a bedstead, and relates to the technical field of bedstead welding, the welding device comprises a workbench and a welding gun for welding the bedstead; a driving block is horizontally and slidably connected to the workbench, a supporting block used for supporting the transverse rod is vertically and slidably connected to the workbench, a first positioning block and a second positioning block are arranged on the supporting block, the first positioning block is fixedly connected with the supporting block, a transmission mechanism is arranged between the supporting block and the driving block, and the transmission mechanism drives the transverse rod to move close to the longitudinal rod. A first driving mechanism used for driving the driving block to move horizontally is arranged below the workbench. A plurality of positioning mechanisms are arranged on the workbench; the driving block is connected with supporting seats used for supporting the longitudinal rod, and the supporting seats located at the two ends of the longitudinal rod are fixedly connected with positioning inclined plates used for positioning the longitudinal rod. The size of gaps between the two ends of each transverse rod and the size of gaps between the two longitudinal rods can be equal, and the welding quality of the bedstead is ensured while the appearance of the bedstead is controlled.

The invention provides a welding tool for an automobile rear auxiliary frame cross beam, and belongs to the technical field of automobile cross beam welding, the welding tool comprises a base, a rear auxiliary frame main body, an operation table and a welding robot, and the operation table and the welding robot are arranged on the base, and the welding tool further comprises a positioning splicing assembly and a flow guide destressing assembly; protective gas is integrated on the third clamping jaw, the third clamping jaw can effectively guide protective gas flow to a welding seam while fixing the side cross beam, and effective flow guide of the protective gas can be achieved in cooperation with arrangement of the movable spraying pipe; during welding, the impeller is static to block gas, the flow speed is reduced, welding fluid is prevented from splashing and losing due to overlarge airflow impact, and stable combustion of welding arcs is maintained; in the cooling stage after welding is completed, the inductor controls the electromagnetic base to be powered off, gas flow is increased, the cooling speed is increased, meanwhile, vibration is generated to be matched with cooling to eliminate welding residual stress, the stability and reliability of a weldment are improved, the production period can be shortened, and the production efficiency is improved.

The invention discloses a laser-based long-distance pipeline welding defect prevention and treatment device and method, and belongs to the technical field of pipeline welding. The device comprises a welding power and power supply device, a welding master control device and a movement device moving in the circumferential direction of a to-be-welded pipeline; a welding device I, a welding device II and a welding seam scanning device are borne on the moving device, the welding device I and the welding device II are each provided with a welding gun, and a laser emitting device is installed on one side of each welding gun; the welding device II is further provided with an ultrasonic loader. The welding guns are calibrated through laser, the alignment degree between the welding guns is improved, meanwhile, through laser scanning, the parallelism between the welding guns and the grooves is improved, and the risk of welding deviation is reduced; the surface of the welding seam is scanned by the welding seam scanning device, so that welding defects on the surface are timely and comprehensively found; and according to the position of the welding defect, the molten pool is stirred or vibrated through the ultrasonic loader, the fluidity of the molten pool is improved, and the incomplete fusion or undercut defect is filled.

The invention relates to the technical field of furnace shell welding, in particular to a gas industrial furnace shell welding device which integrates a radial circular seam and an axial longitudinal seam, a servo motor drives a planetary gear train through an intermittent sheave, a rotating shell drives a clamped furnace shell to rotate, and radial welding is completed; after a bottom clamping jaw instantly locks a shell, power is switched to a planet carrier, an outer mounting arm drives a driven scraping arm to grind the inner wall while axially moving, welding and grinding synchronization is achieved, a bidirectional pushing seat crank sliding block mechanism continuously rotates in a one-way mode to push and pull the furnace shell in a two-way mode, whole-circle accurate grinding is achieved during resetting, and six sets of air cylinder lead screw adjustable clamping jaws conduct internal and external synchronous supporting. The outer supporting cylinder is prevented from deformation, secondary clamping is not needed in the whole process, butt joint of multiple sections of furnace shells is completed at a time, continuous filling of a longitudinal weld bead can be completed when a circular seam is still in a high-temperature plastic stage through instantaneous switching of clamping and stopping, and the welding quality of a T-shaped connector area is improved.

The present invention belongs to the technical field of welding equipment, and in particular relates to a welding machine for the construction framework of building curtain walls, which includes a base, and also includes: an automatic welding mechanism, a pressurizing and stabilizing mechanism, multiple groups of positioning and locking mechanisms, a mechanism for adjusting the magnitude of the applied pressure, a mechanism for synchronously feedbacking the thickness of the framework, a welding current control mechanism, a welding speed control mechanism, and a PLC controller. The present invention can perform fast and stable automatic welding operations on the curtain wall framework, effectively improving the welding quality and welding efficiency, and can automatically adjust the magnitude of the welding current based on the thickness of the framework. When the increase degree of the welding current reaches the threshold value, the welding speed can be automatically reduced, so that more heat can act on the weld seam per unit time, ensuring that the weld seam is completely penetrated. During the welding process, additional pressure can be applied to ensure the stable contact of the transverse and longitudinal splicing members, ensuring the welding quality.

The invention discloses an intelligent argon arc welding machine based on case machining and a welding method, and relates to the technical field of case machining, the intelligent argon arc welding machine comprises a control box and a welding clamp, and further comprises a welding gun, the welding gun is composed of a grab handle and a welding head, and the welding head is fixedly connected with the grab handle through a butt joint sleeve; the welding head is composed of a welding part and an air injection part, and the welding part comprises a first welding pipe and a second welding pipe. The device has the advantages that when plates are welded, the conveying flow of the protector can be automatically changed according to the inclination angle of the welding gun, so that the protector is conveyed at the optimal flow, the protection effect of the protector is improved, the loss of shielding gas is reduced, meanwhile, the spraying speed of the shielding gas can be kept constant in the shielding gas changing process, and the probability of bubble generation is reduced; in addition, when the shielding gas is jetted, the protector is made to be perpendicular to the welding position all the time, and the protection effect of the shielding gas can be improved.

To provide a multiaxial 3D printing device for metal structural components and an arc-based additive manufacturing method.SOLUTION: Based on a multiaxial coordinated printing mode of a robot arm device, a movable guide rail device, and a positioner device, expansion of a six-axis robot arm enables printing in a robot arm's free posture and moving a guide rail enables movable printing following an axis along the guide rail, an open motion space of the 3D printing robot is enlarged, a two-axis positioner allows achieving multiaxial 3D printing without support for complex metal structural components, reducing material costs, and simplifying post-processing. Simultaneously, linkage linear interpolation through a world coordinate system allows effective controlling printing accuracy and print accuracy and large-format dimensions and further achieving multiaxial 3D printing for large and complex metal structural components.SELECTED DRAWING: Figure 1

The invention relates to the technical field of welding devices, and provides an industrial welding robot which is used for pipeline butt welding and comprises a slag stopping box which is movably arranged on one side of a pipeline. The welding head is arranged on the slag stopping box, and the slag stopping box moves to drive the welding head to be close to the pipeline butt joint position. The slag stopping pieces are slidably arranged relative to the slag stopping box, the slag stopping pieces are arranged in the circumferential direction of the slag stopping box, and the side walls of the adjacent slag stopping pieces abut against each other; the slag stopping pieces are used for abutting against the side wall of the pipeline after sliding, the welding head is located among the multiple slag stopping pieces, and the slag stopping box and the slag stopping pieces are used for stopping splashing welding slag generated by welding of the welding head. By means of the technical scheme, the technical problem that in the prior art, splashing welding slag in the welding process easily damages the surface quality of the other parts of the to-be-welded part is solved.

The invention belongs to the technical field of welding equipment, and particularly relates to a building curtain wall construction framework welding machine which comprises a base and further comprises an automatic welding mechanism, a pressurizing and stabilizing mechanism, a plurality of sets of positioning and locking mechanisms, a pressurizing force adjusting mechanism, a framework thickness synchronous feedback mechanism, a welding current control mechanism, a welding speed control mechanism and a PLC. The curtain wall framework can be subjected to rapid and stable automatic welding operation, the welding quality and the welding efficiency are effectively improved, the welding current can be automatically adjusted based on the thickness of the framework, the welding speed can be automatically reduced when the increase degree of the welding current reaches a threshold value, and the welding efficiency is improved. And more heat can act on a welding seam within unit time, it is ensured that the welding seam is completely fused, it can be ensured that transverse and longitudinal splicing rod pieces make contact stably by applying extra pressure in the welding process, and the welding quality is ensured.

The invention relates to the technical field of welding automation, and discloses an intelligent welding system for an electric pole steel reinforcement framework. The system comprises a welding execution module, a multi-mode sensing module, an edge calculation module, a real-time regulation and control module and a system control center. Synchronous collection and real-time analysis of images, temperature and sound signals of a welding pool area are achieved, so that defects such as air holes, slag inclusion and incomplete fusion can be recognized online in a key time window when the welding pool is not solidified, and time delay caused by a traditional off-line detection mode is thoroughly eliminated. Through a real-time regulation and control module, on the basis of a multi-target optimization decision and parameter self-adaptive adjustment mechanism, the system can dynamically adjust key process parameters such as welding current, arc voltage and welding speed at the moment of identifying defect germination or process deviation, and real-time intervention and closed-loop control on welding quality are achieved; therefore, the final formation of defect welding seams is avoided fundamentally, and the rework rate and the material waste are remarkably reduced.

The present application discloses a welding gun for U-shaped dense tubes, which relates to the field of welding equipment, and includes a fuselage and a machine head. The machine head is arranged at one end of the fuselage, and a receiving cavity is formed in the machine head. The receiving cavity is arranged at an end away from the fuselage, and the U-shaped tube and two straight tubes connected to the U-shaped tube extend from the open end of the receiving cavity into the receiving cavity of the machine head, and the end wall of the machine head away from the fuselage abuts against the outer wall of the heat exchanger chassis, and a welding mechanism is arranged on one side of the machine head located in the receiving cavity, and the welding mechanism welds the plug-in joint of the U-shaped tube and the straight tube. The present application uses the fuselage to drive the machine head to move, and the machine head is arranged on a U-shaped tube and two straight tubes through the receiving cavity cover, so as to weld the plug-in joint of the U-shaped tube and a straight tube, thereby facilitating the welding of the dense tube bundle of the heat exchanger.

The invention relates to the technical field of robot welding, in particular to a mobile intelligent welding robot for seat production, which comprises an autonomous mobile chassis for autonomous navigation and obstacle avoidance in a seat production workshop; the multi-degree-of-freedom mechanical arm is used for achieving complex space track welding; the welding actuator is used for completing high-precision welding operation; the visual identification system is used for capturing the welding seam position in real time, detecting the welding quality and feeding back to the control system; the central controller is used for coordinating the operation of each module; through the steps, flexible movement of the robot in a production workshop is achieved through the autonomous moving chassis and the SLAM navigation technology, so that the utilization rate of equipment is increased, the occupied area of a production line is reduced, the multi-degree-of-freedom mechanical arm and the high-precision visual recognition system are combined, the complex welding seam track of the seat framework can be recognized in a self-adaptive mode, and the production efficiency is improved. And the pose deviation in the welding process is compensated in real time through force sense feedback, so that the consistency of the welding seam forming quality is ensured.