4584results about "Welding accessories" 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 relates to an intelligent welding robot which comprises a robot body, a quick-change type modular welding gun assembly, an annular array sensing module, an active cooling device and an edge calculation unit. Wherein the quick-change type modular welding gun assembly is installed at the output end of the robot body and used for conducting multi-angle welding operation on a workpiece. The annular array sensing module comprises six sets of 3D line laser sensors and is used for obtaining three-dimensional point cloud data of a workpiece. The active cooling device is integrated in a joint of the robot body and used for controlling the temperature of a joint motor. And the edge calculation unit is used for rapidly processing the collected multi-modal data information, dynamically planning a welding path, adjusting welding process parameters on line by adopting a Bayesian optimization framework, and controlling the quick-change modular welding gun assembly to weld workpieces in a welding area in real time. The welding device has the effect of effectively improving the welding quality and the welding efficiency.

The invention relates to the technical field of automatic welding control, and particularly discloses a multi-station automatic welding cooperative control method for electric iron accessories, which realizes full-closed-loop accurate control of a welding process through multi-sensor data fusion and an intelligent optimization algorithm. According to the method, an infrared thermal imager, an acoustic emission sensor and an ultrasonic thickness measuring device are adopted to collect molten pool temperature field, sound wave frequency spectrum and fusion depth data in real time, after feature extraction, the data are input into a multi-target optimization model, and a Pareto optimal solution set is generated with the fusion depth, the width of a heat affected zone and phase change latent heat as optimization targets; dynamically adjusting a segmented welding-back path and process parameters on the basis of an optimization result, and triggering model iterative correction through ultrasonic online monitoring; the central control unit adopts space voxelization monitoring and a three-level collision avoidance strategy to coordinate operation of the multiple mechanical arms, and collision emergency protection is achieved in combination with flexible pressure sensing.

The invention discloses a welding robot track self-adaptive correction method based on multi-modal data fusion, and particularly relates to the technical field of industrial robots, which comprises the following steps: synchronously acquiring visual three-dimensional point cloud and arc current and voltage transient waveform data in a welding process in real time; an enhanced working trajectory feature vector fusing the visual trajectory features and the arc deviation compensation amount is constructed; respectively calculating real-time confidence coefficients of the visual sense and the arc sensing mode; inputting the confidence coefficient into a weight distribution strategy model, dynamically resolving vision and arc weight coefficients, and when the confidence coefficient of one sensor is low, lifting the weight of the other sensor to dominate correction; performing weighted fusion on the two pose adjustment amounts by using a weight coefficient to generate a six-degree-of-freedom comprehensive trajectory correction amount; and finally, the robot is driven to execute online adaptive trajectory correction. Through a confidence-driven dynamic fusion strategy, the limitation of a single sensor is overcome, and the welding robot trajectory tracking precision and the adaptive capacity are improved.

The invention discloses a TIG (Tungsten Inert Gas) welding penetration depth self-adaptive control system for a coiled pipe, belongs to the technical field of welding automatic control, and aims to solve the problems of inconsistent penetration depth control and real-time early warning of abnormal processing in TIG welding of the coiled pipe. The method comprises the steps that welding parameters are initialized based on parameters such as the material and the pipe diameter of the coiled pipe, and the target fusion depth is determined; identifying a straight line segment and a curve segment through the panoramic image, marking a target welding point and generating a welding path; determining a local processing space according to welding point position division types and differentiation, and verifying and updating; positioning precursor, current and subsequent points during updating, collecting images to extract multi-modal features, and adaptively updating the target fusion depth based on the geometric change of the subsequent points and the quality features of the precursor points; and during welding, processing quality and intervention abnormity early warning is carried out according to the real-time multi-mode characteristics, the processing parameters and the environment parameters.

The invention discloses an electric arc dynamic self-adaptive control method and sensing system based on multi-modal sensing, and relates to the technical field of electric arc control. A multi-modal sensor integrated on a welding gun is used for synchronously collecting an electric arc form image, a molten pool area image, a molten pool oscillation sound signal and current and voltage multi-dimensional data; the collected data are preprocessed, and real-time parameters in the welding process are extracted; calculating and outputting an optimal welding control parameter in real time by combining a depth Q model and taking the welding quality as an optimization target; the control parameters are transmitted to a welding actuator, real-time adjustment of the welding process is completed, and real-time control over the welding arc is achieved; the control method can be used for enhancing the real-time self-adaption of a welding control system to complex welding components and the flexible manufacturing capacity of replacing a product line; the technical problems that in an existing automatic electric arc welding control method, electric arc welding information collection is single, control response is delayed, the flexible degree is low, and welding feature extraction errors are large are solved.

The invention discloses a gradient welding strength control method and system for a welded galvanized steel pipe for fire fighting, particularly relates to the technical field of welding automation control, and aims to solve the problem of abnormal welding seam strength gradient caused by instantaneous unbalance of an electric field and a thermal field during dynamic parameter switching in the prior art. Electromagnetic distortion characteristic quantity is extracted through frequency domain energy analysis, and thermodynamic offset state quantity is deduced in combination with a thermal diffusion trend; on the basis of frequency band correlation mapping of electromagnetic and thermodynamic parameters, thermoelectric cooperative imbalance levels are divided through mutual information entropy evolution, and a self-adaptive harmonic attenuation weight tuning instruction is generated; analyzing a mismatching relation between transient disturbance of an environment magnetic field and arc voltage modulation distortion in real time, dynamically generating a magnetic field compensation factor and reversely superposing the magnetic field compensation factor to a control instruction; and in combination with the matching degree of molten pool oscillation energy and a harmonic frequency spectrum, correcting wire feeding rate calibration, reconstructing a multi-band harmonic energy proportion spectrum, outputting an anti-interference welding control signal, and realizing dynamic balance between arc stability and molten pool heat input.

The invention discloses a 3D printing path planning method based on electric arc additive anisotropy and a stress field, and the method comprises the steps: constructing a CAD three-dimensional model of a part, and obtaining the stress field of the part through finite element simulation; determining a slice plane; mapping the stress field to a slice plane to form a force flow line; according to the obtained force flow line, rotation transformation regeneration is carried out according to the anisotropy of the used electric arc additive, and a reference trajectory considering the anisotropy of the material is obtained; under the principle of alternate arc starting and extinguishing, the corresponding printing sequence in the layers and between the layers is further planned, and the reference trajectory lines are connected end to end to be planned into a continuous path; and generating a code file, and printing according to the printing sequence. The comprehensive mechanical property of a printed piece is improved.

The invention discloses a locating weld robot system based on active and passive visual sensing, and relates to the technical field of robot welding, the locating weld robot system comprises a weld tracking module, the weld tracking module is used for monitoring a weld and a welding state and adjusting the position of a welding gun; the welding seam tracking module comprises a visual sensing unit, a deviation detection unit and an automatic deviation correction unit, the visual sensing unit is connected with the deviation detection unit through Bluetooth, and the deviation detection unit is connected with the automatic deviation correction unit through Bluetooth. By designing the welding seam tracking module, the automatic welding seam positioning function is achieved, the problem of welding seam position deviation is solved, the welding quality and efficiency of the welding seam robot are improved, and active and passive vision fusion is achieved.

The present invention relates to the technical field of screw welding processing, and discloses an automatic arc welding machine for processing countersunk small self-drilling cement screws, including an operating platform and a manipulator for taking screws, and a welding gun for welding screws and plates, a shell is installed on the upper side of the operating platform, a support frame for transmitting screws is installed inside the shell, first grooves for placing screws are symmetrically opened on both sides of the support frame, a movable frame for progressive screws is movably installed between the operating platforms, a driving motor for driving the movable frame to move is installed on the side wall of the support frame, a support table is installed on the upper side of the operating platform, a detection head for checking the alignment of the screws is installed on the side of the support table, and a conversion seat for adjusting the alignment of the screws is installed on the upper side of the operating platform. After the manipulator takes the screws and docks them with the metal plate, a welding gun is used to weld them, thereby realizing automatic welding, reducing labor costs, and improving production efficiency and welding quality.

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 relates to the technical field of steel structure welding assembly, and discloses a dynamic cooperative control steel structure welding assembly production line and an operation method thereof, which are used for automatic welding and deformation correction of H-shaped steel components. The production line comprises a feeding area, an assembling area, a welding station and a correction detection area. Global cooperative control is achieved through a distributed supporting system, a multi-dimensional sensor monitoring system and a cooperative robot system. The distributed supporting system is composed of dynamic roller bed units, the supporting height is adjusted in real time through a pressure sensor array and a micro hydraulic actuator, and workpiece droop is counteracted. The multi-dimensional sensor monitoring system collects temperature, strain and morphology data in real time; the welding robot and the correction robot synchronously apply electromagnetic stirring to optimize a welding seam during welding, and ultrasonic peening and laser heating are combined to reduce residual stress during correction. The industrial control computer dynamically adjusts welding parameters, supporting force and a correction strategy through sensor data, and high-precision straightness and low-residual-stress control is achieved.

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 relates to the technical field of intelligent welding, in particular to an intelligent welding system and method based on binocular vision and line scanning laser. The intelligent welding system based on binocular vision and line scanning laser comprises a welding management assembly, a welding monitoring assembly, a welding execution assembly and a welding seam tracking assembly. The welding management assembly comprises a scanning unit and a processing unit. The scanning unit forms welding part contour information and welding groove shape information; and the processing unit edits a welding process characteristic curve and plans multiple layers of welding paths. And the welding monitoring assembly generates welding process real-time correction information. And the execution assembly controls the welding execution equipment to perform welding operation. The intelligent welding system has the advantages that the welding process is monitored in real time, welding parameters are adjusted in time, the positioning precision of a workpiece is improved, the multi-layer and multi-pass welding requirement is met, a multi-layer and multi-pass planning algorithm is provided, process parameters in the welding process can be corrected in real time, and the welding quality is improved.

The invention relates to the technical field of pipeline welding automation, and discloses a pipeline multi-layer and multi-pass welding track self-adaptive planning method. The method comprises the steps that weld joint track poses, welding electrical parameters and temperature information are collected in real time, and a sliding time window data sequence is constructed; establishing an interlayer constraint model and a trajectory prediction model based on the sequence, and generating a plurality of trajectory deviation predictions through short-term recursive prediction and long-term sequence prediction; a residual error reciprocal weighted fusion strategy is combined with a welding seam forming quality evaluation function, fusion track deviation is obtained, and uncertainty is evaluated; the fusion deviation is superposed to an original planned trajectory, and a self-adaptive correction trajectory is generated through a multi-objective optimization model; and the welding robot is controlled to execute track correction and real-time feedback updating. According to the method, through dual-time scale prediction and trajectory-process parameter collaborative optimization, the problem of insufficient welding seam forming precision caused by lack of dynamic correction in traditional static planning is effectively solved, and the welding quality and efficiency are remarkably improved.

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 discloses a fuse wire additive manufacturing method for regulating and controlling the strength of titanium alloy by adding rare earth oxide, which comprises the following steps of: 1, ultrasonically stirring and mixing rare earth oxide nano powder and ethanol solution to obtain turbid liquid; 2, polishing the surface of the titanium or titanium alloy substrate until the roughness is not greater than Ra1.6; thirdly, the surface of a substrate is evenly coated with the turbid liquid, after drying, fuse wire additive manufacturing of titanium or titanium alloy wires is carried out under inert atmosphere protection, and the titanium alloy with the improved strength is obtained; the fuse wire additive manufacturing process comprises the steps that layer-by-layer deposition is conducted, and after each layer is deposited and completely solidified and cooled, the surface of the deposited layer is coated with turbid liquid and dried. According to the method, coating of the turbid liquid containing the rare earth oxide and the fuse wire additive manufacturing process are combined, the titanium or titanium alloy containing the rare earth oxide and uniform in component is prepared, metallurgical bonding of the rare earth oxide and the titanium or titanium alloy wire is achieved, and the method is suitable for the technical field of metal additive manufacturing.

The invention discloses a method and equipment for double-ultrasonic cooperative in-situ auxiliary electric arc additive manufacturing of a large metal component, an electric arc additive manufacturing system and an ultrasonic vibration auxiliary electric arc additive manufacturing system. The ultrasonic vibration auxiliary electric arc additive manufacturing system comprises two ultrasonic impact guns, an optical sensor, a temperature sensor and a calculation control system. The optical sensor collects optical characteristics of the deposition channel and the molten pool and converts the optical characteristics into electric signals to be transmitted to the calculation control system, and the temperature sensor is used for monitoring and collecting temperature information of the deposition channel and transmitting the temperature information to the calculation control system to draw an isotherm; the calculation control system adjusts the distance between the ultrasonic impact gun and the center of the molten pool according to the isotherm and the optical characteristics of the optical sensor mobile phone, and the ultrasonic power is adjusted; one of the ultrasonic peening guns applies ultrasound from the component side edge as materials are added to the component edge. By means of the multi-axis freedom degree and accuracy of the mechanical arm, double-ultrasonic vibration is applied to all positions of a large metal component in the material adding process, and the mechanical property is improved.

The invention relates to the technical field of electric welding machines, in particular to a dynamic heat dissipation control method and system for an intelligent electric welding machine. A heat load real-time calculation and heat accumulation trend prediction step; a dynamic collaborative heat dissipation strategy generation and execution step: dynamically generating and executing an air cooling heat dissipation strategy, an air cooling and liquid cooling collaborative heat dissipation strategy or a protective heat dissipation strategy according to a comparison result; wherein the control parameters of the air cooling heat dissipation strategy are determined according to the difference value between the predicted temperature and the corresponding threshold value and the environment temperature; the control parameters of the air cooling and liquid cooling collaborative heat dissipation strategy are determined according to the difference value between the predicted temperature and the corresponding threshold value and the environment humidity; and a heat dissipation effect feedback and self-adaptive calibration step. Real-time sensing, thermal load prediction, a dynamic heat dissipation strategy and feedback calibration are combined, the heat dissipation strategy can be dynamically adjusted according to the working environment and the operation state of the electric welding machine, and the stability and reliability of equipment are improved.

The invention discloses composite pipe assembly equipment, relates to the technical field of composite pipe assembly, and aims to solve the problems of poor forming quality and low production efficiency of a bimetal composite pipe caused by the fact that manual operation is needed and grinding and sleeving of an inner pipe and an outer pipe are carried out step by step when the bimetal composite pipe is assembled at present. Comprising a first grinding device, a second grinding device, a conveying device and an assembling device; wherein the conveying device is located between the first polishing device and the second polishing device, the conveying device comprises a conveying frame body and two parallel conveying rails, the conveying rails are movably arranged on the conveying frame body, and the moving directions of the two conveying rails are both perpendicular to the axial direction of the first pipe and the axial direction of the second pipe; the assembling device is provided with two ends which are located on the two opposite sides of the two conveying rails respectively, a pushing component is arranged on the assembling device, and the pushing component is used for pushing the first pipe and the second pipe which are located on the two conveying rails respectively in the axial direction of the first pipe and the second pipe, so that the first pipe and the second pipe are nested to form the composite pipe.

The invention discloses a welding robot self-adaptive wire feeding control method, a platform and a medium, relates to the technical field of welding automation process control, and is suitable for welding process management under complex working conditions. According to the method, an arc voltage sequence and a molten pool characteristic parameter sequence in the welding process are collected, a welding state characteristic value is obtained through calculation, a reference database containing welding process parameters, welding working condition parameters and the welding state characteristic value is constructed based on historical experimental data, and corresponding preset reference indexes are generated through a mapping relation function; and in real-time welding, the welding state characteristic value of the current wire feeding control period is obtained and compared with a preset reference index, the deviation value is calculated, the welding state is judged according to the grading threshold value interval, the wire feeding speed is dynamically adjusted, and self-adaptive matching of the wire feeding speed and the welding state is achieved. According to the method, instability caused by traditional adjustment depending on experience can be overcome, dynamic control over the welding process is achieved, and the stability of a welding pool and the welding seam forming quality are improved.

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 electric arc welding robot for automobile part machining comprises a platform, a transfer trolley used for bearing parts is arranged on the front side of the platform, welding parts are supported on the top of the transfer trolley, an electric arc welding machine base is fixedly connected to the top of the platform, a first mechanical arm is installed on the surface of the electric arc welding machine base, and a second mechanical arm is installed on the surface of the first mechanical arm. A second mechanical arm is installed at the end, away from the electric arc welding machine base, of the first mechanical arm, and a welding module is installed at the end, away from the first mechanical arm, of the second mechanical arm. By arranging the positioning structure, welding parts can be rapidly extruded and fixed, and the problems that an existing welding robot clamp is single in structure, low in clamping efficiency, tedious in operation and high in equipment complexity and maintenance difficulty, and the welding quality is affected by clamp precision and stability are solved; and the problem that the environment and the health of operators are threatened due to the fact that smoke cannot be effectively removed in the welding process is also solved.

The invention discloses a five-axis hollow positioner device, which relates to the technical field of welding auxiliary equipment and comprises a rotating main body, an L-shaped positioner, a welding chuck and a chuck driving and clamping mechanism, the rotating main body comprises a main box body, a rotating base and a first slewing mechanism, and the main box body can rotate around the first slewing mechanism; the two L-shaped position changing machines are symmetrically arranged on the two sides of the main box body to form double stations, and welding and feeding are synchronous. The welding chuck is arranged on the L-shaped positioner through a third slewing mechanism and is used for clamping and driving the workpiece to rotate; the chuck driving and clamping mechanism controls the welding chuck to clamp / loosen; the device realizes five-axis movement, can flexibly adjust the welding posture of a workpiece, and eliminates welding dead angles; the double-station design improves the efficiency, the arc light prevention blocking screen guarantees the safety, the copper alloy clamping pad prevents the workpiece from being scratched, and the device is suitable for efficient welding of complex workpieces.

The invention relates to an angle seam submerged arc welding device which comprises a bearing table, an arc welding machine and a machining table. The machining table is arranged above the bearing table, and the arc welding machine is placed on the edge of the bearing table. A linkage module is arranged below the machining table, and a plurality of change modules are arranged on the side, facing the linkage module, of the machining table. A first long-strip-shaped hole is reserved in the machining table, a circular truncated cone is arranged on the first long-strip-shaped hole in a telescopic movement mode, a cylinder is connected to the back of the circular truncated cone, a U-shaped frame is connected to the portion, facing a workpiece, of the cylinder, a limiting module is arranged on the inner edge of the U-shaped frame, and a compensation module is arranged on the back of the U-shaped frame. According to the angle seam submerged arc welding device, through the rotary design of the variable module, the module is limited to rotate by 1 / 12 angle after each time of operation, contact points with a workpiece are replaced, contact is evenly distributed, and the service life is prolonged.

The invention provides a welding method and device, electronic equipment and a storage medium, and belongs to the technical field of intelligent manufacturing. A target wire feeding speed corresponding to the actual average current value is determined according to the target compensation relation; the actual wire feeding speed is adjusted to the target wire feeding speed; the target compensation relation is determined from the compensation relation set based on the target average current value, and the target compensation relation comprises the corresponding relation between the actual average current value and the target wire feeding speed. Through the pre-established compensation relation, the wire feeding speed can be actively adjusted in the welding process according to the deviation of the monitored actual average current value so as to compensate the deviation in real time, and therefore it is guaranteed that the heat input amount in the whole welding process is constant, and the welding quality is improved. The technical problems of welding current fluctuation and inconsistent welding seam forming caused by dry elongation change due to factors such as out-of-roundness of workpieces are solved, and the quality and reliability of welding seams are remarkably improved.

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 pre-welding deviation rectifying device for a submerged-arc welding straight seam steel pipe, and relates to the technical field of steel pipe submerged-arc welding. The submerged-arc welding device comprises a machining table, a first linear sliding rail module and a second linear sliding rail module are installed at the top of the machining table, a submerged-arc welding assembly is installed on the second linear sliding rail module, a fixed plate is fixedly installed at the left end of the top of the machining table, a movable plate is installed on the first linear sliding rail module, and three-jaw chucks are installed on the movable plate and the fixed plate correspondingly. A three-jaw chuck drives an inner correction rod to expand outwards to conduct center positioning on a steel pipe, an inner circle can be corrected, then a guide disc is rotated to enable a connecting rod to enter an arc groove part of an inner correction guide groove to lock the position of the inner correction rod, and a swing rod drives an outer correction rod to swing through a telescopic rod. The outer correcting rods correct the outer circle of the steel pipe, the two sets of outer correcting rods are pressed on the two sides of a welding seam to clamp the welding seam, and therefore welding deformation caused by thermal expansion and contraction in the welding process is reduced.

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 discloses a welding track collecting method based on vision, and relates to the technical field of welding. An ArUco box installed on a welding gun and an ArUco code on a reference ruler are collected in real time through a visual collection unit, ID information and position information of the ArUco code are recognized, the pose of the ArUco code on the ArUco box serves as the pose of the welding gun, the pose of the ArUco code on the reference ruler serves as the pose of the reference ruler, and the poses of the welding gun and the reference ruler in a camera coordinate system of the visual collection unit are obtained; the method comprises the following steps: uniformly converting an ArUco code pose of an ArUco box on a welding gun to an ArUco box geometric center coordinate system, uniformly converting an identified ArUco code pose of a reference ruler to a reference ruler global coordinate system, converting a welding gun pose from the ArUco box geometric center coordinate system to a reference ruler global coordinate system, and carrying out fusion processing on acquired data of a plurality of cameras on a visual acquisition unit, and the accurate pose and motion trail of the welding gun are obtained.