2519results about "Welding accessories" patented technology

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 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 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 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 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 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 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 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 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 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 invention relates to a welding gun self-adaptive swing adjusting system and method. The system comprises a detection module, a control module, an execution module, a man-machine interaction module, a power module and a storage module. The detection module detects welding seam unevenness information, and after receiving the information, the control module judges whether to drive the execution module to adjust a welding gun to swing or not according to a preset threshold value determined on the basis of the vertical distance between a replaced plate welding initial point and the detection module and the process fluctuation range; meanwhile, a welding seam is tracked through a point-by-point comparison method based on the linear interpolation principle, the moving direction is judged through a deviation function, the feeding direction is determined through a coordinate absolute value and a symbol in a full quadrant, interpolation is stopped when the total step length is gradually decreased to zero, and the method comprises the steps of module initialization, parameter setting, communication detection, judgment and adjustment and welding seam tracking. The invention aims to solve the problems of poor welding quality, low efficiency and more manual intervention caused by poor welding seam flatness, large gap and high-low misalignment in the welding process.

Automatic welding equipment for trailer girders comprises a welding table, a gantry type welding workstation, a girder turnover mechanism, a plurality of conveying roller ways, a plurality of girder clamping mechanisms, a welding station positioning detection module and a control system. The welding table is arranged in the left-right direction. The gantry type welding workstation comprises a welding station portal, a sliding table, a welding robot and a line laser, the sliding table reciprocates left and right on a top beam of the welding station portal, the welding robot is fixedly mounted on the sliding table, and the line laser is mounted on the sliding table through a lifting mechanism and a front-back moving mechanism; the girder turnover mechanism is arranged in the middle of the welding table; the conveying roller ways are arranged on the upper portion of the welding table left and right at intervals. The girder clamping mechanisms are arranged on the upper portion of the welding table left and right at intervals. And the welding station positioning detection module is arranged on the downstream side of the incoming girder workpiece on the welding table. The device can reduce the labor intensity of workers, reduce the auxiliary working hours, improve the production efficiency, improve the product quality stability and improve the working environment.

The invention provides an automatic positioning welding robot, and belongs to the technical field of automatic welding. Comprising a rack, the top of the rack is slidably provided with a portal frame, the top of the portal frame is slidably provided with a bearing frame, the top of the bearing frame is fixedly connected with a first electric push rod, the telescopic end of the first electric push rod is fixedly connected with a case, the bottom of the case is fixedly connected with a laser vision sensor, and the bottom of the case is provided with a mounting frame. The laser vision sensor is linked with the posture adjusting assembly and the transverse linear module, the problem that traditional automatic welding equipment cannot adapt to weld joint misalignment and gap changes is solved, the center position and the misalignment amount of a weld joint can be obtained before welding and in the welding process, and the welding quality is improved. The posture adjusting mechanism is driven to adjust the transverse position and the inclination angle of the welding gun, it is ensured that the arc of the welding gun is always accurately centered, the defects of undercut, incomplete fusion and the like caused by misalignment are effectively prevented, and the quality of a welded joint is improved.

The invention discloses a welding method of a high-nickel finned tube and relates to the technical field of high-nickel finned tube welding. The high-nickel finned tube comprises fins, a transition layer and a base tube, the fins are made of high-nickel alloy 2.4879 or 2.4878, the transition layer is made of austenitic stainless steel 304, and the base tube is made of carbon steel Rst37-2; the welding method adopts direct current positive connection TIG welding, namely tungsten electrode inert gas shielded welding, and comprises the following steps: S1, preparation before welding; s2, layered welding; s3, post-welding treatment; and S4, quality detection. According to the welding method, the problems of thermal stress cracks, cold shut and air holes of dissimilar material welding are effectively solved through stepped groove, standardized cleaning, layered welding and precise postweld treatment. The high-plasticity welding wire and an adaptive process absorb shrinkage stress, the fusion compatibility is optimized, and whole-course protection is strengthened. The mechanical property and corrosion resistance of the finished finned tube reach the standard, stable welding quality is guaranteed, and the finished finned tube is adaptive to complex working conditions.

The invention relates to the technical field of building construction welding, in particular to steel structure electric arc welding equipment for building construction. The device comprises a welding gun, a nozzle structure is installed at the bottom of a welding head connecting pipe in a threaded mode, the nozzle structure comprises a hollow spraying pipe and a contact tube extending from the interior of the welding head connecting pipe, an isolation inner pipe is installed in the spraying pipe in a clamped mode, and a gas flow channel formed between the spraying pipe and the contact tube is separated through the isolation inner pipe. The external expansion structure at the lower end of the isolation inner pipe is matched with the height difference between the bottom end of the isolation inner pipe and the bottom end of the spray pipe, physical shielding is formed, and high-temperature splashes entering the external sub-runner during welding are reduced; therefore, adhesion on the inner wall of the outer sub-runner is effectively avoided, the outer sub-runner is kept smooth all the time, and stable conveying of the protective gas is guaranteed.

The invention relates to the technical field of automatic welding, and discloses a micro welding seam tracking method and system based on electromagnetic induction. According to the method, a high-frequency alternating magnetic field is applied to a welding seam area through an exciting coil in the micro electromagnetic sensing core; an induction coil in the electromagnetic sensing core is used for detecting magnetic field disturbance caused by geometric shape changes of the weld groove, and induction signals are obtained; processing the induction signal through a signal processing circuit integrated in the probe, namely converting the impedance change of the coil into a voltage signal, demodulating and filtering the voltage signal, and extracting a direct-current voltage signal corresponding to the deviation of the probe relative to the central position of the welding seam; the direct-current voltage signals serve as position feedback information to be output to a welding robot control system; and the movement track of the welding robot is adjusted in real time according to the position feedback information, and welding seam tracking and path deviation correction are achieved.

The invention belongs to the technical field of additive manufacturing, and particularly relates to a strong electromagnetic pulse-ultrasonic auxiliary electric arc additive manufacturing platform. The platform body is provided with an upper substrate used for providing an initial plane for electric arc additive manufacturing; the water cooling device comprises a water cooling box used for containing cooling water, and the substrate is contained in the water cooling box; the base plate locking clamp comprises a positioning clamping table and a clamping device. The positioning clamping table and the clamping device are arranged on the two sides of the upper base plate and matched to form a fixing structure for fixing the relative positions of the upper base plate and the platform body. The welding gun head is connected with the six-axis mechanical arm and is used for carrying out additive manufacturing on the upper substrate; the clamping device and the welding gun head are arranged on the two opposite sides of the upper base plate in a spaced mode. And the clamping device is partially arranged outside the water cooling box. The clamping device and the welding gun head are arranged on the two sides of the water cooling box respectively, space interference between the clamping device and the welding gun head in the working process can be effectively avoided, meanwhile, a principle heat source of the clamping device can be guaranteed, and normal work of the clamping device is guaranteed.

The invention discloses a flange plate welding deformation compensation device, which relates to the technical field of welding, performs targeted constraint force adjustment on a local heat affected zone in a flange plate welding process by virtue of a synergistic effect of a partitioned flexible constraint assembly and an annular supporting and positioning assembly, and is different from a uniform constraint mode of a traditional integral rigid device. In the process, independent pressure control and air pressure adjustment are carried out through all the subarea air cavities, and in cooperation with real-time feedback of a temperature sensor and a laser displacement sensor, the constraining force of different areas can be dynamically changed, so that the restraining accuracy is improved. According to the method, stepped force control from initial pre-constraint to local reinforcement constraint to cooling and pressure maintaining is achieved, the mode can be matched with the local deformation trend generated by non-uniform heating of the flange plate in a more targeted mode, overall and local deformation of the flange plate in the welding process is effectively restrained, and compared with a traditional overall constraint mode, the method is more accurate.

The invention belongs to the field of argon arc welding devices, and particularly relates to an automatic device for circular tube butt-joint argon arc welding, which comprises a base, and a circular tube butt-joint positioning assembly is arranged on the base; the round pipe butt joint positioning assembly comprises a rotating plate rotationally arranged on one side of the upper end face of the base, two transverse moving columns are distributed on the upper end face of the rotating plate in a 90-degree array mode with the rotating shaft as the axis, the transverse moving columns are slidably connected to the rotating plate, and a connecting plate is fixedly connected to the upper end of the rotating plate. According to the round pipe butt joint device, automatic butt joint of round pipes is achieved through the round pipe butt joint positioning assembly, the round pipe feeding assembly, the orientation angle recognition assembly and the material moving assembly, the process that operators conduct manual butt joint on the round pipes is omitted, and the labor intensity is reduced. The orientation and the angle of the circular pipes are judged in a distance sensing mode, the two circular pipes are accurately adjusted to be at the proper angle, then it is guaranteed that the inclined faces of the two circular pipes are accurately attached, weld joint deviation is avoided, and therefore it is guaranteed that welding work is conducted smoothly.

The invention discloses a B-type sleeve welding control system and method, and belongs to the technical field of welding automation, and the B-type sleeve welding control system comprises a welding trolley, a welding gun, a visual perception unit and a control unit. By constructing a composite sensing system combining laser vision, molten pool recognition and welding gun sounding calibration, continuous and effective positioning in a narrow space in the sleeve under the condition that multiple layers of welding beads cover layer by layer is achieved. A welding gun is used for conducting welding wire penetration detection in a set coordinate system, space point positions are recorded in real time when the end of a welding wire makes contact with a sleeve and a base metal entity, self-adaptive correction of a welding bead starting point and a swing center is achieved, the positioning precision in the welding process of multiple layers of welding beads is greatly improved, and reliable reference is provided for follow-up path planning of the welding beads. A multi-sensor fusion algorithm is adopted, parameters such as the swing amplitude, the swing frequency, the welding height and the walking speed in the welding process are adjusted in real time, and the forming quality consistency of multiple layers of welding seams can be guaranteed.

The invention relates to the technical field of arc cutting, in particular to arc cutting equipment for metal distribution box machining, which comprises a horizontally arranged fixed mounting disc, a plurality of fixed mounting plates are arranged on the edge of the fixed mounting disc at equal angles, fixed mounting holes are formed in the fixed mounting plates, and a plurality of buffer rubber rings are arranged on the upper side of the fixed mounting disc. A supporting mounting column is arranged on the lower side of the fixed mounting disc. The cutting device further comprises a rotating displacement mechanism, a follow-up adjusting displacement mechanism, an adjusting cutting module and an accompanying processing module. According to the equipment, precise space positioning of the cutting head is achieved through a multi-stage adjusting mechanism, the cutting precision and quality are effectively improved, a unique accompanying treatment system can recover slag and filter smoke in real time, operation safety and environment friendliness are guaranteed, the overall automation degree is high, adaptability is high, installation can be flexible, and the equipment is suitable for distribution boxes of various specifications; the three functions of precise cutting, slag recovery and flue gas treatment are integrated, and synchronous cutting and treatment are achieved.

The invention discloses a welding method of a high-strength steel vertical rod for a ring lock type scaffold and the vertical rod. A target high-frequency welded pipe is selected as a vertical rod main body; the gap between the disc buckle and the high-frequency welded pipe is controlled to be 0.3 mm-0. 7 mm through a positioning device; according to a preset target welding process specification, gas shielded welding wires are adopted to conduct angle welding with low welding heat input on the two sides of the disc buckle, and the value of the low welding heat input ranges from 3.23 KJ / cm to 4.94 KJ / cm. Therefore, the high-strength light-weight vertical rod is used, and the vertical rod and the disc buckle are welded according to the target welding process specification, so that the safety of the high-strength steel scaffold vertical rod in use is ensured, the mounting efficiency of the vertical rod is improved, and the working intensity of constructors is reduced.

The present invention relates to the technical field of boiler manufacturing, and provides a weld seam structure suitable for a narrow gap water-cooled wall tube panel and a welding process. The weld seam structure comprises groove gaps formed between adjacent water-cooled wall tubes; joints are provided on the sides of the adjacent water-cooled wall tubes close to each other; the joints are distributed on the upper sides of the groove gaps, and the joints are communicated with the groove gaps; and the groove gaps comprise V-shaped grooves or U-shaped grooves. In addition to the original joints, adjacent water-cooled wall tubes are considered as a whole, and gaps formed between the water-cooled wall tubes are machined into groove gaps and welded with the joints, thereby increasing the thickness of a welding seam at a tangent point and the safety coefficient, facilitating ray radiographic inspection, and solving the technical problem of great hazards to the safe operation of units due to the fact that when the gaps between the adjacent water-cooled wall tubes are small, the welding quality at the tangent point position of the adjacent water-cooled wall tubes cannot be effectively guaranteed due to inconvenient observation, welding, and radiographic inspection.

The invention discloses an automatic welding gun consumable replacement device for robot welding. The automatic welding gun consumable replacement device comprises a welding gun welding material replacement platform, and the welding gun welding material replacement platform is provided with a nozzle dismounting and mounting station, a contact tube dismounting station and a contact tube mounting station; the nozzle disassembling and assembling station comprises a nozzle disassembling and assembling base rotationally installed on the welding gun welding material replacing platform, and first clamping jaws which are evenly distributed are slidably connected to the top of the nozzle disassembling and assembling base. According to the device, a device with the higher automation degree is adopted for automatically replacing welding gun consumables for robot welding, a manual replacement mode is replaced, the labor cost is reduced, single electric power energy is adopted, the obtaining mode is more convenient, a first clamping jaw and a second clamping jaw can be matched with nozzles and contact tubes of different sizes correspondingly, and the application range is wider; the nozzle and the contact tube are protected in the disassembly and assembly process, and therefore the replacement effect and the use quality of the nozzle and the contact tube are guaranteed.

According to the pipeline all-position robot intelligent welding system and method based on the AI algorithm, a laser vision scanning system is adopted for scanning a pipeline welding seam / groove, and an AI intelligent model generating system generates a pipeline all-position welding seam three-dimensional model diagram based on scanning data; the AI intelligent process generation system intelligently reads welding seam size information based on the model diagram, generates a welding gun path of all-position welding, optimizes the welding gun path, matches initial welding parameters and distributes the initial welding parameters to the intelligent welding robot, and the AI intelligent process optimization system predicts a welding seam molten pool in the welding execution process and judges whether the process is qualified or not. And if the process is unqualified, welding parameter adjustment is repeated, and if the process is qualified, process parameter optimization values are output. The welding quality of all-position welding of small and medium-diameter pipelines is accurately controlled, and the all-position welding quality of the pipelines is improved; and the system intelligently adapts to the complex environment of all-position welding of small and medium-diameter pipelines, and can cope with complex welding process changes in real time.

The utility model relates to the field of welding, and provides a welding device for welding in a narrow space. The welding device for welding in the narrow and small space comprises a nozzle, an inclined wire contact tube and a welding wire. The nozzle can vertically extend into the welding space; the inclined wire contact tube is partially inserted into the nozzle in an inclined mode, the extending end of the inclined wire contact tube can be located on one side of an opening in the tail end of the nozzle, a flow guide sleeve is detachably installed on the other side of the opening in the tail end, and the flow guide sleeve can partially shield the opening in the tail end of the nozzle. The welding wire is arranged in the inclined wire contact tube in a penetrating mode and can stretch out of an opening in the tail end of the nozzle so that an electric arc can be formed on one side of the nozzle. According to the welding device for welding in the narrow and small space, the nozzle can directly stretch into the welding space, the welding wire is conveyed to any welding position in the welding space through the inclined wire contact tube, and therefore the flow guide sleeve is additionally arranged on the nozzle to form a lateral gas supply structure, the whole molten pool is reasonably covered with protective gas, and the welding efficiency is improved. The problems of gas turbulence and molten pool protection are solved.

The embodiment of the invention provides a real-time collection method and system for welding heat input, and the method comprises the steps: sensing the displacement movement of a welding gun or a welding wire through a diffuse reflection photoelectric switch array installed on the surface of a pipeline, and generating a corresponding pulse trigger signal; current data and voltage data of a welding loop are sensed through a Hall sensing system, and corresponding analog electric signals are generated; synchronously acquiring the pulse trigger signal and the analog electric signal through a multi-channel data acquisition device, and converting the analog electric signal into a digital signal with a timestamp; real-time welding speed data are calculated according to the time sequence of the pulse trigger signals and the preset space geometrical relation of the diffuse reflection optoelectronic switches; performing multi-stage filtering processing on the current data and the voltage data; a unified timestamp is determined, and time sequence matching is conducted on the filtered current data, the filtered voltage data and the filtered welding speed data based on the unified timestamp; and calculating to obtain a welding heat input value.

The invention relates to the field of tubular target welding positioning, in particular to a tubular target annular welding positioner which comprises a welding support, a tubular target support movably connected to the left side of the top of the welding support, a back plate support movably connected to the right side of the top of the welding support and linked with the welding support through a transmission mechanism, and a submerged arc welding gun support movably installed in the middle of the welding support. And the clamping mechanism is movably mounted at the upper part of the tubular target bracket and is used for clamping and positioning the tubular target. According to the annular welding positioner for the tubular target, the tubular target support, the clamping mechanism, the gap adjusting mechanism and other components are used in cooperation, when the tubular target is clamped through the clamping mechanism, a clamping rod on the clamping mechanism drives a positioning ring to move horizontally, and the positioning ring drives a limiting screw on the gap adjusting mechanism to move synchronously; the welding gap between the tubular target and the back plate on the tubular target support and the back plate support is adjusted and controlled, the welding gap between the tubular target and the back plate is automatically adjusted according to different thicknesses of the clamped tubular target, and the welding efficiency and the welding precision are improved.

The invention relates to a special welding method for aluminum alloy. The special welding method comprises the steps that S1, preparation before welding is conducted; s2, MIG welding bottoming is carried out; s3, the groove is filled through TIG welding, and surface covering is conducted; and S4, post-welding treatment is carried out. The composite technology of MIG welding bottoming and TIG welding capping filling is adopted, the method is used for thick plate aluminum alloy welding, deformation is small, the porosity is low, preheating is not needed, and the requirement for welding of complex structures and dissimilar materials is met. The welding speed is increased by 3 times, and the porosity is reduced from 2.1% to 0.5%; and the flaw detection qualification rate is increased from 85% to 98%. The shrinkage amount is reduced by 60-80%; and the workload of the correction process is reduced by 50%. The method is suitable for the fields of aerospace, automobile manufacturing, rail transit and the like.

The invention discloses a welding robot welding seam tracking and self-adaptive control method, which belongs to the technical field of welding robots, and comprises the following steps: S1, initial parameter setting: presetting initial welding parameters of a welding robot according to the material, thickness and welding process requirements of a to-be-welded workpiece; s2, welding seam initial positioning, wherein a visual sensor or a laser sensor is used for positioning a welding starting point; s3, welding seam feature extraction, wherein an image or a laser reflection signal of a welding seam area is collected in real time through a sensor; s4, welding seam tracking control, wherein the extracted welding seam geometric features are compared with a preset welding seam model; and S5, self-adaptive control: analyzing the cause of deviation. The welding robot welding seam tracking and self-adaptive control method has the advantages that welding seam tracking precision and stability are improved, welding parameter self-adaptive adjustment is achieved, the image processing and feature extraction process is optimized, an incremental parameter adjustment mode is adopted, and the welding robot welding seam tracking and self-adaptive control method has the welding quality detection and repair welding functions and the like.