8130results about "Welding apparatus" patented technology

The invention discloses a PCBA circuit board welding spot detection method based on multi-modal data fusion, and relates to the technical field of electronic manufacturing quality detection.The PCBA circuit board welding spot detection method comprises the steps that a distributed sensing network is constructed, multi-modal data are collected, welding spot information is obtained in an omnibearing mode, and time-space alignment of the multi-modal data is carried out; performing feature extraction on the multi-modal data, dynamically weighting each modal feature through an attention mechanism, and highlighting key defect characterization; a welding spot spatial topological graph is constructed by using a graph neural network, and a spatial relationship between welding spots is modeled. By integrating optical, X-Ray, thermal, mechanics, electricity and other multi-dimensional data, the information limitation of single-mode detection is broken through, the complementation of different mode data is utilized, the attention mechanism is combined to dynamically weight each mode feature, the complex defect is accurately identified, the graph neural network is utilized to model the welding spot space topological relation, the associated defect is further captured, and the defect detection accuracy is improved. And the defect classification accuracy is improved.

The invention relates to a welding quality detection system which comprises a process monitoring layer configured with a multi-mode sensor array and used for collecting original performance data in the welding process in real time; the intelligent analysis layer is provided with a multi-source data fusion module and a defect prediction module, and the multi-source data fusion module adopts an improved D-S evidence theory algorithm to perform fusion processing on the original performance data collected by the process monitoring layer to obtain multi-dimensional performance data; the defect prediction module analyzes and captures abnormal data according to the multi-dimensional performance data, dynamically predicts a defect development trend and outputs defect prediction information; the decision execution layer is provided with a self-adaptive control module and is used for dynamically adjusting welding process parameters according to the defect prediction information output by the intelligent analysis layer; and the data communication bus is used for realizing real-time data interaction and closed-loop feedback control among the process monitoring layer, the intelligent analysis layer and the decision execution layer. The method has the effect of effectively improving the detection precision and the detection efficiency.

The invention provides an intelligent high-performance collaborative welding robot system, which belongs to the technical field of welding robots and comprises a multi-degree-of-freedom welding robot body, an intelligent control system, a high-performance welding power supply and auxiliary equipment. A welding process control module firstly obtains three-dimensional information of a workpiece based on visual inspection to construct a welding path; then selecting matched process parameters according to material characteristics and welding seam shapes; establishing a welding error matrix to monitor the welding process in real time; constructing a parameter error adjustment matrix for dynamic adjustment; analyzing parameter fluctuation by adopting a neural network to identify molten pool characteristics; the pre-trained neural network is used for evaluating the welding seam quality; and finally, a multi-robot collaborative welding strategy is integrated to achieve efficient operation, and the technical problem that in the prior art, welding process parameters in a welding robot are difficult to adjust accurately in real time so as to adapt to complex working condition changes is solved.

The invention provides an aluminum alloy auxiliary frame welding accurate positioning and quality control method and system. The method comprises the steps that S4, welding gun track control parameters are updated through a dynamic adjustment instruction, laser tracking data are fused to optimize the welding path angle in real time, and the accurate movement track of each section of welding seam is determined; s5, acquiring real-time thermal expansion data during welding execution, monitoring temperature field distribution of a welding seam area by adopting an optical measurement technology, and judging whether thermal deformation adjustment exceeds a preset threshold value or not; s7, micron-sized welding spot positioning operation is executed according to the stable positioning state, the dynamic path optimization result is fused to generate a final welding instruction, and consistent welding seam quality data is output; and S8, after weld joint quality data are obtained, weld joint deviation and geometric consistency are detected through a laser tracking technology, whether welding quality meets design requirements or not is judged, and a quality verification report is generated. According to the method, the precision and consistency of intelligent welding of the aluminum alloy auxiliary frame are remarkably improved.

The invention discloses a multi-mechanical-arm space-time synchronization control method for coiled pipe welding, and belongs to the technical field of automation control, and the method comprises the steps: in a primary laser and TIG hybrid welding execution stage, carrying out real-time data acquisition on a welding area of a workpiece, carrying out real-time deviation detection, and once real-time welding deviation is detected, carrying out time-space synchronization on the welding area of the workpiece; a local correction mechanism is triggered immediately, and deviation is prevented from being accumulated in the single welding process; after one-time welding is completed, the workpiece enters a transition area, global contour reconstruction is conducted on a welded section of the workpiece through three-dimensional scanning equipment, global deviation recognition is conducted, and unprocessed hysteresis deformation and accumulative errors are covered and corrected in real time; on the basis of the analysis result of the global deviation recognition, double correction is conducted on secondary welding, and cooperative control over space track correction and technological parameter adaptation is achieved; and after secondary welding is completed, the correction effect is evaluated through a double-layer evaluation mechanism, and the stability of the correction process is ensured.

The invention provides a thermal deformation intelligent compensation and control method and system in a metal part welding process, and relates to the technical field of metal welding, and the thermal deformation intelligent compensation and control method comprises the following steps: obtaining a three-dimensional model and process parameters, constructing a thermal-mechanical coupling analysis model, and collecting real-time temperature and strain data; thermal deformation is predicted through a dynamic hierarchical graph structure and a bidirectional propagation neural network, optimal welding process parameters are calculated through a recursive optimizer integrating a gradient strategy and an evolution strategy based on thermal deformation deviation, accurate prediction and intelligent compensation of thermal deformation in the welding process can be achieved, and the welding quality and precision are improved.

The invention provides a dissimilar material crystallization welding control method based on microwave energy distribution, which comprises the following steps: acquiring a high-density temperature map of a to-be-welded workpiece through a fiber grating array, and acquiring a real-time temperature value from a dissimilar material interface edge to a central area of the to-be-welded workpiece to obtain initial temperature distribution; calculating a temperature difference value between the edge and the central area, identifying a local overheat point position by comparing a temperature gradient or setting a temperature difference threshold value, and comparing the overheat point temperature with a preset material overheat threshold value to judge whether an overheat area exists or not; if the temperature difference value exceeds a temperature difference threshold value or a local overheating area exists, extracting space coordinates of a low-temperature area and a high-temperature area from the high-density temperature map, and identifying an energy distribution target area needing to be adjusted; and extracting temperature distribution from the updated energy distribution diagram, analyzing a temperature gradient to identify a heating power concentration region, and calculating to obtain a target stress distribution state in combination with the heating power concentration region.

The invention provides an intelligent real-time detection method and system for PCCP welding quality, and relates to the technical field of online detection and intelligent evaluation of pipeline welding quality through machine learning. Light energy data and multi-light-source images of a spiral weld pool are collected, exposure parameters are dynamically adjusted through the energy difference of visible light near-infrared bands, and the real-time detection of the PCCP welding quality is achieved. Inhibiting strong light interference and generating a weld surface image; a stress concentration area is positioned by scanning a welding seam thermal deformation area and combining speckle pattern change, sound frequency change and the elastic characteristic of the thin-wall steel cylinder; inputting the surface image and the deformation data into a space-time convolutional neural network, fusing light energy change, image details and spatial features to construct a weld joint space structure diagram, and adaptively correcting the position of a sensor; and comparing the sinking depth of the three-dimensional point cloud reconstruction, analyzing the correlation between the sinking degree and the stress, and generating a probability thermodynamic diagram to output the pressure-bearing failure risk level, so that the probabilistic early warning of the pressure-bearing failure risk can be realized.

The invention provides an array detection and positioning method combined with multi-welding-head battery welding, which comprises the following steps: monitoring the distribution of a welding head temperature field in real time by adopting an infrared thermal imaging technology, judging whether the welding head temperature field deviates or not by combining a preset temperature threshold value, and judging that the welding head temperature field deviates if detecting that the temperature of a certain welding head exceeds a threshold value range; according to the offset of the welding position, motion control parameters of the digital welding system are adjusted in a self-adaptive mode, and the offset error of a welding head is compensated in real time through a closed-loop feedback control algorithm; the welding spot quality online monitoring technology is adopted, the welding spot fusion depth and the welding spot diameter are extracted, whether the welding spot quality is qualified or not is judged in real time in combination with a pre-established welding spot quality evaluation model, and if the quality of a plurality of continuous welding spots is not qualified, it is judged that the welding spot quality is affected by welding head temperature field deviation.

The invention discloses an intelligent welding method for machine tool manufacturing, which comprises a multi-sensor fusion module, a welding quality real-time evaluation module, a dynamic path planning module, a self-adaptive parameter adjustment module and a human-computer interaction interface, and the multi-sensor fusion module comprises a visual sensor, a laser ranging sensor and a temperature sensor; the welding quality real-time evaluation module is connected with the dynamic path planning module, the multi-sensor fusion module is integrated into a unified data set based on a defect detection algorithm of deep learning, and the dynamic path planning module is combined with 3D visual scanning to produce three-dimensional point cloud data of a workpiece. The dynamic path planning module generates a welding path through an ant colony optimization algorithm, the adaptive parameter adjustment module adjusts the welding state in combination with data collected by the multi-sensor fusion module, and the training process of the anomaly detection model is optimized in combination with the adaptive learning rate and the regularization technology. And the mechanical welding gun is adjusted and controlled through the human-computer interaction interface.

The invention relates to the technical field of artificial intelligence welding, and discloses an automatic welding robot based on artificial intelligence and a welding system thereof. The system comprises a welding feature acquisition module, a process parameter generation module, a real-time regulation and control module and a motion planning module. The welding characteristic acquisition module is used for acquiring three-dimensional contour data, material component information and welding seam geometric parameters of a workpiece to be welded, and generating a welding characteristic spectrum through characteristic fusion; a process parameter generation module retrieves a matching template from a welding knowledge base according to the parameters, and outputs a reference welding process parameter combination in combination with an environment temperature and humidity compensation coefficient; the real-time regulation and control module dynamically corrects the reference parameters to generate an optimization instruction according to the molten pool form, thermal radiation distribution and electric arc voiceprint characteristics in the welding process; and the motion planning module calculates a motion track, attitude parameters and a speed curve of the welding execution mechanism according to the optimization instruction to form a robot control instruction set. The system can improve the intelligent level of welding, guarantees stable welding quality, and is suitable for welding scenes of multiple manufacturing industries.

The invention discloses a mechanical arm welding detection intelligent diagnosis method and system based on laser ultrasonic guided waves. According to the system, a high-precision multi-degree-of-freedom steering engine, an infrared distance measurement array, a temperature sensor, a laser vibration exciter and a laser vibration meter are integrated at the tail end of a mechanical arm, synchronous operation of welding and online detection is achieved by presetting a welding track, and the system collects an excitation signal, a reflection ultrasonic signal and temperature data through a high-speed data collection card; and the signal is preprocessed through a temperature matching model, phase compensation and baseline correction. Then, wavelet decomposition is adopted to extract time-frequency features, intelligent diagnosis is achieved through a pre-trained one-dimensional convolutional neural network, a dynamic threshold value is set based on the 3 sigma criterion, and recheck feedback is automatically triggered when detection data exceed the limit, the welding detection efficiency and precision are remarkably improved through the scheme, data closed-loop management and intelligent quality tracing are achieved, and the reliability of welding detection is improved. And the automatic production requirement of modern steel structure manufacturing is met.

The invention provides an inner flanging welding method of a water tank inner container and the water tank inner container, and relates to the technical field of welding manufacturing, and the inner flanging welding method comprises the following steps: obtaining three-dimensional point cloud data of an inner flanging interface of the water tank inner container in real time, and registering the point cloud data with a preset three-dimensional geometric model; based on an improved RRT algorithm, in combination with geometric features represented by the registered three-dimensional point cloud data, an initial motion track of a welding gun is planned; welding is conducted on the basis of the initial motion trail, and the weld width, the fusion depth feature and the defect feature are extracted from a molten pool image obtained in the welding process; correcting welding parameters of a welding gun in real time based on the weld width and fusion depth characteristics; and when the defect characteristics do not meet the preset conditions, path re-planning is triggered, a real-time movement track and synchronously-adjusted welding parameters are generated based on the currently-corrected welding parameters and the defect characteristics, and a welding gun is controlled to execute compensation welding. And the welding quality is improved.

The invention provides a welding obstacle avoidance path planning method and system based on artificial intelligence, and relates to the technical field of data processing, and the method comprises the steps: carrying out the penetration depth detection of a dynamic convex hull body and a discrete space sampling set, and generating collision probability density distribution; the collision probability density distribution is subjected to quality evaluation, welding gun posture constraint and a kinematics error transfer chain are fused, and a welding quality deviation functional is generated; analyzing high-deviation nodes in the welding quality deviation functional, and executing local tangent plane projection on the associated spatial sampling subsets to obtain pose compensation parameters; and the pose compensation parameter and the joint space motion primitive sequence are input into a kinematics inverse solution module, and an optimized welding gun motion parameter set is generated through geodesic line construction and parameterized spline interpolation. The welding efficiency and the quality target are improved, and the automation level of the whole welding operation is improved.

The invention discloses a body-in-white welding seam recognition and automatic welding method based on a machine vision technology, particularly relates to the technical field of computer vision and image processing, and is used for solving the problem of welding seam track recognition accuracy caused by insufficient processing capability of an existing three-dimensional vision recognition method on incomplete and uncertain point cloud data. Through the steps of multi-view point cloud acquisition and registration, probabilistic confidence evaluation, region growth of track continuity constraint, multi-track fusion optimization and the like, accurate identification of a body-in-white welding seam track under a complex working condition is realized; firstly, multi-view point cloud data are obtained, probabilistic registration is carried out to generate a confidence evaluation result, then candidate tracks are generated based on confidence weighting and semantic constraint, finally, an optimal track is generated through intelligent optimization and converted into a welding instruction which can be executed by a robot, and the accuracy and robustness of weld joint recognition are effectively improved.

The invention relates to the technical field of electronic packaging, in particular to a welding process applied to a double-mesa device. The technology comprises the following steps that firstly, a heat conduction model of a double-table-board device is built, a temperature field prediction system is built in combination with measured data, secondly, an asymmetric double-pulse-current welding strategy is adopted, differential pulse waveforms are loaded to an upper table board and a lower table board respectively, independent temperature control over all welding areas is achieved, a temperature difference closed-loop feedback mechanism is introduced in the process, and the temperature field prediction system is obtained. Pulse parameters are dynamically adjusted according to real-time temperature deviation, a stress prediction and weld penetration monitoring module is used for assistance, the welding spot forming quality and heat stress balanced release are ensured, a staged annealing type cooling mode is adopted after welding, and the structural stability is improved. The method can be widely applied to MEMS modules, SiC power devices and heterogeneous chip laminated packaging double-mesa structure devices, and has the advantages of being high in welding precision, high in reliability and wide in process adaptability.

The invention relates to the technical field of condenser welding, and particularly discloses an aluminum condenser welding device which comprises a workbench, a pair of sliding blocks are assembled on the workbench in a left-right sliding mode, a driving piece and a pushing piece which are matched with the sliding blocks are arranged on the workbench, and the sliding blocks are rotationally connected with the driving piece. A rotating piece for driving the sliding block to rotate to a vertical state is arranged at the joint of the sliding block and the driving piece; a wiping layer is arranged on the sliding block, the wiping layer is located above the sliding block when the sliding block is in a horizontal state, a plurality of ejector rods are arranged on the sliding block in a sliding mode, the ejector rods abut against the inner side of the wiping layer, an oil cavity filled with hydraulic oil is formed in the sliding block, the end of each ejector rod extends into the oil cavity, and a push plate is arranged on the side, away from the wiping layer, of the sliding block in a sliding mode. The push plate moves relative to the sliding block to adjust oil pressure of the oil cavity to drive the ejector rod to move. The aluminum condenser welding device has the effect of improving the welding efficiency and the welding precision.

The present disclosure provides a molding machine for flexible production of a rebar of bottom, web, and top plates of a precast small box girder, comprising a molding mainframe and a movable gantry welder disposed on an outlet end of the molding mainframe. The molding mainframe includes a frame, two synchronous lifters, a vertical movable sliding table, a plurality of upper support plates, and a plurality of comb-like support plates. A plurality of spot welding assemblies are disposed on an upper side and a lower side of an outlet end of the frame, a straightening rebar receiving assembly is mounted on the lower side and two bending assemblies are mounted on a left side and a right side of the outlet end of the frame, and a straightening rebar feeding assembly is disposed between the straightening rebar receiving assembly and the frame.

The invention relates to a welding track control method, device and equipment and a storage medium, and the method comprises the following steps: carrying out imaging scanning and welding contour extraction on the surface of a to-be-welded workpiece through a multispectral camera to obtain a welding contour feature sequence; based on the welding contour feature sequence, deep reconstruction is conducted on a welding area of a to-be-welded workpiece, welding three-dimensional point cloud data are obtained, and a welding track space curve is extracted from the welding three-dimensional point cloud data; track segmentation planning is conducted on a preset welding gun on the basis of the welding track space curve, and a segmented motion track sequence is obtained; based on the segmented motion trail sequence, pose mapping is conducted on an end effector of the welding gun, and a joint space motion sequence is obtained; and on the basis of the joint space motion sequence, the welding gun is controlled to conduct welding operation on the surface of the welding workpiece, and the technical problem of precise motion control of the robot welding gun under the complex space posture is solved.

The invention relates to the technical field of automatic manufacturing, and discloses a metal pipe part welding path intelligent planning and monitoring system which comprises a path planning module used for generating an optimal welding path according to the geometrical shape of a metal pipe part, welding process requirements and sensor feedback information; the sensor module monitors key parameters in the welding process in real time through a visual sensor, a thermal imaging sensor and a force sensor; the data processing and analyzing module is used for processing and analyzing the real-time data acquired by the sensor; the welding control module is used for controlling operation of welding equipment according to path planning and sensor feedback data; and the quality monitoring and feedback module is used for monitoring the quality in the welding process in real time. According to the system, the welding path is generated through the intelligent path planning module, and the path is dynamically optimized in combination with real-time sensor data, so that the accuracy of the welding process is improved, the system can adapt to changes in a complex welding environment, and the welding efficiency and quality are improved.

The invention provides a control method of welding type coupling equipment, which comprises the following steps: comparing extracted contour and center line data according to a preset welding spot size and a preset fusion width threshold value, and judging whether the size of a welding spot is abnormal or the fusion width of the welding spot is abnormal or not; if the welding spot is abnormal, adopting an image segmentation method to identify an abnormal region in the image, and calculating the area and geometric features of the abnormal region through a pixel statistical method to obtain the size and deformation degree of the welding spot; the corrected welding instruction data are obtained, and energy, focal length and welding gun angle parameters in an instruction are extracted to serve as reference values of welding instruction analysis; by analyzing an energy distribution curve in the welding process and combining focal length data collected in real time and welding gun angle changes, whether welding energy and focal length are matched with reference values of welding instruction analysis or not is judged; if the welding energy and the focal length are not matched with the reference value analyzed by the welding instruction, the control parameters of the welding equipment are adjusted according to the deviation value, and the correction amount of the welding gun path is recalculated.

Disclosed is a robot welding assembly mechanism and an application in annular welding seam detection and postweld heat treatment. The robot welding assembly mechanism comprises a rotatable column. A plurality of transverse clamping portions are disposed at intervals on the column. A height-adjustable first V-shaped support portion is disposed at a periphery of the column. The first V-shaped support portion is mounted on a radial track. An annular track is disposed on an outer side of the radial track. A plurality of height-adjustable second V-shaped support portions are disposed on the annular track. The first V-shaped support portion and the second V-shaped support portions are capable of supporting a non-welded portion of the welded workpiece. A first driving mechanism of the rotation base, a second driving mechanism of the transverse clamping portions, and a third driving mechanism of each of the second V-shaped support portions are connected with a control system.

Provided in the present disclosure are a welding quality test method, apparatus and system, and a medium and a program. The test method comprises: receiving a plurality of groups of welding data collected by a plurality of sensors during welding; pre-processing the plurality of groups of welding data, so as to obtain a plurality of key features; inputting the plurality of key features into a test model, such that the test model determines, by means of a knowledge graph, whether there is a welding defect; when it is determined that there is a welding defect, outputting an identification result for indicating the presence of the welding defect; in response to the welding defect in the identification result belonging to a new welding defect type, adding new nodes into the knowledge graph, wherein the new nodes comprise a plurality of new welding process parameter nodes, which correspond to the plurality of key features, and a new welding defect node; and on the basis of the plurality of groups of welding data, establishing an association relationship between the plurality of new welding process parameter nodes and the new welding defect node.

Fully automatic welding forming equipment for a special-shaped three-dimensional workpiece and a welding method is provided. The welding forming equipment includes a base station, a welding robot, a displacement worktable, an auxiliary robot, and a hopper. The welding robot, the auxiliary robot and the hopper are arranged on the base station, and the displacement worktable is arranged between the base stations. The displacement worktable adopts the structure of main and sub double frames and main and sub double rotary power, which has multiple degrees of freedom, and can flexibly adjust the position and angle of the welded parts, realize the welding requirements of any position and angle, and meet the welding operation requirements of complex special-shaped three-dimensional components without manual repair welding operation, and the multi-point welding can be realized through the cooperation of welding robot and auxiliary robot to improve the welding efficiency and quality.

The invention discloses a pressing device and method for corrugated plate welding. The pressing device comprises a first clamping mechanism, a second clamping mechanism, a pressing supporting mechanism, a connecting supporting rod, a corrugated plate pressing mechanism and a temperature adjusting mechanism. The temperature adjusting mechanism comprises a heat conduction top pressing plate assembly, a temperature detection assembly, a heat conduction pipe assembly, a cooling liquid storage box, a cooling liquid circulating pump and a heat dissipation assembly. According to the pressing method, the first clamping mechanism and the second clamping mechanism clamp adjacent wave crest nodes of the corrugated plate correspondingly, and the heat conduction top pressing plate assembly is tightly attached to the surface of the side edge of a welding seam; and when the temperature reaches the upper limit, the cooling liquid circulating pump conveys cooling liquid for cooling, and when the temperature is reduced to the lower limit, the cooling liquid circulating pump and the heat dissipation assembly are shut down. And the risk of local deformation caused by heat input can be reduced through active temperature control, so that the forming quality of lap welding of the corrugated plates is improved.

The invention relates to the technical field of detection, in particular to a circuit assembly welding spot quality online detection method and system. According to the method, by obtaining the real-time temperature data of each welding point in the welding process, the temperature change of the welding points can be monitored in real time in the welding process so as to adjust the preset welding parameters, and the temperature gradient distribution data of each welding point at different time nodes can be accurately extracted through the dynamic temperature change curve; the welding process can be automatically optimized according to the temperature change of each welding spot through real-time data feedback and analysis, optimal parameter configuration can be carried out according to different welding spots and different working conditions through adjustment, and the welding process can be optimized by analyzing multi-dimensional data such as thermal stress, external dynamic stress and deformation comprehensive indexes of each welding spot. By means of the method, the quality of the welding points can be evaluated more accurately, then automatic welding parameter adjustment is achieved by combining real-time data collection and deformation analysis, the stability and consistency of the quality of the welding points are improved, and the risk of unqualified welding points is reduced.

The invention belongs to the technical field of engine nacelle part production, and particularly relates to an intelligent welding system and method for an engine nacelle combined type air inlet fairing. An inner spoiler moving groove and an outer spoiler moving groove are machined in the air inlet duct casting blank borne by the air inlet duct positioning assembly through the inner cutting assembly and the outer cutting assembly correspondingly, and the air inlet duct casting blank is formed into an air inlet duct component; a first clamping feeding assembly, a second clamping feeding assembly, a third clamping feeding assembly and a fourth clamping feeding assembly are used for feeding an inner reinforcing part, a heating part, a noise reduction and sound absorption part preassembled with a spoiler assembly and an annular cover plate into a cavity of the air inlet channel component, and the fed parts are welded and fixed into the cavity of the air inlet channel component through a welding assembly; in this way, intelligent welding and assembling operation of the combined air inlet fairing can be achieved, and the combined air inlet fairing has the advantages of being high in structural strength, good in noise reduction and sound absorption effect and capable of achieving automatic deicing of the lip and air inlet distortion control.

The invention discloses a method and tool for manufacturing a cold shield of a nuclear fusion device, and relates to the technical field of metal plate machining. The manufacturing method of the cold shield of the nuclear fusion device comprises the following steps: providing a sub-panel, a flange and a pipe fitting; the multiple sub-panels are welded, and a first middleware is obtained; welding the edge of the first middleware and the turnup to obtain a second middleware; after the pipe fitting is welded to the surface of the second middleware, a third middleware is obtained; and the third middleware is shaped. According to the method, the third middleware is shaped, that is, the third middleware is shaped after all welding procedures are completed, so that the third middleware has relatively small profile tolerance, the profile tolerance of the cold shield meets the design requirement, the assembly difficulty of the cold shield is reduced, and the risk of failure of the cold shield is reduced.

The invention discloses a rice machine steel frame automatic welding method based on machine vision. The rice machine steel frame automatic welding method comprises the steps that S1, original image data are obtained; s2, performing denoising and gray scale standardization processing on the original image data to generate an enhanced image; s3, generating a weld joint candidate region image, a weld joint structure description vector and a stress weighted region image based on the three-dimensional CAD assembly model and the enhanced image; s4, a welding seam track generation model is constructed through the multi-mode pruning attention network, and a continuous three-dimensional welding track is generated; s5, dynamic feasibility verification and welding gun posture planning are carried out on the continuous three-dimensional welding track; s6, discretizing the verified three-dimensional welding track to generate a discrete track point sequence; s7, the discrete track point sequence is bound with welding parameters, and a linkage execution instruction set is generated; and S8, the linkage execution instruction set is sent to a welding control unit, real-time welding state data are collected, and closed-loop control over the welding process is completed. According to the invention, the executability and stability of the welding path are enhanced.

The invention discloses a steel structure butt welding adjusting device and method, and relates to the technical field of steel structure welding, the steel structure butt welding adjusting device comprises a welding table, fixing seats are symmetrically and fixedly connected to the upper end face of the welding table, steel pipe bodies are placed above the fixing seats, and the steel pipe butt welding adjusting device further comprises a steel pipe alignment detection mechanism and a welding path pretreatment mechanism; the steel pipe alignment detection mechanism comprises symmetrically-arranged circular rings, annular grooves are formed in the two sides of each circular ring, supporting frames are arranged on the two sides of each circular ring, the supporting frames are fixedly connected to the upper end face of the welding table, the circular rings are rotationally connected between the two supporting frames through the annular grooves, and annular racks are fixedly connected to the outer surfaces of the circular rings. The annular racks are in meshed connection with transmission gears, and a driving shaft is fixedly connected between the two transmission gears in a penetrating mode, so that the alignment condition can be rapidly detected after the steel pipe body is placed, a worker can rapidly conduct adjustment according to the detection result, the time for manual repeated inspection and adjustment is shortened, and the steel pipe body adjusting efficiency is improved.