Automatic welding intelligent equipment and technology based on the integration of vision and algorithms

Abstract

The present invention discloses an automatic welding intelligent equipment and process based on the integration of vision and algorithm, and relates to the technical field of welding equipment. The automatic welding intelligent equipment based on the integration of vision and algorithm includes: welding tool, pipeline clamping tool, visual automatic detection system, driving device and industrial control computer. The welding tool adopts high-frequency welding to weld one end of the pipeline to the connecting pipe of the compressor; the pipeline clamping tool is used to clamp the pipeline to position the pipeline; the visual automatic detection system is used to identify the pipeline position and the welding point position; the driving device can drive the welding tool and the pipeline clamping tool to the welding station and the clamping station; the industrial control computer controls the visual automatic detection system to identify the pipeline position and the welding point position after receiving the information that the workpiece is in place; the industrial control computer controls the driving device to drive the pipeline clamping tool to approach the pipeline according to the pipeline position information and controls the pipeline clamping tool to clamp and fix the pipeline. The present invention can automatically weld the air conditioner outdoor unit pipeline.

Description

Technical Field

[0001] The present invention relates to the technical field of welding equipment, and in particular to an automatic welding intelligent equipment and process based on the integration of vision and algorithm. Background Art

[0002] In the production process of air conditioners, welding is an important process. Pipe components need to be welded between the outdoor compressor and the evaporator & condenser to form a connection. Due to the complexity of the system pipeline structure (affected by the consistency of assembly, the shape and depth of the pipeline after matching (pipe rebounds after insertion) are different), manual flame brazing is currently used to flexibly handle various variables (such as manually pressing the pipeline into place for welding after rebound). In the process, more toxic waste gas is easily generated. At the same time, there is glaring light and sharp whistling sound in the flame welding process. Employees need to wear gas masks, protective goggles and earplugs. At the same time, the welding quality is greatly affected by human factors. Employees need to continue to obtain national certificates before they can work. To realize the automation of pipeline welding, it is necessary to consider the control of the flame or a better welding method and the identification of pipeline welding points during automatic welding. It is difficult to realize its automation. Summary of the invention

[0003] The purpose of the present invention is to provide an automatic welding intelligent equipment and process based on the integration of vision and algorithm to solve the problems existing in the above-mentioned prior art and realize the automatic welding of the air conditioner outdoor unit compressor suction and exhaust pipes.

[0004] To achieve the above object, the present invention provides the following solutions:

[0005] The present invention provides an automatic welding intelligent equipment based on the integration of vision and algorithm, comprising:

[0006] A welding tool, wherein the welding tool uses high frequency welding to weld one end of the pipeline to the connecting pipe of the compressor;

[0007] A pipeline clamping tool, wherein the pipeline clamping tool is used to clamp the pipeline to position the pipeline;

[0008] Visual automatic inspection system, the distance between the welding ring on the pipeline and the pipe opening of the connecting pipe, the pipeline position and the welding point position;

[0009] A driving device, wherein the driving device is capable of driving the welding tool and the pipeline clamping tool to the welding station and the clamping station;

[0010] The industrial computer, the automatic visual detection system, the welding tool and the driving device are all communicatively connected with the industrial computer. After receiving the workpiece in place information, the industrial computer controls the automatic visual detection system to identify the pipeline position, the welding point position, and the distance between the welding ring on the pipeline and the pipe mouth of the connecting pipe; the industrial computer controls the driving device to drive the pipeline clamping tool close to the pipeline according to the pipeline position information and controls the pipeline clamping tool to clamp and press the pipeline to fix it; the industrial computer controls the driving device to drive the welding tool close to the welding point position according to the welding point position information and welds the pipeline and the connecting pipe of the compressor.

[0011] Preferably, the automatic visual inspection system includes a camera and an image processing system, the camera captures image information of the pipeline and the compressor connecting pipe and transmits it to the image processing system, the image processing system determines whether the pipeline has a rebound phenomenon and the degree of rebound based on the image information and transmits it to the industrial computer; the industrial computer controls the driving device to drive the pipeline clamping tool that clamps the pipeline to move downward to press down the pipeline with the rebound phenomenon based on the degree of rebound.

[0012] Preferably, the driving device is a robot, a plurality of robots are provided, the welding tooling and the pipeline clamping tooling are respectively controlled to move by the robots, and the robot is provided at one side of the processing station.

[0013] Preferably, the automatic visual inspection system comprises two cameras, and the two cameras are respectively arranged on the welding tool and the pipeline clamping tool, and the cameras on the welding tool are binocular cameras.

[0014] Preferably, the pipeline clamping tooling includes a support member, a clamping jaw, a slide plate and a clamping jaw cylinder for controlling the opening and closing of the clamping jaw; the clamping jaw cylinder is fixedly arranged on the slide plate, and the slide plate is movably arranged on the support member along the vertical direction, and a buffer rod extending along the vertical direction is fixedly arranged on the top of the slide plate, one end of the buffer rod is fixedly connected to the slide plate, and the other end is slidably connected to the support member, and a buffer spring is provided on the outer sleeve of the buffer rod between the slide plate and the support member, and under normal conditions, the two ends of the buffer spring are respectively in contact with the support member and the slide plate, and the support member is arranged at a free end of one of the robots.

[0015] Preferably, it further comprises an air blowing device, wherein the air blowing device is arranged on the supporting member, and the air blowing port of the air blowing device is aligned with between the two clamping jaws.

[0016] Preferably, it also includes a compressor pushing and swinging tool, which is used to push the compressor to swing so as to facilitate the smooth reinsertion of one end of the pipeline to a certain depth inside the connecting pipe of the compressor. The compressor pushing and swinging tool is communicatively connected with the industrial computer. The industrial computer controls the driving device to drive the pipeline clamping tool that clamps the pipeline to move downward to press down the pipeline with rebound phenomenon, while controlling the compressor pushing and swinging tool to push the compressor to swing.

[0017] Preferably, the compressor pushing and swinging tooling includes a pushing and swinging cylinder and a pushing and swinging cylinder driving mechanism. In an initial state, the pushing and swinging cylinder is in an initial position, which is located on one side of the transmission path. After the workpiece is in place, the industrial computer controls the pushing and swinging cylinder driving mechanism to drive the pushing and swinging cylinder to move to the pushing and swinging position, which is located on the transmission path of the workpiece. The pushing and swinging cylinder at the pushing and swinging position can cause the compressor to shake by hitting it once or multiple times.

[0018] The present invention also provides an automatic welding process based on the integration of vision and algorithm, including:

[0019] Check whether the workpiece is in place;

[0020] After the workpiece is in place, the industrial computer controls the visual automatic inspection system to identify the characteristics of the welding spot and pipeline, the location of the pipeline and the location of the welding spot;

[0021] The industrial computer controls the driving device to drive the pipeline clamping tool to approach the pipeline according to the pipeline position information and controls the pipeline clamping tool to clamp and press down to fix the pipeline;

[0022] The industrial computer controls the driving device according to the welding point position information to drive the welding tool to approach the welding point position and perform welding processing on the pipeline and the connecting pipe of the compressor.

[0023] Preferably, after the workpiece is in place, the industrial computer controls the visual automatic inspection system to identify the pipeline position, the welding point position, whether the pipeline has a rebound phenomenon and the degree of rebound; the industrial computer controls the driving device to drive the pipeline clamping tooling that clamps the pipeline to move downward to press down the pipeline with the rebound phenomenon, while controlling the compressor pushing and swinging tooling to push the compressor to shake according to the degree of rebound.

[0024] Compared with the prior art, the present invention has achieved the following technical effects:

[0025] The present invention welds pipelines through high-frequency welding, and its welding temperature is well controllable and environmentally friendly, which helps to achieve automation. In addition, the pipeline position and the welding point position are identified through a visual automatic detection system, and the visual automatic detection system provides position information for the industrial computer, thereby achieving the purpose of driving the welding tool to move to the welding station to perform automatic welding of the pipeline. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0027] Figure 1 A schematic diagram of the structure of an automatic welding intelligent equipment based on the integration of vision and algorithms provided in an embodiment of the present invention;

[0028] Figure 2 It is a structural schematic diagram of the welding tooling;

[0029] Figure 3 It is a structural schematic diagram of the pipeline clamping tooling;

[0030] Figure 4 It is a structural schematic diagram of the compressor push-swing tooling;

[0031] Figure 5 A welding process flow chart of an embodiment having two welding fixtures, a pipe clamping fixture and three robots;

[0032] In the figure: 1- welding tool; 11- high frequency welding machine; 12- temperature detection device; 2- pipe clamping tool; 21- support; 22- buffer spring; 23- clamping jaw cylinder; 24- blowing device; 25- clamping jaw; 26- slide plate; 3- compressor push-swing tool; 31- push-swing control cylinder; 32- push-swing cylinder; 33- small support; 34- large support; 35- bearing; 36- transmission rod; 37- push-swing shaft; 4- visual automatic detection system. DETAILED DESCRIPTION

[0033] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0034] In order to make the above-mentioned objects, features and advantages of the present invention more obvious and easy to understand, the present invention is further described in detail below with reference to the accompanying drawings and specific embodiments.

[0035] The workpiece in this specification is an air conditioner outdoor unit, which includes a compressor and piping components, and the piping components include an exhaust pipe and an intake pipe that are interconnected.

[0036] Combine the following Figures 1 to 5 , describing an embodiment of the present invention.

[0037] The present invention provides an automatic welding intelligent equipment based on the integration of vision and algorithm, comprising: a welding tool 1, a pipeline clamping tool 2, an automatic visual detection system 4, a driving device and an industrial control computer. The welding tool 1 uses high-frequency welding to weld one end of the pipeline to the connecting pipe of the compressor; the pipeline clamping tool 2 is used to clamp the pipeline to position the pipeline; the visual automatic detection system 4 is used to identify the distance between the welding ring on the pipeline and the pipe mouth of the connecting pipe, the pipeline position and the welding point position; the driving device can drive the welding tool 1 and the pipeline clamping tool 2 to the welding station and the clamping station; the visual automatic detection system 4, the welding tool 1 and the driving device are all connected to the industrial control computer for communication. After receiving the information that the workpiece is in place, the industrial control computer controls the visual automatic detection system 4 to identify the distance between the welding ring on the pipeline and the pipe mouth of the connecting pipe, the pipeline position and the welding point position; the industrial control computer controls the driving device to drive the pipeline clamping tool 2 to approach the pipeline and control the pipeline clamping tool 2 to clamp and fix the pipeline according to the pipeline position information, and the industrial control computer controls the driving device to drive the welding tool 1 to approach the welding point position according to the welding point position information and weld the pipeline and the connecting pipe of the compressor.

[0038] Among them, the visual automatic detection system 4 uses neural networks and algorithms to identify information such as welding point and pipeline characteristics, pipeline position, welding point position, and the distance between the welding ring on the pipeline and the pipe mouth of the connecting pipe through multi-graphic learning of welding rings, welding points, connecting pipe mouths and welding distances.

[0039] The present invention welds pipelines through high-frequency welding, and the welding temperature is well controllable, which helps to achieve automation. In addition, the pipeline position and the welding point position are identified through the visual automatic detection system 4, and the visual automatic detection system 4 provides position information for the industrial computer, thereby achieving the purpose of driving the welding tool 1 to move to the welding station to perform automatic welding on the pipeline.

[0040] In some embodiments, the automatic visual inspection system 4 includes a camera and an image processing system. The camera captures image information of the pipeline and the compressor connecting pipe and transmits it to the image processing system. The image processing system determines whether the pipeline has a rebound phenomenon and the degree of rebound based on the image information and transmits it to the industrial computer; the industrial computer controls the driving device to drive the pipeline clamping tool 2 that clamps the pipeline to move downward to press down the pipeline with the rebound phenomenon based on the degree of rebound.

[0041] This embodiment is applicable to the scenario where the pipeline components have been assembled on the compressor before the welding process. In the assembled state, the end of the pipeline is butt-jointed or plugged into the compressor connecting pipe. However, since the pipeline is usually a metal pipe such as a copper pipe, there will inevitably be slight ground vibration during the transportation between processes, which will cause the pipeline to rebound slightly, that is, the pipeline and the compressor connecting pipe cannot be butt-jointed or plugged into place. This requires the use of the pipeline clamping tool 2 and the driving device to work together to press one end of the pipeline down a certain distance before welding to achieve perfect docking or plugging into place. Therefore, this embodiment is to solve the defect of pipelines with rebound phenomenon that cannot be butt-jointed or plugged into place.

[0042] When the rebound phenomenon is detected in this embodiment, the industrial computer controls the driving device to drive the pipeline clamping tool 2 that clamps the pipeline to move downward according to the degree of rebound to press down the pipeline with the rebound phenomenon. The degree of rebound is determined according to the relative position between the pipeline and the compressor. In a more specific embodiment, a welding ring is provided at the part near the end of the pipeline. The existence of the welding ring is to better integrate the pipeline and the connecting pipe of the compressor. In the standard assembly state, the lower edge of the welding ring is just flush with the pipe opening (or welding cup opening) of the connecting pipe of the compressor. If the rebound phenomenon exists, although the end of the pipeline is still located in the connecting pipe, the welding ring will be at a certain distance from the pipe opening of the connecting pipe. At this time, the visual automatic detection system 4 is used to judge the distance between the welding ring and the connecting pipe to obtain the length of the pipeline that needs to be pressed down, and the size of this length can be expressed as the degree of rebound.

[0043] In some embodiments, the driving device is a robot, and a plurality of robots are provided. The welding tool 1 and the pipe clamping tool 2 are controlled to move respectively by the robots, and the robots are provided at one side of the processing station.

[0044] In this embodiment, the robot is used as a driving device, so that the welding tool 1 and the pipeline clamping tool 2 can be flexibly driven to move, tilt, flip, etc. in three-dimensional space.

[0045] In some embodiments, the automatic visual inspection system 4 includes two cameras, which are respectively arranged on the welding tool 1 and the pipe clamping tool 2, and the camera on the welding tool 1 is a binocular camera.

[0046] This embodiment uses a camera to capture images of the pipeline and the compressor, and then uses the eye-on-hand and eye-out-of-hand methods to calculate the relative positions of the pipeline and the welding point positions and their own positions (welding tool 1 and pipeline clamping tool 2).

[0047] Specifically, in the present invention, the welding point position recognition method is to collect a large amount of image data of external machine welding points, welding rings, pipelines, connecting pipes and connecting pipe openings, extract the image features of the images, and use the algorithm model to train the data to obtain a visual recognition neural network model based on welding point features and the distance between the welding ring and the compressor connecting pipe. The welding point positioning technology uses a binocular camera to shoot image data, calls the data model to analyze the image welding points to find the welding point features, and then uses Gaussian clustering to gather the feature points in the welding point area, and uses binocular recognition and positioning technology to calculate the welding point from the image coordinates to the world coordinates based on the robot base coordinates; complete the welding point recognition and positioning.

[0048] In some embodiments, the pipeline clamping tool 2 includes a support member 21, a clamping jaw 25, a slide plate 26 and a clamping jaw cylinder 23 for controlling the opening and closing of the clamping jaw 25; the clamping jaw cylinder 23 is fixedly arranged on the slide plate 26, and the slide plate 26 is movably arranged on the support member 21 along the vertical direction. A buffer rod extending along the vertical direction is fixedly arranged on the top of the slide plate 26, one end of the buffer rod is fixedly connected to the slide plate 26, and the other end is slidably connected to the support member 21. A buffer spring 22 is provided on the outer sleeve of the buffer rod between the slide plate 26 and the support member 21. Under normal conditions, the two ends of the buffer spring 22 are respectively in contact with the support member 21 and the slide plate 26, and the support member 21 is arranged at the free end of a robot.

[0049] The pipeline clamping tool 2 in this embodiment realizes the clamping process of the pipeline. In addition, due to the presence of the buffer spring 22, when the robot drives the pipeline clamping tool 2 that clamps the pipeline to move downward and press the pipeline, the downward pressure on the pipeline is an elastic pressure, so that the excess force of the pipeline clamping tool 2 after pressing the pipeline is removed through the buffer spring 22, thereby preventing damage to the pipeline such as flattening and deformation.

[0050] In some embodiments, the present invention further includes a blowing device 24 , which is disposed on the support member 21 , and a blowing port of the blowing device 24 is aligned between the two clamping jaws 25 .

[0051] The embodiment of the present invention is equipped with a blowing device 24. During long-term welding, the blowing device 24 is used to blow up the clamping jaws 25 for air cooling to avoid high-temperature deformation and damage of the clamping jaws 25, thereby improving the reliability of the pipeline clamping tool 2. Specifically, the blowing device includes a cooling air pipe, one end of the cooling air pipe is aligned between the two clamping jaws 25, and the other end is connected to an air source. The air source can be a high-pressure gas tank or an air pump. The air pump is used to pump air into one end of the cooling air pipe and blow it out from the other end.

[0052] In some embodiments, the embodiments of the present invention also include a compressor pushing and swinging tool 3, which is used to push the compressor to shake so as to reinsert one end of the pipeline into a certain depth inside the connecting pipe of the compressor. The compressor pushing and swinging tool 3 is communicated with the industrial computer. The industrial computer controls the driving device to drive the pipeline clamping tool 2 that clamps the pipeline to move downward to press down the pipeline with rebound phenomenon while controlling the compressor pushing and swinging tool 3 to push the compressor to shake.

[0053] This embodiment allows the pipeline with rebound phenomenon to be reinserted into a certain depth inside the connecting pipe of the compressor. Specifically, this embodiment is applicable to a compressor whose connecting pipe is a welding cup. The bottom end of the pipeline has been inserted into the welding cup before the welding process. Since the pipeline components involve multiple pipelines and the compressor, compared with the overall assembly, the single pipeline and the compressor suction and exhaust ports have internal stress. When the workpiece is transferred between processes, the pipeline may rebound, thereby causing the lower end of the pipeline to move up a certain distance from the welding cup. For example, the standard insertion depth is 10 cm. When the pipeline rebounds and moves up by 2 cm, in the welding process, before welding, it is necessary to use the pipeline clamping tool 2 and the robot coordinated therewith to collaboratively press the pipeline down so that it can reach the guaranteed insertion depth again. However, in some cases, the pipeline does not extend vertically, which makes the pipeline and the welding cup have a certain distance between them. A small angle, and the robot only gives the pipeline a vertical downward pressing force in this procedure, which causes the pipeline inserted into the welding cup mouth to be easily stuck due to tilting, which makes it difficult to reinsert it into place. Based on this, this embodiment drives the compressor to shake through the compressor pushing and swinging tooling 3. While the compressor shakes, the robot and the pipeline clamping tooling 2 work together to press down the pipeline, which will greatly reduce the probability of sticking and thus improve the yield rate. It should be noted that the components transferred from the previous process to the welding process include a chassis, a plurality of limiting protrusions are provided on the chassis, and a limiting hole is provided at the bottom of the compressor. The limiting protrusion is inserted into the limiting hole to limit the compressor, but there is a gap between the outer wall of the limiting protrusion and the inner wall of the limiting hole, and the gap allows the compressor to shake on the chassis. The chassis is in a fixed state after being transmitted to the welding process. Therefore, under the striking action of the compressor pushing and swinging tooling 3, the compressor can shake on the chassis.

[0054] In some embodiments, the compressor pushing and swinging tooling 3 includes a pushing and swinging cylinder 32 and a pushing and swinging cylinder driving mechanism. In the initial state, the pushing and swinging cylinder 32 is in an initial position, which is located on one side of the transmission path. After the workpiece is in place, the industrial computer controls the pushing and swinging cylinder driving mechanism to drive the pushing and swinging cylinder 32 to move to the pushing and swinging position, which is located on the transmission path of the workpiece. The pushing and swinging cylinder 32 at the pushing and swinging position can shake the compressor by hitting it once or multiple times.

[0055] The compressor pushing and swinging tool 3 provided in this embodiment will not affect the transfer of the workpiece from the previous process to the current welding process, and after the workpiece is moved into place, it can control the pushing and swinging cylinder 32 to move to one side of the compressor to hit the compressor at an appropriate time to make it shake.

[0056] Specifically, the push-swing cylinder drive mechanism includes a push-swing control cylinder 31, a push-swing shaft 37, a transmission rod 36, a large support member 34, and a small support member 33; the large support member 34 is directly fixedly connected to the production line, or fixedly connected to a fixed position on one side of the production line, the cylinder body of the push-swing control cylinder 31 and the large support member 34 are hinged, the piston rod of the push-swing control cylinder 31 and one end of the transmission rod 36 are rotatably connected, the other end of the transmission rod 36 is key-connected to the push-swing shaft 37, the push-swing shaft 37 is vertically arranged, and the push-swing shaft 37 is rotatably arranged on the large support member 34 around its own axis, the small support member 33 is fixedly connected to the push-swing shaft 37, the push-swing cylinder 32 is fixedly arranged on the small support member 33, and the push-swing control cylinder 31 drives the transmission rod 36 to rotate, which can drive the push-swing shaft 37 and the small support member 33 to rotate to drive the push-swing cylinder 32 to move closer to and away from the compressor.

[0057] In some embodiments, when there are many pipelines to be welded or welding points, multiple welding tools 1 are provided. For example, two welding tools 1 are provided. The two welding tools 1 are respectively provided on two robots. The two welding tools 1 can perform high-frequency welding at the same time. In addition, multiple pipeline clamping tools 2 can be provided accordingly, or only one can be provided. Since the multiple pipelines on the compressor are pre-connected into an integrated structure, when one of the pipelines is pressed down, it will drive the other pipelines to move downward together.

[0058] The automatic welding device provided in this embodiment is usually arranged at a processing station in the welding process in the air-conditioning outdoor unit production line, and is only used to weld the assembled pipeline to the compressor.

[0059] The present invention further provides an automatic welding process for an air conditioner outdoor unit pipeline. The automatic welding process in this embodiment utilizes the automatic welding device described in the above embodiment, and includes:

[0060] Check whether the workpiece is in place;

[0061] After the workpiece is in place, the industrial computer controls the visual automatic detection system 4 to identify the pipeline position and the welding point position;

[0062] The industrial computer controls the driving device to drive the pipeline clamping tool 2 to approach the pipeline according to the pipeline position information and controls the pipeline clamping tool 2 to clamp and fix the pipeline;

[0063] The industrial computer controls the driving device according to the welding point position information to drive the welding tool 1 to approach the welding point position and perform welding processing on the pipeline and the connecting pipe of the compressor.

[0064] This embodiment has all the advantages of the above embodiments, which will not be described in detail here.

[0065] In some embodiments, after the workpiece is in place, the industrial computer controls the visual automatic inspection system 4 to identify the pipeline position, the welding point position, whether the pipeline has a rebound phenomenon and the degree of rebound; the industrial computer controls the driving device to drive the pipeline clamping tool 2 that clamps the pipeline to move downward to press down the pipeline with the rebound phenomenon while controlling the compressor pushing tool 3 to push the compressor to shake.

[0066] This embodiment has all the advantages of the above embodiments, which will not be described in detail here.

[0067] Figure 5 The figure shows a welding process flow chart of an embodiment with two welding tools 1, a pipe clamping tool 2 and three robots; wherein robots a and b are respectively used as driving devices for driving the welding tools 1, and robot c is used as a driving device for driving the pipe clamping tool 2; the process flow chart shown in the figure is to weld the welding points on four pipes.

[0068] The present invention uses specific examples to illustrate the principles and implementation methods of the present invention. The above examples are only used to help understand the method and core ideas of the present invention. At the same time, for those skilled in the art, according to the ideas of the present invention, there will be changes in the specific implementation methods and application scope. In summary, the content of this specification should not be understood as limiting the present invention.

Claims

1. An automatic welding intelligent equipment based on the integration of vision and algorithm, characterized by: include: A welding tool, wherein the welding tool uses high frequency welding to weld one end of the pipeline to the connecting pipe of the compressor; A pipeline clamping tool, wherein the pipeline clamping tool is used to clamp the pipeline to position the pipeline; Visual automatic detection system, used to identify the distance between the welding ring on the pipeline and the pipe opening of the connecting pipe, the pipeline position and the welding point position; A driving device, wherein the driving device is capable of driving the welding tool and the pipeline clamping tool to the welding station and the clamping station; The industrial computer, the automatic visual detection system, the welding tool and the driving device are all connected to the industrial computer for communication. After receiving the workpiece in place information, the industrial computer controls the automatic visual detection system to identify the pipeline position, the welding point position, and the distance between the welding ring on the pipeline and the pipe mouth of the connecting pipe; the industrial computer controls the driving device to drive the pipeline clamping tool close to the pipeline and controls the pipeline clamping tool to clamp and press the pipeline according to the pipeline position information, and the industrial computer controls the driving device to drive the welding tool close to the welding point position and weld the pipeline and the connecting pipe of the compressor according to the welding point position information; the automatic visual detection system includes a camera and an image processing system, the camera captures the image information of the pipeline and the compressor connecting pipe and transmits it to the image processing system, the image processing system determines whether the pipeline has a rebound phenomenon and the degree of rebound according to the image information and transmits it to the industrial computer; the industrial computer controls the driving device to drive the pipeline clamping tool that clamps the pipeline to move downward to press the pipeline with the rebound phenomenon according to the degree of rebound; It also includes a compressor pushing and swinging tool, which is used to push the compressor to swing so as to facilitate smooth reinsertion of one end of the pipeline to a certain depth inside the connecting pipe of the compressor.

2. The automatic welding intelligent equipment based on vision and algorithm integration according to claim 1 is characterized in that: The driving device is a robot, and a plurality of robots are provided. The welding tool and the pipeline clamping tool are respectively controlled to move by the robots, and the robot is provided at one side of the processing station.

3. The automatic welding intelligent equipment based on the integration of vision and algorithm according to claim 2 is characterized in that: The automatic visual inspection system includes two cameras, which are respectively arranged on the welding tool and the pipeline clamping tool, and the cameras on the welding tool are binocular cameras.

4. The automatic welding intelligent equipment based on vision and algorithm integration according to claim 2 is characterized in that: The pipeline clamping tooling includes a support member, a clamping jaw, a slide plate and a clamping jaw cylinder for controlling the opening and closing of the clamping jaw; the clamping jaw cylinder is fixedly arranged on the slide plate, and the slide plate is movably arranged on the support member along the vertical direction, and a buffer rod extending along the vertical direction is fixedly arranged on the top of the slide plate, one end of the buffer rod is fixedly connected to the slide plate, and the other end is slidably connected to the support member, and a buffer spring is provided on the outer sleeve of the buffer rod between the slide plate and the support member, and under normal conditions, the two ends of the buffer spring are respectively in contact with the support member and the slide plate, and the support member is arranged at a free end of one of the robots.

5. The automatic welding intelligent equipment based on the integration of vision and algorithm according to claim 4 is characterized in that: It also includes an air blowing device, which is arranged on the supporting member, and the air blowing port of the air blowing device is aligned between the two clamping jaws.

6. The automatic welding intelligent equipment based on the integration of vision and algorithm according to claim 1 is characterized in that: The compressor pushing and swinging tool is communicatively connected with the industrial computer. The industrial computer controls the driving device to drive the pipeline clamping tool that clamps the pipeline to move downward to press down the pipeline with rebound phenomenon while controlling the compressor pushing and swinging tool to push the compressor to swing.

7. The automatic welding intelligent equipment based on the integration of vision and algorithm according to claim 6 is characterized in that: The compressor pushing and swinging tooling includes a pushing and swinging cylinder and a pushing and swinging cylinder driving mechanism. In the initial state, the pushing and swinging cylinder is in an initial position, which is located on one side of the workpiece transmission path. After the workpiece is in place, the industrial computer controls the pushing and swinging cylinder driving mechanism to drive the pushing and swinging cylinder to move to the pushing and swinging position, which is located on the transmission path of the workpiece. The pushing and swinging cylinder at the pushing and swinging position can shake the compressor by hitting it once or multiple times.

8. An automatic welding process based on the integration of vision and algorithm, characterized by: include: Check whether the workpiece is in place; After the workpiece is in place, the industrial computer controls the visual automatic inspection system to identify the characteristics of the welding spot and pipeline, the pipeline position and the welding spot position; The industrial computer controls the driving device to drive the pipeline clamping tooling to approach the pipeline according to the pipeline position information and controls the pipeline clamping tooling to clamp and press down to fix the pipeline; The industrial computer controls the driving device according to the welding point position information to drive the welding tool to approach the welding point position and perform welding processing on the connecting pipe of the pipeline and the compressor; After the workpiece is in place, the industrial computer controls the visual automatic inspection system to identify the pipeline position, the welding point position, whether the pipeline has rebound phenomenon and the degree of rebound; the industrial computer controls the driving device to drive the pipeline clamping tooling that clamps the pipeline to move downward to press down the pipeline with rebound phenomenon while controlling the compressor pushing and swinging tooling to push the compressor to shake according to the degree of rebound.

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