Special-shaped metal product multi-welding-seam synchronous intelligent welding device based on visual recognition

Abstract

The invention relates to the technical field of intelligent welding, and discloses a visual identification-based multi-weld synchronous intelligent welding device for special-shaped metal products, which comprises a welding table, two groups of welding manipulators are fixedly mounted at the upper end of the welding table, a working panel is arranged at the upper end of the welding table, and a driving assembly is arranged at the lower end of the working panel. A visual identification system is used for scanning the special-shaped part, modeling, registering and extracting a welding seam, a camera captures welding deviation in real time to adjust the posture of a welding gun, and positioning deviation is solved; before welding, a driving motor drives a semi-annular rod to rotate to be vertical, a hydraulic rod pushes an extrusion disc to be tightly attached to the special-shaped part, and a gas spraying shell provides inert gas through a communicating pipe; the fan and the annular connecting pipe extract gas of the fairing, the fairing and the spiral flow guide groove form a vortex air curtain, a blind area is eliminated, air is isolated, multi-system linkage solves the problems that traditional protection is not uniform and deformation is out of control, and the welding seam quality and the workpiece precision are ensured.

Description

Technical Field

[0001] This invention relates to the field of intelligent welding technology, and in particular to a multi-weld seam synchronous intelligent welding device for irregularly shaped metal products based on visual recognition. Background Technology

[0002] In the equipment manufacturing sector, the application of irregularly shaped metal products continues to increase due to their ability to adapt to complex assembly spaces and optimize structural mechanical properties. These products have significant structural characteristics, characterized by irregular weld trajectories, including arcs, angles, and spatial curved surface transitions. They also have a large number of welds with significant differences in spatial angles. Downstream industries have stringent standards for their welding quality, requiring not only weld strength and sealing but also meeting the efficiency demands of large-scale production, the rapid changeover requirements of flexible manufacturing, and the full-process quality traceability requirements under the trend of intelligent manufacturing. As the equipment manufacturing industry upgrades towards high precision, high capacity, and high flexibility, the industry's requirements for welding technology of irregularly shaped metal products are constantly increasing. On the one hand, it is necessary to overcome the technical bottleneck of precise positioning of complex welds and achieve effective identification and adaptation path planning for spatial curved surface welds to meet higher welding precision standards. On the other hand, it is necessary to change the limitations of traditional welding modes, improve the efficiency of simultaneous multi-weld operation to adapt to the capacity targets of large-scale production, and shorten the production preparation cycle when switching between different specifications of products.

[0003] In the simultaneous welding of multiple weld seams on irregularly shaped metal products, existing technologies suffer from two major drawbacks: Firstly, traditional gas shielding systems often employ fixed single nozzles, which are difficult to adapt to the complex contours of irregularly shaped parts, such as curved surfaces, corners, and intersecting weld seams. This easily leads to large-area blind spots in the shielding. Furthermore, during simultaneous welding of multiple weld seams, the gas flow interferes with each other, causing some of the molten pool to be exposed to the air. At high temperatures, this molten pool rapidly reacts with oxygen and nitrogen to generate oxides and nitrides, which not only cause defects such as porosity and slag inclusions within the weld seam but also significantly weaken the tensile strength of the weld seam, increase its brittleness and crack susceptibility, and severely reduce the overall quality and structural load-bearing capacity of the weld seam. On the one hand, the simultaneous welding of multiple weld seams and multiple heat sources result in highly concentrated heat input, causing the molten pool temperature to soar to over 2000℃. This leads to uneven thermal expansion in different areas of the workpiece. Traditional rigid fixtures can only achieve basic workpiece positioning and cannot apply uniform pressure according to the contour of irregular parts. Furthermore, they lack the ability to control thermal deformation in real time. Ultimately, this results in significant bulging, warping, or shrinkage deformation of the workpiece. Some thin-walled, slender, and other weak parts experience large deformations, which not only damages the original dimensional accuracy of the product but also makes it difficult to connect parts during subsequent assembly. In severe cases, it can directly lead to product scrapping, significantly increasing production costs and safety hazards. Summary of the Invention

[0004] The technical problem to be solved by this invention is that the existing technology has the disadvantages of uneven gas protection, which greatly reduces the quality and strength of welds and fails to control welding deformation, seriously affecting the precision and performance of products. To this end, we propose a vision recognition-based intelligent welding device for multiple welds of irregularly shaped metal products.

[0005] To achieve the above objectives, this application adopts the following technical solution: a visual recognition-based intelligent welding device for multiple weld seams of irregularly shaped metal products, including a welding table, two sets of welding manipulators fixedly installed on the upper end of the welding table, a working panel provided on the upper end of the welding table, a drive component provided on the lower end of the working panel, and a protective component provided on the working panel. The protective assembly includes a semi-circular rod 1 and a semi-circular rod 2. A drive motor 2 is provided at the rotating shaft of both semi-circular rod 1 and semi-circular rod 2. A housing 1 is fixedly installed on the inner side of the semi-circular rod 1. A hydraulic rod is fixedly installed on the inner side of the housing 1. An extrusion plate is fixedly installed at the drive end of the hydraulic rod. A semi-flow cover 1 is provided on the outer side of the extrusion plate. The semi-flow cover 1 is rotatably connected to the housing 1. A housing 2 is fixedly installed on the inner side of the semi-annular rod 2, and a semi-fair 2 is fixedly installed on one side of the housing 2. The semi-fair 1 and the semi-fair 2 can be integrated to form a fairing. A spiral guide groove is opened inside the fairing, and multiple sets of teeth are fixedly installed on the outer side of the fairing. A drive motor three is fixedly installed inside the housing two. The drive end of the drive motor three passes through the housing two and is fixedly installed with a bevel gear. The bevel gear meshes with the teeth. A fan is fixedly installed on the outside of the second housing. The exhaust port of the fan is fixedly equipped with an annular connecting pipe. The annular connecting pipe is formed by two sets of semi-annular pipes. The annular connecting pipe is rotatably connected to the first and second semi-flow hoods respectively. The annular connecting pipe is connected to the inside of the first and second semi-flow hoods.

[0006] Preferably, the drive assembly includes a mounting plate, on the upper end of which a gas protection component is fixedly mounted. The mounting plate has a mounting groove, and multiple sets of limiting tubes are provided inside the mounting groove. Both the mounting groove and the limiting tubes are matched with the irregularly shaped parts. The lower end of the limiting tubes passes through the mounting plate and the working panel. A connecting groove is provided inside the mounting plate and the working panel. The exhaust port of the connecting groove is inclined downward along the axial surface of the working panel. The connecting groove is connected to the gas protection component.

[0007] Preferably, the drive assembly further includes a baffle plate, a drive motor is fixedly mounted on the lower end of the baffle plate, a lead screw is fixedly mounted on the drive end of the drive motor, a fixing block is threaded on the outer side of the lead screw, and the upper end of the fixing block is rotatably connected to the mounting plate.

[0008] Preferably, the mounting plate also has multiple sets of sector-shaped slots, which are matched with the gas protection components.

[0009] Preferably, the gas protection component includes a gas supply pipe, an air jet housing is fixedly installed at the output end of the gas supply pipe, the air jet housing matches the fan-shaped groove, multiple sets of exhaust holes are opened on one side of the air jet housing, and a connecting pipe is provided between the multiple sets of air jet housings.

[0010] Preferably, the connecting groove is connected to the fan-shaped groove, and part of the exhaust port on the outside of the jet shell is located at the upper end of the mounting plate, while the other part is located inside the fan-shaped groove.

[0011] Preferably, the upper end of the working panel is provided with a sliding groove that matches the fixing block. The upper end of the working panel is also provided with two sets of semi-annular grooves that match the semi-annular rod one and the semi-annular rod two.

[0012] Preferably, an electromagnetic lock is fixedly installed on the outer side of housing one, and an electromagnetic latch is fixedly installed on the outer side of housing two, with the electromagnetic lock and the electromagnetic latch being magnetically attracted to each other.

[0013] Preferably, the connection between housing one and housing two is magnetically attracted, and the connection between semi-flush one and semi-flush two is magnetically attracted.

[0014] Preferably, the teeth are symmetrically distributed on the outer sides of the first and second semi-flush hoods, and the first and second semi-flush hoods are rotatably connected to the first and second mounting shells.

[0015] The technical effects and advantages of this invention are as follows: In this invention, a visual recognition system on a welding robot is first used to generate a 3D model of the irregularly shaped part using 3D laser scanning and register it with a preset CAD model to accurately extract the positions of multiple weld seams. Simultaneously, a 2D industrial camera with a narrow-band filter captures weld seam offsets in real time during the welding process, dynamically driving the robot to fine-tune the welding torch posture. This addresses the problem of multi-weld seam positioning deviation at its source. Before welding begins, a drive motor rotates two sets of semi-circular rods to a position perpendicular to the work panel. The mounting shell forms a complete protective shell through magnetic adsorption and electromagnetic locking. Internal hydraulic rods push an elastic, wear-resistant extrusion disc to naturally conform to the contour of the irregularly shaped part, continuously applying stable pressure to directly counteract the thermal expansion caused by concentrated heat input during simultaneous welding of multiple weld seams. This is especially effective for thin-walled, slender, and other weak parts of the irregularly shaped part, preventing localized bulging, warping, or shrinkage deformation. Gas protection is also provided. In terms of the installation plate, multiple sets of jet shells on the mounting plate evenly distribute inert gas through connecting pipes, and the exhaust holes are precisely aligned with each weld seam. At the same time, the fan on the outside of the mounting shell is started, and in conjunction with the annular connecting pipe, the gas inside the rectifier formed by splicing the semi-circular shrouds is drawn. The rectifier rotates around the irregular part under the drive motor and bevel gear transmission. Its internal spiral guide groove guides the inert gas to form a continuous vortex airflow. This not only conforms to the complex contour of the irregular part to eliminate protection blind spots, but also avoids mutual interference of airflow from multiple weld seams. A dense annular air curtain is formed around the molten pool to isolate the air and reduce the generation of oxides and nitrides. At the same time, the vortex airflow helps to remove some heat, further suppressing thermal deformation. Finally, through the closed-loop linkage of multiple systems such as visual recognition, extrusion anti-deformation, and dynamic air curtain protection, the problems of uneven gas protection and deformation loss control in traditional technology are completely solved, ensuring weld quality and workpiece precision. Attached Figure Description

[0016] The disclosure of this invention is illustrated with reference to the accompanying drawings. It should be understood that the drawings are for illustrative purposes only and are not intended to limit the scope of protection of this invention. In the drawings, the same reference numerals are used to refer to the same parts: Figure 1 This is a schematic diagram of the overall structure of the device of the present invention. Figure 1 ; Figure 2 This is a schematic diagram of the device structure of the present invention; Figure 3 This is a schematic diagram of the drive component structure of the present invention; Figure 4 This is a schematic diagram of the overall structure of the mounting tray of the present invention; Figure 5 This is a schematic diagram of the internal structure of the placement tray of the present invention; Figure 6 This is a schematic diagram of the internal planar structure of the mounting tray of the present invention; Figure 7 This is a schematic diagram of the overall structure of the device of the present invention. Figure 2 ; Figure 8 This is a schematic diagram of the unfolded structure of the protective component of the present invention; Figure 9 This is a schematic diagram of the internal structure of the protective component of the present invention; Figure 10 This is a schematic diagram of the two-part planar structure of the mounting shell of the present invention; Figure 11 This is a schematic diagram of the protective component structure of the present invention; Figure 12 This is a schematic diagram of the visual recognition system of the present invention.

[0017] Legend: 1. Welding table; 11. Work panel; 111. Slide groove; 112. Semi-annular groove; 12. Drive assembly; 121. Baffle plate; 122. Drive motor one; 123. Lead screw; 124. Fixing block; 1241. Mounting plate; 1242. Mounting groove; 1243. Limiting tube; 1244. Sector groove; 1245. Connecting groove; 125. Gas protection assembly; 1251. Gas supply pipe; 1252. Jet housing; 1253. Exhaust port; 13. Protective assembly; 131. Drive... 1. Drive motor 2; 132. Semi-circular rod 1; 133. Mounting shell 1; 1331. Hydraulic rod; 1332. Extrusion disc; 1333. Semi-flow cover 1; 1334. Electromagnetic lock; 134. Semi-circular rod 2; 135. Mounting shell 2; 1351. Semi-flow cover 2; 1352. Spiral guide channel; 1353. Electromagnetic lock; 1354. Drive motor 3; 1355. Bevel gear; 1356. Gear teeth; 1357. Fan; 1358. Circular connecting pipe; 2. Welding robot; 3. Irregular parts. Detailed Implementation

[0018] It is readily understood that, based on the technical solution of this invention, those skilled in the art can propose various interchangeable structural methods and implementations without altering the essential spirit of the invention. Therefore, the following detailed embodiments and accompanying drawings are merely illustrative examples of the technical solution of this invention and should not be considered as the entirety of the invention or as limitations or restrictions on the technical solution of this invention.

[0019] Reference Figure 1 , Figure 12As shown, this invention provides a technical solution: a vision-based intelligent welding device for multi-weld seams of irregularly shaped metal products, comprising a welding table 1, with two sets of welding robots 2 fixedly mounted on the upper end of the welding table 1. Each set of welding robots 2 is equipped with a vision recognition device. Before welding, a 3D laser sensor scans the irregularly shaped part 3 on the welding table 1 to generate a three-dimensional point cloud model, which is then registered with a preset CAD model to compensate for clamping deviations. Multiple weld seams are automatically extracted and allocated to the synchronous welding paths of the two sets of robots. During welding, a 2D industrial camera with a narrow-band filter acquires weld seam images in real time, dynamically corrects weld seam offsets through template matching, and drives the robots to fine-tune the welding torch posture. The system combines high-frame-rate cameras to monitor the molten pool morphology and the workpiece state after extrusion by the ring frame, and adjusts welding parameters and extrusion pressure accordingly. After welding, a line laser camera scans along the weld seam trajectory with the robotic arm to detect defects such as excess weld height and porosity. The entire process data is associated and stored to achieve traceability. This visual recognition system consists of four modules: image acquisition, preprocessing, feature recognition and decision-making, and linkage feedback, forming a closed loop of perception, decision-making, and execution. It not only solves the problems of difficult positioning of multiple weld seams on irregularly shaped parts and large deviations in synchronous welding, but also improves the intelligence and operational integrity of the device through deep linkage with the mechanical structure. Furthermore, it can enhance creativity through multi-sensor fusion and multi-weld seam priority scheduling algorithms.

[0020] Reference Figure 12 As shown in this implementation scheme: the visual recognition device is controlled by a visual recognition system, which consists of an image acquisition module, an image preprocessing module, a feature recognition and decision-making module, and a linkage feedback module; Image acquisition module: This is the data entry point for the visual recognition system. Hardware-wise, it integrates a 3D laser contour sensor, a 2D industrial camera with a narrowband filter, a line laser camera, and an adaptive lighting unit. All acquisition devices are fixed to the end effector of the welding robot and operate synchronously with the robot's movement. Its core function is to provide high-quality raw data for the entire welding process. Before welding, the 3D laser contour sensor performs a full-size scan of the irregularly shaped metal product on the welding table, generating a 3D point cloud model with an accuracy of ±0.01mm, laying the foundation for subsequent positioning and weld seam extraction. During welding, the 2D industrial camera captures images of the weld seam area in real time. The narrowband filter effectively resists arc light interference, ensuring a clear weld seam contour. Simultaneously, the high frame rate camera accurately captures the dynamics of the molten pool. After welding, the line laser camera scans along the weld seam trajectory to obtain 3D surface topography data. The lighting unit automatically adjusts the brightness according to the welding current, avoiding data distortion caused by smoke and strong light, ensuring the accuracy and integrity of the raw data throughout the entire process. Image preprocessing module: This module uses an embedded processor as its core hardware carrier and directly links with the image acquisition module. It plays a key role in data purification and optimization. It achieves data processing through multi-algorithm collaboration. For the smoke and dust interference in the images acquired during welding, it uses a median filtering algorithm to eliminate salt-and-pepper noise. Combined with Gaussian filtering to smooth the brightness fluctuations caused by the arc light, it uses a histogram equalization algorithm on the molten pool image to improve the grayscale contrast between the molten pool and the base material, making the molten pool width, shape and other features easier to identify. For the 3D point cloud data before welding, it uses voxel filtering to simplify the data volume and avoid redundant data affecting the efficiency of subsequent processing. The core effect of this module is to improve the removal rate of interference information in the original data to more than 90%, and the output purified data latency is ≤10ms. It not only provides high-quality analysis material for subsequent modules, but also meets the timeliness requirements of real-time tracking during welding, and avoids welding deviation due to data lag. Feature Recognition and Decision Module: In the pre-welding stage, the ICP registration algorithm is used to compare the cleaned workpiece 3D point cloud model with the preset CAD model to calculate the workpiece clamping deviation. At the same time, the Canny edge detection algorithm is used to automatically extract all weld seams to be welded from the point cloud model, and welding tasks are allocated based on the motion range of the two sets of welding robots to generate interference-free synchronous welding paths. In the welding stage, the template matching algorithm is used to compare the real-time weld seam contour with the reference contour to calculate the weld seam offset at the ±0.05mm level, output welding gun posture adjustment commands, and analyze the features of the molten pool image. If the molten pool is too wide, indicating excessive heat input, a command to reduce the welding current is output. If the ring frame extrusion is found to cause local bulging of the workpiece, welding is paused and a command to fine-tune the extrusion pressure is output. In the post-welding stage, the laser triangulation measurement algorithm is used to calculate the weld seam height, and the grayscale threshold segmentation algorithm is used to identify surface pores with a diameter ≥0.2mm, and unqualified weld seams are automatically marked. The core effect of this module is to realize the intelligent transformation from data to decision-making, enabling weld positioning accuracy to reach ±0.03mm, welding deviation correction response time <50ms, and post-weld defect detection rate to exceed 99.5%, directly solving the core problems of difficult positioning of multiple welds on irregular parts and large deviations in synchronous welding. The linkage feedback module converts the instructions output by the feature recognition and decision-making module into control signals that can be recognized by each structure of the device. These signals are then transmitted in real time to the welding robot control system, the welding table screw drive system, the ring frame extrusion system, and the welding power source. Simultaneously, it receives real-time status data from each mechanical structure and sends it back to the feature recognition and decision-making module. The core effect of this module is to achieve deep collaboration between the visual recognition system and the mechanical structure. For example, if weld seam deviation is detected during welding, the robot can be linked to adjust its posture within 0.1 seconds, and the adjustment result is simultaneously fed back to the decision-making module to verify whether the deviation has been eliminated. In the face of multiple weld seam intersection scenarios, two sets of robots can be linked to adjust the welding sequence to avoid arc interference. It can also combine the ring frame pressure data and weld seam temperature monitoring to achieve predictive anti-deformation by coordinating pressure and temperature regulation, improving the overall welding accuracy of the device by 30% and controlling the synchronous welding consistency error within ±0.08mm, significantly improving the system's intelligence and operational stability.

[0021] Reference Figure 1-3 As shown in this embodiment: the upper end of the welding table 1 is provided with a working panel 11, the lower end of the working panel 11 is provided with a drive assembly 12, and the middle section of the working panel 11 is provided with a protective assembly 13. When the device needs to perform multi-weld simultaneous processing on the irregular part 3, the irregular part 3 is first placed on the upper end of the drive assembly 12, the irregular part 3 is moved to the middle section of the welding table 1 and the protective assembly 13 is raised simultaneously, and the irregular part 3 is processed and welded by two sets of welding robots 2.

[0022] Reference Figure 1-3 As shown in this embodiment: the drive assembly 12 includes a barrier plate 121. A drive motor 122 is fixedly installed at the lower end of the barrier plate 121. A lead screw 123 is fixedly installed at the drive end of the drive motor 122. A fixing block 124 is threaded on the outer side of the lead screw 123. A mounting plate 1241 is rotatably mounted at the upper end of the fixing block 124. A servo motor is installed inside the fixing block 124. The drive end of the servo motor is fixedly connected to the mounting plate 1241. A gas protection assembly 125 is fixedly installed at the upper end of the mounting plate 1241. When the device moves, the drive motor 122 drives the lead screw 123 to rotate, which in turn moves the fixing block 124 and the mounting plate 1241 at its upper end, moving the irregular part 3 to the welding area.

[0023] Reference Figure 3-6 As shown in this embodiment: a mounting groove 1242 is provided on the mounting tray 1241, and multiple sets of limiting tubes 1243 are provided inside the mounting groove 1242. The mounting groove 1242 and the limiting tubes 1243 are matched with the irregular part 3. The lower end of the limiting tube 1243 passes through the mounting tray 1241 and the working panel 11. When mounting the irregular part 3, the mounting hole of the irregular part 3 is aligned with the limiting tube 1243 for initial limiting.

[0024] Reference Figure 3-6 As shown in this embodiment, the mounting plate 1241 is also provided with multiple sets of fan-shaped grooves 1244, which are matched with the gas protection component 125.

[0025] Reference Figure 3-6 As shown in this embodiment: the gas protection component 125 includes a gas supply pipe 1251, and a jet shell 1252 is fixedly installed at the output end of the gas supply pipe 1251. The jet shell 1252 matches the fan-shaped groove 1244. Multiple sets of exhaust holes 1253 are opened on one side of the jet shell 1252. The multiple sets of exhaust holes 1253 are all directly opposite the weld position of the irregular part 3. A connecting pipe 1254 is provided between the multiple sets of jet shells 1252.

[0026] Reference Figure 3-6As shown in this embodiment: a connecting groove 1245 is provided inside the mounting plate 1241 and the working panel 11. The exhaust port of the connecting groove 1245 is inclined downward along the axial surface of the working panel 11. The connecting groove 1245 is connected to the fan-shaped groove 1244. Part of the exhaust hole 1253 on the outside of the jet shell 1252 is located at the upper end of the mounting plate 1241, and the other part is located inside the fan-shaped groove 1244. During the process of welding the irregular part 3 by the welding robot 2, inert gas is supplied to the interior of the gas supply pipe 1251 through the gas storage unit. The gas is blown out through the exhaust port 1253 on one side of the jet shell 1252, and the gas is evenly delivered to multiple sets of jet shells 1252 through the connecting pipe 1254, so that the blown gas is aimed at the weld position. In the process of simultaneous welding of multiple welds of irregularly shaped metal products, the temperature of the molten pool is as high as 2000℃ or more. Such metals are prone to rapid reaction with oxygen and nitrogen in the air to form oxides and nitrides. These impurities will reduce the tensile strength of the weld by 30%-50% and are prone to cracking. Inert gas can form a dense gas curtain on the surface of the molten pool, isolating the air and thus isolating the weld metal. The purity is increased to over 99.5%. Meanwhile, during simultaneous welding of multiple weld seams, the arcs of the two robotic arms are prone to mutual interference. Inert gas can act as an insulating medium, improving arc stability by 40%. It can also regulate the cooling rate of the molten pool, avoiding uneven weld formation caused by multiple heat sources. During the gas blowing process on the weld seam, most of the gas is gradually blown upwards along the weld seam, while another portion of the gas is blown downwards through the fan-shaped groove 1244 along the connecting pipe 1254 to the lower part of the limiting pipe 1243. At this time, due to the small aperture of the limiting pipe 1243, under the action of a large airflow, it will... A local negative pressure is gradually formed inside the pipe. At the same time, since the base of the irregular part 3 is lower than the height of the mounting groove 1242, most of the tiny debris and dust generated during welding are blown away by the gas, and a small part falls to the upper end of the base of the irregular part 3. Under the action of positive pressure blowing and negative pressure adsorption cross wind force, most of the tiny debris generated during welding is directly blown away, and a small part falls into the lower end of the working panel 11 for collection through the limiting tube 1243. This effectively avoids the slag inclusion defect caused by debris accumulation. Moreover, the overall structure is adapted to the movement trajectory of the welding robot and the extrusion action of the ring frame, with no blind spots or operational interference.

[0027] Reference Figure 7-8 As shown in this embodiment: the upper end of the working panel 11 is provided with a sliding groove 111, which matches the fixing block 124. The upper end of the working panel 11 is also provided with two sets of semi-annular grooves 112, which match the protective component 13.

[0028] Reference Figure 7-9As shown in this embodiment: the protective component 13 includes a semi-annular rod 132 and a semi-annular rod 134. The two sets of semi-annular rods 132 and 134 correspond to two sets of semi-annular grooves 112 respectively. A drive motor 131 is provided at the rotating shaft of the two sets of semi-annular rods 132 and 134.

[0029] Reference Figure 7-9 As shown in this embodiment: a housing 133 is fixedly installed on the inner side of the semi-annular rod 132, a hydraulic rod 1331 is fixedly installed on the inner side of the housing 133, an extrusion plate 1332 is fixedly installed on the driving end of the hydraulic rod 1331, a semi-flow cover 1333 is provided on the outer side of the extrusion plate 1332, the semi-flow cover 1333 is rotatably connected to the housing 133, and an electromagnetic lock 1334 is fixedly installed on the outer side of the housing 133.

[0030] Reference Figure 7-11As shown in this embodiment: a second housing 135 is fixedly installed on the inner side of the semi-circular rod 134; the connection between the first housing 133 and the second housing 135 is magnetically attracted; the first housing 133 and the second housing 135 combine to form a complete protective housing; an electromagnetic latch 1353 is fixedly installed on the outer side of the second housing 135; the electromagnetic latch 1334 and the electromagnetic latch 1353 are magnetically attracted; a semi-fly hood 1351 is fixedly installed on one side of the second housing 135; the first semi-fly hood 1333 and the second semi-fly hood 1351 can be integrated to form a complete protective housing. The flow fairing is magnetically attracted at the connection between half-flush one 1333 and half-flush two 1351. A spiral guide groove 1352 is provided inside the fairing. Multiple sets of teeth 1356 are fixedly installed on the outer side of the fairing, symmetrically distributed on the outer sides of half-flush one 1333 and half-flush two 1351. Half-flush one 1333 and half-flush two 1351 are rotatably connected to mounting shell one 133 and mounting shell two 135. When the mounting plate 1241 moves to the middle section of the working panel 11, multiple sets of drive motors 131 are activated to drive the two sets of half-flush one 1333 and half-flush two 1351. The first ring rod 132 and the second semi-ring rod 134 rotate from a horizontal position to a position perpendicular to the working panel 11. When the two sets of mounting shells 133 and 135 come into contact, they are magnetically attracted and locked. At the same time, they are locked by electromagnetic lock 1334 and electromagnetic lock buckle 1353. At this time, the internal hydraulic rod 1331 is activated. The hydraulic rod 1331 drives the extrusion plate 1332 at its drive end to gradually move down until it is completely pressed against the upper end of the irregular part 3. Then, the two sets of welding robots 2 are activated to process and weld the irregular part 3. The extrusion disc 1332 is made of elastic and wear-resistant composite material. When it moves down to contact the upper surface of the irregular part 3, it can naturally fit along the contour of the workpiece. After fitting, the extrusion disc 1332 always maintains stable pressure. Since the welding between the welds is carried out simultaneously, the high temperature of the molten pool during the welding process increases the probability of thermal expansion of the workpiece. This pressure can also directly counteract the expansion trend, preventing the irregular part 3 from exhibiting obvious bulging, warping or shrinkage deformation. In particular, it is used for the weak parts of the irregular part 3 to avoid local deformation caused by uneven heating.

[0031] Reference Figure 7-11 As shown in this embodiment: the interior of the housing 2 135 is adapted to the hydraulic rod 1331, and the drive motor 3 1354 is fixedly installed inside the housing 2 135. The drive end of the drive motor 3 1354 passes through the housing 2 135 and is fixedly installed with a bevel gear 1355. The bevel gear 1355 meshes with the teeth 1356.

[0032] Reference Figure 7-11As shown in this embodiment: a fan 1357 is fixedly installed on the outer side of the housing 135. An annular connecting pipe 1358 is fixedly installed at the exhaust port of the fan 1357. Multiple sets of air holes are opened in the inner ring of the annular connecting pipe 1358. The annular connecting pipe 1358 is formed by combining two sets of semi-annular pipes. The connection points of the two sets of semi-annular pipes are magnetically attracted. The annular connecting pipe 1358 is rotatably connected to the first semi-flush shroud 1333 and the second semi-flush shroud 1351, respectively. The annular connecting pipe 1358 is internally connected to the first semi-flush shroud 1333 and the second semi-flush shroud 1351. When the two sets of welding robots 2 process and weld the irregular part 3, the drive motor 1354 is started to drive the bevel gear 1. When the bevel gear 135 rotates, it meshes with the teeth 1356 on the outer sides of the first and second half-flush shrouds 1333 and 1351, causing the shroud formed by the integration of the first and second half-flush shrouds 1333 and 1351 to rotate. At this time, the fan 1357 will start initially, thereby driving the annular connecting pipe 1358 to initially draw in the gas inside the shroud. Since the shroud has a spiral guide groove 1352, the inert gas gradually forms a vortex under the suction force of the shroud. The originally dispersed inert gas gradually converges into a continuous spiral vortex airflow along the groove. The vortex continues to rotate along the rotation direction of the shroud. As the speed increases, a strong and orderly annular airflow field is formed. Under the wrapping and guidance of the fairing, this vortex-shaped airflow can not only flow flexibly along the complex contour of the irregular part 3, but also form a dense annular air curtain around the weld and in the molten pool area. The air curtain firmly wraps around the molten pool area, completely blocking the outside air like a barrier, preventing oxygen and nitrogen in the air from contacting the high-temperature molten pool, and reducing the risk of weld oxidation and nitriding from the root. At the same time, the accelerated vortex airflow can also carry some of the heat generated by welding outward, helping to reduce the temperature in the area around the molten pool, indirectly working with the extrusion plate 1332 to further suppress the irregular part 3 due to its shape. The slight deformation caused by overheating and the continuous rotation of the fairing keep the vortex air curtain in a state of dynamic renewal. The airflow is evenly distributed and there are no blind spots in protection. Even on the uneven surface of the irregular part 3 or the complex node where two sets of welds intersect, the vortex airflow can accurately cover it, ensuring that every welding area is protected by stable inert gas. The rotating connection design between the annular connecting pipe 1358 and the fairing ensures a continuous supply of suction airflow without hindering the movement of the fairing. This makes the entire process of suction, airflow guidance and air curtain formation efficient and continuous, providing a long-lasting and reliable protection for the multiple welds welded simultaneously by the two sets of welding robots 2.

[0033] Working principle: First, the irregular part 3 is placed on the mounting plate 1241 of the drive assembly 12 and initially limited by the limiting tube 1243. The drive motor 122 drives the lead screw 123 to move the fixing block 124 and the mounting plate 1241 to the middle section of the working panel 11. Then, the drive motor 131 is started to drive the semi-circular rod 132 and the semi-circular rod 134 to rotate to the vertical position of the working panel 11, so that the mounting shell 133 and the mounting shell 135 are magnetically attracted and locked by the electromagnetic lock 1334 and the electromagnetic lock buckle 1353 to form a protective shell. At the same time, the vision recognition device on the welding robot 2 automatically extracts multiple weld seams and allocates synchronous welding paths. Then, the hydraulic rod 1331 is started to drive the... The moving extrusion disc 1332 fits against the irregular part 3 to resist thermal expansion and deformation. The gas protection component 125 blows inert gas through the gas supply pipe 1251 and the connecting pipe 1254 to the weld seam via the jet shell 1252. The drive motor 1354 drives the bevel gear 1355 to mesh with the teeth 1356, causing the rectifier composed of the first half-flush 1333 and the second half-flush 1351 to rotate. The fan 1357 draws gas from the rectifier through the annular connecting pipe 1358 and forms a vortex air curtain to isolate the air with the help of the spiral guide groove 1352. Finally, the welding robot 2 performs multi-weld simultaneous welding on the irregular part 3. After welding, the line laser camera scans along the weld seam trajectory to detect defects, realizing precise and high-quality welding of multiple weld seams on irregular metal products.

[0034] The technical scope of this invention is not limited to the content described above. Those skilled in the art can make various modifications and variations to the above embodiments without departing from the technical concept of this invention, and all such modifications and variations should fall within the protection scope of this invention.

Claims

1. A visual recognition-based multi-weld synchronous intelligent welding device for special-shaped metal products, characterized in that, The welding platform is provided with two groups of welding manipulators at the upper end, a work panel at the upper end of the welding platform, a drive assembly at the lower end of the work panel, and a protection assembly on the work panel. The protection assembly comprises half-ring rods one and two, drive motors two arranged at the rotation shafts of the two groups of half-ring rods one and two, a placement shell one fixedly arranged at the inner side of the half-ring rod one, a hydraulic rod fixedly arranged at the inner side of the placement shell one, an extrusion disc fixedly arranged at the drive end of the hydraulic rod, a half-flow cover one arranged at the outer side of the extrusion disc, and the half-flow cover one being rotationally connected with the placement shell one. The inner side of the half-ring rod two is fixedly arranged with a placement shell two, one side of the placement shell two is fixedly arranged with a half-flow cover two, the half-flow cover one and the half-flow cover two are integrated to form a flow cover, a spiral flow guide groove is arranged in the flow cover, and a plurality of gear teeth are fixedly arranged at the outer side of the flow cover. A drive motor three is fixedly arranged in the placement shell two, and a bevel gear is fixedly arranged at the drive end of the drive motor three and penetrates through the placement shell two. A fan is fixedly arranged at the outer side of the placement shell two, an annular connecting pipe is fixedly arranged at the air outlet of the fan, the annular connecting pipe is formed by two groups of half-ring pipes, the annular connecting pipe is rotationally connected with the half-flow cover one and the half-flow cover two, and the annular connecting pipe is in communication with the inside of the half-flow cover one and the half-flow cover two.

2. The visual recognition based multi-weld synchronous intelligent welding device for special-shaped metal products of claim 1, characterized in that: The drive assembly comprises a placement disc, a gas protection assembly fixedly arranged at the upper end of the placement disc, a placement groove arranged on the placement disc, a plurality of limiting tubes arranged in the placement groove, the placement groove and the limiting tube being matched with a special-shaped part, the lower end of the limiting tube penetrating through the placement disc and the work panel, a communication groove arranged in the inside of the placement disc and the work panel, the air outlet of the communication groove being arranged to be inclined downward along the axial surface of the work panel, and the communication groove being in communication with the gas protection assembly.

3. The visual recognition based multi-weld synchronous intelligent welding device for special-shaped metal products of claim 2, characterized in that: The drive assembly further comprises a blocking plate, a drive motor one fixedly arranged at the lower end of the blocking plate, a screw rod fixedly arranged at the drive end of the drive motor one, and a fixed block threadedly arranged at the outer side of the screw rod and rotationally connected with the placement disc.

4. The visual recognition based multi-weld synchronous intelligent welding device for special-shaped metal products of claim 3, characterized in that: A plurality of fan-shaped grooves are arranged on the placement disc and matched with the gas protection assembly.

5. The visual recognition based multi-weld synchronous intelligent welding device for special-shaped metal products of claim 4, characterized in that: The gas protection assembly comprises a gas conveying pipe, a jet shell fixedly arranged at the output end of the gas conveying pipe and matched with the fan-shaped groove, a plurality of air outlets arranged at one side of the jet shell, and a communication pipe arranged in communication between the plurality of jet shells.

6. The visual recognition based multi-weld synchronous intelligent welding device for special-shaped metal products of claim 5, characterized in that: The communication groove is in communication with the fan-shaped groove, part of the air outlets at the outer side of the jet shell is located at the upper end of the placement disc, and the other part is located in the inside of the fan-shaped groove.

7. The visual recognition based multi-weld synchronization intelligent welding device for special-shaped metal products of claim 3, characterized in that: The upper end of the work panel is provided with a sliding groove matched with the fixed block, and the upper end of the work panel is further provided with two groups of half-ring grooves matched with the half-ring rod one and the half-ring rod two.

8. The visual recognition based multiple weld seam synchronous intelligent welding device for special-shaped metal products of claim 1, wherein: The outer side of the placement shell one is fixedly arranged with an electromagnetic lock, the outer side of the placement shell two is fixedly arranged with an electromagnetic lock catch, and the electromagnetic lock and the electromagnetic lock catch are magnetically attracted.

9. The visual recognition based multiple weld seam synchronous intelligent welding device for special-shaped metal products of claim 1, wherein: The connection portions of the placement shell one and the placement shell two are magnetically attracted, and the connection portions of the half-flow cover one and the half-flow cover two are magnetically attracted.

10. The visual recognition based multiple welds synchronization intelligent welding device for special-shaped metal product of claim 1, wherein: The gear teeth are symmetrically arranged at the outer sides of the half-flow cover one and the half-flow cover two, and the half-flow cover one, the half-flow cover two, the placement shell one and the placement shell two are rotationally connected.

Images