426 results about "Robot welding" patented technology

The invention discloses a welding robot system based on body sensing and an intelligent route generation method, and belongs to the technical field of robot welding, the welding robot system comprises a body sensing module, a fusion processing module, an intelligent route generation module and an execution feedback module, the body sensing module collects multi-modal data in parallel through multiple sensing units and preprocesses the multi-modal data; the fusion processing module combines a three-dimensional attention mechanism and digital twinning mapping to realize deep feature fusion, the intelligent route generation module outputs an adaptive path through planning-optimization-layered correction, and the execution feedback module constructs a full-closed-loop dynamic adjustment mechanism. By the adoption of the system and method, the problems that physical and virtual scenes are not synchronous, dynamic interference response is insufficient and path adaptability is poor in complex welding seam welding are accurately solved, and the welding path fitting degree and quality stability are remarkably improved.

The invention discloses a robot welding pipeline flange displacement special clamp, and relates to the technical field of ship manufacturing equipment, the clamp comprises a processing table, a welding mechanical arm, a placing mechanism, two groups of pipeline clamping mechanisms, two groups of flange fixing mechanisms, a traction mechanism, a rotating platform and three screw rod sliding tables; the placing mechanism is slidably mounted in the middle of the machining table through the rotating platform, and the two pipeline clamping mechanisms are symmetrically slidably mounted on the two sides of the placing mechanism and can synchronously move and clamp pipelines. The two flange fixing mechanisms are symmetrically arranged on the two sides of the containing mechanism and horizontally move through a lead screw sliding table. The traction mechanism is connected with the machining table through a lead screw sliding table and can lock / unlock the rotating platform and drive the containing mechanism to move. The welding mechanical arm is in linkage with the clamp and can conduct welding along the butt joint axis. Multi-degree-of-freedom posture adjustment of a pipeline and a flange can be achieved, a straight pipe and a 0-90-degree bent pipe are matched, it is guaranteed that welding is in a horizontal butt joint state all the time, and the welding quality and efficiency are improved.

The invention discloses a non-standard weldment-oriented robot efficient collision-free path planning method and system, and belongs to the technical field of robot welding, and the method comprises the following steps: S1, obtaining three-dimensional model data of a non-standard weldment and an operation environment, and extracting welding seam point cloud data; s2, carrying out feature extraction and downsampling on the welding seam point cloud data to generate a group of key path points; s3, global optimization is conducted on the welding path through an improved genetic algorithm, candidate paths are generated, and the welding sequence of the multiple sections of welding seams and the welding gun postures at the key path points are optimized at the same time through the improved genetic algorithm; s4, evaluating the candidate paths generated by the improved genetic algorithm through a multi-target fitness function including path length, attitude stability and collision risk; and S5, outputting an optimal collision-free welding path according to an evaluation result, and converting the optimal collision-free welding path into a smooth track which can be executed by the robot. According to the invention, the high-efficiency, high-quality and collision-free welding gun motion trail can be automatically generated.

The invention discloses a mining chain wheel repaired based on an intelligent optical tracking technology and a technology. The repairing technology comprises the following steps that S1, an optical scanning device is used for scanning a worn chain wheel, surface point cloud data of the chain wheel are obtained, and an actual three-dimensional model of the chain wheel to be repaired is generated according to the point cloud data; s2, Boolean operation is carried out on the actual three-dimensional model generated in the step S1 and a preset chain wheel standard digital model, so that a relative wear model only representing a chain nest wear area is extracted; s3, based on the relative wear model, automatically generating a robot welding path for filling a wear area, and generating a repair program; and S4, the welding robot is controlled to execute the repairing program generated in the step S3, and self-adaptive surfacing repairing is conducted on the abrasion area of the chain nest. According to the method, through a digital closed loop of accurate scanning, model comparison, automatic programming and robot repairing, accurate repairing of irregular abrasion of each chain nest is achieved, the repairing quality is improved, and the maintenance period is shortened.

The invention provides a multi-machine cooperation-oriented welding robot cluster task scheduling and path planning system, which relates to the technical field of robot welding and cooperative control, and comprises a dynamic working condition sensing module, a task scheduling module, a path planning module, a self-adaptive dynamic adjustment module, a cluster communication module and an execution terminal, the dynamic working condition sensing module is used for collecting geometrical characteristic parameters of a welding workpiece, robot operation state parameters, welding process parameters and working environment information in real time; multi-dimensional working condition data are collected in real time through the dynamic working condition sensing module, dynamic optimal distribution of welding tasks is achieved in combination with a dynamic task partitioning and workload balancing algorithm, the load balancing degree of a robot cluster is improved, and compared with an existing static task distribution scheme, the workload balancing coefficient stably reaches 95% or above, and the working efficiency is improved. And the problems that part of robots are overloaded and part of robots are idle are solved, and the operation efficiency of multi-robot collaborative welding is effectively improved.

The invention belongs to the technical field of welding workstations, and discloses a welding workstation robot welding path and positioner action collaborative optimization method, which comprises the following steps: constructing a weld importance-real-time working condition dynamic priority system through an analytic hierarchy process, and collecting thermal stress and deformation data in real time in combination with multiple sensors; the high-priority weld joint cooperation level with the heat deformation exceeding the threshold value is automatically adjusted up; meanwhile, establishing a'priority-equipment resource 'matching matrix to identify conflicts in advance; according to the design, working condition changes in the welding process can be dynamically adapted, the deformation problem caused by fixed priorities in a multi-welding-seam intersection area is avoided, manual interruption and adjustment are not needed, it is ensured that the robot and the positioner act collaboratively without resource preemption, it is ensured that the welding process is continuous and stable, and the welding quality consistency of multi-welding-seam workpieces is improved; a variable load coupling dynamic model is established based on a Lagrange equation, a load compensation item is embedded, and a coefficient is corrected online in real time.

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

The invention relates to the technical field of image processing, and discloses a robot welding track automatic generation method, which comprises the following steps: carrying out data cleaning on image data of a welding workpiece to obtain standard image data; performing downward sampling on the standard image data to obtain a differentiated resolution image, and performing edge feature enhancement on the differentiated resolution image according to a pyramid structure to obtain an enhanced feature map; according to gray level distribution in the enhanced feature map, generating a region mask, and carrying out shape boundary connection on the region mask to obtain weld contour data; welding track sampling points of a contour geometric boundary in the weld joint contour data are obtained, the welding track sampling points are connected according to weld joint shape characteristics, and an initial welding track is obtained; curvature optimization is conducted on sharp inflection points in the initial welding track, and a target welding track is obtained; encoding and packaging the target welding track, and transmitting the target welding track to the robot control terminal; the automatic generation efficiency of the welding track of the robot can be improved.

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

The invention relates to the technical field of industrial automation, discloses an intelligent welding method and system for tube panel module production, and aims at solving the problems that manual welding is high in dependence, uneven in quality, low in efficiency, high in cost and insufficient in monitoring optimization capacity. The method comprises the steps that a workpiece connector is recognized through three-dimensional vision, and a path is planned; carrying out real-time monitoring, data fusion and feature extraction by a multi-modal sensor; deep learning is performed to predict quality, and reinforcement learning is performed to optimize parameters; and finally, post-welding evaluation and tracing are realized. The system comprises a main control unit, a robot welding arm, a welding execution unit and a positioning clamping unit. A multi-mode intelligent sensing module; and an intelligent processing and auxiliary control unit. By the adoption of the technical scheme, full automation, high efficiency, high precision, high consistency, quality real-time monitoring and intelligent optimization of key welding of the tube panel module can be achieved.

The invention relates to the technical field of robot welding, in particular to an intelligent path planning system and optimization method for large structure robot welding, by collecting three-dimensional point cloud data of a workpiece and temperature field and stress field data in the welding process, a geometry-heat-force multi-field coupling model is established, and a machine learning algorithm is adopted for parameter correction; based on the model, a deep learning network is adopted to identify welding seam topological features and generate a path constraint parameter set; welding path nodes are optimized by using a hybrid optimization strategy of reinforcement learning and a multi-target genetic algorithm; monitoring the shape of a molten pool through a visual sensing system, and dynamically adjusting welding parameters in combination with a model predictive control algorithm; a distributed model predictive control algorithm is adopted to coordinate the motion trails of the multiple robots; and finally, constructing a welding process knowledge graph to realize continuous optimization of the system. The problems of inaccurate welding deformation prediction and poor path planning adaptability in the prior art are solved, and the welding quality and the production efficiency of the large structural part are remarkably improved.

The self-adaptive welding device comprises a robot, a robot controller, an industrial personal computer, a visual assembly and a welding gun, a visual processing module, a welding seam contour recognition module, a welding seam precision adjustment module and a track generation module are arranged in the industrial personal computer, and the visual assembly is used for conducting multi-angle shooting on a workpiece; the visual processing module is used for identifying geometrical characteristics of a main pipe and a branch pipe of the workpiece; the weld contour recognition module is used for recognizing a weld contour; the welding seam precision adjusting module is used for refining the precise position of the welding seam point at the junction of the main pipe and the branch pipe through a calibration method; the track generation module is used for generating a welding track; and the robot controller receives the welding track and controls the welding gun to move according to the welding track to execute welding operation. According to the method, the reasonable robot welding posture is automatically matched, the track continuity and the welding process stability are improved, through automatic track planning and execution, it is ensured that the quality of each welding seam is stable, and manual operation errors are reduced.

The invention discloses an ultra-low splashing robot welding system and method based on intelligent waveform control, and relates to the technical field of robot welding, and the method comprises the following steps: collecting historical welding data, extracting steady state molten pool characteristic parameters, and constructing an associated database; establishing a three-dimensional coordinate system, and setting and verifying a molten pool monitoring area; molten pool images and temperature field distribution are collected in real time, dynamic molten pool characteristic parameters are extracted, the deviation degree between the dynamic molten pool characteristic parameters and steady-state characteristics is calculated, and whether waveform adjustment is triggered or not is judged by combining arc signals; a reference waveform parameter is called according to the current working condition, the waveform adjustment amount is output through a neural network, an intelligent welding waveform instruction is generated, and a welding power source and a robot are controlled to move through a real-time communication link; and monitoring the state and the splashing amount of the molten pool after adjustment, evaluating the splashing inhibition rate, and optimizing the system. Intelligent closed-loop control in the welding process is achieved, splashing is remarkably reduced, the welding stability and quality are improved, and the method is suitable for various automatic welding scenes.

The invention relates to the technical field of welding robots, and discloses large component gantry type robot welding equipment and a welding method.The large component gantry type robot welding equipment comprises a gantry rack, the gantry rack achieves X / Y / Z three-direction movement, and a six-axis robot is installed at the vertical moving end of the gantry rack; an electric arc welding gun, three-dimensional laser vision sensors, a grinding machine and a high-speed camera are installed at the tail end of the six-axis robot, and the two three-dimensional laser vision sensors correspond to the electric arc welding gun and the grinding machine correspondingly. A three-dimensional laser tracker is fixedly connected to the middle section of a cross beam of the gantry rack; a placing platform is arranged in the middle of the lower end of the gantry rack, a central controller is installed on the gantry rack, the central controller is connected with the gantry rack, the six-axis robot and the three-dimensional laser tracker through an EtherCAT bus, and the central controller carries a digital twin module, a welding expert database and a deformation prediction model. And manual welding is not needed, so that the working efficiency is improved.

Systems and methods described herein involve intaking sensor data associated with an arc weld from a robotic welding process, the sensor data involving thermal imaging data; executing a machine learning model on the sensor data, the machine learning model configured to output predicted internal parameters of a weld seam of the arc weld, predicted surface parameters of the weld seam of the arc weld, and a predicted quality of the arc weld associated with the predicted internal parameters and the predicted surface parameters; and modifying parameters of the robotic welding process of the arc weld based on the output predicted quality, the output predicted internal parameters, and the predicted surface parameters.

The invention discloses a robot collaborative welding control method and system for a water purifier barrel and an end cover, and relates to the technical field of welding, and the robot collaborative welding control method comprises the steps that N welding robots are obtained, welding areas are distributed, and to-be-welded operation areas of the N robots are obtained; a historical welding control database of the water purifier is constructed, traversal optimization is conducted in the historical welding control database of the water purifier according to the attribute parameter set of the to-be-welded operation areas of the N robots, and N initial robot welding control parameters are generated; identifying posture position information of a target water purifier cylinder and an end cover, carrying out collaborative optimization on the N initial robot welding control parameters, and determining robot welding collaborative control parameters; and cooperative welding operation and feedback compensation control are conducted on the target water purifier barrel and the end cover based on the robot welding cooperative control parameters. The technical problem that multi-robot efficient collaborative operation is difficult to achieve in welding operation in the prior art is solved, and the technical effect of multi-robot efficient collaborative welding is achieved.

The invention discloses a truck frame robot welding self-adaptive deviation rectifying method and system based on machine vision, and relates to the technical field of robot welding intelligent control. The method comprises the steps that the self-adaptive deviation rectifying system is constructed, and a robot is controlled to move to a preset photographing position in front of a welding seam; by arranging the machine vision sensing module, the robot control module, the self-adaptive deviation rectifying port and the welding database, the track smoothness and stability under high-speed welding are guaranteed, the system not only completes instant deviation rectifying, but also records historical deviation data and optimized welding parameters through the welding database, and the welding precision is improved. When a similar welding seam type or a deviation mode is encountered, the system can intelligently recommend or directly call optimized parameters, the stability of the overall welding quality is improved, welding data and corresponding analysis results are managed, visualized and stored, welding management can be achieved through cloud management and control of the Internet of Things, and the intelligent level of welding management is improved.

The invention discloses a robot welding track automatic planning method and a storage medium, and the method comprises the steps: carrying out the multi-angle shooting of a to-be-welded intersection region of a main pipe and a branch pipe, and obtaining point cloud data; performing point cloud fusion on the point cloud data through spatial registration to form three-dimensional point cloud data, and identifying geometric features of the main pipe and the branch pipes; detecting the intersection area of the main pipe and the branch pipe, extracting welding seam edge data, and identifying the contour of the welding seam; performing secondary fitting and optimization on the weld seam edge data, removing abnormal points, and refining the accurate position of the weld seam point at the junction of the main pipe and the branch pipe through a calibration method; and the welding seam edge curve is processed, welding point positions are extracted, the optimal postures of the welding point positions are automatically calculated or matched, and a welding track is generated and output to the robot. According to the method, the reasonable robot welding posture is automatically matched, the track continuity and the welding process stability are improved, through automatic track planning and execution, it is ensured that the quality of each welding seam is stable, and manual operation errors are reduced.

The invention relates to the technical field of robot welding guns, in particular to a robot welding gun neck capable of reducing wire feeding resistance. The robot welding gun neck comprises an outer pipe and an inner pipe, the inner pipe is a special-shaped pipe, a wire feeding channel extending in the axial direction of the inner pipe is arranged on the upper portion of the inner pipe, and a notch is formed in the bottom side of the wire feeding channel; a set of idler wheels are arranged in the wire feeding channel, and welding wires can penetrate through cavities between the idler wheels and the notches. The structural form of the inner pipe and the outer pipe is adopted, the special grooves are designed in the inner pipe to serve as wire feeding channels, the roller sets are placed in the grooves, sliding friction with large resistance in the wire feeding process is changed into rolling friction with low resistance through the roller sets, and therefore the wire feeding stability is improved.

The invention discloses detecting and welding integrated robot flexible welding equipment and method, and relates to the field of robot welding. Detection and welding integrated robot flexible welding equipment comprises an operation base station, and further comprises positioning mechanisms which are symmetrically arranged and are rotationally arranged on the operation base station, and the mechanisms are used for positioning and splicing two pipes to be welded; by means of the integrated positioning, welding and detecting structure, the transfer links between equipment are reduced, the welding efficiency is improved, the real-time detection function of an industrial camera is achieved, welding defects can be found in time, the defective product rate is reduced, the purifying mechanism sucks and purifies welding smoke, the gas curtain wall is arranged, the working environment is effectively improved, and the welding quality is improved. Meanwhile, the gas curtain wall prevents the welding smoke from drifting to the position below the camera, the welding smoke is prevented from blocking a lens or being attached to the camera, the image definition is guaranteed, the detection accuracy is further improved, and the rework cost caused by misjudgment is reduced.

The invention relates to the technical field of collaborative robot welding, in particular to a collaborative robot welding system suitable for ship narrow cabin moving operation, which comprises a ship bottom plate, the ship bottom plate comprises an outer bottom plate, an inner bottom plate, a rib plate and a girder, the outer bottom plate, the inner bottom plate, the rib plate and the girder form a cabin, and a plurality of pipelines are arranged at the top of the cabin. A movable U-shaped magnetic attraction rail is arranged at the center of the top of the ship bottom plate, a six-degree-of-freedom small collaborative robot is arranged at the top of the movable U-shaped magnetic attraction rail, and an auxiliary rail is arranged between every two adjacent cabins. The robot system is compact in structure, the technical problems that an existing welding robot system is inconvenient to move, poor in obstacle avoidance capacity, insufficient in welding accessibility, low in path planning efficiency and the like in narrow cabin environments such as ship cubicles are solved, welding blind areas are effectively reduced, efficient and stable movement and welding in the dense obstacle environment are achieved, and the welding efficiency is improved. And the working efficiency and the quality consistency are obviously improved.

Equipment for automatically replacing a contact tube based on a robot welding gun comprises a shielding gas nozzle dismounting and mounting device, a contact tube dismounting and mounting device, a contact tube tightening device and a contact tube conveying device, and the equipment is driven by a pneumatic mechanism; each of the shielding gas nozzle dismounting device, the contact tube dismounting device and the contact tube tightening device comprises a spring structure; the contact tube conveying device comprises a contact tube box. Compared with a traditional motor driving mode, a pneumatic driving mode is combined with a spring structure design, so that the disassembly and assembly process and debugging are more convenient.

The invention relates to the technical field of robot welding, and discloses a laser welding robot control method based on artificial intelligence, which comprises the following steps: step 1, acquiring a successfully matched welding process, and generating an initial welding track of a target workpiece; secondly, an optimal welding track set is obtained; thirdly, the welding quality is analyzed in real time; fourthly, the welding robot is dynamically adjusted and controlled; step 5, constructing a welding database, storing process data of each welding, iteratively optimizing the welding process and updating the knowledge graph; by arranging the second step and the third step, trajectory planning optimization can be conducted by introducing an NSGA-II multi-target optimization algorithm and combining three targets of welding precision, speed and energy consumption, trajectory quality is ensured through simulation verification, a trajectory path and welding parameters are dynamically adjusted in a complex welding task, and the welding efficiency is improved. And comprehensive optimization of high precision, high efficiency and low energy consumption is realized.

The invention relates to a large-breadth ship plate robot welding workstation, and relates to the field of ship manufacturing. According to the technical scheme, the four nine-axis cantilever type welding robots are arranged oppositely in pairs and are combined with movement of the ground rail, so that full-range coverage is formed, reciprocating loss of a single robot is reduced through multi-robot cooperation, and the robot is suitable for batch production; the conveying and lifting integrated design of the conveying roller line is matched with variable-frequency speed regulation, so that stable transfer and height adjustment of the ship plate are realized; a nine-axis structure of the nine-axis cantilever type welding robot is linked with the welding seam tracking sensor, the welding path is dynamically corrected, and defects are reduced. And under the condition, the traditional welding limitation is broken through, and the operation coordination of large-breadth ship plate welding is greatly improved.

The invention relates to the technical field of robot welding control, and discloses an online visual monitoring and compensation system for a robot welding track, which comprises an excitation module, a sensing dimension reduction module, a dual-channel phase-locked demodulation module and a normalization compensation control module, the excitation module drives the galvanometer to apply periodic swing, the sensing dimension reduction module extracts a one-dimensional time-varying intensity signal, the dual-channel phase-locked demodulation module obtains a fundamental component and a second harmonic component of the signal in parallel, and the normalization compensation control module generates a compensation signal based on the ratio of the fundamental component to the second harmonic component. The second harmonic component is used for representing the optical response gain in the welding process, real-time normalization processing is carried out on the geometric deviation represented by the fundamental frequency component, the mechanism enables the system to avoid gain drift caused by workpiece materials and laser power changes, and self-adaption and stable tracking under variable working conditions are achieved.

The utility model discloses a welding gun correcting device of an arc welding robot. The welding gun correcting device comprises two clamping structures and a correcting structure, wherein the two clamping structures are installed on the upper surface of a movable base and used for clamping a welding gun structure, and the correcting structure is installed on the upper surface of a fixed base. The welding gun structure is clamped and fixed through the clamping structure, the welding gun structure penetrates through the inner side of the first extrusion wheel and the inner side of the second extrusion wheel, the second electric push rod is controlled to extend, the ejector block is ejected out, and the inclined face of the upper surface of the ejector block enables the sliding block to slide upwards; in the upward sliding process of the sliding block, the lower surface of the welding gun structure is extruded through a first extrusion wheel at the upper end, and meanwhile, in the upward sliding process of inclined planes on the two sides of the sliding block, the lower end of the connecting rod is extruded outwards, so that the upper end of the connecting rod rotates inwards around the connecting point of the connecting rod and the fixed frame; accurate correction and fixing of the welding gun structure are achieved, the positioning accuracy and the welding stability of the welding gun are improved, and therefore the working efficiency and the welding quality of the arc welding robot are improved.

This invention discloses a robotic welding fixture for a three-wheeled vehicle body, relating to the field of welding equipment technology. It includes a welding table; a support beam conveyor belt assembly mounted on the welding table; a frame conveyor platform and a frame unloading platform respectively positioned on opposite sides of the welding table; a robotic arm laser welding machine mounted on top of the welding table, with its position vertically corresponding to the position of the frame conveyor platform; the support beam conveyor belt assembly includes an operating platform and a conveyor belt arranged sequentially from top to bottom at intervals, with multiple through slots and multiple support beam placement frames arranged along the conveying direction on the conveyor belt, the through slots and support beam placement frames being staggered; and multiple lifting cylinders positioned below the conveyor belt; the frame conveyor platform includes a support platform located outside the welding table, with a lifting cylinder mounted on the bottom surface of the support platform, and a lifting plate mounted on the piston rod of the lifting cylinder. This invention has advantages such as reducing labor intensity and improving welding position accuracy.

The application provides a method for predicting the operation time of a ship T-beam welding robot based on machine learning, comprising: obtaining the weld seam meters of multiple types of weld seams planned by T-beam welding robot offline programming software, and recording a data set of actual operation time thereof; dividing the data set into a training set and a test set according to the time dimension; performing normalization processing on the weld seam meters of different weld seam types; using a gradient descent method to solve and construct a linear model of multiple types of weld seams; setting hyperparameters and initial values of model variables; training the model; visualizing the output of the result to evaluate the model; predicting the operation time of a new ship section sample data on the model; constructing a linear model function of multiple types of weld seams through the characteristics of section weld seam sample data, training the weight values of each weld seam type in the model affecting the operation time, and predicting the operation time of a new section in a robot welding station, which can be applied to a robot ship manufacturing workshop and improves the accuracy of operation time prediction of the ship manufacturing workshop.

The utility model belongs to the technical field of welding gun protection, and particularly relates to a protection mechanism of a robot welding gun, which adopts the following scheme that the protection mechanism comprises a fixed frame arranged at the bottom of the welding gun, an extension part is arranged in the fixed frame in a sliding manner, a motor is also arranged on one side of the fixed frame, and a gear is arranged at the output end of the motor. When the welding gun is not used, the motor can be driven to push the toothed plate to move through rotation of the gear, the toothed plate drives the extending part to move out of the fixing frame, and after the extending part moves, the protective frame can be manually placed at the end of the extending part in a sliding mode and inserted into the limiting pin, so that the protective frame is limited on the extending part, and the welding gun is protected conveniently. And the welding gun is prevented from being damaged by external force collision.

The utility model relates to the technical field of welding robots, in particular to a convenient-to-convey bearing table for robot welding, which comprises a base, a bearing table body is fixedly mounted in the middle of the top end of the base, and clamping mechanisms are arranged on two sides of the top end of the bearing table body; a machine box is fixedly installed at the top end of the middle of the base, and a material pushing mechanism is arranged on the lower portion of the interior of the machine box. An equipment box is fixedly mounted at the upper end of the case, and a waste gas treatment mechanism is arranged at the top end of the equipment box. In the welding process, the waste gas treatment mechanism sucks waste gas in the protective cover, particulate matter is filtered through the filter element, harmful gas is removed through activated carbon or other adsorption materials, and finally clean air is exhausted.