276 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 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 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 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.

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 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.

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 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.

This invention relates to a tooling fixture for robotic welding of cable trays, comprising a support frame, a side plate clamping mechanism, and a crossbar clamping mechanism. The support frame is divided into a feeding area, a welding area, and a discharging area. The side plate clamping mechanism has multiple sets, each containing symmetrical side plate clamping units. A linkage drive mechanism is installed in the drive box at the bottom of the support frame to drive the clamping units to open and close quickly, adjusting the side plate spacing. The crossbar clamping mechanism uses a servo motor to drive two sets of conveyor belt mechanisms arranged in a stepped manner to clamp and convey the crossbars. The crossbar spacing is controlled by adjusting the motor start-stop interval, and a limit baffle is installed at the feeding position. The welding area includes a welding station and a welding robot, with pneumatic grippers on both sides, equipped with crossbar and side plate detection units. After detection, the conveyor mechanism is stopped and welding operations begin. A side plate limit mechanism is also provided. This invention is adaptable to cable trays of different sizes, offering high versatility and production flexibility, a high degree of automation, convenient feeding, short downtime, reduced equipment investment, and improved production efficiency.

Disclosed example methods to generate a robotic welding program involve: generating a robotic welding program to weld a part using a collaborative robot welding system by manually manipulating the collaborative robot welding system to generate commands and robotic positioning information; automatically converting, using a processor, a first plurality of instructions of the robotic welding program for execution on the collaborative robot welding system to a second plurality of instructions to execute the robotic welding program on a non-collaborative type of robotic welding system; and performing the robotic welding program using the non-collaborative type of robotic welding system to weld the part using the second plurality of instructions.

The invention discloses a CMT electric arc welding method for defect repair welding of a ZL114A aluminum alloy casting, and belongs to the technical field of defect repair of aluminum alloy castings. The method aims at solving the problems that an existing repair welding method for the ZL114A cast aluminum alloy is high in heat input, large in deformation and low in repair efficiency. The method comprises the following steps: firstly, aiming at defects of different sizes, machining the defects into regular spherical-crown-shaped grooves of different sizes by utilizing a cold machining method; an electric steel wire brush is used for polishing the inner wall of the groove and base metal around the groove, and surface stains and oxide skin are removed; the casting is placed on a welding workbench; robot CMT welding equipment is adopted for repair welding; and writing a welding gun repairing path on the robot demonstrator. And repair welding is carried out according to the following principles: repair welding is carried out by utilizing an Al-Si welding characteristic curve, a repair welding piece is preheated to 250-350 DEG C, shielding gas is started, and automatic repair is started according to the planned path, the wire feeding speed and the welding speed. By means of the method, high-quality repair welding seams without pores and cracks can be obtained.

This invention discloses a multi-posture, highly stable collaborative welding robot, relating to the field of welding robot technology. It includes a base, a ground rail mechanism fixed to the upper rear side of the base, a guide rail platform slidably mounted on the ground rail mechanism via a motor, a bidirectional adjustment mechanism fixed to the upper part of the guide rail platform, a robot welding mechanism slidably mounted on the front wall of the bidirectional adjustment mechanism via a motor, a mounting frame fixed within an opening on the front side of the base, a turntable rotatably mounted within a circular groove on the mounting frame via a motor, and a slide rail fixed to the upper front side of the base. Through the cooperation between the foldable adjustment components and the clamping components, the robot can clamp and adjust the position of long strip substrates during welding, and provide a horizontal platform for welding wider substrates. The sliding seat, mounting frame, and turntable work together to clamp and rotate the position of three-dimensional substrates.

An automated container manufacturing system, which includes a plurality of component manufacturing sections, a container assembly section, and a container welding section. The component sections include at least one robotic assembly arm and at least one robotic welding arm for forming container walls. The assembly section includes at least one robotic assembly arm and robotic welding arm for assembling and welding container walls to each other to form a container. The container welding section includes at least one robotic assembly arm for welding sections of a container.

The application discloses a kind of robot friction stir welding force-position hybrid control method, it is related to robot welding control technical field, comprising the following steps: step S10 establishes the hybrid strategy model based on constant displacement control and constant pressure control, the trajectory deviation caused by flexible deformation is compensated by robot dynamic offset function;The constant displacement control monitors welding depth in real time by laser sensor, the laser sensor is installed in 45° oblique direction to the outer wall of motorized spindle, and the collection point is located in the front side of the welding advancing direction, to avoid the interference of flash;The constant pressure control is collected axial upset force by six-dimensional force sensor, and force feedback type impedance control strategy is adopted.The robot friction stir welding force-position hybrid control method compensates the flexible deformation of robot by dynamic offset function, combined with the hybrid strategy of constant displacement and constant pressure control, solves the problem of uneven weld forming under single control mode.

The application provides a robot welding trajectory planning method and a welding robot. The robot welding trajectory planning method comprises the following steps: obtaining N discrete welding points on a to-be-welded trajectory; performing B-spline interpolation on the N discrete welding points to obtain a welding motion trajectory of the robot; obtaining the displacement and instantaneous speed of each joint of the robot at each time according to the obtained welding motion trajectory; and controlling the welding gun end of the robot to move along the welding motion trajectory at a target speed and a target posture according to the obtained displacement and instantaneous speed information of each joint of the robot at each time. The robot welding trajectory planning method solves the problem that the existing robot welding motion planning method cannot meet the welding planning of a spatial complex curve trajectory for an industrial robot.

The application discloses a hydraulic support bending cover plate groove weld full penetration welding method, relates to the full penetration welding technical field of a groove weld, and comprises the following steps: blanking; cutting a groove; bending; surfacing; assembling; robot backing welding; robot filling and cap welding; and has the beneficial effects that the groove size is stable through the control of the bending cover plate groove angle, the bending angle and the assembling angle with the front cross rib plate; a cover plate assembling position line is drawn on the front cross rib plate before surfacing, so that the surfacing layer position is accurate; the backing welding is guaranteed not to be missed through the supporting effect of the surfacing layer; the robot surfacing mode is used, batch operation is simple, the efficiency is high, the surfacing layer height, width and straightness are stable through the robot welding surfacing layer, the supporting quality is improved; the starting end of the backing weld adopts an arc striking parameter, the end adopts a welding mode of an arc collecting parameter and a welding wire back swing rotation, and arc striking and arc collecting cracks are avoided.

The utility model discloses a follow-up robot welding gun cable support device, and belongs to the technical field of robot welding. The cable support device is installed on the robot and comprises a shaft sleeve, a supporting piece and a support. The supporting piece is arranged on the top of the support. The shaft sleeve is movably connected to the interior of the supporting piece, arranged on the welding gun cable in a sleeving mode and used for conducting angle adjustment along with the welding gun cable. The welding gun cable is sleeved with the shaft sleeve, the shaft sleeve rotates and adjusts the angle along with the welding gun cable in a following mode, the welding gun cable is made to be in a smooth state all the time, and the stability of wire feeding is guaranteed.

The utility model discloses a kind of intelligent cutting and welding devices, including linear ground rail, handling robot is installed on the linear ground rail, gripper is installed on the mechanical arm of handling robot, workbench is provided at one side of linear ground rail, two arc ground rails are provided at the other side of linear ground rail.Affinity effect is in at:the utility model is through the cooperation design of arc ground rail, cutting robot, welding robot, linear ground rail, handling robot, vision system, three-jaw chuck and hydraulic jacking assembly, can when titanium sponge reactor bottom flange cutting and welding, realize the reasonable zoning of cutting, handling, welding, operation is convenient, can quickly realize the cutting and welding operation of titanium sponge reactor bottom flange, suitable for all titanium sponge reactor bottom flange cutting and welding occasion, save artificial and time cost, improve operation efficiency simultaneously, reduce security risk.

The clamping device for robot welding comprises a base and a rotating disc, the rotating disc is movably installed at the top end of the base, a supporting frame is installed at the top end of the rotating disc, a rotating arm is installed on the outer wall of the supporting frame, an overturning arm is movably installed at the top end of the rotating arm, and the overturning arm is installed on the rotating arm. A turning arm is installed at the top end of the clamping device, a power frame is movably installed at the top end of the turning arm, a connecting arm is movably installed in the power frame, a connecting plate is installed at the bottom end of the connecting arm, and a connecting frame is installed at the bottom end of the connecting plate. According to the welding device, welding operation can be conveniently and rapidly conducted through multi-stage rotation angles, the clamping device can conveniently and rapidly adjust the angle of a workpiece to clamp the workpiece, the workpiece on the ground can be conveniently clamped and lifted to the designated position, the operation intensity of manual carrying and feeding is lowered, and the workpiece clamping and welding efficiency of the clamping device is improved.

The invention relates to the technical field of ship welding, and discloses a welding device and method for an assembly robot in a ship. The welding device comprises a welding table used for placing parts to be welded, a moving frame capable of moving front and back is arranged on the welding table, a moving seat capable of moving left and right is arranged on the moving frame, and a sliding seat is fixed to the bottom of the moving seat through a connecting frame; a horizontal polish rod in the moving frame penetrates through the sliding seat; a lifting assembly capable of moving up and down is arranged below the sliding seat, a mechanical arm is fixed to the bottom of the lifting assembly, and a welding gun is arranged at the tail end of the bottom of the mechanical arm. According to the mechanical arm, the design that the rotary motion of the rotary driving ring is converted into the opening and closing motion of the rotary buckle assembly is adopted, an operator only needs to rotate the rotary driving ring, the buckle block can be driven to stretch into or retreat from the annular buckle groove through cooperation of the inclined groove and the sliding rod, locking and unlocking of the mechanical arm are completed, no extra tool is needed, and the mechanical arm is convenient to use. And compared with a bolt fastening mode, the disassembly and assembly time is shortened.

The invention provides a movable collaborative robot welding system which comprises a collaborative robot, a welding gun, a welding machine, a wire feeder, a combined cable, a magnetic attraction base and a movable platform, the welding machine, the wire feeder and the combined cable are all located on the movable platform, and the welding machine, the wire feeder and the welding gun are sequentially connected through the combined cable. The welding gun is fixed to the collaborative robot, a magnetic attraction base is installed at the bottom of the collaborative robot, the collaborative robot and the magnetic attraction base are arranged on the moving platform in a pick-and-place mode, and the collaborative robot can be fixed to a workpiece to be welded through the magnetic attraction base. By means of the technical scheme, the problems that in the prior art, the steel component welding efficiency is low, and the labor cost is high are solved.

The application discloses a kind of complex component full-path weld extraction method and system based on multi-dimensional feature and topological reasoning, belong to robot welding vision technical field.Aiming at the problem that box type, I-beam and other components are not complete due to structural obstruction, prone to misjudgment of rolling fillet and other pseudo-weld, the application collects three-dimensional point cloud and two-dimensional image to extract initial geometric intersection line;Fusion three-dimensional gap depth mutation and two-dimensional point solid weld texture features, true and false discrimination and weighted screening are carried out on initial intersection line;Based on real weld and intersection, a space topological graph with node degree attribute is constructed;Using node degree constraint and orthogonal priori, collinear extension and orthogonal complete reasoning are carried out on suspended breakpoint, and complete welding path is reconstructed.The application can effectively eliminate the interference of pseudo-weld, realize accurate reconstruction of full path under limited field of view, and improve the robustness and efficiency of welding automation system.

The invention discloses an automatic walking type outdoor welding robot and belongs to the technical field of robot welding equipment. Comprising a chassis which comprises a walking mechanism, a bearing platform and a power transmission mechanism. The control cabinet is arranged at the right end of the upward side of the bearing platform; the foundation slewing mechanism is arranged on the bearing platform; the end, facing the foundation slewing mechanism, of the large pitching arm is connected with the foundation slewing mechanism, and the end, facing the large pitching arm, of the small pitching arm is connected with the end, away from the foundation slewing mechanism, of the large pitching arm. The welding gun action control mechanism is arranged at one end, far away from the pitching large arm, of the pitching small arm, and a structured light camera and a welding gun are arranged on the welding gun action control mechanism; the top of the control cabinet and the left end of the bearing platform are respectively provided with a first laser radar and a second laser radar. The outer wall of the top of the control cabinet is provided with an RTK antenna. The invention has the advantages that the requirement of walking in place is met; the requirement of accurate observation is met; firm welding is guaranteed; and good coordination is achieved, and the automatic walking type outdoor welding requirement is met.

A robot welding method based on semantic feature clustering; the method comprises: acquiring an image of a workpiece, and generating an image training sample set; performing semantic annotation on the image of the workpiece to generate a semantic training sample set; establishing a semantic clustering model, and training same by using the image training sample set and the semantic training sample set; by using the trained semantic clustering model, identifying an image of a workpiece to be welded, so as to obtain data of the workpiece to be welded; on the basis of the data of the workpiece to be welded and by using parameterized online programming, generating a welding program for the workpiece to be welded; and on the basis of the welding program, executing welding of the workpiece to be welded. By means of the robot welding method based on semantic feature clustering, neither teaching programming nor offline programming is required, thereby improving the precision, efficiency, universality and flexibility. Further provided is a robot welding system based on semantic feature clustering.

The utility model relates to the robot welding technology, and discloses a mounting base and robot welding equipment, the mounting base comprises a base, the base is provided with at least two first mounting positions, and the base is provided with at least one forklift groove; and the mounting columns are detachably mounted at the first mounting positions, and at least one second mounting position is arranged on each mounting column. According to the mounting base, the first mounting position on the base and the second mounting position on the mounting column, the industrial robot can be mounted at the same time, different combined mounting modes are achieved, and the versatility and practicability of the mounting base are improved.

The invention relates to the technical field of program control robots, in particular to a robot welding path real-time deviation correction system based on deep learning. The system executes the following steps that the attention enhancement degree of each welding scene during current training is determined according to the difference situation between an estimated welding process parameter and an actual welding process parameter corresponding to the same welding state data under each welding scene of current training; the correction weight corresponding to the attention enhancement degree of each welding scene in the current training is determined, and the correction attention degree of each welding scene in the current training is determined in combination with the attention enhancement degree and the correction weight in the current training; and performing model parameter adjustment on the process parameter pre-estimation model according to the correction attention to obtain a trained process parameter pre-estimation model. According to the method, real-time correction of the welding path of the robot is realized through the process parameter estimation model.

The utility model relates to the technical field of automobile part machining, and discloses an automobile side wall robot welding clamp which comprises an operation table and further comprises supporting plates installed on the two sides of the operation table, a bottom plate is fixedly connected to the bottoms of the supporting plates, three sets of sliding grooves are formed in the top of the operation table, a base is slidably connected to the interiors of the sliding grooves, and the bottom plate is fixedly connected with the base. Supporting columns are fixedly connected to the top of the base. Supporting plates on the two sides of the top are adjustable, the bottom of a side wall is conveniently supported, clamping pieces at the four corners are matched, a first hydraulic rod retracts to drive a fixing plate, a rotating ring drives a fixing frame and a sliding frame with a supporting rod as a center shaft, the clamping plate descends to clamp a side wall plate, and then a base can move and adjust in a sliding groove, so that the side wall plate is conveniently clamped. Adjustment is conducted according to the situation of the side wall, the first air cylinder drives the clamping plate to conduct clamping, meanwhile, the second air cylinder is opened to drive the abutting disc to clamp the bottom of the side wall plate, and therefore the clamping stability of the side wall plate is improved.

A welding system includes a collaborative robot, a robot controller, a welding torch having an end located at a tool center point (TCP), a welding power supply, and a teach pendant. The teach pendant includes a UI application configured for programming welding points and parameters. In a first operation mode, the UI application displays the plurality of welding points in a list that includes a highlighted closest welding point having a three-dimensional position that is closest to the TCP. The highlighted closest welding point automatically updates upon manual movement TCP. In a second operation mode, the list includes a highlighted selected welding point, and the UI further displays a selector button that shows a straight line distance of the TCP to a three-dimensional position of the highlighted selected welding point. Activation of the selector button causes the TCP to move to the position of the highlighted selected welding point.