671 results about "Robot welding" patented technology

The invention relates to a multi-product-line-oriented robot welding integration method, device and equipment and a medium, and the method comprises the steps that three-dimensional geometrical characteristics and material attribute data of multiple types of workpieces are collected, and geometric parameters and material mechanical properties of weld joints are extracted; an order demand template is intelligently matched, and initial welding parameters and a clamp configuration scheme are generated; the health state of production equipment is evaluated in real time, and the collision-free movement track of the mechanical arm is planned; dynamically analyzing the joint angle sequence to generate a high-precision servo control signal; the welding process is monitored in real time, and current and molten pool temperature parameters are corrected; and iteratively optimizing the algorithm weight of the process knowledge base to improve the adaptive capacity. Through cooperation of multi-source data fusion and an intelligent algorithm, rapid switching of multiple kinds of workpieces, self-adaptive compensation of the equipment operation state and closed-loop optimization of welding process parameters are achieved, and the equipment utilization rate and the welding quality stability in a flexible production scene are remarkably improved.

The invention belongs to the technical field of intelligent manufacturing and laser arc hybrid welding, and discloses a double-robot laser arc hybrid welding real-time regulation and control method based on digital twinning. According to the method, double robots are used, a laser-electric arc composite heat source digital twinborn model is constructed, a Gaussian distribution laser heat source and a double-ellipsoid electric arc heat source are integrated, and the dynamic behaviors (molten pool flowing and keyhole stability) of a molten pool and the generation probability of defects (air holes, cracks and the like) are predicted. And a visual sensor and an acoustic emission sensor on the two sides of the welding robot are used for capturing molten pool oscillation frequency and internal defect signals. And in combination with a reinforcement learning algorithm, welding path offset self-adaptive compensation and laser arc energy ratio adjustment are achieved, and closed-loop real-time regulation and control are formed by controlling the position of a welding gun of a welding robot and technological parameters. Based on a digital twinborn model, robot welding guns on the two sides can conduct synchronous welding on the two sides and can be independently adjusted while coupling is guaranteed according to the characteristics of specific materials, and high-quality welding is achieved.

The invention provides an industrial robot welding track real-time optimization method and system based on deep learning, and relates to the technical field of industrial robots, and the method comprises the steps: collecting three-dimensional point cloud data, carrying out the multi-scale processing to generate a high-precision curved surface, constructing a welding seam feature descriptor, and carrying out the real-time optimization of the welding track of an industrial robot; and the mapping relation between the technological parameters and the welding posture is optimized on the basis of a multi-target reward function, the mapping relation is converted into an initial movement track, the track is dynamically optimized through a segmented self-adaptive optimization model and a variable structure filtering algorithm, and self-adaptive adjustment of the welding process is achieved. The welding precision and quality of the complex curved surface are improved, and the adaptability and stability of robot welding are enhanced.

The invention discloses a dynamic path planning method and system for a multi-axis collaborative welding robot, and belongs to the field of robot welding. The method comprises the steps that basic data of a welded workpiece is collected, and a welding basic database is constructed; constructing a geometric model of the welding seam path according to the data in the welding basic database, and parameterizing the geometric model of the welding seam path; on the basis of the parameter result, an initial track is generated between two adjacent weld joint sections of the welding path, time parameterization is conducted on the initial track, and a time-dependent time parameterization spinor track is obtained; and constructing a spinor mapping model based on inverse kinematics and a spinor theory to convert the time parameterized spinor trajectory into a target spinor. The welding quality is improved.

The invention belongs to the technical field of robot welding, and discloses a welding robot motion path optimization planning method based on multi-sensor fusion. Comprising the steps that sensor data are obtained, and the sensor data comprise a welding seam three-dimensional point cloud, a molten pool image, acceleration and angular velocity of the tail end of a welding gun in three axial directions, welding current and welding voltage; converting the sensor data into a unified coordinate system to obtain converted sensor data; performing filtering processing on the converted three-dimensional point cloud of the welding seam to obtain a filtering point cloud, and performing feature extraction on the filtering point cloud based on an RANSAC (Random Sample Consensus) algorithm to obtain a center line feature of the welding seam; in combination with the converted three-dimensional point cloud of the welding seam and the characteristics of the center line of the welding seam, an initial welding path is obtained through planning based on an improved A * algorithm; intelligent and precise adjustment of welding parameters is achieved, the stability of welding quality is guaranteed, and the performance of motion path planning and welding operation of the welding robot is improved in an all-around mode.

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

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

The invention discloses a locating weld robot system based on active and passive visual sensing, and relates to the technical field of robot welding, the locating weld robot system comprises a weld tracking module, the weld tracking module is used for monitoring a weld and a welding state and adjusting the position of a welding gun; the welding seam tracking module comprises a visual sensing unit, a deviation detection unit and an automatic deviation correction unit, the visual sensing unit is connected with the deviation detection unit through Bluetooth, and the deviation detection unit is connected with the automatic deviation correction unit through Bluetooth. By designing the welding seam tracking module, the automatic welding seam positioning function is achieved, the problem of welding seam position deviation is solved, the welding quality and efficiency of the welding seam robot are improved, and active and passive vision fusion is achieved.

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 robot welding method and system based on parametric programming, and the method comprises the steps: 1, collecting workpiece surface data, and extracting geometric dimension characteristics related to welding from the workpiece surface data; 2, path planning is conducted on the basis of the geometric dimension features extracted in the step 1, and a welding path is obtained; 3, multi-arm collaborative welding is conducted on the basis of the welding path and the welding parameters, in the welding process, the welding path is tracked in real time, key parameters in the welding process are collected, whether the path error is smaller than a set threshold value or not is judged, if yes, whether the current welding quality reaches the standard or not is further judged, and if yes, welding is ended; if not, welding parameters are adjusted according to key parameters in the welding process, and the step 3 is executed; and if the path error is not smaller than the set threshold value, correcting the welding path according to the path error, and executing the step 3.

Disclosed in the present invention is a flexible robot welding system for a middle rotary displacement pipe fitting. The flexible robot welding system comprises a clamp-type positioner and two welding systems located on two sides of the clamp-type positioner, wherein the clamp-type positioner comprises a driving wheel mechanism for driving pipe fitting to rotate and displace, and a clamp mechanism for pressing the pipe fitting; the clamp mechanism comprises a pressing wheel in contact with the pipe fitting, and a pressing-wheel driving device for driving the pressing wheel to ascend and descend, the pressing wheel rotating along with rotation of the pipe fitting and pressing the pipe fitting; the two welding systems are respectively located at two ends of the pipe fitting, and each welding system comprises a welding robot and an end pressing mechanism; and the end pressing mechanism comprises a pressing first roller in contact with the pipe fitting, and a roller driving device for driving the pressing first roller to ascend and descend, the pressing first roller rotating along with rotation of the pipe fitting and pressing the pipe fitting. The middle part and the two ends of the pipe fitting are pressed at the same time by means of the clamp-type positioner and the end pressing mechanism, such that straightness correction of the pipe fitting is achieved, thereby guaranteeing the welding quality.

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 relates to the technical field of robot welding, in particular to a mobile intelligent welding robot for seat production, which comprises an autonomous mobile chassis for autonomous navigation and obstacle avoidance in a seat production workshop; the multi-degree-of-freedom mechanical arm is used for achieving complex space track welding; the welding actuator is used for completing high-precision welding operation; the visual identification system is used for capturing the welding seam position in real time, detecting the welding quality and feeding back to the control system; the central controller is used for coordinating the operation of each module; through the steps, flexible movement of the robot in a production workshop is achieved through the autonomous moving chassis and the SLAM navigation technology, so that the utilization rate of equipment is increased, the occupied area of a production line is reduced, the multi-degree-of-freedom mechanical arm and the high-precision visual recognition system are combined, the complex welding seam track of the seat framework can be recognized in a self-adaptive mode, and the production efficiency is improved. And the pose deviation in the welding process is compensated in real time through force sense feedback, so that the consistency of the welding seam forming quality is ensured.

The invention relates to a robot welding positioning method based on a least square method. The robot welding positioning method comprises the following steps that firstly, a discrete sampling point set of the edge contour of a workpiece to be welded is obtained through linear array scanning; performing curve fitting on the sampling point set by using an LLS algorithm to determine a reference line and calculate a deviation value, and performing down-sampling and introducing a weight factor to balance the influence of the sampling points during fitting; converting the polar coordinate data into a coordinate point set under a Cartesian coordinate system based on the datum line; a three-dimensional space welding track dynamic compensation model is constructed, specifically, a segmented cubic spline interpolation algorithm is adopted for smoothing a coordinate point set to generate a weld joint reference curve, thermal deformation is collected through a laser displacement sensor to establish a temperature-deformation coupling compensation matrix, and a corrected target path equation is generated through superposition operation; and the robot welding arm is controlled to work according to the corrected target path equation, so that various factors in the welding process are effectively coped with, and the welding quality and efficiency are improved.

The invention discloses a welding seam self-adaption B spline curve fitting method for a 3D dense out-of-order point set, and aims at solving the problem of complex curved surface welding seam track generation in robot welding and breaking through the limitation of the prior art through a three-stage self-adaption fitting mechanism. The method comprises the following steps: firstly, self-adaptive screening and projection sorting are carried out by utilizing a straight line fitting error, so that the disordering problem of discrete points of a quadratic curved surface intersection line is effectively solved, and the strong dependence of a traditional method on a CAD model is overcome; secondly, in combination with a region growing method guided by an end tangent vector, robust conversion from an out-of-order point set to an ordered control point is realized through dynamic neighborhood search and projection value sorting, and path continuity of an open / closed curve is guaranteed; and finally, mean sampling quadratic fitting is adopted, control point distribution is optimized while noise is restrained, and a smooth B-spline track meeting the movement requirement of the welding gun is generated. According to the method, direct fitting of the 3D dense out-of-order point set under the model-free condition is achieved for the first time, and the generation efficiency and adaptability of the irregular welding seam track are remarkably improved.

The invention provides a robot welding machine, and belongs to the technical field of welding robots, the robot welding machine comprises a robot body, and further comprises a shunting heat conduction assembly and a supporting cleaning assembly; protective gas forms focused gas flow through shunting and secondary shunting, and gas flow sprayed by the cooling channel and the permeable plate is uniformly mixed under the guidance of a conical space at the front end of the nozzle, so that the concentration distribution of the protective gas above a molten pool is consistent, and the welding seam quality is improved; trace moisture in the protective gas is treated under the action of centrifugal force of the turbofan, and water vapor generated by falling and evaporation of water drops is guided to the periphery of the gas hood and cannot intrude into a molten pool area; the heat conduction cylinder rotates to enable airflow to sweep the whole surface of the contact tube, local overheating and heat dissipation dead angles are avoided, and the normal working temperature of the contact tube is guaranteed; the airflow can clean splashing particles attached to the outer side of the contact tube and the inner wall of the nozzle, the scraping arm can be tightly attached to the cleaning face in the rotating process and can abut against the contact tube, the deformation possibility of the contact tube is reduced, and the continuity and stability of the welding process are guaranteed.

The invention provides a humanoid robot welding pose adjusting method and system, and belongs to the technical field of artificial intelligence. The humanoid robot welding pose adjusting method comprises the steps that an initial state vector is constructed according to state information of a humanoid robot in the welding process; performing time sequence feature compression processing on the initial state vector to obtain a compressed state vector; inputting the compression state vector into a strategy optimization model to obtain an optimization action strategy output by the strategy optimization model; wherein the strategy optimization model is obtained by training according to a state information sample; according to the optimized action strategy, discretized joint rotation angle values of all joints of the humanoid robot are generated; and according to the discretized joint rotation angle values, the welding pose of the humanoid robot is adjusted. According to the method, a strategy optimization model based on an optimized long-short-term memory network and a multi-head attention mechanism is introduced, and self-adaptive adjustment and accurate control of the humanoid robot on the welding pose in the dynamic welding environment are achieved.

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 production line for forklift portal frame welding and a control method. The production line comprises an assembling area, an on-line conveying line, a double-layer conveying line, a welding area, a carrying robot, a welding workstation, an RGV trolley and an off-line conveying line. The assembling area is arranged on the side edge of the on-line conveying line and used for manually assembling the inner door frame, the middle door frame and the outer door frame and pasting product information codes at set positions. The double-layer conveying line and the upper conveying line are arranged in parallel, and the portal frame is transferred to the double-layer conveying line through the translation mechanism. A carrying rail is arranged, so that the RGV trolley and the carrying robot are arranged on the same rail, the portal corresponding to the to-be-welded area is transferred to an RGV feeding position through the RGV trolley, and the carrying robot is matched for feeding; the multiple welding workstations are arranged in the welding area, the fed portal frame is clamped, welding seams are welded, and after welding is completed, the carrying robot carries the welded portal frame to the off-line conveying line. According to the invention, the automation and intelligence level of the forklift production line can be 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 provides a weak light environment image contrast improvement method for a robot welding path, and relates to the field of image processing, and the method comprises the steps: firstly improving an original compression mode based on a brightness single factor through a contrast perception compression factor; secondly, a low-light image enhancement color space based on a polar coordinate structure is introduced, and a contrast perception compression factor is combined to construct a low-light image enhancement color space with a space decoupling capability; a welding path structure response diagram is constructed by fusing the direction consistency entropy and the direction responsivity, the sensitivity to the structural characteristics with directivity and coherence such as the welding path is enhanced, and the accuracy and robustness of structure extraction are improved; and finally, through combination of the robot welding path image after color enhancement and the welding path structure response diagram, background noise interference is effectively inhibited while welding edge details are highlighted, accurate enhancement of the welding path image is realized, the welding edge details are enhanced, and the definition and the structure continuity of the image are improved.

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 robot tin sheet automatic identifying, positioning and welding method, which relates to the technical field of tin sheet automatic identifying, positioning and welding, and comprises the following steps: continuously acquiring image data covering a welding point and a gas channel area above the welding point in a welding heat source working complete period through a visual identification system; the sensing module is used for sensing an image change state and potential disturbance factors of a welding area in real time; after the acquired image data is preprocessed, the processed image frames are arranged in order based on the image acquisition timestamps, and a structured image data set is constructed and formed. Dynamic coupling and closed-loop linkage of the visual recognition system and the heat source control system are achieved, hot airflow disturbance can be perceived and quantified in real time, the influence of hot airflow disturbance can be accurately evaluated by means of an intelligent model, heat source output is driven to be dynamically adjusted, disturbance is restrained from the source, and image imaging stability is guaranteed; and the recognition precision and the operation stability of the robot welding system in a complex thermal environment are effectively improved.

The invention discloses a robot welding seam grinding control method and system based on a DDPG reinforcement learning algorithm and a storage medium. The method comprises the following steps that S1, a to-be-ground workpiece is transported and fixed; s2, cutting the run-on plate; s3, welding seam point cloud data are collected; s4, weld joint features are extracted, the features are compared with data in the process database, if weld joint related data with the same features exist, corresponding polishing parameters in the process database are directly called, and otherwise, the extracted features are input into a pre-trained DDPG reinforcement learning model to generate polishing parameters; s5, the mechanical arm polishes the weld joint based on the polishing parameters, then the surface of the weld joint is scanned again, whether polishing is conducted again or not is judged, if yes, the step S3 is executed, and if not, the step S6 is executed; s6, recording related parameters to a process database; s7, fixing of the workpieces is relieved, and the workpieces are conveyed to a discharging frame; the method can adapt to weld joints of different specifications to generate corresponding polishing parameters.

The invention belongs to the technical field of fusion welding, and particularly relates to a method for adaptively correcting the track of a welding robot and adjusting welding parameters, which comprises the following steps of: scanning a welding seam through a sensor to obtain a current welding seam section image; the robot controller processes the weld joint section image to obtain coordinates of a middle point of a bottom-layer gap of a weld joint butt joint position; in the welding process of the welding robot, the stored welding track coordinates are repeatedly matched, the track coordinate closest to the current position of the welding robot is found, and the coordinate is judged to be the actual position of a welding seam; the welding robot obtains X-axis offset, Y-axis offset and Z-axis offset according to the current coordinates of the movement position of the robot and the matched welding track coordinates, and the movement track of the robot is corrected through the DPM dynamic path correction technology; and the welding parameters of the welding robot in the swing welding process or the welding process are modified or adjusted in real time.

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.