5297 results about "Soldering gun" patented technology

The invention provides an aluminum alloy auxiliary frame welding accurate positioning and quality control method and system. The method comprises the steps that S4, welding gun track control parameters are updated through a dynamic adjustment instruction, laser tracking data are fused to optimize the welding path angle in real time, and the accurate movement track of each section of welding seam is determined; s5, acquiring real-time thermal expansion data during welding execution, monitoring temperature field distribution of a welding seam area by adopting an optical measurement technology, and judging whether thermal deformation adjustment exceeds a preset threshold value or not; s7, micron-sized welding spot positioning operation is executed according to the stable positioning state, the dynamic path optimization result is fused to generate a final welding instruction, and consistent welding seam quality data is output; and S8, after weld joint quality data are obtained, weld joint deviation and geometric consistency are detected through a laser tracking technology, whether welding quality meets design requirements or not is judged, and a quality verification report is generated. According to the method, the precision and consistency of intelligent welding of the aluminum alloy auxiliary frame are remarkably improved.

The invention provides an inner flanging welding method of a water tank inner container and the water tank inner container, and relates to the technical field of welding manufacturing, and the inner flanging welding method comprises the following steps: obtaining three-dimensional point cloud data of an inner flanging interface of the water tank inner container in real time, and registering the point cloud data with a preset three-dimensional geometric model; based on an improved RRT algorithm, in combination with geometric features represented by the registered three-dimensional point cloud data, an initial motion track of a welding gun is planned; welding is conducted on the basis of the initial motion trail, and the weld width, the fusion depth feature and the defect feature are extracted from a molten pool image obtained in the welding process; correcting welding parameters of a welding gun in real time based on the weld width and fusion depth characteristics; and when the defect characteristics do not meet the preset conditions, path re-planning is triggered, a real-time movement track and synchronously-adjusted welding parameters are generated based on the currently-corrected welding parameters and the defect characteristics, and a welding gun is controlled to execute compensation welding. And the welding quality is improved.

The invention provides a welding obstacle avoidance path planning method and system based on artificial intelligence, and relates to the technical field of data processing, and the method comprises the steps: carrying out the penetration depth detection of a dynamic convex hull body and a discrete space sampling set, and generating collision probability density distribution; the collision probability density distribution is subjected to quality evaluation, welding gun posture constraint and a kinematics error transfer chain are fused, and a welding quality deviation functional is generated; analyzing high-deviation nodes in the welding quality deviation functional, and executing local tangent plane projection on the associated spatial sampling subsets to obtain pose compensation parameters; and the pose compensation parameter and the joint space motion primitive sequence are input into a kinematics inverse solution module, and an optimized welding gun motion parameter set is generated through geodesic line construction and parameterized spline interpolation. The welding efficiency and the quality target are improved, and the automation level of the whole welding operation is improved.

The invention discloses an electric arc dynamic self-adaptive control method and sensing system based on multi-modal sensing, and relates to the technical field of electric arc control. A multi-modal sensor integrated on a welding gun is used for synchronously collecting an electric arc form image, a molten pool area image, a molten pool oscillation sound signal and current and voltage multi-dimensional data; the collected data are preprocessed, and real-time parameters in the welding process are extracted; calculating and outputting an optimal welding control parameter in real time by combining a depth Q model and taking the welding quality as an optimization target; the control parameters are transmitted to a welding actuator, real-time adjustment of the welding process is completed, and real-time control over the welding arc is achieved; the control method can be used for enhancing the real-time self-adaption of a welding control system to complex welding components and the flexible manufacturing capacity of replacing a product line; the technical problems that in an existing automatic electric arc welding control method, electric arc welding information collection is single, control response is delayed, the flexible degree is low, and welding feature extraction errors are large are solved.

The invention discloses a pressure pipeline welding device, and relates to the technical field of pipeline welding, the pressure pipeline welding device comprises a machine base and a cross beam installed on one side of the machine base, a guide rod and a rotating rod are connected to the two sides of the top of the machine base in parallel, and a fixing base for providing pipeline alignment outer ring welding support is installed in the middle of the machine base. According to the pressure pipeline welding device, the inner welding gun is used for carrying out inner circumference root welding treatment on the inner groove of the abutted seam, and then the outer welding gun with the adjustable angle is used for carrying out outer circumference root welding and wave welding on the outer groove of the abutted seam in sequence; the traction assembly is used for pulling the pipeline clamped by one clamping mechanism to abut against the pipeline clamped by the other clamping mechanism, so that the abutted seam gap between the two to-be-welded pressure pipelines is reduced during welding, and it is guaranteed that abutting welding is achieved for inner and outer abutted seam grooves of the pressure pipelines during welding; and it is ensured that the welding device can achieve high-quality welding on the pressure pipeline.

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 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.

The invention provides a self-adaptive teaching-free welding robot intelligent gas saving monitoring system, which relates to the technical field of industrial robots, and comprises a three-dimensional sensing module used for identifying the workpiece material category through a multispectral sensor integrated with a welding gun of a welding robot, meanwhile, a stereoscopic vision camera and a line structure light scanning camera are used for obtaining three-dimensional point cloud data of the welding seam in real time; the parameter adjusting module is used for calling a heat conductivity coefficient database based on the three-dimensional point cloud data, and correcting the initial flow of the welding current, the arc voltage and the protective gas in real time; and the matching control module is used for calculating the arc length variable quantity based on the arc voltage, controlling the opening degree of the gas flow valve through a dynamic regulator, realizing dynamic matching of the gas flow and the changed arc length, and generating gas dynamic matching control parameters. Through cooperative operation of self-adaptive attitude compensation and real-time gas consumption monitoring, teaching-free accurate operation in the welding process is achieved, and intelligent control over gas consumption is improved.

The invention provides a control method of welding type coupling equipment, which comprises the following steps: comparing extracted contour and center line data according to a preset welding spot size and a preset fusion width threshold value, and judging whether the size of a welding spot is abnormal or the fusion width of the welding spot is abnormal or not; if the welding spot is abnormal, adopting an image segmentation method to identify an abnormal region in the image, and calculating the area and geometric features of the abnormal region through a pixel statistical method to obtain the size and deformation degree of the welding spot; the corrected welding instruction data are obtained, and energy, focal length and welding gun angle parameters in an instruction are extracted to serve as reference values of welding instruction analysis; by analyzing an energy distribution curve in the welding process and combining focal length data collected in real time and welding gun angle changes, whether welding energy and focal length are matched with reference values of welding instruction analysis or not is judged; if the welding energy and the focal length are not matched with the reference value analyzed by the welding instruction, the control parameters of the welding equipment are adjusted according to the deviation value, and the correction amount of the welding gun path is recalculated.

The invention relates to the technical field of industrial automatic welding and discloses an intelligent control method and system for industrial robot welding, and the method comprises the steps that after a welding task is started, an initial welding process parameter model is called based on the current workpiece specification, and a first welding control instruction sequence is generated; according to the first welding control instruction sequence, a welding gun is controlled to execute welding operation, and multi-source sensing data flow in the welding process is synchronously collected; carrying out fusion feature extraction on the real-time sensing data stream to generate a current welding situation feature vector, when situation deviation exists between the current welding situation feature vector and the reference welding situation feature vector, obtaining a self-adaptive welding process parameter model through online incremental learning, and obtaining a self-adaptive welding process parameter model on the basis of the self-adaptive welding process parameter model. And generating an optimized welding control instruction sequence and issuing the optimized welding control instruction sequence to a robot controller and a welding gun so as to execute self-adaptive welding operation. The welding quality stability and the production efficiency can be improved, and the equipment maintenance cost is reduced.

The invention belongs to the field of robot control, and particularly relates to a robot self-adaptive impeller welding control method and system fused with multi-modal data, and the method comprises the steps: obtaining an impeller workpiece image and three-dimensional point cloud data through an industrial vision subsystem, and extracting a three-dimensional welding seam position point set representing a welding seam track; generating a candidate welding path set based on welding seam geometric feature analysis; in combination with welding seam morphology and process requirements, optimal welding process parameters are predicted through a regression model, and a welding gun attitude angle is calculated through quaternion conversion according to a curved surface normal vector; in the welding process, the relative position deviation of a robot and a workpiece and the parameter deviation of welding current / voltage and a planned value are monitored in real time, when the deviation exceeds a preset tolerance interval, a PID control algorithm is adopted to dynamically adjust robot motion parameters or welding process parameters, and closed-loop control over the welding process is achieved; according to the method, precise planning of the welding path and self-adaptive regulation and control of the process are achieved, and the welding quality and the forming consistency are remarkably improved.

The invention discloses a ship plane segmented welding multi-robot task distribution system based on digital twinning, and relates to the technical field of ship intelligent manufacturing, and the system comprises a four-dimensional digital twinning body module which is used for collecting workpiece assembly errors, welding seam positions and robot state data in real time; and constructing a twin model comprising a physical engine layer, a process knowledge base and a dynamic topological graph. According to the ship plane segmented welding multi-robot task allocation system based on digital twinning, workpiece assembly errors, robot motion states and welding process rules are fused in real time through the digital twinning body, a weld joint task topological graph is dynamically constructed, and multi-robot task accurate allocation is achieved in combination with an anti-conflict auction algorithm. By means of a space-time gridding cooperation mechanism, motion conflicts between a large gantry mechanism and a small gantry mechanism are effectively solved, and zero interference of a welding path is guaranteed; the local path optimization module adaptively adjusts the posture and the dry extension length of a welding gun for a narrow space, and eliminates the physical collision risk.

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 rice machine steel frame automatic welding method based on machine vision. The rice machine steel frame automatic welding method comprises the steps that S1, original image data are obtained; s2, performing denoising and gray scale standardization processing on the original image data to generate an enhanced image; s3, generating a weld joint candidate region image, a weld joint structure description vector and a stress weighted region image based on the three-dimensional CAD assembly model and the enhanced image; s4, a welding seam track generation model is constructed through the multi-mode pruning attention network, and a continuous three-dimensional welding track is generated; s5, dynamic feasibility verification and welding gun posture planning are carried out on the continuous three-dimensional welding track; s6, discretizing the verified three-dimensional welding track to generate a discrete track point sequence; s7, the discrete track point sequence is bound with welding parameters, and a linkage execution instruction set is generated; and S8, the linkage execution instruction set is sent to a welding control unit, real-time welding state data are collected, and closed-loop control over the welding process is completed. According to the invention, the executability and stability of the welding path are enhanced.

The invention belongs to the technical field of steel pipe welding, and particularly relates to a welding device for a large-diameter plastic-coated steel pipe, the welding device comprises a base, a support, a first air cylinder and a welding gun, the support is fixedly arranged at the top of the base, the first air cylinder is arranged on the support, the welding gun is fixedly arranged at the moving end of the first air cylinder, and the first air cylinder is arranged on the support. The two clamping mechanisms are arranged between the two sides of the top of the base and the two sides of the top of the support correspondingly, and the two clamping mechanisms can clamp and fix the two large-diameter plastic-coated steel pipes which are in butt joint; and the transverse moving mechanism is arranged at the top of the bracket. The PLC is used for controlling and coordinating actions of all the mechanisms, it is guaranteed that welding, cooling and smoke removal are conducted synchronously, the welding efficiency and the quality stability are improved, the problems that an existing welding device is insufficient in heat input regulation and control, a coating is prone to damage, and the working environment is poor are solved, and the corrosion resistance and the service life of the large-diameter plastic-coated steel pipe are guaranteed.

The invention belongs to the technical field of fusion welding, and particularly relates to a method for planning multi-layer and multi-welding-seam welding parameters according to welding seam feature information, which comprises the following steps: 1) laser emitted by a 3D visual sensor is perpendicular to a welding seam and scans along the direction of the welding seam, and the 3D visual sensor scans welding seam data and transmits the data to a robot controller in real time; (2) the robot controller processes the weld joint data, the whole weld joint is subjected to multi-layer and multi-pass planning calculation, and the number of welding layers and the number of welding passes of each layer are planned; (3) the robot controller calculates the layer number and the channel number of a welding channel needing to be welded currently, a welding gun track coordinate set on a welding path and welding parameters corresponding to welding path points; and (4) the robot controller adjusts the welding track and the welding parameters in real time according to the step (1) to the step (3) in the current welding bead welding process, so that the purpose of multi-layer and multi-pass planning self-adaptive welding of the medium-thickness plate is achieved.

The invention provides a water turbine runner crack electric arc additive repairing track planning method based on an irregular model, and relates to the technical field of hydroelectric power generation equipment crack repairing. The method comprises the steps that crack defects are removed through carbon arc air gouging, and a model of a blade area to be repaired is established; based on a reverse reconstruction technology and a Boolean operation technology, generating a three-dimensional grid model of the irregular repair area; a mixed trajectory planning strategy is optimized, and the repairing area is sliced to generate an electric arc additive repairing trajectory; and welding gun posture optimization based on collision detection is carried out, and the contour track is adjusted according to a given rule. A geometric model of a to-be-repaired area of a blade is established, and a three-dimensional grid model of an irregular repaired area is quickly and accurately established based on a reverse reconstruction technology and Boolean operation.

The invention discloses a distribution box assembling and welding device and an assembling and welding method thereof, and relates to the technical field of distribution box assembling. The distribution box assembling and welding device comprises a center shaft, two sets of welding guns symmetrically arranged on a machine shell relative to the center shaft in the axial direction, a moving assembly arranged in the machine shell and used for driving the two sets of welding guns to move synchronously and reversely, and angle adjusting assemblies arranged on the moving paths of the welding guns. The angle adjusting assembly enables the angle of the welding gun to be changed with movement of the welding gun as power, and the angle adjusting assembly can enable the welding gun to be opened by the needed angle. The center shaft serves as a welding zero point, the two sets of welding guns are driven to move towards the opposite welding seams of the distribution box and get close to the opposite welding seams of the distribution box in a reverse movement and welding angle self-adjusting mode, double welding work of the welding seams of the distribution box is achieved, the welding running path is shorter, synchronous welding work can be conducted on the two sets of welding seams of the distribution box at a time, the welding efficiency is improved, and meanwhile the welding efficiency is improved. And the welding quality can be greatly improved, and the welding accuracy is ensured.

The invention relates to the technical field of bridge steel plate welding, and discloses bridge steel plate welding equipment facilitating feeding and discharging, feeding and discharging conveying mechanisms are arranged on welding table bodies, alignment mechanisms are arranged on the welding table bodies, and a sliding rail structure is arranged between the two welding table bodies; two sets of fixing mechanisms with lifting functions are arranged at the lower end of the sliding track structure, a welding mechanism is arranged on the inner side of the sliding track structure, a tensioning assembly is arranged on the upper portion of the welding mechanism, and a driving assembly is arranged on the connecting face of the welding mechanism and the track. According to the welding device, plates can be welded through the plasma welding gun, driving wheels in the driving assembly can enable the welding mechanism to move along the sliding rail structure, so that thick steel plates such as bridge steel plates are welded, the vertical position of the welding gun can be adjusted through the fixing mechanism and the lower rotating cylinder, and the welding effect is improved.

The invention relates to the technical field of metal welding automation control, in particular to a metal welding seam automatic tracking welding system based on machine vision. Comprising a data acquisition module used for acquiring initial three-dimensional geometric parameters of a welding seam and monitoring welding process parameters including welding current, arc voltage and welding speed; the thermal deformation prediction module is used for solving a weld joint thermal deformation displacement vector; the dynamic deviation evaluation module is used for calculating a dynamic deviation index; the risk grading module is used for judging the trajectory deviation risk as safety, first-level risk or second-level risk; the defect tendency prediction module is used for calculating an incomplete fusion index and a hot crack index; the comprehensive risk assessment module is used for determining a comprehensive process risk factor; and the track correction module is used for generating a corrected welding gun target track so as to carry out closed-loop correction control on the welding process. According to the method, the problem of trajectory deviation caused by thermal hysteresis and dynamic deformation is solved, and the tracking precision and stability of the welding path are remarkably improved.

The invention provides a multi-point intelligent welding system and method. The method comprises the steps that process state feedback information between the tail end of each welding gun and a workpiece is obtained; dynamically predicting the thermal deformation amount of the workpiece, and compensating the initial expected pose of each welding gun according to the thermal deformation amount to generate a thermal compensation global pose; performing kinematics calculation according to a predefined welding seam path, the thermal compensation global attitude and a space cooperative constraint relationship among the welding guns, and generating a theoretical tail end pose of the tail end of each welding gun; for each welding gun, inputting the process state feedback information of the welding gun into the process self-adaptive adjustment model to obtain a local compensation pose used for offsetting the process deviation, and further obtaining a final target pose; and finally, according to the final target poses of the welding guns, the joint angles of the welding guns are determined, joint motors are driven to track the joint angles, and cooperative control over the poses and the process states of the welding guns is achieved. According to the scheme, high-precision cooperative pose control of the multiple welding guns in the thermal deformation environment can be achieved.

The invention relates to the technical field of aluminum template welding, and discloses building aluminum template production equipment which comprises a rack, and a suspension frame is arranged above the middle of the rack; two guide plates are suspended on the top wall of the suspension frame, an arch frame assembly is slidably connected between the two guide plates, and an elastic clamping piece is slidably connected into the arch frame assembly in the vertical direction. And a feeding positioning piece is arranged on the lower surface of the middle of the rack, welding gun mounting frames are arranged on the left side and the right side of the arch frame assembly correspondingly, and welding gun bodies are fixedly mounted at the output ends of the welding gun mounting frames. The elastic sliding head slides along the right half part of the right inclined groove, so that the connecting plate continues to slide rightwards, the supporting cross beam is pushed to move rightwards together, the reinforcing rib and the buckle plate are driven to move rightwards together through the second arched sleeve and the first arched sleeve, and in the process, the buckle plate gradually descends and is buckled to the top of the reinforcing rib; therefore, the purpose of clamping and limiting the reinforcing rib in the moving process of the reinforcing rib is achieved.

The invention discloses a steel structure welding guiding and positioning device, which relates to the technical field of steel structure processing, and comprises a main body supporting frame, a workpiece dynamic limiting and conveying unit and a self-centering clamping and welding module, and is matched with a guiding and feeding mechanism, a self-adaptive reducing connecting cabin and a multi-dimensional self-adaptive welding gun executing mechanism to realize integrated welding and positioning. The main body frame serves as a bearing foundation, the guide feeding mechanism drives guide rollers to stably feed through meshing transmission, the stability is improved through a surface pattern sleeve, the dynamic limiting unit forms bidirectional limiting through an adjusting screw, a cross connecting rod and a driving limiting shaft rod and is adaptive to different workpieces, and the self-centering clamping module adjusts the distance through gear transmission. A profiling clamping jaw is matched with a spring to achieve self-adaptive clamping, an anti-vibration pad protects a workpiece, a self-adaptive connecting cabin adjusts the height of a welding gun, a multi-dimensional welding gun mechanism achieves accurate alignment in the X direction and the Z direction, all parts of the device are in cooperative linkage, the welding positioning accuracy and adaptability are improved, and the welding quality of a steel structure is guaranteed.

The invention discloses an obstacle avoidance motion planning method and system for redundant drive of an intelligent process of a welding robot and computer equipment. According to the method, firstly, a motion path of a robot is planned based on welding process redundancy, then a sampling strategy that the position and posture of a welding gun are separated is adopted, then the sampled posture is mapped to a planar two-dimensional space, and the relevance between an obstacle collision boundary and the obstacle avoidance posture of the welding gun is constructed; an incremental extreme gradient lifting model is adopted to carry out probability modeling on the collision boundary and obstacle avoidance attitude relevance, nearest neighbor search and new planning node expansion are carried out based on target cost to obtain new planning nodes, collision detection is carried out on the new planning nodes, and the new planning nodes passing the collision detection are used for incremental learning of an obstacle avoidance model; and finally, an optimization strategy of spherical linear interpolation and cosine slow motion time mapping is adopted to ensure continuity and smoothness of a motion planning path trace. The problem that in the prior art, it is difficult to quickly calculate and generate a collision-free welding track is solved.

The invention discloses a video double-gun welding path planning control method based on synchronous visual identification, and particularly relates to the technical field of multi-welding-gun collaborative welding, cross-equipment time alignment is realized through multi-angle image acquisition, a synchronous video frame sequence is constructed, a welding seam boundary is identified, and a change track is generated; predicting path conflicts and planning non-interference paths in combination with the initial posture of the welding gun and the space parameters; a time scheduling model is constructed to execute beat dislocation control, and in the welding process, videos and electric arc feedback signals are collected, track offset is judged, the posture, the position and the compensation speed are dynamically corrected according to the track offset, and closed-loop control and synchronous execution are completed; according to the method, the image time consistency is improved through multi-angle video frame synchronous construction, and the welding seam track recognition precision is improved; introducing double-welding-gun path prediction and conflict analysis, and planning a non-interference path combination; and video and arc signal closed-loop adjustment is combined, dynamic synchronous correction of the path posture and the speed is achieved, and the welding stability and precision are guaranteed.

The invention provides a welding control method, device and system for a welding robot, and the method comprises the steps: collecting the point cloud data of a to-be-welded workpiece in real time, and obtaining a first point cloud; constructing an encoder based on sparse convolution, and at least combining the encoder, a decoder and a filter into an instance segmentation model; processing the first point cloud by adopting an instance segmentation model to obtain a plurality of weld instance objects; extracting a plurality of skeleton points of each welding seam instance object through a point cloud skeleton extraction algorithm to obtain a welding point of each welding seam; all the welding points of all the welding seams are connected, connecting lines between the welding points are smoothed, target welding tracks of all the welding seams are obtained, operation parameters of all the welding points in the target welding tracks are determined, and a welding gun is controlled to weld all the welding seams in sequence according to the target welding tracks and the operation parameters. The method solves the problems that in the prior art, a welding track generation method is low in precision, and the requirement for large-scale automatic welding cannot be met.

The invention discloses an intelligent argon arc welding machine based on case machining and a welding method, and relates to the technical field of case machining, the intelligent argon arc welding machine comprises a control box and a welding clamp, and further comprises a welding gun, the welding gun is composed of a grab handle and a welding head, and the welding head is fixedly connected with the grab handle through a butt joint sleeve; the welding head is composed of a welding part and an air injection part, and the welding part comprises a first welding pipe and a second welding pipe. The device has the advantages that when plates are welded, the conveying flow of the protector can be automatically changed according to the inclination angle of the welding gun, so that the protector is conveyed at the optimal flow, the protection effect of the protector is improved, the loss of shielding gas is reduced, meanwhile, the spraying speed of the shielding gas can be kept constant in the shielding gas changing process, and the probability of bubble generation is reduced; in addition, when the shielding gas is jetted, the protector is made to be perpendicular to the welding position all the time, and the protection effect of the shielding gas can be improved.

The invention discloses a steel structure bridge welding device and method, and relates to the technical field of steel structure welding, the steel structure bridge welding device comprises a welding main body and a moving assembly for moving the welding device; the hoisting assembly is used for clamping and moving the U-shaped rib plate; the unloading assembly is used for unloading the welded bridge deck steel plate; the pushing assembly is used for pushing the welding device to move; the adjusting assembly is used for adjusting the angle of the welding device. A double-sided toothed plate is pushed through an electric telescopic rod, a telescopic plate is pushed through a linkage gear, the position of a storage box is adjusted, the output end of a welding gun is aligned with the welding face of a U rib and a bridge deck slab, then an electric telescopic frame is started, the joint of the U rib and the outer wall of the bridge deck slab is welded, and the problem that a traditional steel structure bridge welding device is inconvenient to use when used is further solved. And due to the fact that the limitation of a device for welding the U-shaped rib plate and the inner wall of the bridge deck steel plate is large, an additional device is needed for cooperation subsequently, and the problem that the U-shaped rib plate and the surface of the bridge deck steel plate are welded is solved.

The present invention provides a handheld laser welding device, belonging to the technical field of laser welding, which is used to solve the problem that in the prior art, the integration of the welding torch and the interface greatly reduces the interchangeability between the welding torch and different laser hosts, restricting the versatility and flexibility of the equipment. The present invention provides a handheld laser welding device, comprising a welding torch head and an output interface that are inserted into each other in a matching manner. The other end of the welding torch head is used for welding, and the other end of the output interface is used for connecting to the host through a wire harness; the insertion interface between the welding torch head and the output interface includes: a laser matching group, a cooling matching group, a shielding gas matching group, and an electrical signal matching group. By optimizing the connection method between the handheld welding torch and the laser host and designing a standardized quick plug-and-play connection interface, both the high reliability of the connection and the high interchangeability of the welding torch are achieved.

The invention discloses U rib plate unit welding equipment based on small-radius train type arc curve self-guiding, and belongs to the technical field of bridge structure welding, a supporting arm in the scheme is a train type combined supporting arm formed by hinging and assembling a plurality of sections of short supporting arms, and spherical self-guiding jacking structures are arranged on the two sides of each section of short supporting arm and matched with the inner wall of a U rib in a contact jacking mode. In addition, jacking sensing structures in contact with the inner wall of the U-shaped rib and a steering assembly capable of driving the traction plate to steer properly are additionally arranged on the traction plate, and when the pair of jacking sensing structures sense that the jacking degrees to the inner wall of the U-shaped rib are inconsistent, the U-shaped rib is driven to rotate by the steering assembly. And the traction angle of the traction plate is properly adjusted through the steering assembly until the jacking force of the pair of jacking wheels on the inner wall of the U rib is consistent, so that the centers of the pair of welding guns are kept consistent with the center of the U rib, and the welding precision of the two sides of the interior of the U rib is improved.