1879 results about "Soldering gun" patented technology

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 relates to the technical field of welding, and provides an automatic partition plate welding machine which comprises a rail, a frame body and four welding guns, the frame body is movably arranged on the rail, every two welding guns form a group, and the two welding guns in each group can weld welding seams on the two sides of a partition plate. The welding arm is arranged on the frame body in a liftable mode, the welding positioning mechanism is used for preliminarily positioning the welding gun and comprises a laser displacement sensor, and the welding seam tracking sensor moves along with the welding gun and is used for obtaining the position of a welding seam to guide welding; the tank body rolling frame is used for bearing the tank body and driving the tank body to rotate so as to be matched with the welding gun to weld the tank body, and a driving wheel used for driving the tank body to rotate is rotatably arranged on the tank body rolling frame. By means of the technical scheme, the technical problems that in the prior art, manual partition plate welding is low in efficiency, and welding quality is difficult to guarantee are solved.

The invention provides a self-adaptive variable-parameter composite swing welding control method and related equipment, and relates to the technical field of welding. The method comprises the steps that real-time multi-physics field sensing data is obtained; inputting the real-time multi-physical field sensing data into a simulation model for predicting the behavior of the molten pool, and outputting a state parameter predicted value of the molten pool in a future preset time period; matching a composite swing track parameter corresponding to the molten pool state parameter predicted value from a preset database; and when the welding gun enters the residence area of the welding seam swing edge according to the macroscopic reference track, the tip of the welding gun is controlled to execute asymmetric spiral oscillation motion in the preset residence area according to the microcosmic modulation track until the tip leaves the preset residence area. By implementing the method, the problems of edge overheating, undercut or insufficient fusion caused by fixed parameters can be relieved, and the welding seam forming quality and the stability of the welding process are improved.

The invention discloses a welding defect detection and automatic repair welding system, which comprises a repair welding execution module, a welding point cloud extraction module, a welding defect extraction module and a defect identification and classification module, and is characterized in that the welding point cloud extraction module is in signal connection with the repair welding execution module; complete point cloud data of a welding area are visually collected through the repair welding execution module, a target area is accurately extracted through the welding point cloud extraction module, and then efficient extraction and contour positioning of welding defects are completed through the welding defect extraction module based on point cloud feature analysis. Accurate identification and multi-type classification of defects are achieved through a defect identification and classification module, finally, six-dimensional coordinates of repair welding track points under a camera coordinate system are obtained through a repair welding instruction calculation module, and then a hand-eye calibration matrix, a tool calibration matrix and a transformation matrix between a wrist joint coordinate system and a base coordinate system are combined, so that the repair welding precision is improved. And through multi-coordinate system collaborative conversion, the six-dimensional pose of the repair welding track point of the mechanical arm welding gun is solved, and equipment is driven to complete repair welding operation.

The utility model provides an improved welding gun for a narrow space, which relates to the technical field of welding guns and comprises an adjusting mechanism, a receding mechanism is arranged on one side of the adjusting mechanism, the adjusting mechanism comprises a gun tail, a side plate is arranged at one end of the gun tail, and one end of the gun tail is fixedly connected with the rear end face of the side plate. The U-shaped plate slides on the gun tail when the lead screw is rotated, so that the overall length of the welding gun is increased, then the handle is held by hand to operate the welding gun, it is ensured that a welding rod can reach the farthest welding point in a limited operation space so as to adapt to different space limitations, and the flexibility of welding operation is improved; when the welding gun is used, the connecting frame is shifted on the rotary knob, so that the gun barrel is rotated, an operator is allowed to use the welding gun to operate in any direction where construction is difficult, and the adjustable angle of the welding gun enables the operator to conduct welding in various directions in narrow or complex space.

The invention relates to the technical field of welding, in particular to a self-adaptive fusion steel pipe welding seam tracking method and system.The method comprises the following steps that a visual sensing subsystem collects a welding seam original laser image of a steel pipe welding plane in real time, and the transverse deviation of a welding gun of the visual sensing subsystem is calculated; the arc sensing subsystem collects original welding current signals in real time for filtering processing, and the transverse deviation of a welding gun of the arc sensing subsystem is calculated; the decision fusion subsystem performs dynamic multi-working-condition optimal fusion on the welding gun transverse deviation of the visual sensing subsystem and the welding gun transverse deviation of the electric arc sensing subsystem to obtain a final welding gun deviation value; and the executing mechanism drives the welding gun to act according to the final welding gun deviation value, and accurate tracking of the steel pipe welding seam is achieved. According to the method and the system provided by the invention, the information of the visual sensing subsystem and the electric arc sensing subsystem is fused, the steel pipe welding seam is tracked based on visual and electric arc composite sensing, and the precision and the reliability of welding seam tracking are greatly improved.

The invention discloses a welding device and method for light-weight ship steel machining. The welding device comprises a rack, a plurality of sets of lateral clamping mechanisms are symmetrically arranged above the rack, and a gate-type cross beam is arranged above the rack; a rotating motor is suspended below the gate-type cross beam, and a rotating table is fixedly mounted at the output end of the rotating motor; a welding mechanism and a contact type cooling mechanism are arranged on one side of the rotating table side by side, and the contact type cooling mechanism is located behind the welding mechanism. By means of the unique structure that the hoisting rotary table is hung on the door-type cross beam, interference-free and efficient welding of a single set of welding mechanism on double-face welding seams is achieved, the equipment structure is more compact, and the cost is lower; and meanwhile, double heat management of'regional cooling and local quenching 'is adopted, a'high-frequency micro-swing' process of the welding gun is combined, and low deformation and high quality are cooperatively guaranteed from two levels of heat input control and weld structure optimization.

The embodiment of the invention provides a real-time collection method and system for welding heat input, and the method comprises the steps: sensing the displacement movement of a welding gun or a welding wire through a diffuse reflection photoelectric switch array installed on the surface of a pipeline, and generating a corresponding pulse trigger signal; current data and voltage data of a welding loop are sensed through a Hall sensing system, and corresponding analog electric signals are generated; synchronously acquiring the pulse trigger signal and the analog electric signal through a multi-channel data acquisition device, and converting the analog electric signal into a digital signal with a timestamp; real-time welding speed data are calculated according to the time sequence of the pulse trigger signals and the preset space geometrical relation of the diffuse reflection optoelectronic switches; performing multi-stage filtering processing on the current data and the voltage data; a unified timestamp is determined, and time sequence matching is conducted on the filtered current data, the filtered voltage data and the filtered welding speed data based on the unified timestamp; and calculating to obtain a welding heat input value.

The invention discloses a node structure electric arc fuse wire additive manufacturing method, and belongs to the technical field of electric arc additive manufacturing. According to the method, the problems that in the prior art, due to uneven heat distribution, the joint binding force is insufficient, the machining allowance is low, and the welding gun collision risk is caused by too high material accumulation in a joint area are solved; the method comprises the steps that a welding gun deposits a first welding bead along an arcing point, when a second cross welding bead is deposited, a coaxial electromagnetic coil is arranged outside the welding gun, an external alternating magnetic field is generated to act on an electric arc, the electric arc and a molten pool oscillate periodically, and therefore the metal fluidity of the molten pool is enhanced; by applying the external alternating magnetic field, non-contact stirring of the molten pool can be achieved, an additional mechanical movement device is not needed, the molten pool has the advantages of being safe and clean, the fluidity of the molten pool subjected to magnetic arc oscillation stirring is higher, and the problems that materials at nodes excessively accumulate and protrude, and joints of the nodes are heated unevenly and shrink are solved.

The invention discloses a method for determining the offset distance of a welding gun of a metal plate welding case lock bottom welding seam and a welding method, and belongs to the technical field of fusion welding technologies. The method for determining the offset distance of the welding gun comprises the steps that the machining side welding thickness L1, the metal plate side welding thickness L2 and the bottom locking thickness L3 of the metal plate welding case are obtained, and the axis offset P of a welding gun tungsten electrode and the center of a welding connector is calculated; based on the axis offset P, the opposite position of a welding gun tungsten electrode is determined, the offset angle theta over a welding bead and the diameter phi A of the welding bead are obtained, and the offset distance L between the opposite position of the welding gun tungsten electrode and the position over the welding bead is calculated; and based on the axis offset P of the welding gun tungsten electrode and the center of the welding joint and the offset distance L between the position right opposite to the welding gun tungsten electrode and the position right above the welding bead, the alignment position line of the tip end of the welding gun tungsten electrode is determined at the workpiece welding joint. The welding method comprises the steps that the position of the circumferential automatic welding gun mechanism is adjusted based on the alignment position line, and a welding gun is located in the welding bead upslope direction in the circumferential direction.

The utility model relates to the field of welding gun auxiliary mounting structures, in particular to an adjustable welding gun head supporting structure for barrel welding, which comprises a main mounting frame, a rotary driving part, a rotary supporting assembly, a displacement adjusting part, a welding gun mounting part and a welding gun head, the main mounting frame is mounted on an external rack; a rotary driving part is arranged on the lower side of the main mounting frame and is fixedly connected with the main mounting frame; a rotary supporting assembly is arranged at the working end of the rotary driving part, and the rotary supporting assembly is connected with the working end of the rotary driving part in a locking manner; the welding gun head can be installed on the supporting structure, in the specific use process, the position of the welding gun head can be adaptively adjusted, it is guaranteed that the welding gun head can meet the welding operation of different welding positions on the periphery of a tower drum body, and the specific production and use requirements of enterprises are met.

The invention relates to welding equipment for oil pipe machining and a manufacturing process, and belongs to the technical field of welding. The device comprises a rack, an annular rail, a walking vehicle, an arc-shaped rail, a support and a welding gun clamping seat, a positioning mechanism used for keeping coaxial butt joint of two oil pipes to be welded is arranged on the rack, and the axis of the annular rail extends leftwards and rightwards and is used for being fixedly arranged on the outer side of one oil pipe in a sleeving mode; the walking vehicle is slidably installed on the annular track in the extending direction of the annular track, the arc-shaped track is connected to the walking vehicle, the plane where the arc-shaped track is located is perpendicular to the radius of an oil pipe to be welded, and an arc-shaped opening of the arc-shaped track faces a weld joint. The welding gun clamping base can be movably installed on the support in the radius direction of the arc-shaped rail, and a third walking driving structure used for driving the welding gun clamping base to move in a reciprocating mode is arranged between the support and the welding gun clamping base. The stability of the oil pipe weldment can be improved.

The invention discloses a double-pulse gas shielded welding machine and a using method thereof, and relates to the technical field of double-pulse gas shielded welding machines, the double-pulse gas shielded welding machine comprises a welding machine main body, a mounting frame is fixedly arranged on the welding machine main body, a wire winding roll for winding a welding wire is arranged on the mounting frame, and a wire feeding unit is further mounted on the mounting frame; the wire feeding unit comprises a wire feeder body and a fixing pipe which are fixedly arranged on the mounting frame, a welding wire state detection mechanism is mounted on the inner side of the fixing pipe, and when a welding wire jumps in the radial direction, a pushing rod fixedly connected with a wheel seat can be pushed to slide relative to a top plate, and then a V-shaped swing rod is pushed to rotate around a second rotating shaft; the push rod drives the impact ball connected through the vibration spring to knock the copper sheet, the vibration spring is matched to improve the knocking frequency and the warning effect, abnormal jumping of the welding wire can be captured in the first time, the reset structure arranged on the outer side of the push rod in a sleeving mode can guarantee the stability of repeated use of the detection mechanism, and abrasion caused by radial jumping of the welding wire to an inner channel of a welding gun is effectively avoided.

The invention belongs to the technical field of electric vehicle repair welding, and discloses an integrated welding seam detection welding device for electric vehicle parts, which comprises a base and two multi-stage cylinders symmetrically fixed on the left and right sides of the base through brackets, the electric chuck is movably installed at the output end of the multi-stage air cylinder through a bearing and used for fixing the tubular parts, the welding gun and the welding seam detection head are arranged above the middle of the base, and the stabilizing mechanism is arranged in the middle of the upper surface of the base, located on the left side and the right side of the welding gun and used for automatically supporting and fixing the butt joint area of the two tubular parts. Through the cooperative design of the multi-stage air cylinder, the electric chuck and the stabilizing mechanism, the butt joint position of two tubular parts can be supported and limited, the constraint effect on a workpiece is good, the coaxiality is improved, and the situation that the butt joint position of the tubular parts is inconvenient to support and limit, so that the butt joint position of the tubular parts is eccentrically inclined, and the machining precision is improved is avoided. And misalignment and non-uniform welding seam gaps are easily generated during welding, so that the welding effect is reduced.

The invention discloses a permanent magnet synchronous motor iron core welding device, and relates to the technical field of iron core welding, the permanent magnet synchronous motor iron core welding device comprises a rack, a welding platform is arranged in the rack, a welding manipulator is arranged right above the welding platform, and a laser welding gun main body is mounted at the end part of the welding manipulator; an auxiliary mechanism capable of synchronously moving along with the laser welding gun body from bottom to top is installed on the outer surface of the laser welding gun body, and the auxiliary mechanism can enable silicon steel sheet layers in a local area to have instant micro gaps before welding operation so as to promote molten liquid to permeate into a deep layer. And after welding is completed, axial downward pressure is applied to the area so as to compact the welding seam and increase the compactness between the silicon steel sheet layers, local pressure release of the welding area is achieved through a double-layer pressing plate and an annular pressing rod, continuous operation of gap pre-expansion, melt permeation and welding seam compaction is constructed in cooperation with a Y-shaped push rod and a pressing wheel, melt permeation and the compactness between the layers are taken into consideration, and the welding quality is improved. The iron core welding quality is improved.

The invention relates to the technical field of metal welding, and discloses laser welding equipment for aluminum profile door and window production. Comprising a welding gun, a laser transmitting tube fixedly installed at a muzzle of the welding gun, a wire feeding gun rotationally installed on a gun body of the welding gun, a first hose fixedly installed at one end of the wire feeding gun and a wire feeding mechanism connected with the end, away from the wire feeding gun, of the first hose, and a conical groove allowing a welding wire to pass through is formed in the end, close to the first hose, of the wire feeding gun. A wire stabilizing mechanism is arranged in the wire feeding gun and comprises a plurality of split clamping plates capable of sliding in the radial direction of the wire feeding gun, and arc-shaped guide faces allowing welding wires to penetrate through are formed in the inner walls of the split clamping plates. A sensing mechanism located in front of the split clamping plate is further arranged in the wire feeding gun. The device can automatically adjust the contraction degree of the split clamping plates according to the change of the wire feeding speed, can automatically loosen at a low speed to reduce the wire feeding resistance and prevent welding wires from being stacked or scratched on the surface, and can automatically tighten at a high speed to provide enough damping and rigidity.

The invention discloses welding equipment for machining a steam turbine valve, and relates to the field of valve welding equipment.The welding equipment comprises a mechanical arm and a welding cable, a welding gun barrel is installed on the mechanical arm, the welding cable is connected to the welding gun barrel, an extension pipe is installed on the welding gun barrel, and the extension pipe is connected to the welding cable; and a welding gun head is mounted at the end part of the extension pipe. It needs to be explained that in the embodiment of the invention, when the mechanical arm drives the welding gun head to make excessive contact with the valve, the welding gun retracts into the retraction sleeve; if the extension pipe deforms, the stopping and recycling sleeve is stopped from retracting, and the retracting pull plate pulls the extension pipe to retract into the welding gun pipe; and if the welding gun head is blocked by welding slag, the retraction pull plate also pulls the extension pipe to retract into the welding gun barrel, multi-mechanism triggering is achieved, protection is free of dead corners, all the devices are integrated on the welding gun head, the adaptability is high, the equipment transformation time is shortened, and the economic cost is reduced.

The utility model discloses automatic welding equipment for the end face of a spiral plate, which relates to the technical field of welding, aims to solve the technical problem that the welding path of a spiral plate heat exchanger is single, and comprises a base, a rotating mechanism, a control operation cabinet, a cross module mechanism, a laser tracking sensor and a composite welding holder. The composite welding holder is composed of a bearing table, an indexing assembly and an execution assembly, the indexing assembly can provide two working modes of continuous rotation and intermittent rotation, and the execution assembly drives the welding gun to be overlapped on a reference spiral track to form a wavy spiral welding track and a bevel spiral welding track. Automatic welding of two kinds of high-performance welding seams is achieved through one set of equipment, the anti-fatigue advantage of a wave-shaped track and the high-strength characteristic of a bevel-shaped track are both achieved, stress distribution of the welding seams is effectively improved, and welding quality, efficiency and equipment universality are remarkably improved.

The invention belongs to the technical field of pipeline welding, and relates to a pipeline welding operation position deviation real-time monitoring and correcting system and method. The method comprises the following steps: fitting a central axis through a pipe end centering module to calculate a residual error and converting the residual error into a welding gun tool coordinate system to obtain a pose compensation amount; constructing a displacement change track, and screening a low-frequency axis offset coordinate sequence based on a pipeline mechanical motion inertia characteristic setting direction and acceleration constraint condition; and after the space offset is superposed with the compensation amount, a correction instruction is generated through a PID control algorithm. The problems of welding gun shaking caused by high-frequency noise interference in suspended pipeline welding, error accumulation and amplification caused by initial fixed deviation and dynamic deviation mixed compensation, and control overshoot or slow convergence caused by large rigid response difference of pipelines of different specifications are solved. Static residual error pre-compensation and dynamic offset decoupling are achieved, synchronous following of the real displacement trend is ensured, misjudgment interference is effectively avoided, and the stability and trajectory tracking precision of the welding process under the complex working condition are improved.

The invention discloses a welding power supply extension module integrating arc voltage tracking and welding machine control functions and a welding control method, and belongs to the technical field of electric arc welding. In order to solve the problems that arc voltage tracking and welding machine control are mutually independent and cannot cooperate in real time in the existing TIG welding process, so that the welding process is tedious in operation and unstable in quality, the system comprises a core processor for executing an arc voltage tracking control algorithm and a welding parameter adjusting algorithm; the signal conditioning circuit is used for collecting and conditioning a current signal and a voltage signal output by the welding power supply; the welding power supply control module is provided with a plurality of interface circuits used for being connected with welding power supplies of different interface types; the core processor receives state information of the welding process through the high-speed communication module and generates a first control instruction used for adjusting output parameters of a welding power source and a second control instruction used for adjusting the height of a welding gun according to the state information and current signals and voltage signals collected by the signal conditioning circuit. The method is used for electric arc welding.

The invention relates to a welding robot control method and device, computer equipment and a readable storage medium. The method comprises the steps of obtaining three-dimensional point cloud data of a to-be-welded workpiece in response to a welding instruction, obtaining an initial pose of the to-be-welded workpiece under a world coordinate system of a welding robot based on the three-dimensional point cloud data, planning a scanning path according to the initial pose, controlling the welding robot to move along the scanning path, and scanning a target welding seam area, the method comprises the steps of extracting a weld joint center line, establishing a plurality of weld joint coordinate systems distributed along the weld joint center line, generating a target pose sequence of a welding gun in the welding process based on the weld joint coordinate systems and preset welding process parameters, generating a motion track of a welding robot according to the target pose sequence, and controlling the welding robot to execute welding operation according to the motion track. The movement track comprises at least one of a gun lowering path, a point-to-point transition path, a welding seam tracking path and a gun lifting path. By means of the method, efficient and accurate welding can be achieved.

The invention belongs to the technical field of underwater welding, and discloses an underwater double-path ultrasonic synergistic laser-electric arc hybrid welding repair device and method. The device comprises a two-way ultrasonic synergistic TIG welding gun and a laser head which are both fixed on an external drainage cover, and sealing penetration pieces are arranged on the external drainage cover for the two-way ultrasonic synergistic TIG welding gun and the laser head; the double-path ultrasonic synergistic TIG welding gun comprises a tungsten electrode sound path and an end part sound path; the tungsten electrode sound path transmits ultrasonic energy to a welding gun tungsten electrode through a tungsten electrode ultrasonic transducer, the electric field at the root of the welding gun tungsten electrode and the micro-motion behavior of the welding gun tungsten electrode are affected, and therefore the electric arc is compressed, and the position of the root of the electric arc is finely adjusted. The end sound path acts on the end of the welding gun through the end ultrasonic transducers in an annular array, directional sound radiation pressure is applied, an electric arc column and the surface of a molten pool are adjusted, heat input is promoted to be evenly distributed, and the symmetry of the molten pool is improved. The welding quality and the process stability are remarkably improved.

The invention relates to an automatic welding seam extraction and path planning system for a welding robot. The automatic welding seam extraction and path planning system comprises a three-dimensional model analysis module, an automatic welding seam extraction and feature calculation module, a welding key point and welding gun posture generation module, a path planning and reachability verification module and a data output and state management module. The welding seam automatic extraction and feature calculation module automatically identifies a welding seam based on a geometric topological relation and extracts geometric and topological features of the welding seam; the welding key point and welding gun posture generation module generates a welding path point, an arrival point, a departure point and a touch locating point according to the welding seam characteristics, and calculates a corresponding welding gun space posture; the path planning and reachability verification module performs multi-constraint verification on the executable performance of the welding path; and the data output and state management module is used for uniformly managing and outputting the welding path and the multi-state judgment result thereof. The system is high in welding path performability, high in adaptability to complex structures, high in system expandability, high in engineering efficiency and high in practicability.

The invention provides an intelligent distance control and temperature measurement monitoring method, system and device for electric arc additive printing, and the system comprises a monitoring module which is responsible for monitoring displacement or machining, a movement module which supports movement during welding, a welding module which undertakes welding work, and a cooperation module which is responsible for cooperative work. Spot scanning and temperature measurement are carried out on the upper surface of the workpiece, data are fed back to the industrial control computer, the computer accurately calculates the layer height of the workpiece and corrects and compensates dry elongation of the welding gun according to the relative position of the spot laser and the welding gun, and meanwhile, the temperature of the welding gun is monitored in real time. The measured average temperature of the upper surface of the workpiece is compared with the preset temperature, printing of the next layer is started after the temperature reaches the standard, the whole process is monitored online through a molten pool camera, it is guaranteed that the layer height, dry elongation and interlayer temperature are stable during printing of each layer, the quality and precision of electric arc additive manufacturing are remarkably improved, and the reliability and stability of the manufacturing process are guaranteed.

The invention relates to an iron tower welding robot system and method, the iron tower welding robot system comprises a clamping assembly, a rotating assembly for driving the clamping assembly to rotate and a welding assembly, specifically, the clamping assembly comprises at least two oppositely-arranged clamping jaws, and the distance between the clamping jaws is driven and adjusted through a clamping driving assembly; the rotating assembly comprises a rotating supporting frame, a first rotating unit is installed on the rotating supporting frame, and a second rotating unit is installed on the first rotating unit; the welding assembly comprises a mechanical arm and a welding gun, the welding gun is installed at the tail end execution end of the mechanical arm, a visual identification unit is arranged at the front end of the mechanical arm, and the relative position of the visual identification unit and the welding gun is fixed; by means of mechanical structure optimization and deep fusion of visual guidance and intelligent control, high precision, high flexibility and high automation of the welding process are achieved.

The invention provides a welding robot trajectory planning method and system based on point cloud and modeling data, and belongs to the technical field of robots. The method comprises the steps that point cloud data of a workpiece to be welded are collected, and three-dimensional point cloud covering a welding seam area is extracted through preprocessing; acquiring a weld joint key point and a simulated welding path from the three-dimensional model, and generating an ideal track including tangent and normal directions; performing rough registration and fine registration on the simulated welding path and the center line of the three-dimensional point cloud to realize space matching; mapping the ideal track to a three-dimensional point cloud, and adjusting the posture of the welding gun according to the local geometric characteristics to determine the optimal angle between the welding gun and the surface of the welding seam to obtain a planned track; and verifying and correcting the planned track through closed-loop feedback to obtain a final welding track. According to the method, rapid generation and accurate alignment of the track are achieved, the method can effectively adapt to a complex welding seam structure, and the welding precision and robustness are greatly improved.

The invention relates to the technical field of welding control, in particular to a welding control method and system for a tank body welding machine. The method comprises the steps that in the arc starting stage, the change rate of contact resistance is calculated in real time, when the change rate is larger than a preset change rate threshold value, main welding current is switched, a welding wire is drawn back to complete arc starting, and in the steady-state welding stage, the reference height of a welding gun is calculated based on the rotation angle of a tank body and pre-stored weld joint contour data; performing fast Fourier transform on the arc voltage, calculating an arc form factor, weighting deviation between the target arc voltage and the arc voltage by using the arc form factor to obtain a welding gun height compensation amount, generating a wire feeding speed regulation factor based on the arc form factor, and regulating a reference wire feeding speed to obtain a welding gun height compensation value; and the welding gun reference height and the welding gun height compensation amount are superposed to generate a welding gun height instruction. According to the scheme, arcing can be accurately controlled, the reliability of height tracking of the welding gun and the self-adaptive wire feeding speed are improved, and the welding seam quality is improved.

The invention relates to inflatable shaft welding equipment, and belongs to the technical field of automatic welding equipment.The inflatable shaft welding equipment is characterized in that supporting and limiting devices, a driving device and a welding part are connected to the working face of a base, and each supporting and limiting device comprises a first rotating frame and a pair of rotating wheels connected to the first rotating frame; a plurality of connecting holes are formed in the first rotating frame, the rotating wheels are connected into the corresponding connecting holes through the rotating shafts, the driving device comprises a driving part and a detecting part, the driving part is provided with a first driving source, a first transmission belt structure and a second transmission belt structure, and the second transmission belt structure makes contact with the inflatable shaft and drives the inflatable shaft to rotate; the detection part is used for detecting the number of turns of rotation of the inflatable shaft. The welding part comprises a welding gun and an output structure for driving the welding gun to move. The full-automatic welding device has the advantages that the adjustable supporting, driving and welding parts are integrated, full-automatic welding is achieved, the device adapts to workpieces of different sizes, and efficiency and precision are remarkably improved; the follow-up auxiliary structure provides dynamic multi-point support, warping vibration of the long shaft is effectively restrained, and the stability of the welding process and the forming quality are guaranteed.

The invention relates to the related technical field of welding, in particular to a welding tool for electronic device manufacturing, which comprises a processing box body, a welding machine and a welding gun, the top of the processing box body is fixedly provided with a base cylinder, the top of the base cylinder is provided with a folding positioning assembly, and the folding positioning assembly is used for surrounding, centering and positioning a circular circuit board; the folding positioning assembly comprises a rotating disc and arc-shaped guide columns, the four arc-shaped guide columns conduct flexible centering clamping on the circular circuit board synchronously in the radial direction, the rotating disc is provided with a surrounding sweeping assembly, and the surrounding sweeping assembly conducts sweeping, blowing and cleaning on the top of the circular circuit board. Through linkage operation of the surrounding sweeping assembly and the folding positioning assembly, thorough cleaning of the surface of a circuit board is completed while clamping is conducted, the coverage area of fan-shaped swing air blowing is large, no dead angle exists, the risk of poor welding caused by pollutants is remarkably reduced, the swing dust collection assembly dynamically swings in the welding process, a welding gun heat source is tightly tracked, and the welding efficiency is improved. And harmful gas and smoke dust are efficiently captured.