6621 results about "Soldering gun" patented technology

The embodiment of the invention provides a welding path planning method and device, and the method comprises the steps: carrying out the three-dimensional scanning of a to-be-processed object through a machine vision algorithm, obtaining three-dimensional point cloud data, carrying out the data analysis of the three-dimensional point cloud data through a segmentation algorithm based on deep learning, and carrying out the recognition to obtain geometric features; the geometric features are constructed into an undirected graph, an optimal communication path of a weld joint center line is searched on the graph through a minimum spanning tree algorithm, and a fine three-dimensional model of the machined object is constructed through the optimal communication path; according to the three-dimensional coordinates of the welding seam locating point, the current welding gun posture and the target welding seam length, the optimal locating height, locating depth, inclination angle and offset of a welding gun are determined, and a corresponding welding path plan is generated through a welding process simulation algorithm based on the locating height, the locating depth, the inclination angle and the offset; the precision and efficiency of welding path planning can be effectively improved.

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 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 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 provides a portable stirrup welding device for high pier construction, and relates to the technical field of box girder stirrup welding equipment.The portable stirrup welding device comprises a welding hand-held piece, and a steel bar storage part is installed on the welding hand-held piece; the steel bar storage part is used for storing stirrup connecting bars; a connecting rib pushing piece is mounted on the welding handheld piece; the connecting rib pushing piece is used for pushing stirrup connecting ribs; two stirrup prestress pieces are mounted on the welding handheld piece; the two stirrup prestressed parts are used for pulling stirrups; prestress annealing welding can be achieved, the welding tension degree is poor, meanwhile, the accuracy of welding seams can be affected by deviation of the stirrups, and the problems that the welding efficiency is low, the stirrups are not convenient to automatically correct and the tension degree of the welded stirrups is poor due to the fact that welding work of the stirrups for high pier construction mostly adopts manual handheld welding gun operation are solved.

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 relates to the technical field of welding devices, in particular to a metal showing stand production welding device which comprises a base, a multi-axis mechanical arm arranged on the base, a welding gun installed at the end of the multi-axis mechanical arm, two supports symmetrically and fixedly connected to the base and a rectangular overturning frame. The two main rods are rotationally connected to the opposite sides of the two supports correspondingly, mounting rods are slidably connected between the ends of the same sides of the tops of the two main rods, the opposite sides of the two mounting rods are detachably connected with a plurality of first clamps, and the first clamps are connected with second clamps through connecting rods. According to the invention, a cooperative adjustment system that the distance between the mounting rods is adjusted under the driving of the two-way screw rod, the fine adjustment of the transverse displacement of the clamp is realized by matching the sliding chute II with the positioning pin, and the angle of the connecting rod linkage type clamp II is adjusted is adopted, so that the clamp I and the clamp II can form a composite clamping network to accurately match the bending feature point and the overhanging part of the special-shaped skeleton; and distributed clamping of multiple stress points is achieved.

The invention discloses a tubular pile welding device, and relates to the technical field of tubular pile welding. Comprising a guide rail, an automatic walking trolley, a lifting mechanism, a clamping mechanism and a welding gun, the automatic walking trolley is hung on the guide rail, the lifting mechanism is arranged in the automatic walking trolley, a vertically-arranged mounting plate is arranged on the lifting mechanism, the clamping mechanism is arranged at the bottom of the mounting plate, and the welding gun is mounted on the clamping mechanism and located in the radial direction of a tubular pile; a control panel is arranged on the automatic walking trolley, the control panel is electrically connected with the automatic walking trolley and the lifting mechanism, the supporting mechanism comprises a supporting rod and a steel ball roller, the supporting rod is parallel to the welding gun, one end of the supporting rod is installed at the lower end of the installation plate, and the steel ball roller is installed at the other end of the supporting rod. And a steel ball of the steel ball roller is propped against the upper-section pipe pile. By arranging the supporting mechanism, the welding gun is effectively prevented from slightly shaking towards the inner side, and the welding stability is improved.

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 welding gun comprises a machine body and a machine head, the machine head is arranged at one end of the machine body, a containing cavity is formed in the machine head, and the end, away from the machine body, of the containing cavity is open. The U-shaped pipe and the two linear pipes connected with the U-shaped pipe extend into the containing cavity of the machine head from the open end of the containing cavity, the end wall, away from the machine body, of the machine head abuts against the outer side wall of the heat exchanger case, a welding mechanism is arranged on the side, located in the containing cavity, of the machine head, and the welding mechanism is used for welding the inserting positions of the U-shaped pipe and the linear pipes. The machine body is used for driving the machine head to move, the machine head is arranged on the U-shaped pipe and the two linear pipes in a covering mode through the containing cavity, the inserting position of the U-shaped pipe and the linear pipe can be welded, and therefore the dense tube bundle of the heat exchanger can be welded conveniently.

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 an electronic assembly welding workbench. Comprising a gantry workbench structure, a smoke suction mechanism, a welding angle adjusting mechanism and a double-station clamping mechanism. A rotating cylinder is arranged on the surface of the smoke suction cylinder through matching of a driving worm and a worm gear ring so as to realize multidirectional angle adjustment of the welding gun; the circuit board is rapidly clamped through the action of the rack, the driving gear and the extrusion convex strip, and double-station cross feeding and discharging are achieved; the smoke suction mechanism concentrates and efficiently discharges smoke through a horn and a corrugated pipe; and automatic multi-angle welding can be implemented by combining a tin wire placing machine and a sensor, so that the welding efficiency and quality are remarkably 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 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 discloses automobile exhaust pipe welding equipment, and relates to the technical field of exhaust pipe welding, the automobile exhaust pipe welding equipment comprises a supporting table and a welding gun, and further comprises a pipe body stabilizing mechanism, a cleaning adjusting mechanism and a follow-up air injection mechanism; by means of the design of the arc-shaped grooves, the sliding columns and the inner supporting plates, the inner wall of the automobile exhaust pipe can be tightly attached, uniform supporting force is provided, the exhaust pipe is preliminarily fixed, it is guaranteed that the position of the exhaust pipe is stable before welding, and welding errors caused by shaking or dislocation are reduced; by means of the design of a first threaded rod and an outer clamping plate, the outer wall of the exhaust pipe can be further clamped, the overall stability is enhanced, the exhaust pipe is further stabilized by combining preliminary fixing of an inner supporting plate, follow-up welding operation can be conducted more accurately, and therefore the exhaust pipe can be rapidly positioned.

The invention discloses a magnetic control arc GTAW-GMAW composite narrow gap welding system and method. The system comprises a GTAW welding gun, a GMAW welding gun, a magnetic conductive iron core, a magnet exciting coil, a magnetic boot, an assembling clamp, a GTAW welding power source, a GMAW welding power source and a magnetic control power source. The GTAW welding gun, the GMAW welding gun, the magnetic conductive iron core, the magnet exciting coil and the magnetic shoe are fixed through the assembling clamp to form a welding assembly, and the welding assembly is connected with an end effector of the robot. The GTAW welding gun is connected with a GTAW welding power source through a cable. The GMAW welding gun is connected with a GMAW welding power supply through a cable; the excitation coil is connected with a magnetic control power supply through a cable; the GTAW welding power source, the GMAW welding power source and the magnetic control power source are in communication connection with the robot control system. The defect of incomplete fusion in narrow-gap welding of thick stainless steel plates and high-strength steel is effectively overcome, the optimized energy distribution not only refines the weld structure and improves the mechanical property of a joint, but also reduces deformation caused by heat input, and a stable and reliable high-quality welding result can be obtained.

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 discloses automatic welding equipment for large steel structure joints, and relates to the technical field of steel structure welding. Comprising an automatic welding gun part, a rotary fine adjustment part is installed on the automatic welding gun part, and an upper edge detection part is installed on the rotary fine adjustment part; the upper edge detection piece is used for detecting the upper edge of the steel beam; the rotary fine tuning piece is used for adjusting the angle of the upper edge detection piece; a position test piece is mounted on the rotary fine tuning piece; the position test piece is used for detecting a welding position; the upper edge detection piece can be used for ensuring that welding personnel firstly weld the lower edge groove of the steel beam during welding work, so that the welding quality of the structure can be improved, and the welding hidden danger caused by preferential welding of the upper edge of the steel beam is avoided; the problems that according to an existing steel structure node automatic welding device, the steel beam welding sequence is poor in control, the steel beam welding quality is prone to being affected, and the cable state is inconvenient to test in real time for prompting are solved.

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 discloses a permanent magnet adsorption type automatic obstacle-crossing wall-climbing welding robot which comprises a bottom plate assembly, a welding gun mechanism assembly is installed on the bottom plate assembly, and the welding gun mechanism assembly comprises a cross-shaped sliding block mechanism, a welding gun clamping device and a welding gun, and the welding gun clamping device and the welding gun are arranged on the cross-shaped sliding block mechanism. A TB6612 driver is arranged on one side of the welding gun mechanism assembly, a navigation module is arranged on the other side of the welding gun mechanism assembly, a motor connecting rod is installed below the navigation module, a permanent magnet block support is arranged on the edge of the bottom plate assembly, a permanent magnet adsorption mechanism is installed on the permanent magnet block support, and the permanent magnet adsorption mechanism is composed of four permanent magnet units and a yoke. The permanent magnet block and the bottom plate assembly are fixed through four linear sliding rails, and four sets of connecting frames are evenly installed on the edge of the bottom plate assembly. The speed regulation and differential functions of the mobile welding robot are achieved through remote control, and the robot can conduct wall climbing, curve walking, welding and other operations on an experimental platform and an application site.

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.