3661 results about "Soldering gun" patented technology

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 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 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 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 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 relates to a welding gun self-adaptive swing adjusting system and method. The system comprises a detection module, a control module, an execution module, a man-machine interaction module, a power module and a storage module. The detection module detects welding seam unevenness information, and after receiving the information, the control module judges whether to drive the execution module to adjust a welding gun to swing or not according to a preset threshold value determined on the basis of the vertical distance between a replaced plate welding initial point and the detection module and the process fluctuation range; meanwhile, a welding seam is tracked through a point-by-point comparison method based on the linear interpolation principle, the moving direction is judged through a deviation function, the feeding direction is determined through a coordinate absolute value and a symbol in a full quadrant, interpolation is stopped when the total step length is gradually decreased to zero, and the method comprises the steps of module initialization, parameter setting, communication detection, judgment and adjustment and welding seam tracking. The invention aims to solve the problems of poor welding quality, low efficiency and more manual intervention caused by poor welding seam flatness, large gap and high-low misalignment in the welding process.

The invention provides a swing control method based on molten pool oscillation multi-feature fusion and related equipment, and relates to the technical field of welding, the method comprises the steps that in the argon arc welding process, an electric arc signal and a molten pool oscillation signal of a variable wall thickness welding area are collected in real time; oscillation amplitude, main frequency characteristics, current fluctuation coefficients and voltage-current phase difference characteristics are extracted from the molten pool oscillation signals and the electric arc signals and combined, and an oscillation comprehensive characteristic matrix is obtained; inputting the oscillation comprehensive characteristic matrix into a pre-trained classification model, and identifying a current molten pool state type; a corresponding swing compensation strategy is matched according to the state type of the molten pool, and asymmetric swing parameters are generated; and the asymmetric swing parameters and a preset basic welding track are subjected to superposition operation, and a composite control instruction is generated to control a welding gun to execute asymmetric swing welding. By implementing the method, different abnormal states of different molten pools can be subjected to differential control, and the stability of the variable-wall-thickness welding process and the forming quality of a final weld joint are improved.

The invention belongs to the technical field of welding automation, and provides a welding gun posture self-adaptive adjusting method and system for a complex welding seam, and the technical scheme is that point cloud data of a to-be-welded welding seam is converted into a welding seam track, key features of the welding seam are extracted based on the welding seam track, and key points of the welding seam are determined; calculating the tangential direction and the normal direction of each welding seam key point; aiming at different types of welding seams, performing segmented path planning in combination with the key characteristics of the welding seams to obtain an ideal movement track of a welding gun, and determining the posture of the welding gun based on the ideal movement track of the welding gun in combination with the tangential direction and the normal direction of each welding seam key point; calculating the deviation between the welding gun and the welding seam according to the point cloud data collected in real time and the ideal track of the welding seam, generating a posture correction instruction according to a deviation calculation result, and adjusting the path and posture of the welding gun to ensure that the welding gun always keeps an optimal angle with the surface of the welding seam. And the welding quality and adaptability are improved.

The invention provides a welding seam identification and trajectory optimization method and system based on three-dimensional vision, and the method specifically comprises the following steps: firstly, collecting the three-dimensional point cloud data of a welding seam, extracting the local geometric features of the welding seam, and carrying out the feature enhancement of the local geometric features, so as to screen out representative effective edge points; and then, collecting multi-source point cloud data of the welding seam area, constructing a multi-scale welding seam feature recognition network, inputting effective edge points obtained by screening into the network, realizing accurate recognition of the welding seam area, and further extracting a linear welding seam area. According to the recognition result, a fitting algorithm is adopted for conducting curve fitting on the weld joint area, and a preliminary welding track is generated; and for the condition that multiple sections of welding seams are intersected, an optimal fitting point searching mechanism is further introduced, the preliminary track is optimized, and the continuity and integrity of a welding path are ensured. And finally, based on the center line of the welding seam, the posture of the welding gun is precisely planned in combination with the dihedral structure model, and therefore high-precision track control and posture adjustment are achieved.

The invention discloses a marine seat framework welding track real-time correction system based on machine vision and mechanical feedback. The marine seat framework welding track real-time correction system comprises a robot control unit, a welding unit, a vision sensing unit, a force sensing unit and a track correction module running on the robot control unit. The visual sensing unit is installed on an end effector of the robot and used for collecting image data including a to-be-welded weld joint and a peripheral area of the to-be-welded weld joint in real time. The force sensing unit is installed between a robot end effector and a welding gun and used for detecting six-dimensional force and torque signals between the welding gun and a workpiece in the welding process in real time. The core of the track correction module is a real-time correction algorithm based on multi-sensor information fusion, and the track correction module receives image data from the visual sensing unit and mechanical data from the force sensing unit. The sensing limitation of a single sensor is overcome, the vision provides macroscopic position deviation, the force sensing provides microcosmic contact and attitude information, and more comprehensive environment sensing is realized through complementation of the vision and the force sensing.

The invention provides an automatic positioning welding robot, and belongs to the technical field of automatic welding. Comprising a rack, the top of the rack is slidably provided with a portal frame, the top of the portal frame is slidably provided with a bearing frame, the top of the bearing frame is fixedly connected with a first electric push rod, the telescopic end of the first electric push rod is fixedly connected with a case, the bottom of the case is fixedly connected with a laser vision sensor, and the bottom of the case is provided with a mounting frame. The laser vision sensor is linked with the posture adjusting assembly and the transverse linear module, the problem that traditional automatic welding equipment cannot adapt to weld joint misalignment and gap changes is solved, the center position and the misalignment amount of a weld joint can be obtained before welding and in the welding process, and the welding quality is improved. The posture adjusting mechanism is driven to adjust the transverse position and the inclination angle of the welding gun, it is ensured that the arc of the welding gun is always accurately centered, the defects of undercut, incomplete fusion and the like caused by misalignment are effectively prevented, and the quality of a welded joint is improved.

The invention relates to a cabinet body structure processing device for high-voltage cabinet production, which comprises a processing rack, a displacement box mounted at the upper end of the processing rack, a sliding seat arranged on the surface of the displacement box, a welding assembly arranged below the sliding seat and displacement racks arranged at the two ends of the processing rack, and a displacement frame is arranged between the two displacement racks; the displacement frame is used for clamping and turning over a high-voltage cabinet body, an outer moving frame and an inner positioning frame are arranged on the displacement frame, an outer clamping assembly is arranged on the outer moving frame, and an inner clamping assembly is arranged at the upper end of the inner positioning frame; by arranging a multi-point internal and external cooperative clamping and supporting structure, bidirectional mechanical constraint on a thin plate cabinet body in the whole welding process is achieved, the limiting effect on a plate body is improved, meanwhile, a pressing assembly is driven in the working process of a welding gun, angular deformation and wave deformation caused by thermal expansion and cold contraction are effectively restrained, and the welding quality is improved. The diagonal deviation control quantity of the cabinet body is small, and the assembly precision and the sealing performance between the door body and the cabinet body are improved.

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 automatic production equipment for the U-shaped reinforcing mesh in the box girder comprises a straightening structure, a bending structure and a welding assembly, the straightening structure is arranged on the upstream portion of the bending structure, and the welding assembly is arranged on the downstream portion of the bending structure; the reinforcing steel bars sequentially pass through the straightening structures, the bending structures and the welding assemblies to form an inner U-shaped reinforcing steel bar net. Steel bars are automatically produced to form inner U-shaped steel bars, then the inner U-shaped steel bars are in lap joint with longitudinal steel bars conveyed in the limiting holes, a plurality of lap joint welding spots are welded and fixed through the first welding gun and the second welding gun, the inner U-shaped steel bar mesh with the stable structure is formed, automatic control is achieved in the whole process, and the production efficiency is high; meanwhile, manual intervention is avoided, and the formed inner U-shaped reinforcing mesh is good in consistency, high in strength and suitable for continuous large-scale production.

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 invention relates to a low-power pulse laser-induced enhanced double-TIG (Tungsten Inert Gas) composite heat source medium-thickness plate narrow-gap efficient welding method, which adopts two independent TIG welding machines, a pulse laser and a wire feeder, and two TIG welding guns are positioned in a narrow-gap groove on the same side of a plane on which a laser beam perpendicular to the plate welding direction is positioned, the angle and distance of each heat source can be independently adjusted, before welding, the space angle and distance among the two TIG welding guns, laser beams and welding wires are adjusted, tungsten electrodes at the front ends of the two TIG welding guns and the laser beams emitted by a laser device are arranged in the corresponding space range, and a plate to be welded and the welding wires can obtain sufficient heat for melting, wetting and spreading; during welding, welding parameters are adjusted, the coupling plasma energy density in the narrow gap space range is controlled, and the droplet transition behavior of a welding wire and the flow characteristic of a molten pool are adjusted and controlled in real time. Compared with traditional arc welding, the welding process window can be improved, and the welding deposition efficiency is improved by more than 10 times.

The invention relates to the technical field of ship manufacturing welding, in particular to a large-wall-thickness Al-Mg alloy laser-MIG composite and friction stir welding coupled welding device and method for ships, and the device comprises a sequential system 1, a friction stir welding module 2 and a laser-MIG composite welding module 3; the laser-MIG composite welding module 3 comprises a laser sensing return device 3A, a welding gun swing control device 3B and a laser-MIG composite welding gun 3C; the laser-MIG composite welding gun 3C comprises an MIG welding gun and a laser welding gun, the MIG welding gun and the laser welding gun are coaxially arranged, an optical fiber laser is arranged in the laser-MIG composite welding gun 3C, the optical fiber laser has the functions of laser visual sensing, preheating and post-heating, and the device solves the contradiction between the penetration depth and the defect when a traditional welding method is adopted for the thick plate aluminum alloy for the ship. Axial force needed during friction stir welding can be reduced through laser preheating, the pressure of a main shaft of equipment is remarkably reduced, and the service life of a stirring head is prolonged.

The invention relates to the technical field of building construction, and discloses a steel structure welding device for building construction, which comprises a bottom frame, the outer surface of the bottom frame is fixedly connected with a clamping mechanism, a square tube is clamped in the clamping mechanism, and the outer surface of the clamping mechanism is fixedly connected with a welding mechanism. The outer surface of the clamping mechanism is fixedly connected with a scraping mechanism, a first torsional spring is arranged to drive a first arc-shaped frame, a welding gun is made to be attached to the surface of the square pipe all the time, and tight welding can be conducted at the corner. The magnetic suction plate drives the rotating frame through magnetic force to ensure that the welding gun is perpendicular to the surface of the square tube, and welding quality is improved. The roller is matched with the magnetic component to realize stable sliding of the welding gun on the surface of the square tube; the arc-shaped plate drives the scraper to cling to the lower part of the square tube under the elastic action of the torsional spring to continuously remove surface impurities, thereby avoiding influencing the welding quality and ensuring the welding effect.

The invention discloses a welding device for capacitor processing, and relates to the technical field of capacitor processing welding, the welding device comprises a mounting base, a fixed middle frame is arranged on the mounting base, a position adjusting mechanism is arranged on the fixed middle frame, a welding gun adjusting mechanism is arranged on the position adjusting mechanism, and two symmetrically arranged rotary clamping mechanisms are arranged on the fixed middle frame; the fixed middle frame is provided with a synchronous conveying assembly, the synchronous conveying assembly comprises a fixed side plate, a conveying belt mechanism, a lifting adjusting mechanism, a position adjusting frame mechanism, a rotary plate shifting mechanism and a rotary driving mechanism, the fixed side plate is arranged on the mounting base, and the lifting adjusting mechanism and the conveying belt mechanism are arranged on the fixed side plate; the position adjusting frame mechanism is arranged on the lifting adjusting mechanism, the rotary shifting plate mechanism is arranged on the position adjusting frame mechanism, the rotary driving mechanism is arranged on the lifting adjusting mechanism, the transverse position of the welding gun adjusting mechanism can be adjusted by arranging the position adjusting mechanism, and the capacitor positioning and welding efficiency is improved.

The invention discloses an automatic welding machine for a valve body, which is used for welding the valve body and comprises a support rotating device for keeping the valve body axially horizontal and driving the valve body to rotate; the welding device is used for welding circular welding seams between the valve body of the valve body and the connecting pipes at the two ends of the valve body; the welding device comprises a welding mechanism. The welding mechanism comprises a welding frame, a welding gun assembly, a welding wire supply assembly and a welding gun adjusting assembly. The welding frame and the valve body are arranged in parallel; the welding gun assembly comprises a welding gun and a welding wire gun; the welding wire supply assembly is used for supplying welding wires to the welding wire gun; the welding gun adjusting assembly is located between the welding frame and the welding gun assembly and used for adjusting the position and the inclination angle of the welding gun relative to the valve body. In the welding process, automatic welding is achieved, manual welding is not needed, the welding efficiency is high, and the production efficiency is high.

The invention relates to the technical field of automobile part machining, and discloses a sheet punching device for automobile part machining, which comprises a punching table, and further comprises a recycling hopper fixedly connected to the bottom of the punching table, and a rectangular hole is formed in the punching table and used for recycling punching leftover materials into the recycling hopper; the support is fixedly connected to the bottom of the recycling hopper and used for supporting the recycling hopper and the punching table; and the moving mechanism is arranged above the punching table and is used for moving a welding gun head mounted on the moving mechanism. The lower adjusting rod driven by the two-way threaded rod and the upper adjusting rod pre-tightened by the spring form'up-down elastic clamping ', and can automatically adapt to a thin plate; in the clamping process, the first spray hole and the second spray hole spray inert gas synchronously, local protective atmosphere is formed on the upper surface and the lower surface of the notch, oxidation ablation is reduced, the hole edge heat affected zone is reduced, and the precision requirement of the high-strength welding hole of the automobile is met.

The invention belongs to the technical field of additive manufacturing, and particularly relates to a strong electromagnetic pulse-ultrasonic auxiliary electric arc additive manufacturing platform. The platform body is provided with an upper substrate used for providing an initial plane for electric arc additive manufacturing; the water cooling device comprises a water cooling box used for containing cooling water, and the substrate is contained in the water cooling box; the base plate locking clamp comprises a positioning clamping table and a clamping device. The positioning clamping table and the clamping device are arranged on the two sides of the upper base plate and matched to form a fixing structure for fixing the relative positions of the upper base plate and the platform body. The welding gun head is connected with the six-axis mechanical arm and is used for carrying out additive manufacturing on the upper substrate; the clamping device and the welding gun head are arranged on the two opposite sides of the upper base plate in a spaced mode. And the clamping device is partially arranged outside the water cooling box. The clamping device and the welding gun head are arranged on the two sides of the water cooling box respectively, space interference between the clamping device and the welding gun head in the working process can be effectively avoided, meanwhile, a principle heat source of the clamping device can be guaranteed, and normal work of the clamping device is guaranteed.

The invention discloses a thick plate titanium alloy narrow gap laser-MIG hybrid welding device which is characterized by comprising a hybrid welding head module, a magnetic field regulation and control module, a double-oscillation collaboration module and an integrated protection module. The composite welding head module comprises an MIG welding gun and a laser gun head; the magnetic field regulation and control module comprises a magnetic field generation device arranged on the outer side of the MIG welding gun in a sleeving mode and a magnetic conduction rod stretching into the narrow gap groove, and the end of the magnetic conduction rod is parallel to the horizontal direction and is centered with the front end of the welding wire. According to the narrow-gap laser-MIG hybrid welding device for the thick titanium alloy plate and the using method of the narrow-gap laser-MIG hybrid welding device, an alternating magnetic field is introduced, electric arcs swing periodically and achieve precise cooperation with laser beam oscillation scanning motion, and on the premise that the welding quality is guaranteed, the welding efficiency is greatly improved. Efficient and high-quality welding of the thick plate titanium alloy narrow-gap connector is achieved, and the method has the remarkable advantages of being high in efficiency, low in material consumption, low in defect rate and the like.

The invention relates to the technical field of welding, and provides slurry pump shell welding equipment which comprises a mechanical arm, a welding gun and a workbench, and further comprises at least two moving tables, a clamping seat, a profiling self-adaptive clamp system, a preheating part and a slow cooling system, and the welding gun is mounted at the movable end of the mechanical arm; the clamping seat is rotatably arranged on the moving table, the profiling self-adaptive clamp system is installed on the clamping seat and used for adaptively clamping the inner side and the outer side of a slurry pump shell, and the preheating part is installed at a welding gun and used for locally and precisely preheating the welding position. The slow cooling system and the profiling self-adaption clamp system are matched to conduct heat preservation and slow cooling on the slurry pump shell after welding, the slow cooling system comprises a heating bin and an air supply pipe, the heating bin is installed on a clamping base, and a heater and a draught fan are installed in the heating bin. According to the technical scheme, the technical problem that in the prior art, the preheating effect and the post-welding heat preservation and slow cooling effect are poor is solved.