9355 results about "Soldering gun" patented technology

A control method for a welding seam adaptive positioning device, comprising: step S1), constructing a visual sensor apparatus on the basis of a point laser sensor, a line laser sensor and a depth camera; step S2), installing the visual sensor apparatus at the tail end of a robot, and forming a fixed position relation between the visual sensor apparatus and a welding gun; step S3), acquiring data of the visual sensor apparatus, performing three-dimensional coordinate conversion on the data to acquire an actual welding seam position, and calculating an absolute deviation between the actual welding seam position and a designed welding seam position to obtain a data compensation value; step S4), performing positioning compensation control according to the data compensation value; and step S5), in the welding seam positioning process, performing adaptive deviation compensation in real time. According to the method, by constructing the welding seam adaptive positioning device that integrates multiple sensors such as the point laser sensor, the line laser sensor and the depth camera, adaptive positioning and compensation control of simple and complex welding seams are realized. Also provided is a control system for a welding seam adaptive positioning device.

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 relates to the technical field of welding control, in particular to a welding control method and device for a signboard. The method comprises the following steps: acquiring a high-definition monitoring image and a welding work log of a signboard to be welded; performing signboard texture visual identification on the to-be-welded signboard high-definition monitoring image, and performing welding visual effect simulation to obtain a signboard welding visual effect; welding points are accurately recognized based on the signboard welding visual effect, and a dynamic welding path is planned, so that the dynamic welding path is constructed; performing real-time welding control on the signboard to be welded based on the dynamic welding path, and then performing smooth optimization on the motion track of the welding gun so as to construct an optimal smooth motion track of the welding gun; current real-time working parameters of the welding gun are obtained; and self-adaptive welding gun parameter adjustment is conducted on the current welding gun real-time working parameters based on the optimal welding gun movement smooth track, and therefore self-adaptive welding gun adjustment parameters are obtained. The signboard welding quality is improved, and welding errors are reduced.

The utility model discloses automatic petroleum pipeline welding equipment which comprises a bottom plate with a rectangular opening formed in the top. A follow-up block is connected into the rectangular opening in a sliding mode, a displacement annular plate is fixedly connected to the top of the follow-up block, an adjusting assembly for driving the follow-up block to move is arranged at the bottom of the bottom plate, and a U-shaped plate is arranged on the outer side of the displacement annular plate. A mounting frame is fixedly connected to one side of the U-shaped plate, a welding gun is arranged in the mounting frame, a walking assembly for driving the welding gun to revolve around the displacement annular plate is arranged on one side of the U-shaped plate, a stabilizing assembly is arranged between the interior of the U-shaped plate and the displacement annular plate, and fixed annular plates are fixedly connected to the two ends of the top of the bottom plate correspondingly. According to the automatic welding equipment for the petroleum pipeline, the U-shaped plate can revolve around the displacement rotating plate through cooperation of the middle roller and the idler wheels, necessary conditions are provided, meanwhile, the welding gun is driven by the walking assembly to revolve, and therefore the automatic welding effect is achieved.

The invention relates to the technical field of valve body machining, and discloses valve body pipe orifice and flange welding equipment which comprises a bottom plate and supporting legs, a rotating mechanism is arranged above the bottom plate and comprises a first mounting plate, a double-end motor, a first rotating rod, a second mounting plate and a first gear, and the inner wall of the first mounting plate is connected with the outer wall of the double-end motor; the output end of the double-end motor is connected with one end of a first rotating rod. A valve body can be rapidly and conveniently clamped and fixed through the rotating mechanism, the valve body rotates, a flange can be rapidly and conveniently clamped and fixed through the clamping mechanism, the flange can synchronously rotate along with rotation of the valve body, and the problem that the valve body and the flange can only be relatively moved and aligned only through an adjusting assembly, and the machining efficiency is high is solved. The problem that the position of a welding gun needs to be continuously adjusted for welding due to the fact that the valve body and the flange cannot be rotated in the welding process is solved, and the working efficiency of welding equipment is improved.

The invention relates to the field of welding machining, in particular to a titanium alloy shell combined laser welding device which comprises a welding gun and a wire feeding mechanism. The wire feeding mechanism comprises a shell, a wire reel and a wire feeding assembly. The wire feeding assembly comprises a mounting seat, a wire feeding wheel, a wire pressing structure and an adjusting part; the mounting base is fixed to the shell, the wire feeding wheel is rotationally mounted on the mounting base, and the rotating axis of the wire feeding wheel is parallel to that of the wire reel; a plurality of wire feeding grooves used for being matched with welding wires are sequentially distributed in the peripheral wall of the wire feeding wheel in the axial direction of the wire feeding wheel. And the wire pressing structure is used for pressing the welding wire on the wire feeding wheel downwards. The axial displacement of the wire feeding wheel is adjusted through the adjusting part, the wire feeding groove matched with the welding wire can be switched without replacing the wire feeding wheel, the adjusting part enables the jacking pressure of the wire pressing structure on the welding wire to be in positive correlation with the diameter of the welding wire matched with the wire feeding groove, in other words, the thicker the welding wire is, the larger the jacking pressure of the wire pressing structure on the welding wire is through the adjusting part, and the wire feeding effect is guaranteed; and slipping in the conveying process caused by the change of the size of the welding wire is avoided.

The utility model relates to the technical field of hydraulic pipe welding, and discloses a pipeline welding device with a positioning structure, which comprises a base, an annular frame is fixedly mounted on the upper surface of the base, a sliding block is slidably connected to the inner wall of the annular frame, a welding gun is fixedly mounted at the top of the sliding block, and the positioning structure is fixedly mounted on the welding gun. According to the pipeline welding device with the positioning structure, six sets of clamping jaws can synchronously rotate and get away from one another by pushing a lantern ring to be matched with a connecting rod, at the moment, a hydraulic pipe can be placed among the six sets of clamping jaws, and then the lantern ring is loosened to be matched with a spring and the connecting rod to enable the six sets of clamping jaws to synchronously rotate and get close to one another; and meanwhile, the hydraulic pipe can be clamped through cooperation with the rubber block, so that positioning of the hydraulic pipe is completed, through the clamping mode of the lantern ring, the connecting rod, the clamping jaw and the rubber block, the pipeline can be rapidly positioned, and the hydraulic pipe clamp can be suitable for hydraulic pipes with different pipe diameters and is more convenient to use.

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 a welding gun pose online planning method for multi-layer and multi-channel external welding of a pipeline and related equipment. The method belongs to the technical field of intelligent welding and comprises the steps that a laser line image and welding gun posture data of a pipeline welding groove are obtained; extracting feature pixel points from the laser line image; converting the three-dimensional point cloud into a three-dimensional point cloud through a detection mathematical model, fitting to obtain a three-dimensional welding groove graph, and calculating a welding groove size parameter, a welding gun pose parameter and a to-be-welded workpiece pose parameter by utilizing the three-dimensional welding groove graph and the welding gun pose data, so as to determine a welding gun pose planning value; filling welding of the current pass is conducted along the welding groove according to the welding gun pose planning value, meanwhile, the welding gun pose real-time value is detected in real time, and the welding gun pose real-time value is corrected; in the return stroke, welding gun pose parameters are re-planned; and after multi-pass filling welding is completed, a welding gun is controlled to conduct cosmetic welding on the welding groove, and pipeline outside welding is completed. Therefore, the method can obtain a better welding effect.

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 belongs to the technical field of welding, and discloses an L-shaped laser-MIG hybrid welding device for a narrow space, and the L-shaped laser-MIG hybrid welding device for the narrow space comprises a welding gun assembly, a laser welding head assembly and a space adjusting assembly. The laser and the electric arc are combined, a laser and electric arc composite heat source is obtained, and the advantages of laser and electric arc composite welding are fully exerted; laser-MIG hybrid welding has the advantages of being high in welding speed, low in heat input, large in equipment clearance tolerance degree and high in welding quality. A welding gun wire feeding route is optimized, the precision of a wire guide assembly is improved, the straightness of a welding wire is guaranteed by combining a three-wheel straightener, and the purpose of stable wire feeding is achieved. The overall connecting piece structure is simplified, the reflecting copper mirror integrating reflection, collimation and focusing is designed, the overall size space is saved, the overall load is reduced, and more functions can be added compared with equipment of the same type under the condition that the load is limited.

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 utility model relates to the technical field of gas guiding of gas shielded welding guns, in particular to a gas guiding assembly of a gas shielded welding gun, which comprises a gas inlet pipe, a contact tube arranged at one end of the gas inlet pipe and gas dispersing holes arranged on the side wall of the gas inlet pipe. The side wall of the flow dividing sleeve is provided with a plurality of flow dividing holes, the inner wall of the flow dividing sleeve is provided with a vent groove, the flow dividing holes are communicated with the vent hole through the vent groove, the air inlet pipe is sleeved with an insulating cylinder, one side of the insulating cylinder is provided with a spray pipe, a spiral blade is sleeved with the spray pipe, and the spiral blade is arranged on the air inlet pipe in a sleeved mode. And the shunting hole and the contact tube are positioned in the spiral blade. The utility model provides a gas guide assembly of a gas shielded welding gun, which can reduce turbulent flow formed in a welding area, improve the welding quality and conveniently clean welding slag, and is used for overcoming the defects in the prior art.

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 relates to a welding self-adaptive visual control method and device and a storage medium. The method comprises the steps that a current electrical parameter combination, a welding image, welding gun relative weld joint position data and surface temperature distribution data in the welding process are collected in real time; inputting the welding image into a pre-trained molten pool recognition model, and outputting internal molten pool form data; the relative welding seam position of the welding gun, the surface temperature distribution data and the internal molten pool form data are input into a pre-trained welding process state space model, a welding state recognition result is output, and the welding state recognition result is selected from normal or abnormal; whether the welding state recognition result is abnormal or not is judged; if yes, according to the real-time evaluation result of the welding quality, a model is generated through a pre-trained strategy, and a new electrical parameter combination is output; the new electrical parameter combination is sent to a welding execution module, and the current electrical parameter combination is replaced with the new electrical parameter combination; therefore, precise self-adaptive adjustment in the welding process is achieved.

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.