7718 results about "Weld bead" patented technology

The invention relates to the technical field of data processing, and discloses a steel structure welding seam quality ultrasonic detection method and system. The method comprises the following steps: scanning a welding seam to obtain digital parameters, constructing a virtual model to generate an ultrasonic response database, optimizing a detection parameter forming scheme, executing distributed acquisition to obtain a signal matrix, extracting defect features by using a neural network, and outputting a digital detection report through transfer learning. According to the method, automatic optimization of detection parameters and accurate extraction and intelligent analysis of defect features are realized, the accuracy, efficiency and reliability of detection are improved, and the dependence on artificial experience is reduced.

The invention provides an intelligent high-performance collaborative welding robot system, which belongs to the technical field of welding robots and comprises a multi-degree-of-freedom welding robot body, an intelligent control system, a high-performance welding power supply and auxiliary equipment. A welding process control module firstly obtains three-dimensional information of a workpiece based on visual inspection to construct a welding path; then selecting matched process parameters according to material characteristics and welding seam shapes; establishing a welding error matrix to monitor the welding process in real time; constructing a parameter error adjustment matrix for dynamic adjustment; analyzing parameter fluctuation by adopting a neural network to identify molten pool characteristics; the pre-trained neural network is used for evaluating the welding seam quality; and finally, a multi-robot collaborative welding strategy is integrated to achieve efficient operation, and the technical problem that in the prior art, welding process parameters in a welding robot are difficult to adjust accurately in real time so as to adapt to complex working condition changes is solved.

The invention provides a teaching-free welding robot path planning system based on visual autonomous learning, and relates to the technical field of industrial welding, and the teaching-free welding robot path planning system comprises a pose compensation module which is used for arranging three infrared reflective mark points on the surface of a clamp base in an L shape, collecting original point clouds of the mark points and a workpiece by using a stereo camera, and preprocessing the point clouds; generating a pose compensation matrix based on the offset of the actual coordinate and the theoretical coordinate of the mark point, and outputting a de-noising point cloud data set and a compensation matrix; and the pose correction module is used for fitting a workpiece plane equation by adopting a random sampling consistency algorithm on the basis of the de-noised point cloud data set, acting a pose compensation matrix on the workpiece plane equation, correcting a pose error caused by clamp drifting, calculating a welding seam track end point coordinate and outputting a corrected welding seam pose parameter and a scanning pose instruction. According to the method, clamp drift can be compensated, weld joint poses can be corrected, three-dimensional features are extracted, a collision-free path is planned, and the welding precision, efficiency and automation degree are improved.

The invention relates to the technical field of welding, in particular to a corrosion steel welding cooperative control method and system. Comprising the following steps that welding seam geometric parameters, molten pool dynamic characteristic parameters and welding heat input parameters in the corrosion steel welding process are collected in real time through a multi-dimensional sensor array; constructing a corroded steel welding seam feature space model based on the welding seam geometric parameters, and determining material corrosion grade distribution and mechanical property parameters of a welding seam area in combination with a preset corroded steel material database; a molten pool form evolution prediction model is established through an adaptive Kalman filtering algorithm by utilizing the dynamic characteristic parameters of the molten pool and the welding heat input parameters, and the solidification behavior and the welding seam forming trend of the molten pool are predicted in real time; according to the material corrosion grade distribution, the mechanical property parameters and the molten pool forming trend, a dynamic adjustment strategy of the welding process parameters is generated through a multi-objective optimization algorithm; the reliability and safety of the corrosion steel welding joint can be improved.

This application relates to the technical field of battery packs, and a battery pack lower box body, a battery pack, an apparatus, and an assembly method of battery pack lower box body are provided. The battery pack lower box body includes a box frame, a base plate, a stiffening beam, and a stiffener. The base plate is arranged at the bottom of the box frame; the stiffening beam is arranged inside a space enclosed by the box frame and on top of the base plate; and the stiffening beam is fixed to the box fame via the stiffener, and the stiffener is welded to the box frame to form a weld seam, where a length of the weld seam is kept greater than a sum of side lengths of a projection of the stiffening beam onto the box frame.

The invention discloses a distributed reinforcement learning control method and system for multi-robot cooperative welding. A heterogeneous multi-robot task allocation algorithm, a multi-agent reinforcement learning model and welding parameters are combined. The method comprises the steps that a state space containing welding current, voltage, speed, welding gun posture, welding seam position and environment obstacle distribution is constructed, and an initial feasible operation area of the robot is determined; the overall welding task is decomposed into sub-tasks, and candidate robots are distributed; configuring a local decision module for each robot, and outputting an action decision containing a welding gun track adjustment amount and a parameter correction value; setting a global coordination module to generate coordination factors; each robot updates the decision and converts the decision into a driving instruction to execute operation, and molten pool temperature and weld size parameters are collected; the parameters are fed back to the model to adjust the state space characterization and decision weight. According to the method, decision collaborative precision is improved in combination with process parameters, self-adaptive optimization is achieved through real-time feedback, and collaborative welding efficiency and quality are improved.

An apparatus for polishing a butt weld includes a machine frame; a polishing mechanism, including a rotating arm, a supporting column rotatably mounted on the rotating arm, and a polishing roll rotatably mounted on the supporting column in a circumferential direction of the polishing roll; an angle limiting assembly, movably mounted on the rotating arm, the angle limiting assembly limiting an angle at which an outer side end of the supporting column swings upward; a roll driving part, mounted on the rotating arm. The roll driving part is in transmission connection with the polishing roll and drives the polishing roll to rotate on the supporting column in the circumferential direction of the polishing roll. An arm driving part is mounted on a fixed frame, the rotating arm being mounted on the arm driving part, and the arm driving part drives the rotating arm to rotate in a circumferential direction.

A friction stir additive welding device configured to join a first work-piece and second work-piece is provided. In one aspect, the device includes a nosecone having a sidewall extending from a first end to a second end, a channel extending from the first end to the second end along a longitudinal axis of the nosecone, and a screw positioned within the channel. The first end is configured to couple the nosecone to a robotic arm and the second end has a surface configured to be advanced along a weld line between the first and second work-pieces. A central axis of the screw defines an angle that is less than 90 degrees relative to a plane that is perpendicular to surfaces of the first and second work-pieces as the surface of the nosecone advances along the weld line.

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 relates to the technical field of welding automation and robot visual perception, and discloses a robot intelligent welding method and system.The method comprises the steps that a three-dimensional point cloud image is constructed through a laser triangulation method; filtering and enhancing the point cloud image, and extracting a weld point cloud set by adopting a U-Net semantic segmentation model; carrying out space path identification and attitude regression based on the set to obtain a track element of a position-attitude pair; fitting a path by adopting a cubic B-spline curve and interpolating to generate a continuous welding track; and in the welding process, visual feedback is combined, and proportional differential control logic is introduced for closed-loop track error compensation. Compared with the technical problem that in the prior art, weld joint path recognition and accurate tracking cannot be stably achieved under complex structures such as curved surfaces and variable cross sections, a perception control closed loop based on visual servo is constructed, high-precision automatic welding of the complex weld joint structures is achieved, and the track fitting precision is improved.

The invention relates to the technical field of laser welding control, and discloses a laser welding head integrated with a push-pull wire and a control system of the laser welding head. The system comprises a push-pull wire action monitoring module, a laser energy modulation module, a welding seam trajectory tracking module, a welding quality feedback module, a parameter collaborative optimization module and a dynamic deviation correction execution module. Wherein the push-pull wire action monitoring module collects motion parameters in real time and generates a cooperative state index; the laser energy modulation module analyzes the laser power requirement according to the workpiece parameters and outputs a regulation and control instruction; the welding seam trajectory tracking module identifies welding seam characteristics and offset through a multispectral sensor and generates a dynamic tracking path; the welding quality feedback module evaluates defects and generates an abnormal index set; the parameter collaborative optimization module generates an optimization control parameter set based on the abnormal index set and the tracking path adjustment parameters; and the dynamic deviation correction execution module is used for correcting the track and generating a closed-loop control signal according to the matching action and the energy output time sequence.

The invention relates to the technical field of electronic packaging, in particular to a welding process applied to a double-mesa device. The technology comprises the following steps that firstly, a heat conduction model of a double-table-board device is built, a temperature field prediction system is built in combination with measured data, secondly, an asymmetric double-pulse-current welding strategy is adopted, differential pulse waveforms are loaded to an upper table board and a lower table board respectively, independent temperature control over all welding areas is achieved, a temperature difference closed-loop feedback mechanism is introduced in the process, and the temperature field prediction system is obtained. Pulse parameters are dynamically adjusted according to real-time temperature deviation, a stress prediction and weld penetration monitoring module is used for assistance, the welding spot forming quality and heat stress balanced release are ensured, a staged annealing type cooling mode is adopted after welding, and the structural stability is improved. The method can be widely applied to MEMS modules, SiC power devices and heterogeneous chip laminated packaging double-mesa structure devices, and has the advantages of being high in welding precision, high in reliability and wide in process adaptability.

The invention discloses a gradient welding strength control method and system for a welded galvanized steel pipe for fire fighting, particularly relates to the technical field of welding automation control, and aims to solve the problem of abnormal welding seam strength gradient caused by instantaneous unbalance of an electric field and a thermal field during dynamic parameter switching in the prior art. Electromagnetic distortion characteristic quantity is extracted through frequency domain energy analysis, and thermodynamic offset state quantity is deduced in combination with a thermal diffusion trend; on the basis of frequency band correlation mapping of electromagnetic and thermodynamic parameters, thermoelectric cooperative imbalance levels are divided through mutual information entropy evolution, and a self-adaptive harmonic attenuation weight tuning instruction is generated; analyzing a mismatching relation between transient disturbance of an environment magnetic field and arc voltage modulation distortion in real time, dynamically generating a magnetic field compensation factor and reversely superposing the magnetic field compensation factor to a control instruction; and in combination with the matching degree of molten pool oscillation energy and a harmonic frequency spectrum, correcting wire feeding rate calibration, reconstructing a multi-band harmonic energy proportion spectrum, outputting an anti-interference welding control signal, and realizing dynamic balance between arc stability and molten pool heat input.

The invention belongs to the technical field of nondestructive testing, and particularly relates to a detection method for quantitatively evaluating fatigue damage in a pipeline through a nonlinear ultrasonic technology. 316 stainless steel and SA335GRP-11 ferrite steel samples are adopted, a welding seam area is formed through V-shaped groove welding, fatigue loading is conducted, and actual pipeline fatigue damage is simulated; for the samples with different fatigue cycles, nonlinear response signals of the samples are obtained; fourier transform is carried out on the obtained signal to obtain an energy spectrum of the signal, and energy changes of the signal on a fundamental frequency band and a second harmonic frequency band are analyzed; and calculating a nonlinear coefficient, and analyzing a change rule of the nonlinear coefficient along with fatigue cycles, so that the evolution process of fatigue damage in the pipeline is evaluated. According to the method, energy is used for replacing the amplitude value, on the basis of the formula principle, integration is used for replacing the amplitude value to improve the intensity of the characterization nonlinear ultrasonic signal, the early stage of damage and the later stage of crack initiation are detected, and reliable guarantee is provided for safe operation of an industrial pipeline system.

The invention discloses a dynamic path planning method and system for a multi-axis collaborative welding robot, and belongs to the field of robot welding. The method comprises the steps that basic data of a welded workpiece is collected, and a welding basic database is constructed; constructing a geometric model of the welding seam path according to the data in the welding basic database, and parameterizing the geometric model of the welding seam path; on the basis of the parameter result, an initial track is generated between two adjacent weld joint sections of the welding path, time parameterization is conducted on the initial track, and a time-dependent time parameterization spinor track is obtained; and constructing a spinor mapping model based on inverse kinematics and a spinor theory to convert the time parameterized spinor trajectory into a target spinor. The welding quality is improved.

The invention discloses an automatic dovetail welding seam grinding control method based on robot visual positioning, and relates to the technical field of visual positioning. The method comprises the steps that after welding is completed, a dovetail welding seam image is collected and converted into a three-dimensional coordinate through a vision algorithm, and a three-dimensional point cloud is generated; smooth interpolation is performed on the three-dimensional point cloud through a B spline curve method to obtain a parameterized curve, and a control point set is optimized through a genetic algorithm to generate a global optimal polishing path; the polishing robot executes a task according to a path, a tail end sensor collects a real-time path and calculates a deviation value with a global path, and when the deviation value exceeds a preset threshold value, inverse kinematics is triggered to solve and correct the path; the hardness of the dovetail weld is measured through laser-induced breakdown spectroscopy, a comprehensive hardness value is obtained in combination with a matrix hardness database, meanwhile, a visual sensor collects the surface state, and polishing process parameters are dynamically adjusted according to the surface state; after the task is completed, the welding seam angle and flatness are detected. According to the method, the optimal path is generated through visual positioning, and automatic grinding of the dovetail welding seam is achieved.

The invention provides a path planning method of a laser welding head, a medium and a system, and belongs to the technical field of laser welding, the laser welding path planning method provided by the invention comprises the following steps: firstly collecting image information of a to-be-welded part, predicting a welding effect through a deep learning model, and establishing a scientific welding gain matrix evaluation system; a singular value decomposition method is adopted to intelligently segment a welding seam, welding feature vectors are automatically extracted, and a process parameter space is established. And the system constructs a multi-objective optimization function based on the welding quality comprehensive score, and generates an optimized welding path. The welding process image and the quality thermodynamic diagram are collected in real time, the feature similarity with the preset effect is calculated, dynamic optimization of the path is achieved, the intelligent welding path is finally output, the limitation of traditional artificial experience path planning is broken through, and the path planning efficiency is improved. The technical problem that in the prior art, laser welding often depends on manual experience to preset the welding path, and the welding path is not accurate enough is solved.

The present invention proposes a coaxial weld tracking method for oscillating laser welding based on frequency domain OCT detection, comprising the following steps: obtaining the height value in the normal direction of the weld; performing point cloud reconstruction on the weld splicing morphology using the obtained surface height value H1 of the weld; extracting weld information through the point cloud reconstruction atlas; and providing a matching coaxial weld tracking system for oscillating laser welding based on frequency domain OCT detection, comprising a robot, an oscillating welding head, a turntable, a control cabinet, a monitoring system host, a sample arm and a reference arm, which compares the extracted weld information with a preset weld standard value, corrects the motion trajectory of the welding head in real time, and realizes the weld tracking function.

The invention discloses a pulsed eddy current detection method and system for a thermal power pipeline with a coating layer, and relates to the technical field of pulsed eddy current nondestructive detection.The pulsed eddy current detection method comprises the steps that pulsed eddy current detection simulation and experiment are conducted under the condition of a three-dimensional simulation model and a test piece, and excitation current waveform, amplitude and frequency parameters are determined; an induced voltage signal is collected, peak values, time points and attenuation characteristics are extracted, the corresponding relation between the wall thickness, the coating layer thickness and the welding seam structure and detection signals is constructed, a parameterized database is constructed, and temperature correction is completed; and optimizing a sensor structure and a signal acquisition scheme according to a parameterized database, obtaining detection data in a pipeline operation state, completing two-dimensional imaging of wall thickness distribution and welding seam positioning, and forming detection information covering a straight pipe, an elbow and a welding seam area. According to the method, wall thickness detection and welding seam positioning of the thermal power pipeline under the conditions of a thick wall and a thick coating layer are achieved through the full-process design of test piece modeling, simulation experiment and imaging collection.

The invention discloses a 500MPa-grade supercritical CO2 corrosion-resistant pipeline coil plate and a manufacturing method thereof, and the 500MPa-grade supercritical CO2 corrosion-resistant pipeline coil plate comprises the following chemical components: 0.05 to 0.10 percent of C, 0.6 to 0.9 percent of Si, 1.50 to 1.70 percent of Mn, less than or equal to 0.010 percent of P, less than or equal to 0.002 percent of S, 0.10 to 0.30 percent of Cr, 0.35 to 0.45 percent of Mo, 0.03 to 0.05 percent of Nb, 0.01 to 0.03 percent of Ti, 0.02 to 0.05 percent of Al, 0.20 to 0.30 percent of Co, less than or equal to 0.008 percent of N, 1.2 to 4.3 percent of Mo / Cr, 0.75 to 0.92 percent of Mo + Cr + Co, 2.8 to 3.9 percent of Si / Co and the balance of Fe and inevitable elements. The manufacturing method comprises the steps of smelting, slab continuous casting, continuous casting slab heating, rolling, cooling and coiling. In the transverse direction of the rolled plate, Rt0.5 is larger than or equal to 540 MPa, Rm is larger than or equal to 640 MPa, Rt0.5 / Rm is smaller than or equal to 0.87, A50 mm is larger than or equal to 36%,-40 DEG C impact energy KV8 is larger than or equal to 220 J, and-20 DEG C drop weight DWTT is larger than or equal to 95%; in the longitudinal direction, Rt0.5 is larger than or equal to 520 MPa, Rm is larger than or equal to 630 MPa, Rt0.5 / Rm is smaller than or equal to 0.86, and A50mm is larger than or equal to 38%; the average corrosion rate in a 14.5 MPa supercritical CO2 environment is 1t; and 0.05 mm / a. The low-carbon medium-manganese molybdenum-chromium-cobalt-containing alloy design is adopted, the low-temperature toughness of a weld joint is guaranteed, the CO2 corrosion resistance and the oxidation resistance are improved, and higher safety is achieved in pipeline engineering.

The invention discloses a vacuum cup laser welding device, and belongs to the technical field of laser welding, the vacuum cup laser welding device comprises a processing table, the top of the processing table is connected with a base box, and the top of the base box is provided with a synchronous clamping assembly. According to the device, the air curtain assembly is arranged, a continuous and uniform annular laminar flow air curtain is formed by means of the nozzle array evenly distributed in the circumferential direction, a stable inert gas protection environment is formed in a welding area, the oxidation probability of a molten pool is remarkably reduced, meanwhile, the air curtain structure optimally designed through fluid dynamics can effectively disperse welding smoke dust, and the welding quality is improved. By means of a mechanical structure, the angle of the direction adjusting pipe can be accurately adjusted, the coverage range of the air curtain can be flexibly adjusted, accordingly, the vacuum cup body with different specifications can be adapted, possible protection blind areas are eliminated, and the service life of the vacuum cup body is prolonged. And the optimal action angle between the welding protection airflow and the workpiece surface is always kept.

The invention provides a parameter control method and system in the friction stir welding process, and relates to the technical field of welding equipment of metal materials. The method comprises the steps that before friction stir welding is started, working condition information of a to-be-welded workpiece is input into a welding process simulation model for virtual test welding; screening out a plurality of groups of standard process parameter combinations meeting preset welding quality requirements; in the friction stir welding process, the change trend of all the technological parameters is determined according to the real-time technological parameter combination within the first preset time period; and if it is determined that the deviation risk exists in the current welding state within the second preset time period in the future according to the change trend, the standard technological parameter combination with the maximum similarity with the real-time technological parameter combination in the standard technological parameter library is determined as the target technological parameter combination to conduct parameter control adjustment on the welding equipment. By implementing the method, the welding defects caused by sudden change of the process window can be overcome, and the stability of the welding process and the consistency of the welding seam quality are 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 invention discloses automatic welding equipment for a circular seam of an oil cylinder of a hydraulic turnover mechanism, and relates to the technical field of welding. Through joint cooperation of the burr removing assembly and the multiple profiling lifting assemblies, simulation profiling can be conducted on the outline of the oil cylinder barrel section before the oil cylinder barrel section is supported, so that the top of the burr removing assembly and the top of part of the profiling lifting assemblies jointly form the outline shape matched with the oil cylinder barrel section; according to the lifting device, the lifting assembly can annularly wrap a part of the area below the oil cylinder barrel section, a stable lifting and supporting effect is achieved, when the lifting assembly supports the bottom of the oil cylinder barrel section, the lifting assembly can be matched with the multiple profiling lifting assemblies on the two sides to jointly form simulated supporting on the oil cylinder barrel section, and the lifting effect is greatly improved while the oil cylinder barrel section is lifted and supported. And the welded circular seam position can be polished by using the grinding wheel rotating at a high speed, metal burrs and welding slag generated by welding are removed, tip stress concentration is avoided, and the connection strength of the welding seam position is ensured.

The invention relates to the technical field of pipe welding, and discloses special welding equipment for an inner pipe connection type heat insulation oil casing, which comprises a welding table, a pipeline clamping mechanism is arranged at the top of the welding table, and the pipeline clamping mechanism comprises two rotating rings. During oil pipe machining, two oil pipes penetrate through the fixing rings to be connected, the electric telescopic rods drive the V-shaped clamping plates to clamp the oil pipes, and the driving motors enable the supporting rollers to support the oil pipes through the gears and the lead screws. The adjusting motor is matched with a related structure, so that the grinding wheel and the arc-shaped grinding piece are attached to oil pipes with different diameters. The grinding motor and the rotating motor work cooperatively to comprehensively grind the oil pipe, during welding, the oil pipe rotates at a constant speed to achieve uniform welding, and after welding, the grinding wheel and the arc-shaped grinding piece clean weld joints. In addition, in the polishing process of the equipment, a cleaning brush is driven to clean a polishing part through transmission of a gear and a chain, the polishing and welding quality is guaranteed, and the machining efficiency is improved.

The invention relates to the technical field of welding platforms, in particular to a multifunctional welding process experiment platform and a process optimization system.The process optimization method comprises the following steps that a welding process setting module is constructed, and a welding mode, a groove type and a heat input scheme are preset; outputting the initial process configuration parameter set to drive a welding execution unit to perform automatic welding operation according to the initial process configuration parameter set; extracting a multi-dimensional process response vector including a stability index, metal fusion depth distribution and a heat affected zone expansion degree; outputting a welding seam grade result according to a preset quality grading standard, and generating a feedback identifier; and after updating, inputting to the step S2 again to form closed-loop optimization control. According to the method, digital modeling and evaluation of key indexes such as the welding stability, the fusion depth and the heat affected zone are achieved, and the problem that a traditional process depends on visual inspection and experience judgment is solved.

The invention provides a double-robot collaborative welding dynamic compensation system which is characterized by comprising two welding robots slidably mounted on two ground rails, a six-axis laser welding seam locating device is mounted on each welding robot, and a machine vision assembly is arranged in each laser welding seam locating device. A stand column cantilever used for driving the welding robot to move is installed on the ground rails in a sliding mode, a rotary table position changing machine is arranged between the two ground rails, a powder concentrator rotor is placed on the rotary table position changing machine, and a control system is electrically arranged beside the welding robot. The double robots cooperatively work through the laser distance measuring sensor and the visual assembly, rapid concentric alignment of a rotor, blade angle calibration and real-time tracking of a welding seam are achieved, high-precision positioning of the laser distance measuring instrument is combined with intelligent image processing of the visual module, the accuracy of welding path planning is remarkably improved, deviation caused by manual intervention is avoided, and the working efficiency is improved. The two robots cooperate with each other, so that the welding efficiency is improved by more than 40% compared with a single-machine system.

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 pipeline all-position multi-layer multi-channel TIG welding bead morphology measuring device and method, and relates to the technical field of intelligent welding. A molten pool image collecting module is used for collecting morphology information of a molten pool, and the light emitting end of a laser transmitter is used for facing a welding bead; the active and passive vision module is used for collecting an image of light emitted by the laser emitter projected on a weld pool groove and identifying a weld bead corner opening position and a weld bead width, and the active and passive vision module and the weld pool image collecting module are both electrically connected with the control module; the control module can fuse image features collected by the active and passive vision module and the molten pool image collection module, the axes of the molten pool image collection module, the welding module and the active and passive vision module are located in the same plane, and the molten pool image collection module and the active and passive vision module are located on the two sides of the welding module respectively. According to the method, manual participation in the welding process can be reduced, the welding automation degree is improved, and meanwhile, the welding bead morphology measurement accuracy is improved.