2649 results about "Welding torch" patented technology

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.

A metal-part welding apparatus based on an angular direction change, comprising a base (1) and a welding torch body (2). The apparatus does not require the cooperation between two operators for welding, and by means of the welding torch body, circumferential weld seams can be automatically welded, thereby improving the work efficiency and welding precision. The present disclosure also relates to a metal-part welding method based on an angular direction change.

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 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 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 discloses a laser-based long-distance pipeline welding defect prevention and treatment device and method, and belongs to the technical field of pipeline welding. The device comprises a welding power and power supply device, a welding master control device and a movement device moving in the circumferential direction of a to-be-welded pipeline; a welding device I, a welding device II and a welding seam scanning device are borne on the moving device, the welding device I and the welding device II are each provided with a welding gun, and a laser emitting device is installed on one side of each welding gun; the welding device II is further provided with an ultrasonic loader. The welding guns are calibrated through laser, the alignment degree between the welding guns is improved, meanwhile, through laser scanning, the parallelism between the welding guns and the grooves is improved, and the risk of welding deviation is reduced; the surface of the welding seam is scanned by the welding seam scanning device, so that welding defects on the surface are timely and comprehensively found; and according to the position of the welding defect, the molten pool is stirred or vibrated through the ultrasonic loader, the fluidity of the molten pool is improved, and the incomplete fusion or undercut defect is filled.

The invention discloses a welding track collecting method based on vision, and relates to the technical field of welding. An ArUco box installed on a welding gun and an ArUco code on a reference ruler are collected in real time through a visual collection unit, ID information and position information of the ArUco code are recognized, the pose of the ArUco code on the ArUco box serves as the pose of the welding gun, the pose of the ArUco code on the reference ruler serves as the pose of the reference ruler, and the poses of the welding gun and the reference ruler in a camera coordinate system of the visual collection unit are obtained; the method comprises the following steps: uniformly converting an ArUco code pose of an ArUco box on a welding gun to an ArUco box geometric center coordinate system, uniformly converting an identified ArUco code pose of a reference ruler to a reference ruler global coordinate system, converting a welding gun pose from the ArUco box geometric center coordinate system to a reference ruler global coordinate system, and carrying out fusion processing on acquired data of a plurality of cameras on a visual acquisition unit, and the accurate pose and motion trail of the welding gun are obtained.

The invention discloses a laser-hollow tungsten electrode arc coaxial composite welding torch, which relates to the technical field of welding, and comprises a hollow tungsten electrode, a plurality of cavities and a plurality of laser beams, and the laser beams are welded under the gathering action of a first laser beam arranged in the hollow tungsten electrode, an arc of the hollow tungsten electrode and a second laser beam positioned on the periphery of the hollow tungsten electrode and arranged in a second cavity. The welding energy of the laser-hollow tungsten electrode coaxial hybrid welding torch can be greatly improved; impurities such as an oxide layer, dust and attachments of the to-be-welded plate can be cleaned by arranging a third laser beam on the periphery; the welding wire is spirally arranged in the sixth cavity, so that the integration level of the composite welding torch is improved, and meanwhile, the welding quality is better guaranteed; and by arranging the fourth cavity, under the action of the hollow fan, impurities generated by cleaning of the third laser beam can be pumped away, plasma plume generated by the plume effect generated in the welding area can also be pumped away, laser energy loss is avoided, and the welding quality is effectively guaranteed.

The invention discloses an intelligent argon arc welding machine based on case machining and a welding method, and relates to the technical field of case machining, the intelligent argon arc welding machine comprises a control box and a welding clamp, and further comprises a welding gun, the welding gun is composed of a grab handle and a welding head, and the welding head is fixedly connected with the grab handle through a butt joint sleeve; the welding head is composed of a welding part and an air injection part, and the welding part comprises a first welding pipe and a second welding pipe. The device has the advantages that when plates are welded, the conveying flow of the protector can be automatically changed according to the inclination angle of the welding gun, so that the protector is conveyed at the optimal flow, the protection effect of the protector is improved, the loss of shielding gas is reduced, meanwhile, the spraying speed of the shielding gas can be kept constant in the shielding gas changing process, and the probability of bubble generation is reduced; in addition, when the shielding gas is jetted, the protector is made to be perpendicular to the welding position all the time, and the protection effect of the shielding gas can be improved.

The invention discloses a laser welding gun cutting stabilizing device, and relates to the technical field of laser cutting auxiliary devices, the laser welding gun cutting stabilizing device comprises two fixing cylinders, and a plurality of supporting plates are distributed on the periphery of each fixing cylinder; each supporting plate is hinged to the corresponding fixing cylinder through the two driven connecting rods; the two fixed cylinders are arranged on the same rotating shaft in a sleeving manner; the connecting assembly is rotationally arranged on the rotating shaft between the two fixing barrels, and a welding gun is installed in the connecting assembly and used for cutting operation; the threaded cylinders are rotationally arranged at the ends, close to the connecting assembly, of the fixing cylinders, threads are formed in the outer walls of the threaded cylinders, and the rotating shafts are in sliding connection with the threaded cylinders; the outer wall of each threaded cylinder is in threaded connection with the corresponding sliding sleeve, and the sliding sleeves are in threaded connection with the threaded cylinders; a stable supporting structure can be formed in the pipeline; and the cutting position can be accurately controlled, and the cutting precision and flexibility are improved.

The invention discloses a welding seam detection and self-adaptive welding gun energy adjusting system and method, and relates to the technical field of welding control. The system comprises an image acquisition module, an image data processing module, a machine learning model, an energy detection module, a welding gun control module and a display interface, wherein the image acquisition module is responsible for acquiring a welding seam image in a welding process; the data processing module preprocesses the acquired image, such as de-noising and filtering; the machine learning model adopts a neural network to perform feature extraction and classification on the weld seam image; the welding gun control module adjusts energy output of a welding gun in real time according to an output result of the machine learning model; the display interface displays the welding seam detection result and the welding gun energy adjusting condition in real time. According to the system and the method, the welding seam defect can be automatically identified by analyzing the welding seam characteristic data in real time so as to improve the welding seam detection accuracy and efficiency, and the energy parameters of the welding gun are dynamically adjusted according to the detection result, so that the welding quality and efficiency are improved.

The invention is suitable for the technical field of aluminum alloy welding, and provides an aluminum alloy pipeline welding device and a welding method thereof.The aluminum alloy pipeline welding device comprises a welding unit and a slow cooling unit; the welding unit comprises a supporting frame, a displacement air cylinder, a displacement sliding block, an electric telescopic rod, a rotating disc, a sliding rail, an electric sliding block, an adjusting piece and a welding gun. The slow cooling unit comprises a fixing plate, a fixing block, a telescopic air cylinder, a telescopic plate, an arc-shaped rail, an electric arc block, a heating plate and an electric heating wire. The four to-be-welded areas of the aluminum alloy pipeline and the flange are divided, the four to-be-welded areas do not make contact with spot welding on the formal welding path, welding operation continues after impurities on the surface of the spot welding area are ground through the angle grinder, and therefore the strength and the sealing performance of a welding seam are improved, and the welding efficiency is improved. And the welding quality of the welding position of the aluminum alloy pipeline and the flange is improved.

The present invention provides a handheld laser welding device, belonging to the technical field of laser welding, which is used to solve the problem that in the prior art, the integration of the welding torch and the interface greatly reduces the interchangeability between the welding torch and different laser hosts, restricting the versatility and flexibility of the equipment. The present invention provides a handheld laser welding device, comprising a welding torch head and an output interface that are inserted into each other in a matching manner. The other end of the welding torch head is used for welding, and the other end of the output interface is used for connecting to the host through a wire harness; the insertion interface between the welding torch head and the output interface includes: a laser matching group, a cooling matching group, a shielding gas matching group, and an electrical signal matching group. By optimizing the connection method between the handheld welding torch and the laser host and designing a standardized quick plug-and-play connection interface, both the high reliability of the connection and the high interchangeability of the welding torch are achieved.

The invention discloses an assemblage multi-robot collaborative welding system in ship sections, and relates to the technical field of industrial robot collaborative control, the assemblage multi-robot collaborative welding system comprises an industrial internet platform, the industrial internet platform is in communication connection with the following modules: a visual inspection modeling module, which is used for scanning the surface of a workpiece through a 3D camera, constructing a point cloud model, and establishing a point cloud model; matching the point cloud model with a design drawing, and identifying a deviation between an actual workpiece and the drawing; and the path planning and correcting module is used for planning a collision-free welding path in combination with the visual detection data and the motion range of the robot. Through high-precision visual inspection scanning and an SLAM matching algorithm, a workpiece point cloud model is constructed in real time and is accurately aligned with a design drawing, the welding seam position and the workpiece geometric deviation can be accurately recognized, a collision-free welding path is generated in combination with robot kinematics constraint and a safety boundary, it is ensured that the pose of the tail end of a welding gun is attached to the surface of the workpiece, and the welding quality is improved. Welding deviation is reduced, and process stability is ensured.

The invention relates to the technical field of image data processing, in particular to a welding gun mainboard defect detection method and system based on image processing. The method comprises the following steps: extracting a grayscale image of a welding gun mainboard surface image by using semantic segmentation to obtain a mainboard area image; equally dividing the mainboard area image into a plurality of image blocks according to a preset size; any image block is recorded as a target image block, and the gray difference degree of the target image block is calculated; calculating the potential pseudo soldering degree of the target image blocks; determining defect blocks according to the potential pseudo soldering degree; and performing threshold segmentation processing on each defect block in sequence by using a maximum entropy method to obtain a pseudo soldering area of each defect block, and completing welding gun mainboard defect detection based on image processing. According to the method, the image blocks are subjected to gray difference degree analysis, and edge detection and chain code identification methods are combined, so that fine defects on the surface of the welding gun mainboard are effectively identified, and the detection accuracy is improved.

The utility model relates to aluminum alloy section welding equipment which comprises an outer shell, a welding ring is rotatably connected to the inner wall of the outer shell, a plurality of welding guns are fixedly connected to the inner end of the welding ring, the welding guns are symmetrically arranged on the same horizontal plane, a gear ring is fixedly connected to the outer wall of the welding ring, and a driving gear is connected to the outer end of the gear ring in a meshed mode. The inner end of the driving gear is fixedly connected with a driving motor through a transmission shaft, the inner wall of the welding ring is rotationally connected with a heat preservation layer, the inner wall of the heat preservation layer is fixedly connected with a plurality of flow guide pipes, and the flow guide pipes are distributed around the axis of the heat preservation layer in a circumferential array mode. The temperature of a welding area is accurately controlled by utilizing a circulating fan, accelerating preheating and uniformly cooling processes, the welding speed is increased through symmetrical arrangement of welding guns and a rotary welding technology, uniformity and attractiveness of welding seams are ensured, and the welding efficiency and the quality of finished products are integrally improved.

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 an intelligent welding robot control method and system based on a deep learning model, and relates to the technical field of welding robos.The intelligent welding robot control method comprises the steps that image detection information generated when a workpiece is welded and welding parameter information of a welding gun are obtained; analyzing and determining a welding position point according to the welding parameter information; based on the welding position points, welding spot image information corresponding to the welding position points and original image information when welding is not conducted are determined from the image detection information; analyzing and determining quality demand information according to the original image information; welding spot quality information is analyzed and determined according to the welding spot image information; and quality adjustment control information is determined according to the deviation condition between the welding spot quality information and the quality demand information, and the quality adjustment control information is output to the welding robot for welding adjustment. The welding device has the effect of improving the welding efficiency.

The invention discloses an elliptic swing arc control method and system, a storage medium and a program product, and relates to the field of robot industrial control. The welding parameters comprise weld joint starting point coordinates, weld joint end point coordinates, ellipse frequency, ellipse major semi-axis length and ellipse minor semi-axis length; determining a linear weld path according to the weld start point coordinate and the weld end point coordinate; dividing the welding time into a periodic sequence comprising a plurality of welding periods based on the elliptical frequency; in each welding period, generating an elliptical track path based on the length of the major semi-axis of the ellipse and the length of the minor semi-axis of the ellipse by taking the linear weld path as a center line; according to the linear welding seam path and the elliptical track path, a welding gun motion path is determined; and generating a control signal corresponding to the motion path of the welding gun, and sending the control signal to the welding robot, so that the welding robot performs welding according to the motion path of the welding gun. By implementing the method, the adaptability of automatic welding can be enhanced, and non-uniform welding seam forming is avoided.

The invention relates to the technical field of laser welding, in particular to a dissimilar metal laser welding device which comprises a base, and a welding area is arranged at the top of the base. According to the dissimilar metal laser welding device, through an intelligent airflow isolation system, a flexible baffle structure pressurized by a spring is adopted, and dynamic sealing is formed by automatically attaching to the surface of a workpiece in the welding process. A protective air curtain is built around a welding area, cooling airflow is allowed to pass through the peripheral area to achieve overall cooling, airflow disturbance directly blown to a welding seam can be effectively blocked, and a self-adaptive welding seam tracking mechanism is adopted; the whole protection frame is driven to deflect synchronously through contact friction force between the limiting pad and the workpiece. According to the mechanical tracking mechanism, the position of the baffle can be adjusted in real time without an additional sensor and a control system, so that a protection area accurately covers a welding seam path all the time. And the method is particularly suitable for the common irregular joint situation during dissimilar metal welding.

The invention relates to the field of antenna welding devices, in particular to an RFID antenna tail end pin welding device which comprises a bottom plate, a welding gun arranged on the upper side of the bottom plate, a center column fixedly installed in the center of the upper side of the bottom plate, a transposition mechanism used for rapidly switching welding point positions and a correcting mechanism used for correcting the tail end of an antenna. The rotating base plate, the discharging base and the pushing assembly in the transposition mechanism are matched, circumferential rotation of the rotating base plate is matched with radial sliding of the discharging base, the discharging base drives a circuit board on the discharging base to slide once every time the rotating base plate rotates by a circle, and therefore automatic switching of welding point positions is achieved; the clamping plate, the pressing wheel and the wedge-shaped piece in the correcting mechanism are adopted, the wedge-shaped piece triggers the moving assembly to drive the clamping plate to clamp and straighten the tail end of the antenna, meanwhile, the pressing wheel downwards presses the tail end of the antenna, the problem of insufficient soldering or poor contact caused by antenna bending in the welding process is effectively solved, and the welding quality is ensured.

The present invention discloses a robot flexible welding path planning method for non-standard workpieces. The present invention comprises the following steps: first, after acquiring and processing the surface point cloud information of the welding workpiece, a three-dimensional model of the welding workpiece is obtained; then, a feature recognition algorithm is used to complete the weld extraction; then, the weld posture and the welding gun posture are determined; a meta-heuristic algorithm is applied to determine the welding sequence of the weld; finally, an efficient path planning algorithm is applied to quickly find a collision-free path to complete the welding path planning; and the planned welding path parameters are used to guide the welding robot to perform welding. The present invention is aimed at multi-specification small-batch workpieces, combined with data processing methods such as point cloud three-dimensional reconstruction and weld feature extraction, and an efficient path planning method is applied to quickly find a collision-free path for the welding robot, which can effectively improve the path quality and compress the planning time, while ensuring the continuity of the welding operation and the consistency of the welding quality.

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 discloses a double-welding-gun collaborative welding method for H-shaped steel, relates to the technical field of H-shaped steel welding, and solves the problems that when the H-shaped steel is welded, the included angle position between a web plate and a flange plate needs to be welded at a time, the welding time is long, and webs and flange plates with different sizes cannot be adapted to be used during welding. According to the double-welding-gun collaborative welding method for the H-shaped steel, a base structure is included, a positioning structure is arranged on the surface of the top end of the base structure, and a welding structure is arranged above the positioning structure. According to the device, through cooperative welding processing of the two laser welding heads, when the device is used for welding an included angle between a web plate and a flange plate, cooperative welding can be achieved through the two laser welding heads, so that the time needed for welding the web plate and the flange plate is shortened, the welding speed is increased, synchronous welding of the laser welding heads is kept, and the welding efficiency is improved. And the situation that welding on one side is not completed is avoided.

The invention discloses a system for enhancing teleoperation welding process immediacy sense, which comprises a welding workbench for placing a weldment; the welding limb consists of a welding robot and a binocular vision camera fixed at the tail end of the welding robot; a welding gun is fixed at the tail end of the welding robot; the viewing limb consists of an auxiliary monitoring robot and two sets of molten pool vision cameras fixed at the tail end of the auxiliary monitoring robot; the tactile force feedback device is used for achieving action mapping between an operator and the welding robot and controlling the welding robot, the binocular vision camera, the molten pool vision camera and the VR glasses to be connected with the computer through teleoperation, and the computer converts pictures shot by the binocular vision camera into three-dimensional pictures to be displayed. Transmitting the data to the virtual reality glasses; and the virtual reality glasses are used for an operator to determine the arc starting position according to the displayed picture to carry out welding operation. The problem that teleoperation telepresence sense of welding operation is insufficient can be solved.

The present application relates to a kind of welding actuators and track type welding robots, welding actuators include torch assembly, torch transverse angle adjustment assembly, torch swing assembly and torch vertical angle adjustment assembly, set torch transverse angle adjustment assembly, torch vertical angle adjustment assembly jointly drive torch assembly complete the quick and effective adjustment of relative angle of torch and the combined joint to be welded, set torch swing assembly can be small amplitude orderly swing to the welding wire in molten state, to meet the welding action demand and fully guarantee weld forming quality;Track type welding robot includes welding actuators, shell, track mechanism, walking mechanism, walking drive mechanism, lifting mechanism and reinforcing rib plate, can drive welding actuators to adjust welding position in horizontal direction and vertical direction, combined with different working condition requirements, can realize the functional requirements when carrying out structural member flat angle welding.

An example welding includes a torch head and a handle including a first coolant line configured to conduct coolant to the torch head, a second coolant line configured to conduct the coolant away from the torch head, a first welding power conductor within the first coolant line, and a second welding power conductor within the second coolant line, the first and second welding power conductors configured to carry electric current to the torch head.

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 field of weld joint intelligent planning systems, and particularly relates to a steel structural part weld joint information acquisition and intelligent planning method which comprises the following steps: scanning a workpiece, acquiring scanning data and preprocessing the scanning data to obtain preprocessed scanning data; abrupt change points in the Z direction are detected in the scanning data, and the abrupt change points are divided into an upper edge feature point set and a lower edge feature point set to serve as workpiece contours; according to the contour of the workpiece, different types of welding seams meeting the requirements are detected in the mutation point set, and needed welding seam information is obtained; all welding seam information is traversed, and the welding sequence is planned; generating a weld transition point path according to the planning information of the welding sequence; and in combination with a robot operation instruction, according to the generated weld transition point path, issuing the path to the robot to execute operation through a protocol. The collision-free optimal motion path of the tail end of the welding gun is integrally planned according to the welding sequence, the use difficulty and complexity of the welding robot are reduced, and a large amount of labor cost is reduced.

The invention provides a welding gun cable bundle torsion buffer protection device and a welding robot. The torsion buffering protection device for the welding gun cable bundle comprises a welding gun mechanism, a wire feeding mechanism and a cable bundle buffering mechanism. The welding gun mechanism comprises a welding gun and a welding gun cable bundle, the welding gun is installed on a clamping joint shaft on the robot body, the welding gun cable bundle is arranged in a mechanical arm of the robot body, the front portion of the welding gun cable bundle is connected to the welding gun, and the tail portion of the welding gun cable bundle extends out of the mechanical arm in the moving direction of the mechanical arm and is connected to the wire feeding mechanism. The cable bundle buffering mechanism comprises a displacement buffering piece capable of moving or deforming relative to the robot body, and the displacement buffering piece is connected to the tail of the welding gun cable bundle or the wire feeding mechanism. When the welding gun cable bundle moves along with the welding gun, the displacement buffering piece moves or deforms relative to the robot body in a resettable mode along with the welding gun cable bundle, and an axial buffering distance is provided for the welding gun cable bundle in the extending direction of the welding gun cable bundle.