2336 results about "Welding torch" patented technology

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 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 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 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 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 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 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 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.

The invention discloses an in-situ remanufacturing repair system and method based on three-dimensional point cloud.The in-situ remanufacturing repair system comprises an industrial personal computer, a binocular structure light camera and a collaborative robot, the binocular structure light camera and the collaborative robot are connected with the industrial personal computer, and the collaborative robot is provided with a welding gun connected with an intelligent welding machine; the method comprises the following steps of: performing hand-eye calibration on a binocular structured light camera by adopting dual quaternion and a singular value decomposition algorithm; a binocular structured light camera is used for shooting the workpiece, and a complete point cloud of the to-be-repaired area is obtained; performing surface reconstruction on the to-be-repaired area by using a Poisson surface reconstruction algorithm; according to the side wall fusion optimization formula, path planning is conducted on the to-be-repaired area model in Cura software, and filling path coordinates of the to-be-repaired area are obtained. According to the method provided by the invention, the defect of incomplete fusion of the side wall of the workpiece after additive remanufacturing repair can be reduced, and meanwhile, the surface flatness of the weld joint adjacent to the side wall is improved.

The invention discloses butt welding equipment for electric vehicle hub production, which belongs to the technical field of welding and comprises a workbench, a forming cylinder, a guide column and a welding gun. A working face is arranged on the surface of the workbench and used for placing a plate as a basic blank for forming the hub outer frame. The forming cylinder is arranged above the workbench, and the arc surface of the forming cylinder serves as a forming surface, so that a plate is tightly attached and bent into an annular body. The two guide columns form pressure applying tracks on the two sides of the forming cylinder and move along the arc face, a plate is bent and attached to the surface of the forming cylinder, and the two ends of the plate are connected to form a welding line. And the end part of the welding gun can move along the welding line to finish welding. A plurality of adsorption openings communicated with the air suction channel are formed in the surface of the forming cylinder, adsorption force is applied to the plate, and movement or dislocation is prevented. A sealing ring is arranged on the periphery of the adsorption opening to improve sealing performance. A supporting plate and a ventilation hole are arranged in the adsorption opening, the structure of an air suction channel is optimized, the air suction efficiency is improved, and uniform distribution of adsorption force is ensured.

The invention relates to the technical field of welding robot systems. An automatic welding robot system suitable for different industries comprises a welding seam recognition module used for recognizing a welding seam, a welding path point extraction module used for extracting welding path points, a path optimization module used for optimizing a welding path and a path optimization module used for obtaining three-dimensional contour data of the welding seam, and processing the three-dimensional contour data, extracting the shape and position change parameters of the welding seam, fitting and smoothing the shape and position change parameters of the welding seam based on the three-dimensional contour data, extracting a welding path, and controlling a welding gun of the welding robot to move along the optimal path. According to the welding seam recognition module, a laser sensor is used for obtaining three-dimensional contour data of a welding seam, median filtering and Gaussian filtering are sequentially carried out, noise interference is effectively removed, then the edge of the welding seam is accurately extracted through coordinate transformation and a Canny algorithm, and the shape and position change of the welding seam are determined.

The invention relates to the technical field of valve welding, and discloses a valve welding tool which comprises a supporting and positioning mechanism, a pressure valve opening and closing structure is arranged in the supporting and positioning mechanism, a valve locking mechanism is installed on the surface of the opening and closing locking structure, and a pressing piece plugging mechanism is arranged on one side of the valve locking mechanism. And a lock valve opening and closing mechanism is arranged on one side of the pressing sheet plugging mechanism. According to the valve welding tool, through the arranged supporting and positioning mechanism, the pressure valve opening and closing structure, the valve locking mechanism, the pressure sheet plugging mechanism and the valve locking opening and closing mechanism, the valve can be fixed during use, meanwhile, an input port and an output port of the valve can be protected, molten metal liquid is prevented from easily falling into the valve during welding, and the welding quality is improved. In the using process, opening and closing of the connecting transverse column can be achieved only by forcibly operating the shifting handle with two hands, so that fool-proof design is formed, a user does not need to take and place a valve when holding a welding gun, and safety is improved.

The invention discloses an LED drive board component welding device, which relates to the technical field of LED drive board production and comprises a base, a board body mounting unit, a welding drive unit and a gas pumping unit. The device is provided with a reliable plate body mounting unit, along with continuous movement of a clamping rod, a spring is compressed, and the inclined upper section of an elastic clamping block is continuously extruded to be in a horizontal state by a chamfer surface at the port of a clamping groove, so that after the LED driving plate is horizontally clamped in place, the LED driving plate is clamped and fixed from the upper side through bending of the elastic clamping block, and the working efficiency is improved. Therefore, the mounting tightness of the LED driving plate is effectively improved, and the stable proceeding of subsequent welding is ensured; a reliable welding driving unit is arranged, so that the welding gun can be driven to move flexibly, and the welding operation of each position is supported and completed; the inclined welding gun can bypass the pins of the components, welding is more facilitated, and the welding gun can be adjusted to rotate in the horizontal plane under the driving of the motor, so that a proper welding angle is found.

The invention relates to the field of steel structure welding, in particular to a handheld curtain wall steel structure welding device which comprises a welding gun, a connecting ring and a mounting seat. A connecting ring is mounted on a shell of the welding gun; the two sides of the connecting ring are each provided with a mounting base. The device further comprises a first rotary driving piece, a telescopic structure and a roller. The two sides of the connecting ring are each provided with a first rotary driving piece. The rotating end of each first rotating driving part is connected with one mounting seat; a telescopic structure is arranged on each mounting seat; a roller is arranged at the telescopic end of each telescopic structure; the first rotary driving part drives the telescopic structure and the rollers to rotate as a whole, the stretching length of the rollers is adjusted and controlled through stretching of the telescopic structure, the angles and the positions of the two rollers can be matched with the surfaces of two workpieces with certain angles, and the auxiliary stabilizing function of the rollers has higher adaptability.

A method inspects weld quality in-situ. The method obtains a plurality of sequenced images of an in-progress welding process and generates a multi-dimensional data input based on the plurality of sequenced images and / or one or more weld process control parameters. The parameters may include: (i) shield gas flow rate, temperature, and pressure; (ii) voltage, amperage, wire feed rate and temperature (if applicable); (iii) part preheat / inter-pass temperature; and (iv) part and weld torch relative velocity). The method generates defect probability and analytics information by applying one or more computer vision techniques on the multi-dimensional data input. The analytics information includes predictive insights on quality features of the in-progress welding process. The method then generates a 3-D visualization of one or more as-welded regions, based on the analytics information, and the plurality of sequenced images. The 3-D visualization displays the quality features for virtual inspection and / or for determining weld quality.

The invention relates to the technical field of welding equipment, in particular to systematic window machining equipment with an auxiliary mechanism, which comprises a servo moving support, a maintenance processing assembly, a matching control assembly and a collecting device, a welding gun is arranged on one side of the servo moving support, and a positioning detection box is arranged at the lower end of the servo moving support; two auxiliary positioning assemblies are rotationally arranged in the positioning detection box, each auxiliary positioning assembly comprises a rotary housing and a positioning detection module, the maintenance processing assembly is arranged between the two rotary housings in the positioning detection box, the welding positioning accuracy of the welding gun can be improved through the positioning detection box, and meanwhile under the auxiliary effect of the maintenance processing assembly, the welding gun can be more accurately positioned. According to the device, the two rotating housings can be automatically maintained, the operation and use convenience and the positioning stability are improved, in addition, under the auxiliary action of the control assembly and the collecting assembly, operation is more worry-saving, meanwhile, smoke generated by the welding gun can be collected and treated in time, and the welding smoke is prevented from polluting the positioning detection box and affecting the environment.

The embodiment of the invention provides a real-time collection method and system for welding heat input, and the method comprises the steps: sensing the displacement movement of a welding gun or a welding wire through a diffuse reflection photoelectric switch array installed on the surface of a pipeline, and generating a corresponding pulse trigger signal; current data and voltage data of a welding loop are sensed through a Hall sensing system, and corresponding analog electric signals are generated; synchronously acquiring the pulse trigger signal and the analog electric signal through a multi-channel data acquisition device, and converting the analog electric signal into a digital signal with a timestamp; real-time welding speed data are calculated according to the time sequence of the pulse trigger signals and the preset space geometrical relation of the diffuse reflection optoelectronic switches; performing multi-stage filtering processing on the current data and the voltage data; a unified timestamp is determined, and time sequence matching is conducted on the filtered current data, the filtered voltage data and the filtered welding speed data based on the unified timestamp; and calculating to obtain a welding heat input value.