Disclosed are an adaptive control method and equipment of arc swing in narrow gap welding. The control equipment is composed of an infrared camera system, a computer image processing system, an arc swing parameter control system, a bent-conducting-rod-type swing arc torch and the like. The infrared camera system acquires, in an external triggering manner, an infrared image of welding area when an arc is deviated towards the left or the right side wall groove, extracts information about the width of the groove in real time after image processing by a computer, and calculates an arc swing angle target value. The arc swing parameter control system controls a motor drive mechanism to rotate a bent conducting rod, and drives the welding arc to conduct circular arc swing according to the swing angle target value, thereby realizing the adaptive control for the arc swing angle according to changes of the groove width.

A weld system for welding two pipes includes a frame, a plurality of rollers, a drive motor, a brake system, an inspection detector, a weld torch, one or more battery cells and one or more processors. The frame is configured to be placed within the pipes. The plurality of rollers is configured to rotatably support the frame. The drive motor drives the rollers to move the frame within the pipes. The brake system secures the frame from movement at a desired location within the pipes. The weld torch, the inspection detector and the one or more battery cells are carried by the frame. The inspection detector is configured to detect a characteristic of an interface region between the pipes. The one or more battery cells are configured to power the drive motor, the inspection detector and the weld torch.

An infrared vision sensing detection method and device for narrow-gap weld seam deviation are provided. The device includes a shaking (or rotating) arc narrow-gap welding torch, an arc current sensor, a computer image processing system, and an infrared photographing system. The infrared photographing system includes an infrared camera which acquires an infrared image of a welding region in an external triggering manner when an arc shakes (or rotates) to a position closest to the left side wall or right side wall of a groove. After computer image processing, a welding wire position and a groove edge information is extracted in real time, and a weld seam deviation is calculated according to position changes of a welding wire relative to the left side wall and the right side wall of the groove, and the weld seam deviation is output. During pulsed arc welding, a signal in a base value period of the arc current pulse is detected by using the current sensor, thereby realizing welding image acquisition synchronized with the base value current period of the pulsed arc.

Systems and methods for depth measurement are described herein. A depth measurement device may comprise a first light source configured to direct a first beam of light, a second light source configured to direct a second beam of light, and a mirror. The mirror may be for viewing at least one of the first beam of light and the second beam of light. The depth measurement device may further comprise a housing. The depth measurement device may further comprise an eyepiece. The first beam of light and the second beam of light may be configured to intersect at a desired location. The eyepiece may be configured to maintain a consistent line-of-sight between the eyepiece, the mirror, and the desired location. In various embodiments, the second beam of light may be oriented at an acute angle with respect to the first beam of light.

Disclosed are an infrared vision sensing detection method and device for narrow-gap weld seam deviation. The device includes a shaking (or rotating) arc narrow-gap welding torch, an arc current sensor (3), a computer image processing system (15), and an infrared photographing system. An infrared camera (11) acquires an infrared image of a welding region in an external triggering manner when an arc (1) shakes (or rotates) to a position closest to the left side wall or right side wall of a groove (9). After computer image processing, welding wire position and groove edge information is extracted in real time, and weld seam deviation is calculated according to position changes of a welding wire relative to the left side wall and the right side wall of the groove, and the weld seam deviation is output. During pulsed arc welding, a signal in a base value period of the arc current pulse is detected by using the current sensor, thereby realizing welding image acquisition synchronized with the base value current period of the pulsed arc. The device has a simple constitution, a wide application range, high weld seam detection precision, high environment adaptability, and high anti-interference capability.

A system for welding two pipes includes a first pipe clamp, a second pipe clamp, a weld torch, an inspection detector, a motor, one or more processors, and a grinder. The weld torch is configured to create a weld joint between the pipes at an interface region between the pipes. The inspection detector is configured to emit an inspection beam of radiation. The motor is operatively associated with the inspection detector to direct the inspection beam of radiation along the weld joint between the pipes. The one or more processors are operatively associated with the inspection detector to determine a profile of the weld joint between the pipes. The grinder is configured to grind at least a portion of the weld joint between the pipes based on the profile of the weld joint between the pipes.

Systems and methods for real time feedback and for updating welding instructions for a welding robot in real time is described herein. The data of a workspace that includes a part to be welded can be received via at least one sensor. This data can be transformed into a point cloud data representing a three-dimensional surface of the part. A desired state indicative of a desired position of at least a portion of the welding robot with respect to the part can be identified. An estimated state indicative of an estimated position of at least the portion of the welding robot with respect to the part can be compared to the desired state. The welding instructions can be updated based on the comparison.

An automated welding system for sealing high level radioactive waste containers in the field at the nuclear plant site. The system includes a programmable portable robotic welder comprising a multi-jointed articulating robotic arm. A welding head operable to form a weld is mounted to the arm. Operation of the robotic welder and ancillary components is controlled by a programmable controller which implements a welding plan. In one embodiment, a circumferentially-extending lid-to-shell hermetic seal weld may be formed by the robotic welder. The weld is completed in multiple welding passes through the weld joint between the lid and shell guided by an automated joint tracking sensor linked to the controller. The highly portable robotic welder is detachably mountable on the lid to perform the welding. An automated pivotable cable-conduit management apparatus keeps electrically conductive wiring and flow tubing out of the path of the rotating robotic arm during welding.

A welding method for a welding strip of a back-contact solar cell chip includes the following steps: firstly, welding small chip assemblies of a back-contact solar cell to be interconnected to form a small cell string through an interconnected bar; then, punching the small cell string into small cell assemblies separated from each other through a cutting or punching process; subsequently, flexibly welding the small cell assemblies by a bus bar to reach a required length of a finished assembly product; and finally, breaking the bus bar through a post cutting or punching process to form cell assemblies with positive and negative electrodes connected in series or in parallel. The method makes the welding surfaces of the solar cell chips be on the same surface through using the back-contact solar cell chips, so that the interconnected bar of the solar cell chips can be welded rapidly and continuously.

A robot control method includes a teaching step, first processing step, modifying step, second processing step, and third processing step. In the modifying step, a third teaching point is changed to a second modified point, a fourth teaching point to a third modified point, and a fifth teaching point to a fourth modified point, based on a difference between a second teaching point and a first modified point. A profile modifying control to change the position of a work tool is applied, using a sensor mounted on the processing advancing direction side of the work tool, in the first processing step and the third processing step. An attitude of the work tool is changed during the second processing step.