Crawling welding robot and method of controlling the same
AssigneeBeijing Bo Tsing Tech Co., Ltd
InventorsXiaobing Feng, Jiluan Pan, Lisheng Gao, Baiwa Pan, Ruimin Duan, Hailong Li
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Abstract
A crawling welding robot, including an adjustable magnetic adhesion module, wheel-tracked walking mechanisms, a crawler frame, and a welding load device, wherein the welding load device is disposed on the crawler frame; the wheel-tracked walking mechanisms are disposed at two opposite ends of the crawler frame for supplying power for crawling of the crawler frame; and the adjustable magnetic adhesion module is disposed on the crawler frame and disposed between the two wheel-tracked walking mechanisms.
Claims18
A crawling welding robot, comprising:
- an adjustable magnetic adhesion module;
- wheel-tracked walking mechanisms;
- a crawler frame;
- and
- a welding load device, wherein the welding load device is disposed on the crawler frame;
- the wheel-tracked walking mechanisms being disposed at two opposite ends of the crawler frame for supplying power for crawling of the crawler frame;
- the adjustable magnetic adhesion module being disposed on the crawler frame and disposed between two wheel-tracked walking mechanisms;
- the adjustable magnetic adhesion module comprises a magnet module and a lifting adjustment module, and the lifting adjustment module is connected with the magnet module for controlling lifting and lowering of the magnet module;
- and
- the lifting adjustment module comprises a plurality of independently controllable lifting mechanisms, and an angle and/or a gap between the magnet module and a surface to be adhered is changed by separately adjusting the plurality of independently controllable lifting mechanisms;
- wherein each lifting mechanism comprises a support frame, a lifting screw, and an adjusting nut, the support frame is connected with the crawler frame, the lifting screw is screwed with the adjusting nut, the adjusting nut is rotatably connected with the support frame, and the adjusting nut is fixed to the support frame in an axial direction of the adjusting nut and the lifting screw is connected with the magnet module.
A method of controlling a crawling welding robot, comprising:
- controlling an adjustable magnetic adhesion module to maintain a stable adhesion force between the crawling welding robot and a surface to be adhered, the adjustable magnetic adhesion module comprising a magnet module and a lifting adjustment module, the lifting adjustment module connected with the magnet module for controlling lifting and lowering of the magnet module;
- the lifting adjustment module comprising a plurality of independently controllable lifting mechanisms, wherein an angle and/or a gap between the magnet module and the surface to be adhered is changed by separately adjusting the plurality of independently controllable lifting mechanisms;
- obtaining information on a weld seam;
- controlling a welding gun to translate to a position of the weld seam;
- controlling the welding gun to rotate to an angle required for a process;
- adjusting process parameters of a welding power source;
- starting welding and controlling the crawling welding robot to automatically and autonomously crawl along a direction of the weld seam;
- and
- finishing the welding;
- wherein the crawling welding robot comprises a lifting mechanism, and wherein each lifting mechanism comprises a support frame, a lifting screw, and an adjusting nut, the support frame is connected with the crawler frame, the lifting screw is screwed with the adjusting nut, the adjusting nut is rotatably connected with the support frame, and the adjusting nut is fixed to the support frame in an axial direction of the adjusting nut and the lifting screw is connected with the magnet module.
Dependencies are inferred from the claim text.