Control System of a Wall Climbing Robot for Automatic Welding

Abstract

This article designs a wall climbing robot for automatic welding of large steel member. In the past, welding of large member was generally carried out through manual welding or orbital semi-automatic welding, both of which have such disadvantages as low efficiency and poor flexibility. For these problems, this article proposes a wall climbing robot, primarily introduces its control system and planning of welding operation process. This robot can conduct Omni-directional movement on large member, and laser vision is adopted in the system for automatic tracking of seam. Based on the foregoing, a simulation and an automatic welding test is carried out, and the test result proves that this robot can complete automatic welding of large members.