| This paper introduces a wheeled robot based on modern automation technology,In the context of modern industry,especially the development of industrial robots history and process.Use the characteristics of wheeled robots,developed a full range of mobile welding robot.Which is mainly used in ships and other large steel structure with a large number of automatic welding operations,greatly improved the welding operation environment.First of all,we know that the actual production environment of the robot is quite complicated,our aim is to be able to carry out flexible automated welding in this complex environment,we have chosen and designed the robot body by mainly studies the movement of the robot at right angles to the welding process.A new miniature high-speed rotary arc sensor is used to track the weld,ultrasonic and other sensors to detect the attitude of the robot.Then we use the theory to analyze the kinematics of the robot to prove the feasibility of the robot.We use the ADAMS software to build the robot virtual prototype system,simulate and analyze the robot in the kinematics especially for the right-angle motion process and the simulation of the actual environment of the movement process.Finally,the various parts of the robot were processed,installed and debugged,and the experiment was verified.The whole process of movement is very smooth;the performance of the turning in situ is very well,welding results fulfill the requirements. |
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