Design Of Control System For All-Position Crawling Welding Robot Without Guide Rail

As an important processing technology in the manufacturing field,welding has the advantages of reliability,stability and low cost,and is applicable to the connection of a variety of metal materials.In large engineering structures,large receptacles,ships,offshore platforms,large diameter pipelines and other non-structural parts there are a large number of lattice-type welds to be welded,robotic arm welding robots and planar mobile welding robots can not complete the welding of high-altitude lattice-type welds,still using manual welding to complete the task of welding lattice-type welds.Therefore,it is necessary to research a non-guideway crawling welding robot,for the characteristics of the lattice type weld,design the corresponding control system,complete the trajectory planning of the lattice type weld,and finally complete the automation of the lattice type weld welding.With the guideless crawling welding robot as the research platform,the hardware selection and control system design related to the control system,the welding robot body position recognition and the lattice type weld path planning were completed and experimentally verified.The specific work is as follows:(1)The research background and significance of the subject are described.The research status of domestic and foreign welding robots and wall climbing welding robots and welding robot sensing and control technology are summarized,based on which the research content and direction of the thesis is proposed.(2)Proposing the overall framework of the control system,based on the overall framework of the welding robot control system hardware was built,and based on the laser distance sensor and angle sensor using the idea of differential science proposed the car body position recognition algorithm,the design of the control system software,while using three-dimensional modeling software to design a control cabinet for the robot control system.(3)For the characteristics of lattice type welds,the trajectory planning of various types of welds in the lattice was completed,the kinematic analysis of the welding robot system was carried out,and a mathematical model was established;the trajectory planning of right-angle welds focusing on whether the welding gun deviates from the center line of rotation in two cases was carried out using the angle sensor,the motion process was analyzed and simulated,and the robot body and slider coordination control method was given.(4)The pulse equivalent solution experiment of the robot system was completed,and on this basis,the position identification experiment of the carriage linear motion and curved motion was carried out,and finally,the verification experiment of the trajectory planning of the lattice type weld was designed to verify the correctness of the robot control system.