Design Of Crawling Robot Based On Tracked Permanent Magnet Adsorption

With the rapid development of modern manufacturing industry,the traditional welding technology because of its high labor costs and low efficiency,has not been unable to meet the requirements of modern manufacturing enterprises,therefore,how to ensure the welding quality and reduce the work intensity of workers and improve the production efficiency has become more and more manufacturing enterprises attach great importance to the problem.The welding of large parts and structural parts has been the focus of attention of researchers at home and abroad.This paper research a crawling welding robot based on crawler type permanent magnetic adsorption,and the key technologies such as mechanism design,control system,kinematics and dynamics of crawler welding robot are researched.Firstly,this paper expounds the technical development of welding robot crawling,the structure and control methods are reviewed,through extensive reading of literature,understand the present situation of research and application at home and abroad crawling robot,through the summary and analysis,according to the application object crawling welding robot,put forward the design of crawl type welding robot requirements and design of welding mechanical structure and control scheme of crawling robot.Secondly,this paper has established the kinematics model of crawling robot,the walking path of the crawler crawler welding robot is analyzed,and the mathematical relationship between velocity and path is obtained.In the control system,using the ARM Cortex-M3 core based 32-bit high-performance micro-controllers STM32F103ZET6 as a control host,and the design of the man-machine-interface.Finally,through the welding process test to verify the crawling of welding robot design,and through the analysis of the welding process test results and put forward the idea of further improvement of crawling robot.The test proved that the crawling welding robot has good adsorption and walking ability,and has enough space to adjust the welding torch,can adapt to most welding occasions,that has important significance for the large parts automatic welding operation.