Control method for moving mechanism of all-wheel-drive combined attracting-type wall-climbing robot

Abstract

The invention belongs to the technical field of specialized robots, and particularly relates to a control method for the moving mechanism of an all-wheel-drive combined attracting-type wall-climbing robot. The control method comprises the following steps: A, acquiring two-dimensional welded joint position information provided by a welded joint tracking sensor, and carrying out filter processing; B, sending a speed command to the motor driver of a crosshead shoe according to the processed information, so as to fulfill the horizontal axis movement and the longitudinal axis movement of the crosshead shoe, and realize the fast accurate movement of a welding gun; C, calculating the distance between a movable platform and a welded joint according to the welded joint position information provided by the welded joint tracking sensor and crosshead shoe motor code disc information; D, calculating the movement parameter of the movable platform according to the information; and E, sending a command to a platform motor driver, so as to fulfill multi-wheel matching movement. The control method has the advantages that the filter processing method can detect error data fast, so as not to impact movement control; the real-time tracking performance on continuous variation of a welded joint is favorable, so as to avoid additional latency; and the responding capability on the wide range step variation of a real welded joint position is better.

Description

technical field [0001] The invention belongs to the technical field of special robots, and specifically relates to a control method for a motion mechanism of a full-drive composite adsorption crawling robot. Background technique [0002] The crawling arc welding robot is a kind of special robot. It is an automatic mechanical device designed to weld on the magnetic wall surface under harsh, dangerous and extreme conditions. It has attracted more and more attention. At present, crawling arc welding robots have been widely used in the production and construction of ferromagnetic structures such as nuclear industry, petrochemical industry, construction industry, fire department, and shipbuilding industry. [0003] The current crawling welding robots mainly include three types: track type, permanent magnet crawler type, and permanent magnet wheel type. Among them, the orbital control is relatively simple, and it is easy to achieve high-precision welding. However, the orbital cra...

AI Technical Summary

Problems solved by technology

[0006] In order to overcome the problems of the track crawling type, permanent magnet crawler type and traditional permanent magnet wheel arc welding robot in the prior art, it cannot be applied to the full drive mode of the front wheel, and it cannot solve the problem of sensor advance, multi-wheel mechanism coordination and angle estimation. In order to solve the problem, a control method for the motion mechanism of a full-drive compound adsorption crawling robot that can realize high-precision, high-efficiency, high-reliability, and low-cost welding of large workpieces is proposed.

Images