Bionic hexapod welding robot

Abstract

The application provides a bionic six-legged welding robot, the bionic six-legged mobile platform is arranged, a plurality of bionic gaits can be simulated, self-adaptive movement can be realized in a complex environment such as a non-structured, narrow and obstacle-containing cabin of a ship or a pipeline, and the application scene of automatic welding is greatly expanded; secondly, the control unit can adjust the posture of each bionic mechanical leg in real time according to the change of the terrain, actively compensates the influence of factors such as ground inclination and unevenness on the pose of the mobile platform, ensures that the welding execution unit always obtains the required working posture, and thus the welding precision and working quality can still be maintained under complex terrain, the deep fusion of movement adaptability and working flexibility is realized, the welding working capacity of the robot in a complex space is significantly improved, the working automation level is greatly improved, and the personnel dependence is reduced.

Description

Technical Field

[0001] This invention relates to the field of industrial robot technology, and more specifically, to a biomimetic hexapod welding robot. Background Technology

[0002] Welding is a core process in modern industrial manufacturing, widely used in shipbuilding, large steel structures, aerospace, petrochemicals, and other fields. The automation and intelligentization of welding operations are an inevitable trend in the industry's development. Traditional manual welding suffers from problems such as a shortage of human resources, significant susceptibility of welding quality to human factors, and high operational safety risks, severely restricting industrial production efficiency and product quality.

[0003] Existing automated welding robots mostly use fixed, wheeled, or tracked chassis. In complex working environments such as ship hulls and pipelines that are unstructured, narrow, and have obstacles, their mobility and operational flexibility are poor, and they cannot meet the welding needs of complex spaces.

[0004] Patent CN219946239U discloses an intelligent welding hexapod walking robot, which simply combines a hexapod walking mechanism with a welding mechanism to achieve basic mobile welding functions. However, this technology is only a simple superposition of mechanisms and cannot cope with welding operations in heavy-duty and narrow, low spaces. At the same time, it lacks autonomous navigation, real-time weld seam tracking and closed-loop control of welding quality. It cannot achieve high-precision, intelligent autonomous welding operations in complex unstructured environments, and its application scenarios and operational performance are significantly limited.

[0005] Therefore, there is an urgent need to develop a high-precision welding robot that is highly adaptable to the environment, has a high load capacity, can navigate autonomously, and can adapt to narrow and complex spaces, in order to make up for the shortcomings of existing technologies. Summary of the Invention

[0006] In view of this, the present invention aims to propose a biomimetic hexapod welding robot to solve the problem that welding robots in the prior art have poor mobility and operational flexibility when operating in complex environments that are unstructured, narrow and have obstacles, and cannot meet the needs of welding operations in complex spaces.

[0007] To achieve the above objectives, the technical solution of the present invention is implemented as follows:

[0008] A biomimetic hexapod welding robot, comprising:

[0009] The mobile platform includes six bionic mechanical legs, each with three degrees of freedom, for adaptive movement in complex working environments;

[0010] A welding execution unit, mounted on the mobile platform, is used to perform welding operations;

[0011] The control unit is communicatively connected to both the mobile platform and the welding execution unit, and is used to coordinate the movement posture of the mobile platform and the working posture of the welding execution unit. The control unit is configured to adjust the posture of the mobile platform by adjusting the posture of each of the bionic mechanical legs when the bionic hexapod welding robot moves or operates in the complex working environment, thereby compensating for the impact of terrain changes on the welding execution unit and enabling the welding execution unit to obtain the required working posture.

[0012] In some embodiments, the mobile platform includes a support plate, which includes an upper plate and a lower plate spaced apart vertically. Six mounting holes are evenly distributed along the edge of the support plate. The mounting holes include an upper mounting hole and a lower mounting hole located on the same vertical axis. The upper mounting hole and the lower mounting hole cooperate to mount the bionic mechanical leg.

[0013] In some embodiments, the bionic mechanical leg includes a rotating joint, a thigh, and a calf connected in sequence. The rotating joint is rotatable relative to a first rotation axis of the mounting hole, the thigh is rotatable relative to a second rotation axis of the rotating joint, and the calf is rotatable relative to a third rotation axis of the thigh. The first rotation axis is perpendicular to the second rotation axis, and the second rotation axis is parallel to the third rotation axis.

[0014] In some embodiments, the lower leg is provided with a shock-absorbing seat at its end to absorb vibrations generated by the bionic mechanical leg during movement.

[0015] In some embodiments, the mobile platform maintains at least three of the bionic mechanical legs supporting the ground during movement.

[0016] In some embodiments, the welding execution unit is a welding robotic arm with six degrees of freedom. The welding robotic arm includes a base, a first connecting arm, a second connecting arm, a third connecting arm, a fourth connecting arm, a fifth connecting arm, and a sixth connecting arm connected in sequence. The end of the sixth connecting arm is provided with a welding torch and a weld seam tracking sensor.

[0017] The base is located at the center of the mobile platform. The first connecting arm can rotate relative to the first central axis of the base, the second connecting arm can rotate relative to the second central axis of the first connecting arm, the third connecting arm can rotate relative to the third central axis of the second connecting arm, the fourth connecting arm can rotate relative to the fourth central axis of the third connecting arm, the fifth connecting arm can rotate relative to the fifth central axis of the fourth connecting arm, and the sixth connecting arm can rotate relative to the sixth central axis of the fifth connecting arm.

[0018] In some embodiments, the control unit includes:

[0019] An environmental perception module, including one or more of lidar, depth camera and inertial measurement unit, is used to acquire environmental information around the bionic hexapod welding robot in real time.

[0020] The navigation and positioning module is used to construct a three-dimensional map based on the environmental information and achieve autonomous positioning.

[0021] The path planning module is used to plan the movement path of the mobile platform based on the 3D map and the operation objective.

[0022] In some embodiments, a welding control module is further included, which is configured to receive information from the weld seam tracking sensor, control the welding torch to move along the weld seam trajectory in real time, and monitor and perform closed-loop control of the process parameters of the welding process.

[0023] In some embodiments, the process parameters include one or more of welding current, welding voltage, welding speed, and wire feed speed.

[0024] In some embodiments, a human-computer interaction unit is also included, which supports remote control and task assignment, and is used to monitor and manage the bionic hexapod welding robot.

[0025] Compared with existing technologies, the biomimetic hexapod welding robot of the present invention has the following advantages:

[0026] 1) It can simulate a variety of biomimetic gaits and achieve adaptive movement in complex environments such as ship hulls and pipelines that are unstructured, narrow, and have obstacles, which greatly expands the application scenarios of automated welding;

[0027] 2) The control unit can adjust the posture of each bionic mechanical leg in real time according to the terrain changes, actively compensate for the influence of ground tilt, unevenness and other factors on the posture of the mobile platform, and ensure that the welding execution unit always obtains the required working posture. In this way, welding accuracy and work quality can still be maintained in complex terrain. It realizes the deep integration of mobility adaptability and work flexibility, significantly improves the robot's welding operation capability in complex space, greatly improves the level of work automation, and reduces reliance on personnel.

[0028] 3) The human-machine collaborative operation mode not only gives full play to the robot's autonomous operation capabilities, but also retains the channel for human intervention. While ensuring operation efficiency, it effectively protects personnel safety, keeping operators away from dangerous working environments such as high temperature, arc light and toxic fumes, fundamentally eliminating the occurrence of related occupational diseases and safety accidents, and ensuring project progress. Attached Figure Description

[0029] Figure 1 This is a schematic diagram of the structure of the biomimetic hexapod welding robot described in an embodiment of the present invention;

[0030] Figure 2 for Figure 1 A structural diagram from a second perspective;

[0031] Figure 3 for Figure 1 A structural diagram from a third-person perspective;

[0032] Figure 4 for Figure 1 A schematic diagram of the structure after removing one of the bionic mechanical legs;

[0033] Figure 5 for Figure 1 A schematic diagram of the structure of the bionic mechanical leg;

[0034] Figure 6 for Figure 1 A schematic diagram of the structure of the biomimetic hexapod welding robot described above when it passes through a narrow space;

[0035] Figure 7 for Figure 1 A schematic diagram of the structure of the biomimetic hexapod welding robot described above when it passes through a narrow passage;

[0036] Figure 8 for Figure 1 The diagram shows the structure of the biomimetic hexapod welding robot described above when it passes through low-ceilinged spaces.

[0037] Explanation of reference numerals in the attached figures:

[0038] 1. Mobile platform; 2. Bionic mechanical leg; 21. Rotating joint; 22. Thigh; 23. Lower leg; 231. Shock absorber seat; 3. Welding execution unit; 30. Base; 31. First connecting arm; 32. Second connecting arm; 33. Third connecting arm; 34. Fourth connecting arm; 35. Fifth connecting arm; 36. Sixth connecting arm; 37. Welding torch; 4. Support plate; 41. Upper plate; 42. Lower plate; 5. Mounting hole; 51. Upper mounting hole; 52. Lower mounting hole; 61. First rotation axis; 62. Second rotation axis; 63. Third rotation axis; 71. First central axis; 72. Second central axis; 73. Third central axis; 74. Fourth central axis; 75. Fifth central axis; 76. Sixth central axis. Detailed Implementation

[0039] To make the objectives, technical solutions, and advantages of this invention clearer, the invention will be further described in detail below with reference to embodiments. It should be understood that the described embodiments are only some, not all, of the embodiments of this invention. The specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention. It should be noted that, unless otherwise specified, the embodiments and features described in these embodiments can be combined with each other.

[0040] Example 1

[0041] like Figure 1-5 As shown, this embodiment provides a biomimetic hexapod welding robot, comprising:

[0042] The mobile platform 1 includes six bionic mechanical legs 2, each of which has three degrees of freedom, for adaptive movement in complex working environments;

[0043] Welding execution unit 3 is mounted on the mobile platform 1 and is used to perform welding operations;

[0044] The control unit is communicatively connected to the mobile platform 1 and the welding execution unit 3, respectively, and is used to coordinate the movement posture of the mobile platform 1 and the working posture of the welding execution unit 3. The control unit is configured to adjust the posture of the mobile platform 1 by adjusting the posture of each of the bionic mechanical legs 2 when the bionic hexapod welding robot moves or works in the complex working environment, so as to compensate for the influence of terrain changes on the welding execution unit 3 and enable the welding execution unit 3 to obtain the required working posture.

[0045] Specifically, by setting up a biomimetic six-legged mobile platform, this invention can simulate a variety of biomimetic gaits and achieve adaptive movement in complex environments such as ship hulls and pipelines that are unstructured, narrow, and have obstacles. This effectively solves the technical problems of poor passability and weak adaptability of existing wheeled or tracked robots, and greatly expands the application scenarios of automated welding.

[0046] Secondly, the control unit can adjust the posture of each bionic mechanical leg 2 in real time according to the terrain changes, actively compensate for the influence of ground tilt, unevenness and other factors on the posture of the mobile platform 1, and ensure that the welding execution unit 3 always obtains the required working posture (such as a horizontal reference or a specific angle), so as to maintain welding accuracy and work quality in complex terrain. It realizes the deep integration of mobility adaptability and work flexibility, significantly improves the robot's welding operation capability in complex spaces, greatly improves the level of operation automation, and reduces reliance on personnel. The bionic hexapod welding robot of the present invention can replace or assist welders in working in harsh environments through autonomous movement and intelligent operation, effectively solve the labor shortage problem and reduce reliance on highly skilled welders.

[0047] In detail, the biomimetic hexapod welding robot in this invention is designed with a load capacity of 80KG, which provides stable support and strong load capacity for the mobile platform 1, ensuring the high precision and stability of the welding execution unit 3 during operation.

[0048] In some embodiments, the mobile platform 1 includes a support plate 4, which includes an upper plate 41 and a lower plate 42 spaced apart vertically. Six mounting holes 5 are evenly distributed along the edge of the support plate 4. The mounting holes 5 include an upper mounting hole 51 and a lower mounting hole 52 located on the same vertical axis. The upper mounting hole 51 and the lower mounting hole 52 cooperate to mount the bionic mechanical leg 2.

[0049] Specifically, the upper plate 41 and lower plate 42, spaced apart vertically, form a double-layer support structure, significantly improving the overall rigidity and load-bearing capacity of the mobile platform 1. This provides a stable installation foundation for the welding execution unit 3 and effectively avoids the problem of decreased accuracy caused by platform deformation during welding. The six mounting holes 5 are evenly distributed and correspond vertically, allowing the six bionic mechanical legs 2 to be installed symmetrically with uniform force distribution, which is beneficial for achieving stable walking and posture control.

[0050] Preferably, both the upper plate 41 and the lower plate 42 are hexagonal plates.

[0051] In some embodiments, the bionic mechanical leg 2 includes a rotating joint 21, a thigh 22, and a calf 23 connected in sequence. The rotating joint 21 is rotatable relative to a first rotating axis 61 of the mounting hole 5. The thigh 22 is rotatable relative to a second rotating axis 62 of the rotating joint 21. The calf 23 is rotatable relative to a third rotating axis 63 of the thigh 22. The first rotating axis 61 is perpendicular to the second rotating axis 62, and the second rotating axis 62 is parallel to the third rotating axis 63.

[0052] Specifically, this design gives each bionic mechanical leg 2 three degrees of freedom, enabling flexible spatial movement and simulating complex movements such as swinging, lifting, and stretching of insect legs, which greatly improves the mobile platform 1's ability to overcome and pass through rugged terrain, steps, and obstacles.

[0053] In detail, drive motors are provided at the first rotation axis 61, the second rotation axis 62 and the third rotation axis 63 to drive the corresponding components to rotate. This design can realize precise leg posture control, providing a fine execution basis for the control unit to adjust the posture of the mobile platform 1 and compensate for terrain changes, thereby ensuring the operational stability of the welding execution unit 3 on complex terrain.

[0054] In some embodiments, the end of the lower leg 23 is provided with a shock-absorbing seat 231 for absorbing the vibration generated by the bionic mechanical leg 2 during movement.

[0055] Specifically, this design effectively buffers and absorbs the impact and vibration generated when the legs walk, cross obstacles, or come into contact with uneven ground. It protects the delicate drive joints of the legs from impact damage, improves the reliability and lifespan of the system, and reduces the vibration transmitted to the mobile platform 1 and welding execution unit 3, providing a more stable base for welding operations and helping to improve the stability and quality of the welding process.

[0056] In some embodiments, the mobile platform 1 maintains at least three of the bionic mechanical legs 2 supporting the ground during movement.

[0057] Specifically, this gait design gives the robot natural static stability during walking, preventing it from tipping over even on uneven ground or when one leg is suspended in the air. This is crucial for robots equipped with precision welding equipment and operating in complex industrial environments. It allows the robot to immediately provide a stable platform for welding operations even when it pauses during movement, achieving a seamless and stable switch between movement and operation states, and significantly improving the robot's operational safety in complex terrain.

[0058] In detail, each bionic mechanical leg 2 is designed with 3 rotational joints, providing a total of 18 degrees of freedom, enabling it to simulate various gaits of living organisms, such as the triangular gait, maintaining at least three-legged support during walking, thereby gaining natural stability and adaptability to complex terrain. Through genetic algorithms, the dimensions of the support plate 4 and leg links are optimized, allowing the robot's overall width to be controlled within 500mm and its overall height to be compressed to below 600mm while ensuring sufficient working space and load capacity. This allows the robot to smoothly pass through narrow and low spaces such as access holes and pipes in ship cabins.

[0059] In some embodiments, the welding execution unit 3 is a welding robotic arm with six degrees of freedom. The welding robotic arm includes a base 30, a first connecting arm 31, a second connecting arm 32, a third connecting arm 33, a fourth connecting arm 34, a fifth connecting arm 35 and a sixth connecting arm 36 connected in sequence. The end of the sixth connecting arm 36 is provided with a welding torch 37 and a weld seam tracking sensor.

[0060] The base 30 is located at the center of the mobile platform 1. The first connecting arm 31 is rotatable relative to the first central axis 71 of the base 30. The second connecting arm 32 is rotatable relative to the second central axis 72 of the first connecting arm 31. The third connecting arm 33 is rotatable relative to the third central axis 73 of the second connecting arm 32. The fourth connecting arm 34 is rotatable relative to the fourth central axis 74 of the third connecting arm 33. The fifth connecting arm 35 is rotatable relative to the fifth central axis 75 of the fourth connecting arm 34. The sixth connecting arm 36 is rotatable relative to the sixth central axis 76 of the fifth connecting arm 35.

[0061] Specifically, the six-degree-of-freedom welding robot arm enables the welding torch to move flexibly in all directions and at multiple angles, reaching any welding point in the workspace and adapting to the welding needs of complex weld trajectories; the centrally positioned base 30 can balance the force on the welding robot arm during operation, avoiding the center of gravity shift from affecting the stability of the platform; the integrated welding torch 37 and weld seam tracking sensor facilitate the simultaneous completion of welding operations and weld seam positioning, improving the accuracy of welding operations.

[0062] Understandably, drive motors are provided at the first central shaft 71, the second central shaft 72, the third central shaft 73, the fourth central shaft 74, and the fifth central shaft 75 to drive the corresponding components to rotate.

[0063] Detailed, such as Figure 6-7 As shown, when the robot needs to pass through a narrow space, it will change the distance between the adjacent front and rear bionic mechanical legs 2 to ensure that the overall width of the moving platform does not exceed 500mm; Figure 8 As shown, when the robot needs to pass through low spaces, it will adjust the state of the bionic mechanical leg 2 and the welded mechanical arm to ensure that the overall height of the robot is no more than 600mm.

[0064] In some embodiments, the control unit includes:

[0065] An environmental perception module, including one or more of lidar, depth camera and inertial measurement unit, is used to acquire environmental information around the bionic hexapod welding robot in real time.

[0066] The navigation and positioning module is used to construct a three-dimensional map based on the environmental information and achieve autonomous positioning.

[0067] The path planning module is used to plan the movement path of the mobile platform 1 based on the 3D map and the operation objective.

[0068] Specifically, the environmental perception module gives the robot "eyes," enabling it to perceive the complex environment around it. The navigation and positioning module (such as one based on SLAM technology) allows the robot to build a map in real time and know its precise location within the map. The path planning module, based on the map and location information, intelligently plans a safe and efficient path from the starting point to the welding work point for the mobile platform 1, avoiding obstacles and adapting to the terrain. These three modules work together to free the robot from dependence on fixed tracks or manual remote control, achieving autonomous navigation and movement in complex and unknown environments. This enables intelligent autonomous movement that allows the robot to "walk, see, and work simultaneously," significantly reducing reliance on manual operation and achieving unmanned operation.

[0069] In some embodiments, a welding control module is also included, which is configured to receive information from the weld seam tracking sensor, control the welding torch 37 to move along the weld seam trajectory in real time, and monitor and perform closed-loop control of the process parameters of the welding process.

[0070] Specifically, based on real-time feedback from the weld seam tracking sensor, the welding control module can precisely control the movement of the welding torch 37 along the weld seam trajectory, effectively addressing weld seam position deviations caused by factors such as workpiece assembly errors and welding thermal deformation, ensuring the accuracy of the welding path. Simultaneously, through real-time monitoring and closed-loop control of welding process parameters, the system can automatically adjust parameters such as welding current and voltage to maintain the stability of the welding process, eliminate the influence of human factors on welding quality, significantly improve the stability and consistency of welding quality, and achieve unmanned, standardized, and intelligent welding operations.

[0071] In some embodiments, the process parameters include one or more of welding current, welding voltage, welding speed, and wire feed speed.

[0072] Specifically, comprehensive monitoring of key process parameters such as welding current, voltage, welding speed, and wire feed speed significantly improves the controllability of the welding process. The control unit can automatically adjust each parameter according to preset process specifications and promptly alarm or automatically correct when parameters are abnormal, effectively avoiding welding defects (such as incomplete fusion, undercut, and porosity) caused by parameter drift. The real-time acquisition and recording of these parameters also provides data support for the traceability of welding quality, facilitating subsequent quality analysis and process optimization.

[0073] In some embodiments, a human-computer interaction unit is also included, which supports remote control and task assignment, and is used to monitor and manage the bionic hexapod welding robot.

[0074] Specifically, the human-machine interface unit facilitates remote monitoring and management by operators. Operators can issue welding tasks and plan work areas via a host computer from a safe area, and monitor the robot's status, position, and welding parameters in real time. The remote control function allows for manual takeover of control when the robot encounters emergencies or special operational needs, enhancing the system's safety and flexibility. This human-machine collaborative operation mode fully leverages the robot's autonomous operation capabilities while retaining a channel for human intervention. It ensures operational efficiency while effectively protecting personnel safety, keeping operators away from hazardous working environments such as high temperatures, arc light, and toxic fumes, fundamentally preventing related occupational diseases and safety accidents, and ensuring project progress.

[0075] While the present invention has been disclosed above, it is not limited thereto. Any person skilled in the art can make various modifications and alterations without departing from the spirit and scope of the invention; therefore, the scope of protection of the present invention should be determined by the scope defined in the claims.

Claims

1. A biomimetic hexapod welding robot, characterized in that, include: The mobile platform (1) includes six bionic mechanical legs (2), each of which has three degrees of freedom for adaptive movement in complex working environments; The welding execution unit (3) is mounted on the mobile platform (1) and is used to perform welding operations; The control unit is communicatively connected to the mobile platform (1) and the welding execution unit (3) respectively, and is used to coordinate the movement posture of the mobile platform (1) and the working posture of the welding execution unit (3); wherein, the control unit is configured to: when the bionic hexapod welding robot moves or works in the complex working environment, it can adjust the posture of the mobile platform (1) by adjusting the posture of each of the bionic mechanical legs (2) to compensate for the influence of terrain changes on the welding execution unit (3) so that the welding execution unit (3) can obtain the required working posture.

2. The biomimetic hexapod welding robot according to claim 1, characterized in that, The mobile platform (1) includes a support plate (4), which includes an upper plate (41) and a lower plate (42) spaced apart vertically. Six mounting holes (5) are evenly distributed along the edge of the support plate (4). The mounting holes (5) include an upper mounting hole (51) and a lower mounting hole (52) located on the same vertical axis. The upper mounting hole (51) and the lower mounting hole (52) cooperate to install the bionic mechanical leg (2).

3. The biomimetic hexapod welding robot according to claim 2, characterized in that, The bionic mechanical leg (2) includes a rotating joint (21), a thigh (22), and a calf (23) connected in sequence. The rotating joint (21) can rotate relative to the first rotating axis (61) of the mounting hole (5). The thigh (22) can rotate relative to the second rotating axis (62) of the rotating joint (21). The calf (23) can rotate relative to the third rotating axis (63) of the thigh (22). The first rotating axis (61) is perpendicular to the second rotating axis (62), and the second rotating axis (62) is parallel to the third rotating axis (63).

4. The biomimetic hexapod welding robot according to claim 3, characterized in that, The lower leg (23) is provided with a shock-absorbing seat (231) at the end to absorb the vibration generated by the bionic mechanical leg (2) during movement.

5. The biomimetic hexapod welding robot according to claim 1, characterized in that, The mobile platform (1) always maintains at least three of the bionic mechanical legs (2) supporting the ground during the movement.

6. The biomimetic hexapod welding robot according to claim 1, characterized in that, The welding execution unit (3) is a welding robotic arm with six degrees of freedom. The welding robotic arm includes a base (30), a first connecting arm (31), a second connecting arm (32), a third connecting arm (33), a fourth connecting arm (34), a fifth connecting arm (35), and a sixth connecting arm (36) connected in sequence. The end of the sixth connecting arm (36) is provided with a welding torch (37) and a weld seam tracking sensor. The base (30) is located at the center of the mobile platform (1). The first connecting arm (31) can rotate relative to the first central axis (71) of the base (30). The second connecting arm (32) can rotate relative to the second central axis (72) of the first connecting arm (31). The third connecting arm (33) can rotate relative to the third central axis (73) of the second connecting arm (32). The fourth connecting arm (34) can rotate relative to the fourth central axis (74) of the third connecting arm (33). The fifth connecting arm (35) can rotate relative to the fifth central axis (75) of the fourth connecting arm (34). The sixth connecting arm (36) can rotate relative to the sixth central axis (76) of the fifth connecting arm (35).

7. The biomimetic hexapod welding robot according to claim 6, characterized in that, The control unit includes: An environmental perception module, including one or more of lidar, depth camera and inertial measurement unit, is used to acquire environmental information around the bionic hexapod welding robot in real time. The navigation and positioning module is used to construct a three-dimensional map based on the environmental information and achieve autonomous positioning. The path planning module is used to plan the movement path of the mobile platform (1) based on the three-dimensional map and the operation objective.

8. The biomimetic hexapod welding robot according to claim 7, characterized in that, It also includes a welding control module, which is configured to receive information from the weld seam tracking sensor, control the welding torch (37) to move along the weld seam trajectory in real time, and monitor and control the process parameters of the welding process in a closed loop.

9. The biomimetic hexapod welding robot according to claim 8, characterized in that, The process parameters include one or more of welding current, welding voltage, welding speed, and wire feed speed.

10. The biomimetic hexapod welding robot according to claim 1, characterized in that, It also includes a human-computer interaction unit, which supports remote control and task assignment, and is used to monitor and manage the bionic hexapod welding robot.

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