Mobile, climbing robotic system to perform remote welds on ferrous materials

摘要

An endless-track type mobile climbing vehicle containing a suspension apparatus and tool manipulator to perform trackless, guide-free welding in all positions or other manufacturing tasks. The invention can conform to a wide range of surface irregularities while maintaining contact between the track and adhering members and uniformly distributing the climbing loads on the adhering members giving the system a high payload to weight ratio. The vehicle with tool manipulator provides all necessary tool motion and stabilizes tool motion for tasks with strict requirements such as welding. The invention allows an operator to supervise and control the weld process through a controller. The invention allows the operator to specify weld motion control parameters for five axes and provides closed loop motion control to track the settings input by the welding operator. The invention also provides closed-loop tracking control to maintain the position of the robot along the longitudinal weld seam.