Abstract：Automatic welding of large steel structures, especially three-dimensional spherical surfaces, requires a mechanism that can walk on the spherical surface and a stable welding tracking control system. This paper describes a wall-climbing robot that combines a crawler with a wheel to balance the required flexibility of the wall-climbing mechanism and the load capacity. The robot can automatically identify the weld position through a visual tracking system and intelligently determine the weld path to enable autonomous movement and tracking of the weld. The flexible, trackless crawler body adapts to large curvature changes in the spherical tank and can walk freely on the tank surface to provide efficient automatic welding of spherical tanks.
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2021, Vol. 61 
