<正>An intelligent welding robot for spherical tank's all-position multi-layer welds is developed. Based on the dynamics analyzing and simulation testing, a flexible magnetic wheel mechanism is created as the robot's walking carriage. It makes the robot directly attracted to the surface of the spherical tank so as to realize the all-position walking and welding without rail. At the same time, a CCD real-time tracing system is developed for the robot to repeatedly trace the all-position and multi-layer seams. The welding tests show that the welding robot can make the all-position and multi-layer welds with high tracing accuracy, excellent quality and reliable behavior, and it can be applied for practical production.
