The invention provides a crawling machine, a control method thereof, a control device and a crawling system. The crawling machine comprises a crawling machine body, at least one telescopic device, at least one moving part and a detection device. The telescopic device is connected with the crawling machine body, and the length of the telescopic device in the first direction is variable, the first direction being perpendicular to the advancing direction of the crawling machine; the moving parts are connected with the telescopic devices in a one-to-one correspondence mode; and the detection device is used for detecting attitude data of the crawling machine body in real time, and the attitude data comprises a pitch angle and a roll angle of the crawling machine body. According to the attitude data of the crawling machine body, the length of the telescopic equipment on the first length is adjusted, the adjusted crawling machine body can basically maintain balance, the problem that a vehicle body inclines is avoided. Therefore, the problem that in the prior art, the welding precision of the crawling machine is affected due to the fact that manual magnetic adjustment errors are large is solved, and it is guaranteed that the welding precision of the adjusted crawling machine is good, and therefore the welding effect is good.

    本申请提供了一种爬行机、其控制方法、控制装置以及爬行系统,该爬行机包括爬行机本体、至少一个伸缩设备、至少一个移动部以及检测设备,其中,伸缩设备与爬行机本体连接,伸缩设备在第一方向上的长度可变,第一方向垂直于爬行机的行进方向;移动部与伸缩设备一一对应连接;检测设备用于实时检测爬行机本体的姿态数据,姿态数据包括爬行机本体的俯仰角以及滚转角。根据爬行机本体的姿态数据,调整伸缩设备在第一长度上的长度,可以使得调整后的爬行机本体基本维持平衡,避免了车体出现倾斜的问题,解决了现有技术中人工调磁误差较大影响爬行机的焊接精度的问题,保证了调整后的爬行机的焊接精度较好,从而保证了焊接效果较好。


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    Title :

    Crawling machine, control method thereof, control device and crawling system


    Additional title:

    爬行机、其控制方法、控制装置以及爬行系统


    Contributors:
    FENG XIAOBING (author) / PAN JILUAN (author) / PAN BAIWA (author) / AN BING (author) / WU CHENGJIE (author)

    Publication date :

    2021-07-30


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    B60G VEHICLE SUSPENSION ARRANGEMENTS , Radaufhängungen und Federungen für Fahrzeuge



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