机器人系统在立式混合机清理中的设计

Design of Robotic System in Cleaning Vertical Mixer

针对固体火箭推进剂混合工序中的混合机桨叶清理作业,提出采用机器人系统代替人工完成桨叶表面附着物的清理。参照人工清理流程,完成了机器人系统清理流程设计;采用单目相机与激光测距传感器共同组成了桨叶位姿检测模块,设计了专用机器人末端执行器及移动平台,建立了一套基于PC的控制系统,最后,提出采用基于DELMIA的离线编程方式进行机器人路径编程。该机器人系统可提高桨叶清理效率,实现桨叶的自动化清理,将工人从高危工作环境中解放出来。

To complete the cleaning operation of the vertical mixer blade in the mixing operation of solid rocket propellants, a robotic system is proposed to substitute the labor to complete this operation in this paper. Referring to the manual cleaning procedure, the cleaning procedure of the robotic system is designed;and the monocular-laser system is utilized to detect the position and attitude of the mixer blade;then, the end-effector and the mobile platform of the robot is designed, and the PC-based control system is established;finally, the offline programming method based on DELMIA for robot trajectory planning is proposed. The robotic system can contribute to improving the production efficiency of the cleaning operation and the use of efficient cleaning robots can liberate the workers previously deputed to this operation from high-risk environments.