摘要
研制了一个用于核电站蒸汽发生器(SG)在役检修的机器人.机器人本体是可两端作业的特殊6R串联结构.在推进装置的协助下,机器人以7轴联动方式从SG人孔进入狭小的1/4球形水室,利用一端的胀紧机构吸附在管板上,另一端联接不同工具设备完成涡流检查、超声检查、堵管、衬管等工作.首先,提出新的检修方案和机器人构型;然后,考虑避碰和两端作业因素,从作业空间、运动链解算、总体运动实现三个方面论证了机器人结构方案的可行性;最后,对样机进行了现场试验,试验结果表明机器人己能够满足SG检修任务要求.
A special robot is developed for in-service maintenance of steam generator （SG） in nuclear plant, It is of a two-end 6R serial chain structure. With the help of propulsion device, the robot with 7-axis can enter the limited quartersphere chamber through the manhole of the SG, and fix on the tube-sheet with the distensible mechanism at one end. By attaching different tools at the other end, the robot can provide services such as eddy current inspection, ultrasound inspection, plugging, and setting sleeves. In this paper, the new servicing scheme and robotic configuration are presented firstly. Then, by considering obstacle avoidance and two-end operation factors, the robot＇s workspace, kinematics solution and compound movement are discussed to confirm the feasibility of the structure scheme. Finally, the robot prototype is tested by field experiment, and the result shows that the robot can meet the requirements of SG maintenance.
出处
《机器人》
EI
CSCD
北大核心
2009年第1期61-66,共6页
Robot
基金
国防工业高新工程项目
关键词
机器人
构型综合
运动学
蒸汽发生器
在役检修
robot
configuration synthesis
kinematics
steam generator （SG）
in-service maintenance
