用于核环境管道维修的宏-微机器人遥控焊接

Macro-micro robotic remote welding for pipeline repair in nuclear environment

针对复杂核环境的管道焊接维修,提出了一种宏-微结构的机器人遥操作方法实现遥控焊接.通过工具转换接口和气动夹紧模块完成宏机器人与微机器人的快速连接.在宏机器人与微机器人之间加入六维力觉传感器,使宏-微的机器人遥操作中具有主动柔顺性.设计了宏-微遥操作机器人的控制器,并重点对重力补偿、管道自适应装配策略、弧长控制等进行了研究,实现了远端环境中的管道抓取、装配以及遥控焊接.结果表明,宏-微结构的机器人遥操作遥控焊接系统能够快速完成极限环境下的管道焊接维修,焊接质量稳定可靠.

A teleoperated technology with the macro-micro-structure is presented for performing the pipeline repair welding in the nuclear remote environment.The fast connection approach of macro and micro manipulator robot is completed through the conversion interface and pneumatic tool clamping modules.A 6D force sensor is fixed between the end of macro-robot and micro-robot so that the remote operation of macro-micro robot takes active flexibility.The macro-micro teleoperation controller is designed,in which gravity compensation,adaptive pipeline assembly strategy and arc length control have been researched.Also,the experiments about grabbing the pipeline,assembling the pipeline and remote welding had been performed respectively.The results demonstrate that the macro-micro robot teleoperation remote welding system can be operated quickly for the pipeline welding repair in the limit environment,and the quality is stable and reliable.