液控核辐射环境拆除机器人控制系统

Control System for Hydraulic Demolition Robot Used in Nuclear Environment

在核电站、核设施和其他一些强辐射高危环境中,遥控拆除机器人技术得到了广泛的应用,通过遥控摄像机进行远距离监视、控制和操纵拆除机器人工作,完成拆除核设施,搬运、分拣、装运核废料和有毒物质,以及其他一些劳动强度大、危险性高的工作。液控拆除机器人体积小、力量大、机动性强,可快捷、高效地投入危险环境中。针对核辐射环境下的应用要求,研制开发了一种液压驱动的拆除机器人系统,并对其几何结构特性和液控系统进行了详细分析,最后通过ADAMS与EASY5的联合仿真,验证了液控系统的有效性。

In the nuclear power station,nuclear facilities and strong radiation risk environment,technology of remote control demolition robot is widely used. The working of robot was monitored in far off distance,regulated and operated through the remote cam-eras,to complete demolition,selecting,remove and transport toxic nuclear waste,and some other high intensity-risk labor. The hy-draulic controlled demolition robot had smaller volume,more force and high mobility,which could be deployed more effectively and rapidly in dangerous environment. Aimed at the requirement of application in radiation environment,the system of demolition robot controlled by hydraulic was developed,and its geometric structural characteristics and hydraulic control system were analyzed in detail. At last,a co-simulation is carried out between ADAMS and EASY5,verifying effectiveness of hydraulic control system.