柔性搬移机器人在辐射环境下的遥控维护应用研究

针对深井辐射环境下移动遥控维护设备种类多,一旦行驶道路上出现障碍物,往往导致移动遥控维护设备无法正常行驶,而工作人员不适宜到达现场清理障碍物。鉴于此,文章提出利用一种柔性搬运机器人代替工作人员进行清理障碍物,保证其他移动遥控维护设备的正常运行;文章基于履带机构设计机器人的移动平台,基于六轴机械手设计机器人的抓取装置。

In view of the fact that there are many kinds of mobile remote control maintenance equipment in the deep well radiation environment, where once there are obstacles on the road, the mobile remote control maintenance equipment is often unable to drive normally, and the staff are not suitable to arrive at the scene to clean up the obstacles, this paper proposes to use a flexible handling robot instead of the staff to clean up obstacles to ensure the normal operation of other mobile remote control maintenance equipment. In this paper, the mobile platform of the robot is designed based on the crawler mechanism, and the grasping device of robot is designed based on six-axis manipulator.