全自主堵板操作机器人系统设计

Autonomous Plugging Plate Operating Robot System

在核电站蒸汽发生器维修期间,为了减少维修人员的劳动强度和辐射时间,设计全自主堵板操作机器人系统来帮助维修人员完成主要管道的全自主密封。该机器人系统包括机器手、两种机器人末端和末端快换装置。提出首先利用图像识别算法定位螺栓中心,然后利用标定算法转换得到定位中心在机器人坐标系下的位置,从而引导机器人完成拧螺栓和抓取堵板的动作。进行了10次抓取堵板和拧螺栓的实验,圆心定位准确率为100%,且都能完成拧螺栓和抓取堵板的动作。实验结果显示,该系统具有较好的应用前景。

During the maintenance of the steam generator of the nuclear power plant,in order to reduce the labor intensity and radiation time of the maintenance personnel,a fully autonomous blocking operation robot system was designed to help the maintenance personnel complete the fully autonomous sealing of the main pipeline.The whole robot system includes a robot,two robot ends and a quick change device for the end.It is proposed to first use the image recognition algorithm to locate the bolt center,and then use the calibration algorithm to convert the position of the positioning center in the robot coordinate system to guide the robot to complete the actions of screwing the bolt and grabbing the blocking plate.The experiments of grabbing the blocking plate and screwing bolts were carried out 10 times,and the accuracy of the center positioning was 100%,and the actions of screwing the bolts and grabbing the blocking plate were all completed.Experimental results show that the system has a good application prospect.