摘要
针对国产CAP1400系列核电站控制棒驱动机构密集阵列排布特点,创新设计并研发了一种具有刚性体、柔性体和软体一体化运动特征的新型控制棒驱动机构检查机器人。该机器人具有由液压剪叉升降机构、麦克纳姆轮底盘和直线模组组成的刚性推进模块、柔索驱动的连续体主机械臂模块以及气驱动的软体伸缩模块。对柔索驱动的单级关节段连续体柔性臂进行运动学分析并探究多电机协调控制策略,并对气驱动的软体伸缩模块进行了分析与测试;最后,在模拟环境中对该机器人进行功能测试,测试结果表明该机器人的各项功能均达到预期效果。该研究为核环境受限空间中规则密集排布管线检查提供了一种新的解决方案和新型机器人。
According to the characteristics of dense array arrangement of control rod drive mechanism in domestic CAP1400 series nuclear power plants,a new control rod drive mechanism inspection robot with the integrated motion characteristics of rigid body,flexible body and soft body was innovatively designed and developed.The robot has a rigid propulsion module composed of a shear fork lifting mechanism,a mcnamu wheel chassis and a linear module,a flexible cable driven continuous main manipulator module and an air driven soft telescopic module.The kinematics of the continuous main manipulator driven by flexible cable was analyzed,the multi motor coordinated control strategy was explored,and the air driven soft telescopic module was analyzed and tested;finally,the function of the robot was tested in the simulation environment.The test results show that the functions of the robot achieve the expected effect.This study provides a new inspection scheme and a new robot for the inspection of regularly and densely arranged pipelines in the confined space of nuclear environment.
作者
李成佳
臧红彬
刘满禄
张华
杨怀林
张钢
高源
尹强
刘樾
LI Chengjia;ZANG Hongbin;LIU Manlu;ZHANG Hua;YANG Huailin;ZHANG Gang;GAO Yuan;YIN Qiang;LIU Yue(Key Laboratory of Testing Technology for Manufacturing Process of Ministry of Education,Southwest University of Science and Technology,Mianyang 621010,China;School of Information Engineering,Southwest University of Science and Technology,Mianyang 621010,China)
出处
《现代制造工程》
CSCD
北大核心
2022年第7期29-36,162,共9页
Modern Manufacturing Engineering
基金
国家科技重大专项课题项目(2019ZX06002022)
四川省科技计划重点研发项目(2022YFG0240)。
