遥操作焊接机器人辐射防护研究

Research on Radiation Protection of Teleoperated Welding Robot

机器人遥操作技术可以充分发挥机器人的执行能力,其稳定性好,然而,人机交互过程复杂,需要远端传感信息的及时反馈,才能实现机器人遥操作技术的很好完成。本文通过对伺服电机、立体视觉显示系统、激光测距传感器、激光跟踪传感器、AGV车、激光雷达、角磨机、电主轴、电磁阀9项装置进行辐射环境下传感测试,并对设备的辐射防护性能进行了试验验证。研究发现,在10mSv/h的辐射环境下,无需辐射防护也可完成预期功能;立体视觉显示系统、AGV车具备一定的抗辐射能力,制造遥操作修复设备时建议进行辐射防护后使用;激光跟踪传感器不具备抗辐射能力,辐射环境对该部件影响极大,使用时必须搭配辐射防护装置;以延长部件使用寿命1倍为目标,对视觉传感系统进行了辐射防护系统设计,通过理论分析完成了辐射防护材料选择和厚度选择;通过钴60源模拟现场实际环境,对设备耐辐射能力进行了实验验证,验证结果与理论预测一致,辐射防护可靠有效。

The robot teleoperation technology can give full play to the robot's executive ability and has good stability.However,the human-computer interaction process is complex,and timely feedback of remote sensing information is needed to achieve a good robot teleoperation technology.In this paper,nine devices including servo motor,stereo vision display system,laser ranging sensor,laser tracking sensor,AGV vehicle,laser radar,Angle grinder,motorized spindle and solenoid valve are tested under radiation environment,and the radiation protection performance of the equipment is tested and verified.It is found that the expected function can be achieved without radiation protection at a radiation environment of 10mSv/h.Stereo vision display system and AGV vehicle have certain anti-radiation ability,it is recommended to use after radiation protection when manufacturing teleoperation repair equipment.Laser tracking sensor does not have the ability of radiation resistance,radiation environment has a great impact on this part,must be used with radiation protection device.With the aim of extending the service life of the parts to one time,the radiation protection system was designed for the visual sensing system,and the selection of radiation protection materials and thickness was completed through theoretical analysis.By simulating the actual field environment with cobalt-60 source,the radiation resistance capability of the equipment is verified by experiments.The verification results are consistent with the theoretical prediction,and the radiation protection is reliable and effective.