焊缝检测机器人送入装置及控制系统的设计

Design of Transport Device and Its Control System for Weld-Inspection Robot in AP1000

目前国内对于核电站蒸汽发生器接管焊缝检测还处于人工阶段,而检测过程中对于工人的保护又迫在眉睫。本文针对之前设计的焊缝检测机器人,根据现场工况,设计了送入装置并将其模块化,方便进行快速装配以节省安装时间;再对其快速装配的实现做了简单的介绍;最后设计了送入装置的控制系统,并利用仿真验证了其可行性。

At present, the inspection of connecting weld on Steam Generator (SG) is still in the artificial stage while the protection of workers in the testing process is imminent. In this paper, a transport device for Weld-inspection Robot is designed based on field conditions. By using modular design, the device can be assembled quickly to save installation time. Then the realization of rapid assembly is briefly introduced. Finally, the control system of transport device is designed and its feasibility is verified by simulation.