摘要
异物对核电站的安全生产和运行造成严重威胁,特别是对于核电站堆芯支撑板上方区域的异物,传统异物抓取机器人和工具不可达。针对该复杂空间结构,提出一种基于机械臂运动和摄像机视觉引导的异物抓取方案,机械臂采用三关节的特殊构型设计,由传动箱、三关节手臂、手爪组成。通过手臂升降、旋转、偏转运动结合628个下栅格板孔实现复杂空间运动全覆盖;通过手臂运动到位后手爪开合动作实现异物抓取;设计定位结构保证机械臂与下栅格板相对固定,同时使机械臂避开下栅格板上障碍物。基于上述结构,机械臂可以满足定位可靠、密封防水、小尺寸限制且抓取多种类型异物的要求。设计、加工制造和测试了一套针对复杂空间的异物抓取机械臂,经过在模拟体上多工况异物抓取试验验证了所提出方案的可行性,机械臂可以安全、可靠的抓取支撑板上方异物。异物抓取机械臂提高了异物清除的覆盖范围,完善了核电站水下异物抓取技术。
Foreign bodies pose serious threat to the safety production and operation of nuclear power plant,especially the foreign bodies on the support plate of reactor core,which beyond the coverage of the grasping robots and tools.By analyzing the complex area structure,a new foreign bodies grasping solution is carried out based on the mechanical arm movement and visual guidance of video camera.The special structure of the three joint is applied in grasping mechanical arm design,the grasping arm consist of the transmission box,three-joint arm,gripper.Full coverage of the complex region is achieved by the arm movement of rotation,rise and fall,deflection and through the 658 lower grid plate holes.The foreign bodies grasping is achieved by gripper open and close after the arm move to the targets.The position fixed structure is set to ensure the fixation between the mechanical arm and the grid plate without interfering the grid plate.Based on the above structure,the demands of grasping different foreign bodies is met with reliable positioning,sealed waterproof and small size restriction.A set of grasping mechanical arm for the complex region has been designed,manufactured andtested.By the foreign bodies grasping test under different conditions on the model,the solution has been proved to be practicable,and the arm is safe and reliable to grasp the foreign bodies on the lower support plate.The coverage rates of foreign bodies grasping is improved by the grasping arm,which perfect the underwater grasping technology of nuclear power plant.
作者
胡鑫
杨斌
刘涛
杜林宝
胡娜
HU Xin;YANG Bin;LIU Tao;DU Lin-bao;HU Na(China Nuclear Power Operation Technology Co.,Ltd.,Wuhan,Hubei Prov.430223,China)
出处
《中国核电》
2020年第2期171-176,共6页
China Nuclear Power
关键词
核电
异物抓取
机械臂
三关节
水下
nuclear power
foreign bodies grasping
mechanical arm
three-joint
underwater
