核电站蒸汽发生器维修机器人控制系统设计  

Design of maintenance manipulator control system for steam generator in nuclear power plant

作　　者：赵阿朋 王雪竹 张美玲 康林清 樊继壮[2] ZHAO Apeng;WANG Xuezhu;ZHANG Meiling;KANG Linqing;FAN Jizhuang(China Nuclear Power Research Institute Co.,Ltd,Shenzhen 518000,China;School of Mechatronics Engineering,Harbin Institute of Technology,Harbin 150008,China)

机构地区：[1]中广核研究院有限公司,广东深圳518000 [2]哈尔滨工业大学机电工程学院,哈尔滨150008

出　　处：《哈尔滨商业大学学报（自然科学版）》2023年第4期387-397,共11页Journal of Harbin University of Commerce：Natural Sciences Edition

基　　金：国家自然科学基金重点项目(U2013214)。

摘　　要：针对一种用于核电站蒸汽发生器水室内辅助检修任务的6自由度作业机械臂,对其控制系统和运动轨迹规划进行设计研究.分析作业机械臂的工作环境和检修任务需求,设计了机器人的控制系统;对作业机械臂进行关节空间轨迹规划和笛卡尔坐标系轨迹规划,实现作业机械臂的点对点运动和连续路径运动,并利用深度相机和霍夫变换圆检测原理实现作业机械臂末端对管板圆孔的定位;对作业机械臂进行了轨迹规划运动实验和圆孔定位实验,结果表明,作业机械臂能够实现直线、圆弧轨迹运动和管板圆孔识别定位,满足蒸汽发生器的全方位检修要求.According to the requirements of auxiliary maintenance tasks in the steam generator water chamber of the nuclear power plant,the trajectory planning of the maintenance manipulator of the steam generator in the nuclear power plant was carried out,and the circular holes of the steam generator tube plate were identified and positioned.The working environment and maintenance task requirements of the operating manipulator were analyzed;the joint space trajectory planning and Cartesian coordinate system trajectory planning were carried out for the working manipulator to realize the point-to-point motion and continuous path motion of the working manipulator,and the positioning of the end of the working manipulator to the tube plate circular hole was realized by using the depth camera and Hough transform circle detection principle;the trajectory planning movement experiment and circular hole positioning experiment were carried out for the working robot arm.The results showed that the working robot arm can realize linear and circular arc trajectory movement and tube plate circular hole identification and positioning,and met the requirements of all-round maintenance of the steam generator.

关 键 词：蒸汽发生器 水室检修 机械臂 控制系统 轨迹规划 圆孔识别 

分 类 号：TH242[机械工程—机械制造及自动化]