核电站蒸汽发生器智能维修机器人设计与研究  

Design and Research of Intelligent Maintenance Robot for Steam Generator in Nuclear Power Plant

作　　者：张美玲 骆研 陈高铭 邓志燕 刘超[2] 熊振华[2] ZHANG Mei-ling;LUO Yan;CHEN Gao-ming;DENG Zhi-yan;LIU Chao;XIONG Zhen-hua(China Nuclear Power Technology Research Institute,Shenzhen 518000,China;School of Mechanical Engineering,Shanghai Jiao Tong University,Shanghai 200240,China)

机构地区：[1]中广核研究院有限公司,深圳518000 [2]上海交通大学机械与动力工程学院,上海200240

出　　处：《科学技术与工程》2023年第22期9559-9566,共8页Science Technology and Engineering

基　　金：黑龙江省自然科学基金(LH2020D007);国家自然科学基金(41274132)。

摘　　要：蒸汽发生器和稳压器是核电站安全运行的关键设备,国外发生过多起因其缺陷而引发的安全事故。针对常见蒸汽发生器人孔咬死的异常缺陷问题,设计了一种核电站蒸汽发生器人孔咬死螺栓处理的智能维修机器人设备,包括行走单元、姿态调节单元、角度调节单元、镗铣单元、控制系统和视觉单元,并提出一种基于法兰盘螺栓孔图像特征的视觉伺服引导方案。为了实现对核电站用蒸汽发生器人孔咬死螺栓的自动化处理,设计了多自由度调节系统结构,并进行运动学建模,通过极限状态设备稳定分析验证了设备稳定性。为有效定位并贴合咬死螺栓目标,设计了智能定位系统,完成了设备自动调整。现场实验表明:采用该多自由度调节机械结构设计,移动平台重复定位精度可达±1 mm,末端法兰贴合精度可达±1 mm内,设备末端贴合效率为人工效率的3~4倍。Steam generator and voltage regulator are the key equipments related to the safe operation of nuclear power plant,whose defects caused many safety accidents in some countries.To deal with the steam generator manhole bite dead abnormal defects,a nuclear steam generator intelligent maintenance robot manhole bite dead bolt treatment equipment was firstly designed,which is composed of walking,posture adjustment,angle adjustment,boring and milling unit,control system and visual unit.Then a visual servo guided strategy based on flange bolt hole image characteristics was put forward.In order to realize the automatic processing of manhole bolts of the steam generator used in nuclear power plant,a multi-degree of freedom regulating system structure was designed and kinematic modeling was carried out.The stability of the proposed equipment was verified by analyzing the limit state of equipment.In order to effectively locate and fit the target of killing bolt,an intelligent positioning system is designed and its automatic adjustment of the equipment is completed.Experiments were implemented and their results show that the repeated positioning accuracy of the mobile platform can reach±1 mm,the fitting accuracy of the end flange can reach within±1 mm,and the fitting efficiency of the end of the equipment is 3~4 times of the manual efficiency.

关 键 词：蒸汽发生器 人孔咬死螺栓处理 智能机器人 多自由度智能调节系统 运动学建模 视觉伺服控制 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]