核电站蒸汽发生器智能维修机器人设计与研究

蒸汽发生器和稳压器是关系到核电站安全运行的关键设备，国外发生过多起因蒸汽发生器和稳压器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等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±1mm，末端法兰贴合精度可达±1mm内，设备末端贴合效率为人工效率的3~4倍。

Design and Research of intelligent maintenance robot for steam generator in nuclear power plant

Steam generator and voltage regulator are the key equipment related to the safe operation of nuclear power plant. Many safety accidents caused by the defects of steam generator and voltage regulator have occurred abroad. For common steam generator manhole bite dead abnormal defects, we design a nuclear steam generator intelligent maintenance robot manhole bite dead bolt treatment equipment, including walking, posture adjustment unit, Angle adjustment units, boring and milling unit, control system and visual unit, and put forward a kind of visual servo based on flange bolt hole image characteristics such as guide. In order to realize the automatic processing of the 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 equipment was verified by the stability analysis of the limit state equipment. In order to effectively locate and fit the target of killing bolt, an intelligent positioning system is designed and automatic adjustment of the equipment is completed. The field experiments show that the repeated positioning accuracy of the mobile platform can reach ±1mm, the fitting accuracy of the end flange can reach within ±1mm, and the fitting efficiency of the end of the equipment is 3~4 times of the manual efficiency.