反应堆压力容器密封面并联检测机器人控制系统的研究

摘要

In order to inspect the sealing surface of reactor pressure vessel automatically in nuclear power plant, based on the computer control technology, the method of robot visual detection and confocal white light measurement are used the trajectory planning and the control algorithm of the robot detection and location are studied, a control system for the reactor pressure vessel sealing surface inspection parallel robot is designed, the automatic positioning and detection of scratch areas on pressure vessel sealing surface after grinding and polishing treatments is realized, and width and depth of the scratch are measured. Experimental veriifcation shows that it can detect 0.10mm width and 0.02mm deep scratches, and successfully applies in nuclear power plant, and provides accurate information for the maintenance of the reactor pressure vessel sealing surface.%为了对核电厂反应堆压力容器密封面进行自动检测，以工业计算机为控制器，采用机器人视觉检测与白光共焦光学测量的方法，研究了机器人检测与定位的轨迹规划和运动控制算法，设计了一种反应堆压力容器密封面并联检测机器人的控制系统，实现了对打磨抛光处理后的压力容器密封面划痕区域进行自动定位和检测，并对划痕的宽度和深度进行测量。试验表明，它可以检测约0.10mm宽度及0.02mm深度的划痕，为反应堆压力容器密封面的维护提供了准确信息。