Multifunctional actuator for nuclear power plant operation and control method thereof

Abstract

The invention belongs to robot equipment used for a nuclear power plant, and particularly relates to a multifunctional actuator for nuclear power plant operation and a control method thereof. An actuating mechanism consists of a base, a three-joint five-degree of freedom mechanical arm, a square claw plate and four switchable mechanical hands arranged on the claw plate; and a plurality of cameras and sensors are arranged on the actuating mechanism; and with the adoption of the sensors and a control system, switching, locking and positioning operations of the four mechanical hands and obstacle avoidance and action planning of the mechanical arm can be realized. The actuator can realize integral operation of various high-risk tasks such as search, pollution discharge, recycling, and equipment maintenance of objects under nuclear radiation environment, thereby realizing intelligent autonomous operation under the nuclear environment.

Description

technical field [0001] The invention belongs to robot equipment for nuclear power plants, in particular to a multifunctional actuator for nuclear power plant operations and a control method thereof. Background technique [0002] Because of its low fuel cost, less air pollution, and large energy generation, nuclear power generation has been paid attention to and actively researched and developed by countries all over the world. At present, there are more than 440 nuclear power reactors in operation in the world, with a total installed capacity of more than 387 gigawatts, and nuclear power generation accounts for 17% of the total power generation. In my country, the Party Central Committee and the State Council have always attached great importance to the development of nuclear power. Since the 16th National Congress of the Communist Party of China, in order to promote the development of nuclear power, the central government has determined the policy of "actively promoting th...

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Problems solved by technology

[0005] In order to solve the problems of single operation of nuclear power plant maintenance manipulators, multi-manipulators cannot intelligently switch and position and maintain according to tasks, the present invention designs a multi-function actuator for nuclear power plant operations equipped with 4 manipulators and its control method, which can be used in nuclear radiation environments. Independently perform integrated operations on multiple high-risk tasks such as object search, sewage discharge, recovery, and equipment maintenance

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