A control system and control method for the movement of a manipulator for inspection of container welds

Abstract

The invention relates to a system and method for controlling the container welding line inspection mechanical arm movement. The system and method is used for inspecting the mechanical arm movement. The problem that in the prior art in China, a method for planning a container welding line inspection mechanical arm movement track is not provided is solved. The inspection machine movement control system is composed of a man-machine interaction subsystem, a power management subsystem, a movement control subsystem and a mechanical arm subsystem. Five inspection tracks including the barrel welding line inspection track, the connecting pipe welding line inspection track, the intersected pipe face welding line inspection track, the intersected pipe circular bead welding line inspection track and the bottom sealing head welding line inspection track are planed and designed, then the container welding line inspection mechanical arm movement track is generated through the five tracks, and the man-machine interaction subsystem enables the movement control subsystem to control a mechanical arm to complete an inspection task according to compact movement points on the container welding line inspection mechanical arm movement track. The system and method are applied to inspection on large-scale high-risk containers in the fields such as nuclear power and chemical engineering.

Description

technical field [0001] The invention relates to a control system and a control method for checking the movement of a manipulator. Background technique [0002] Nuclear energy, chemical industry and other industries have become strategic industries for national economic development. While benefiting mankind, it is accompanied by problems such as ionizing radiation, harmful gas pollution, and nuclear safety that endanger the safety of national life and property. In order to ensure the long-term safe operation of equipment, various technologically developed countries in the world have developed a large number of equipment inspection and maintenance robots, and use robots to replace operators to complete those extremely dangerous tasks in dangerous environments. According to incomplete statistics, hundreds of special robot systems have been developed around the world. With the rapid development of nuclear energy, chemical industry and other industries in the world, high-risk in...

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Problems solved by technology

[0003] With the rapid development of my country's nuclear power, chemical industry and other related industries with large-scale high-risk container equipment, my country's large-scale high-risk container inspection and maintenance technology and equipment with independent intellectual property rights are still very backward, and there is a large lack of guarantees for nuclear power, chemical and other large container equipment Safe operation The necessary inspection and maintenance equipment

At present, the maintenance of large-scale high-risk containers is expensive to purchase or rent special tools and equipment from abroad, which not only causes a lot of economic losses, but also is not conducive to the independent and rapid development of related industries in our country.

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