Nuclear operation and maintenance robot shaft hole assembling method based on man-machine cooperation

Abstract

The invention provides a nuclear operation and maintenance robot shaft hole assembling method based on man-machine cooperation, and belongs to the technical field of industrial robots. A slave end mechanical arm is controlled by a master end mechanical arm to rotate a pin in a gap area of the center of a hole; the pin at the tail end of the slave end mechanical arm makes contact with a plane wherethe hole is located, and adjusting is carried out on the pose of the pin through data returned by a torque sensor in real time; and pose information of the pin and information of the torque sensor are acquired, and the pin is pushed to be inserted into the hole by utilizing a depth deterministic strategy gradient network of continuous action, and then nuclear operation and maintenance robot shafthole assembly based on man-machine cooperation is finished. In order to reduce the radiation dosage borne by operation and maintenance personnel and improve the operation and maintenance efficiency,robot intelligence and human intelligence are fully combined through the method; the reliability of the operation process is enhanced by utilizing experience knowledge of people, and it is guaranteedthat the risk is controllable; and meanwhile, the robot autonomously acts in a local area by utilizing an artificial intelligence algorithm.

Description

technical field [0001] The invention belongs to the technical field of industrial robots, and in particular relates to a method for assembling a shaft hole of a nuclear operation and maintenance robot based on human-machine cooperation. Background technique [0002] The assembly process of robots in nuclear power plants is in an unstructured environment, and there are many uncertainties in its operating environment. Traditional control methods cannot solve the problem well. Traditional control methods perform assembly tasks by teaching the robot to define the key positions and motions of the target using a control box called a "teach pendant." However, this method of online programming usually consumes a lot of time. Even after the programming is completed, due to changes in the production environment, it still takes a long time to adjust the parameters used to deploy the robot in the new environment, so it is not suitable for Shaft bore assembly tasks in a nuclear power pl...

AI Technical Summary

Problems solved by technology

[0005] Aiming at the above-mentioned deficiencies in the prior art, the present invention provides a nuclear operation and maintenance robot shaft hole assembly method based on human-machine cooperation, which solves the problems of complex working environment, high radiation dose, heavy manual operation tasks and problems in nuclear power plants. Human error may cause more serious accidents and other features of the shaft hole assembly problem

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