SUMMARYThe particularity of nuclear power plant environment requires that the nuclear power inspection robot must be remote control operation. The main purpose of the inspection robot is to carry out inspection, prevention, reporting, and safety emergency operation on the instruments, so as to provide guarantee for the safe operation of the nuclear power plant. Based on the representative configuration of nuclear power robot at home and abroad, this paper develops a small and lightweight nuclear power plant inspection robot, including walking mechanism, lifting mechanism, operating mechanism, image acquisition, information communication and control system, etc., to carry on the statics analysis to the key components of the inspection robot and verify that the stiffness and strength of the mechanical structure meet the requirements of lightweight design. Modal analysis is carried out to verify that the motor does not cause resonance when working. The kinematic model of the robot has been established and can provide the theoretical basis for the controller design. A hierarchical control system based on LabVIEW upper computer monitoring and control operation interface is established, which uses adaptive fuzzy Proportional Integral Derivative (PID) control to simulate the walking control, and then realizes the control of walking mechanism through software programming, and the adaptive fuzzy PID control has better effect than the conventional PID control. The S-type acceleration and deceleration algorithm is used to realize the accurate control of the position location of the lifting mechanism. Finally, combined with the experiment of 5MS robot comprehensive experimental platform, it is proved that the inspection robot can realize remote control function operation.

中文翻译：

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核电巡检机器人系统的设计与功能实现

发明内容核电站环境的特殊性要求核电巡检机器人必须远程控制操作。巡检机器人的主要用途是对仪表进行巡检、预防、报告、安全应急等操作，为核电站的安全运行提供保障。本文基于国内外核电机器人的代表性配置，研制了小型轻量化核电站巡检机器人，包括行走机构、升降机构、操作机构、图像采集、信息通信及控制系统等，对巡检机器人关键部件进行静力学分析，验证机械结构刚度和强度满足轻量化设计要求。进行模态分析，验证电机在工作时不会引起共振。建立了机器人运动学模型，可为控制器设计提供理论依据。建立了基于LabVIEW上位机监控操作界面的分层控制系统，采用自适应模糊比例积分微分（PID）控制模拟行走控制，然后通过软件编程实现行走机构的控制，自适应模糊PID控制比传统的PID控制效果更好。采用S型加减速算法，实现对起升机构位置定位的精确控制。最后结合5MS机器人综合实验平台的实验，证明巡检机器人可以实现遥控功能操作。