铀矿冶2025，Vol.44Issue(2)：89-98,10.DOI:10.13426/j.cnki.yky.2024.09.08
基于视觉检测的二氧化铀原料桶开盖机器人设计
Design of UO2 Raw Material Drum Opening Robot Based on Visual Inspection
王水明 1雷洁珩 2廖亚雄 2雷泽勇1
作者信息
- 1. 南华大学机械工程学院,湖南衡阳 421001
- 2. 南华大学电气工程学院,湖南衡阳 421001
- 折叠
摘要
Abstract
In the process of uranium dioxide hydrofluorination in the uranium conversion workshop,the opening and feeding of uranium dioxide raw material drums need to be operated manually,in order to reduce the risk of radiation exposure of the operators,the design of the handwheel lid opening robot control system for uranium dioxide raw material drums.The system adopts STM32F407IG series as the main control chip,and uses USB communication module to communicate with the servo motor of the robot arm for the motion control of the robot arm;proposes and adopts the robot arm positioning method based on the combination of key point detection and robot inverse kinematics to realize the ac-curate positioning and smooth switching of the robot on the handwheel lid of the uranium dioxide raw material drum;at the same time,designs the monitoring and control interface of the upper computer.Experiments show that the robot can complete the identification and localization of the handwheel well,and the mechanical gripper can smoothly insert into the spokes of the handwheel and rotate as required.关键词
二氧化铀/原料桶/STM32/关键点检测/逆运动学/机器人Key words
uranium dioxide/raw material drum/STM32/critical point detection/inverse kinematics/robotics分类
信息技术与安全科学引用本文复制引用
王水明,雷洁珩,廖亚雄,雷泽勇..基于视觉检测的二氧化铀原料桶开盖机器人设计[J].铀矿冶,2025,44(2):89-98,10.
