The Development of Onsite-Automatic-Optical Inspection System with Robot for Complex Parts of Nuclear Main Pump

doi:10.3901/JME.2020.13.179

Abstract

Abstract: It is effective method to deal with the problem of poor reliability and potential nuclear radiation from artificial maintenance, by using robot onsite-optical inspection system to calculate Flange seal profile error and identify surface detection. However, how to generate scanning path without interference, perform multiple measuring data fusion and calculate the profile error are the main challenges. This paper designs a robot onsite-automatic-optical inspection system with 6 degrees of freedom motion, which has 200 mm×160 mm~800 mm×640 mm measuring range, 400~800 mm measuring depth and 1 200 mm motion radius. The method of hand-eye calibration matrix calculation and scanning pose optimization is investigated, and the required scanning station as well as robot motion path is generated according to a global measuring requirement of the Flange seal profile. Following that, the method of the measuring data fusion and profile error calculation for Flange profile structure is proposed, and a RobotScan software is developed with the functional of robot measuring path control, point cloud pre-processing, 3D matching with chromatography display, profile error calculation and inspection report output. Finally, the accuracy of robot inspection system is tested according to the German VDI/VDE standard, the maximum deviations and absolute deviations of single-sphere diameter/double-ball center distance are within 0.025 mm and 0.02 mm respectively, which can meet the onsite-automatic-optical inspection requirement of complex parts of nuclear main pump.

Key words: complex part of nuclear main pump, robot optical inspection, scanning pose optimization, measuring data fusion, robot scan software

CLC Number:

TP29

LI Wenlong, LI Zhongwei, MAO Jincheng, WANG Gang. The Development of Onsite-Automatic-Optical Inspection System with Robot for Complex Parts of Nuclear Main Pump[J]. Journal of Mechanical Engineering, 2020, 56(13): 179-191.

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