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Design of UO2 Raw Material Drum Opening Robot Based on Visual Inspection
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Shuiming WANG1, Jieheng LEI2, Yaxiong LIAO2, Zeyong LEI1
Uranium Mining and Metallurgy | 2025, 44(2) : 89 - 98
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Uranium Mining and Metallurgy | 2025, 44(2): 89-98
• MINING AND HYDROMETALLURGY •
Design of UO2 Raw Material Drum Opening Robot Based on Visual Inspection
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Shuiming WANG1, Jieheng LEI2, Yaxiong LIAO2, Zeyong LEI1
Affiliations
  • 1 School of Mechanical Engineering, University of South China, Hengyang 421001, China
  • 2 School of Electrical Engineering, University of South China, Hengyang 421001, China
Published: 2025-05-20 doi: 10.13426/j.cnki.yky.2024.09.08
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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 accurate 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.

uranium dioxide  /  raw material drum  /  STM32  /  critical point detection  /  inverse kinematics  /  robotics
Shuiming WANG, Jieheng LEI, Yaxiong LIAO, Zeyong LEI. Design of UO2 Raw Material Drum Opening Robot Based on Visual Inspection[J]. Uranium Mining and Metallurgy, 2025 , 44 (2) : 89 -98 . DOI: 10.13426/j.cnki.yky.2024.09.08
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Year 2025 volume 44 Issue 2
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doi: 10.13426/j.cnki.yky.2024.09.08
  • Receive Date：2024-09-18
  • Online Date：2025-07-04
  • Published：2025-05-20
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  • Received：2024-09-18
Affiliations
    1 School of Mechanical Engineering, University of South China, Hengyang 421001, China
    2 School of Electrical Engineering, University of South China, Hengyang 421001, China
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表12种不同金属材料的力学参数
科
Family		 属数
Number of
genus		 种数
Number of
species		 占总种数比例
Percentage of
total species (%)		 属
Genus		 种数
Number of
species		 占总种数比例
Percentage of total
species (%)
鹅膏菌科Amanitaceae 2 11 5.26 鹅膏菌属 Amanita 10 4.78
小菇科 Mycenaceae 2 12 5.74 丝盖伞属 Inocybe 5 2.39
多孔菌科 Polyporaceae 8 14 6.70 蜡蘑属 Laccaria 5 2.39
红菇科 Russulaceae 3 23 11.00 小皮伞属 Marasmius 6 2.87
小菇属 Mycena 11 5.26
光柄菇属 Pluteus 5 2.39
红菇属 Russula 17 8.13
栓菌属 Trametes 5 2.39
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