核工业自动开封盖机器人机械系统设计与实现

发布时间：2019-02-13 14:25

【摘要】：近年来,我国加快了核电站建设的脚步,与此同时,所产生的核废料也与日俱增。核废料处理成为了核电站工业工程的一个重要课题。水泥固化线是核废料处理的作业流水线,其中自动开封盖机器人是水泥固化线的核心组成部分。但是目前国内绝大多数核电站的自动开封盖机器人都是由国外购得,难以掌握其核心技术并且维护周期长,维修成本高。为了打破行业垄断,拥有自动开封盖机器人的知识产权,中国广东核电集团和电子科技大学联合研发了本文所述自动开封盖机器人,用于完成对存放低放射性废物的金属桶的开盖和封盖,工艺流程复杂,自动化和智能化要求高,需在规定时间内完成全自动开封盖流程。本课题以自动开封盖机器人原理样机的研制为基础,通过解决核心技术问题,形成知识产权,为后续工程样机的研制提供有力支持,同时提高大型成套设备的自主设计能力。该装置主要由存放模块、支架模块、平动模块、升降模块、旋转模块五个模块组合构成,各个子模块通过通用接口进行组合;能够完成空间X/Y/Z和绕Z轴的旋转运动4自由度运动,实现金属桶中心、螺栓和螺栓孔等精确定位功能。本文首先对自动开封盖流程进行分析,对总体方案进行设计,解决技术难点。同时将模块化理念应用于开封盖机器人中,把系统划分为各个功能模块,并加以组合,完成动力系统、执行系统、传动系统、控制系统设计。然后,采用Pro/E三维建模软件进行结构设计,对比现有拧紧轴产品的优缺点,进行创新设计,提高了拧紧轴的误差冗余度和适应性;借助Pro/E和ANSYS软件接口完成数据交换,对主要核心部件进行有限元分析,保证结构可靠性。最后,完成系统组装和调试后,进行系统试验,对装置的性能参数、局部功能和整体功能进行检测,并进行可靠性测试。本文已完成自动开封盖机器人机械设计、加工及软件设计,现处于系统可靠性测试阶段。
[Abstract]:In recent years, China has accelerated the pace of nuclear power plant construction, at the same time, the generation of nuclear waste is also increasing. Nuclear waste disposal has become an important subject in nuclear power plant industrial engineering. Cement curing line is an assembly line for nuclear waste treatment, in which automatic sealing cover robot is the core component of cement curing line. But at present, most of the automatic open cover robots in domestic nuclear power plants are purchased by foreign countries, so it is difficult to master its core technology, and the maintenance period is long, and the maintenance cost is high. In order to break the monopoly of the industry and possess the intellectual property rights of the automatic open cover robot, Guangdong Nuclear Power Group of China and the University of Electronic Science and Technology jointly developed the automatic open cover robot described in this paper. It is used to open and seal metal drums for storing low radioactive waste. The process is complicated, automation and intelligence is required, and the automatic sealing process should be completed within the specified time. This subject is based on the development of the prototype of the automatic open cover robot. By solving the core technical problems and forming intellectual property rights, this project can provide strong support for the development of the follow-up prototype, and at the same time, improve the independent design ability of the large-scale complete set of equipment. The device is composed of five modules: storage module, support module, translational module, lifting module and rotation module, and each sub-module is combined through general interface. It can accomplish the motion of 4 degrees of freedom in space X/Y/Z and rotation around Z axis, and realize the accurate positioning function of metal barrel center, bolt and bolt hole. In this paper, the process of automatic opening cover is analyzed, and the overall scheme is designed to solve the technical difficulties. At the same time, the idea of modularization is applied to Kaifeng cover robot. The system is divided into various functional modules and combined to complete the design of power system, execution system, transmission system and control system. Then, the Pro/E 3D modeling software is used to design the structure. Comparing the advantages and disadvantages of the existing tightening shaft products, the innovative design is carried out to improve the error redundancy and adaptability of the tightening shaft. With the help of Pro/E and ANSYS software interface, the data exchange is completed, and the finite element analysis of the main core components is carried out to ensure the reliability of the structure. Finally, after the system is assembled and debugged, the system tests are carried out, and the performance parameters, local functions and overall functions of the device are tested, and the reliability tests are carried out. This paper has completed the mechanical design, machining and software design of the automatic open cover robot, and is now in the stage of system reliability testing.
【学位授予单位】：电子科技大学
【学位级别】：硕士
【学位授予年份】：2014
【分类号】：TL941;TP242

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