【摘要】：近年來,我國加快了核電站建設(shè)的腳步,與此同時(shí),所產(chǎn)生的核廢料也與日俱增。核廢料處理成為了核電站工業(yè)工程的一個(gè)重要課題。水泥固化線是核廢料處理的作業(yè)流水線,其中自動開封蓋機(jī)器人是水泥固化線的核心組成部分。但是目前國內(nèi)絕大多數(shù)核電站的自動開封蓋機(jī)器人都是由國外購得,難以掌握其核心技術(shù)并且維護(hù)周期長,維修成本高。為了打破行業(yè)壟斷,擁有自動開封蓋機(jī)器人的知識產(chǎn)權(quán),中國廣東核電集團(tuán)和電子科技大學(xué)聯(lián)合研發(fā)了本文所述自動開封蓋機(jī)器人,用于完成對存放低放射性廢物的金屬桶的開蓋和封蓋,工藝流程復(fù)雜,自動化和智能化要求高,需在規(guī)定時(shí)間內(nèi)完成全自動開封蓋流程。本課題以自動開封蓋機(jī)器人原理樣機(jī)的研制為基礎(chǔ),通過解決核心技術(shù)問題,形成知識產(chǎn)權(quán),為后續(xù)工程樣機(jī)的研制提供有力支持,同時(shí)提高大型成套設(shè)備的自主設(shè)計(jì)能力。該裝置主要由存放模塊、支架模塊、平動模塊、升降模塊、旋轉(zhuǎn)模塊五個(gè)模塊組合構(gòu)成,各個(gè)子模塊通過通用接口進(jìn)行組合;能夠完成空間X/Y/Z和繞Z軸的旋轉(zhuǎn)運(yùn)動4自由度運(yùn)動,實(shí)現(xiàn)金屬桶中心、螺栓和螺栓孔等精確定位功能。本文首先對自動開封蓋流程進(jìn)行分析,對總體方案進(jìn)行設(shè)計(jì),解決技術(shù)難點(diǎn)。同時(shí)將模塊化理念應(yīng)用于開封蓋機(jī)器人中,把系統(tǒng)劃分為各個(gè)功能模塊,并加以組合,完成動力系統(tǒng)、執(zhí)行系統(tǒng)、傳動系統(tǒng)、控制系統(tǒng)設(shè)計(jì)。然后,采用Pro/E三維建模軟件進(jìn)行結(jié)構(gòu)設(shè)計(jì),對比現(xiàn)有擰緊軸產(chǎn)品的優(yōu)缺點(diǎn),進(jìn)行創(chuàng)新設(shè)計(jì),提高了擰緊軸的誤差冗余度和適應(yīng)性;借助Pro/E和ANSYS軟件接口完成數(shù)據(jù)交換,對主要核心部件進(jìn)行有限元分析,保證結(jié)構(gòu)可靠性。最后,完成系統(tǒng)組裝和調(diào)試后,進(jìn)行系統(tǒng)試驗(yàn),對裝置的性能參數(shù)、局部功能和整體功能進(jìn)行檢測,并進(jìn)行可靠性測試。本文已完成自動開封蓋機(jī)器人機(jī)械設(shè)計(jì)、加工及軟件設(shè)計(jì),現(xiàn)處于系統(tǒng)可靠性測試階段。
[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.
【學(xué)位授予單位】：電子科技大學(xué)
【學(xué)位級別】：碩士
【學(xué)位授予年份】：2014
【分類號】：TL941;TP242

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本文編號：2421641