Mechanical System Design Implementation Of Automatic Bolt Tightening Robot In Radiation In Radiation Environment

For the past few years, Chinese nuclear power plants have increased rapidly, meanwhile nuclear waste has the same situation. Therefore, nuclear waste disposal becomes an important subject of the nuclear power plant industry. Cement solidification line is the operating line of nuclear waste disposal, and automatic bolt tightening robot is the core part of the cement solidification line. Most of the domestic automatic bolt tightening robots are imported, thus, there exist some problems like technical monopoly, long maintenance cycle, high maintenance cost and so on. For the purpose of owning independent intellectual property, CGN and UESTC have developed an automatic bolt tightening robot cooperatively. This robot is used to open and lid the cap of the metal bucket fulfilled nuclear waste and cement. It is high intelligent and can complete the mission accurately and efficiently.Based on the development of the automatic bolt tightening robot prototype, the key technical issues have been solved and independent intellectual properties have been obtained. This is the foundation of large-sized complete sets of equipments independent design. This robot consists of placing block, bracket block, translation block, rising and dropping block and rotating block, and all the blocks connect each other via universal interface. This robot has three dimensional space translation freedom and a rotation freedom, and by means of these freedoms and sensors this robot can realize bucket location, bolt location, bolt hole location and so on.Firstly, this paper designed the overall plan and solved the key technical issues via analysing the working process of the automatic bolt tightening robot. Modular design has been adopted in the robot design as decomposing the robot system as drive module, actuator module, transmission module and control module. Secondly, the mechanical structure has been designed by Pro/E. Some innovations has been developed to enhance the flexibility and the adaptability of the bolt tightening shaft. The reliability has been guaranteed by finite element analysis of the core components through ANSYS. Last, after the system assembling and debugging, the robot performance has been tested.This paper has completed the robot mechanical design, software design, and now the system reliability test is going on.