The Mechanical Structure Design And Research Of Video Inspection Climbing Robot Used In Steam Generator

Climbing robot is an important branch of robotics, playing an more and more importantrole in some dangerous areas, such as aviation, oil, fire protection, building, nuclear powerand other fields. These areas will have more intelligent climbing robots to replace humanservice work. This article is based on video inspection for the steam generator pipes whichhave the most frequent accidents. The steam generator pipes’ rupture caused a large number ofsecurity incidents. The nuclear radiation effects not only endanger human body health, butalso can cause the whole country’s large area power loss. Therefore, it’s necessary to regularlycheck the operation condition of the pipes, which can effectively reduce the manpower loss.Paper first studied the climbing robot’s research status at home and abroad. Then thesteam generator and the internal pipes’ structure are studied. Based on above researches, weadvanceed the design requirements of the robot. Permanent magnet wheel adsorption schemewas proposed, and choose motor driver. After adsorption and driving scheme were determined,according to the working space of robot, the important components’ reasonable positions weredesigned, including fill light, infrared distance sensor, lower machine control circuit board,etc., striving to minimum space size. After walking robot adopts permanent magnet wheeladsorption scheme, the minimum robot adsorption force requirement was calculated underfive kinds conditions of robots. At last, through the simulation optimization, select rationalstructure to maximum the steam generator flux. Through simulation and experiments, ensurethat the robot adsorption force meet the minimum requirements. Fix telescopic arm onthe rotating partment of ontology, and telescopic arm has a retractable flexible rod, whoserole is to deliver flexible pole head camera to different location of the pipes. Flexible rod is animportant component, having certain straight load-bearing capacity, having a certain fatiguerequirements, and completing a certain number of telescopic inspection requirements. It hasrelations with the width and the thickness of the flexible rod. The size of the flexible rod wasoptimized by simulation test, which also have a role to test its bending fatigue resistance.After determining the structure of ontology, magnetic wheel structure, and telescopic boomstructure scheme, the robot drive torque size and the robot posture angle relationship was analyzed in two main motion (linear movement and turning movement). According to themaximum driving moment and safety coefficient, maxon motors were selected. Finally thefunction of the solution was determined by the test trial production.