Key Technology Research Of A Counter-current Extraction Cascade Test Automation Device

Extraction test is one of the important test is commonly used in the nuclear industry,some are used in this experiment has certain radioactive or corrosive reagent.In order to avoid these reagent to the environment pollution and the harm of human body,its often puts the glove box.Extraction test operation multifarious,strong repeatability,long duration,and the continuity requirements.If completely by artificial finished this a series of complex continuous test operation,on the one hand glove box operation intensity is larger,on the other hand for a long time to cause a decline in attention will test,operating error rate increases,when the test series is large,manual test is almost impossible.Therefore,this topic for the glove box operation automation requirements,carrying out related technical research.Developed a set of can be extracted in the glove box test automation equipment,to replace the heavy artificial test operations.The main research content of this paper is as follows:(1)Automated extraction experiment research of operation mode.Automatic operation mode is an important part of the whole system design,it determines the efficiency and feasibility of the experiment operation.First opponent work industry in-depth understanding and analysis of the experiment process,then the opponent work task decomposition planning,the process is decomposed into several independent operation,and go into details of each operation part,the feasibility of the plan formulation,and reasonable layout,design of each subsystem,can undertake automation,realize the automatic operation of manual work to transform,improve operation efficiency.(2)Coordination of two rectangular coordinate robot kinematics modeling and planning research.Double rectangular coordinate robot has an important role in the whole system,two robots need separate complete tubes take put,translation and other operations,but also to cooperate to complete screw cap,axial alignment of the tube.Based on these requirements,the need for rectangular coordinate robot kinematics modeling,analysis of robot kinematics equation,and USES the genetic algorithm for trajectory planning,then motion simulation with ADAMS,and using the ANSYS finite element analysis was carried out on the beam.(3)The experimental process modeling research.Counter-current extraction cascade experiment operation process complex,in the actual operation is prone to error operation,affect the process.So need in-depth analysis on the experimental process,combined with the actual operation technology,a mathematical model is set up,based on the actual parameterize description of the process,into a computer model that can be recognized,achieve the goal of automatic control.(4)Automation device prototype design research.Based on the above research work,the prototype of the mechanical system,control system and the visual system carries on the preliminary design,basic realize the automation of countercurrent extraction cascade experimental work.