Design Of Robot End Quick Change Device In Nuclear Radiation Environment

At present,in some nuclear facility decommissioning and nuclear leakage sites,the accidents are mainly carried out by using manipulators or robots without shielding devices for limited operations.Aiming at different nuclear radiation environments,the rapid automatic replacement process of the robot end effector was analyzed and researched,and a robot end quick-change device was designed,including a connecting rod,a built-in hydraulic cylinder,a tapered snap,a connecting shaft,an inner shell The end-effector connector improves the efficiency and reliability of robot end-effector replacement,and on the premise of meeting work requirements,its structure is simple and easy to manufacture.This article first analyzes the existing problems based on the research status of development at home and abroad,and proposes a new quick-change device improvement program.Then introduced the working principle and composition of the robot end effector quick-change device,comprehensively considering the advantages and disadvantages of various transmission methods,initially selected the output drive mode as hydraulic pressure,combined with the mechanical design manual to findrelevant design parameters,the robot is quick The device design and calculation were carried out.Then,based on the design,a schematic diagram of the overall structure of the manipulator is established.The posture analysis of the entire manipulator and each component is carried out.The position vector and posture matrix of each movable component relative to the previous component are obtained,and the manipulator is theoretically analyzed.Movement process.Then establish a three-dimensional model of the quick-change device and the whole manipulator on the three-dimensional software Creo.Through posture analysis,use Creo's mechanism module to simulate and analyze the quick-change device and the tool end and the robot as a whole.Combined with the evaluation of speed and acceleration,it is verified that the quick-change device can complete the docking.Then use Creo's Simulate module to perform stress analysis on the key components of the quick-change device in the locked state,and verify that the material strength requirements are met according to the results of displacement,stress,and strain analysis.Finally,the experimental plan was planned.In this paper,the combination of theory,simulation and stress analysis verifies that the design of the quick-change device meets the requirements,and also lays the foundation for the further optimization design of the quick-change device.