| As a kind of clean new energy,nuclear energy is more and more widely used.In order to ensure the safe operation of nuclear power plants,the equipment in nuclear power plants must be inspected in time.However,the working conditions of nuclear power plants are bad and nuclear radiation is harmful to humans.Therefore,nuclear power inspection robots have been developed.Replacing human beings in nuclear power plant inspection work has always been an important topic for researchers at home and abroad.This subject comes from the Development Fund of the School of Mechanical and Electrical Engineering of Harbin Engineering University.The purpose is to develop a nuclear power inspection robot that can detect the internal equipment of nuclear power plants and perform emergency operations.The main research contents of this paper are as follows:Firstly,the research status and significance of nuclear power special robots at home and abroad are explained,and the main research idea is for the purpose of inspection,combined with the design indicators and working environment of nuclear power inspection robots,and the overall structure design of the robot after completion,including the design based on Mecanum The wheel walking mechanism,the lifting platform mechanism based on the parallel four-bar mechanism,the manipulator mechanism based on the manipulator,and the spring-damper-based vibration damping suspension mechanism lay the foundation for the subsequent motion analysis and vibration analysis.Secondly,a static analysis of the key components is carried out to verify that the key structure meets the strength requirements.Researched and analyzed the kinematics and dynamics characteristics of the nuclear power inspection robot,and established the forward and inverse kinematics equations,and the forward and inverse dynamics equations were simulated in Adams.Based on the excitation of road roughness displacement,a two-degree-of-freedom vibration equation is established,solved in mathematical software,and simulated in Adams.The simulation and theoretical values of longitudinal acceleration and longitudinal displacement are compared to verify the rationality of vibration modeling.Comparing the simulation values of longitudinal acceleration and longitudinal displacement with or without damping suspension,the necessity of damping suspension is verified.Then,according to the target to be controlled,a block diagram of the overall control system was drawn,and the types of important components were selected.For the DC motor of the mecanum wheel,the transfer function is derived by the parameter method,the closed-loop control system of the DC motor is simulated through simulation software,and PID controller is added for adjustment,and the PID parameters are adjusted to obtain a DC with better comprehensive performance.Motor control system.For the stepping motor of the four-bar lifting mechanism,the same method is used to obtain a stepping motor control system with better comprehensive performance.Various field experiments were carried out on the developed nuclear power inspection robot.Through the roundness measurement experiment,it is verified that the roundness of the actual contour line of the Mecanum wheel meets the requirements of use.Through the movement experiment of the nuclear power inspection robot,the error between the theoretical value and the experimental value of the speed is compared,and it is verified that the overall walking accuracy meets the requirements.Through the vibration test experiment,the acceleration value of the suspension with or without vibration is obtained to verify the rationality of the suspension with vibration.Through image acquisition,instrument recognition and crack detection experiments,it is shown that the robot can stably complete the inspection work. |
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