| With the rapid development of Chinese nuclear power industry,increasing attention has been paid to various safety problems in the operation of nuclear power plants.During the maintenance,part of the work still requires manual on-site operations,and the high radiation environment may cause irreversible physical damage to operators.At present,it has become the mainstream method to replace manual work with external control robots.The research topic of this paper comes from the National Science and Technology Major Project " Key Technology of CAP1400 Nuclear Power Plant Intelligent Operation and Maintenance Research Project".In order to meet the requirements of installing ex-core detector by robot instead of manual,a special robot is designed that can complete the transportation,connection and installation of the ex-core detector in the narrow environment.Firstly,according to the characteristics of the robot working environment and actual working conditions,the structure of the robot is designed.The design requirements,design indicators and overall scheme of the robot are put forward.The robot moving part,lifting part,fixing part and installation part are designed in detail,and the three-dimensional model of the robot is established by Solid Works software.Then,in order to explore the performance of the robot,the key parameters of the robot were analyzed,which verify the operation ability.The maximum height of the lifting mechanism is determined.Establishing the vibration model of the ball screw during the lifting process,and the influence of it on the lifting height under full load is analyzed.Reliability analysis is carried out for two key processes in the operation: the two fixing methods of the fixed mechanism are checked and selected under the constraints of design requirements;the problem of robot overturning is discussed,and the relationship between the robot’s centroid and detector is established.The robot’s climbing ability is verified by building feasible coordinate region and making simulation experiments.Finally,the prototype of the of robot for auxiliary installation of ex-core detector was manufactured.According to the design indicators,relevant test experiments were carried out on the robot.At last,the simulation installation of the detector is carried out to verify the reliability of the robot and the rationality of the design.The test results show that the robot meets the project requirements successfully,and a new ex-core detector installation strategy is proposed,which provides a reference for the national nuclear operation and maintenance reserve. |
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