Design And Reliability Research Of Quick Change Device For Nuclear Robot

In view of the special working environment and diversified tasks of nuclear robots,the research on the fast changing technology of the end tools of nuclear robots is carried out in this dissertation.A quick change device for nuclear robots is developed,which enables the nuclear robots to quickly change the end tools by remote control,thus improving the operational capability of nuclear robots under decommissioning of nuclear facilities and emergency environment.The main research of this dissertation is as follows:(1)Taking the nuclear robot developed by the research group as the research object,combined with the changing principle and working process of the quick changing device,the technical requirements of the quick changing device for nuclear robot were put forward,and the quick changing device for nuclear robot was designed.Using Solid Works software,the three-dimensional model of the quick change device of nuclear robot was established.The stress analysis and calculation of the key parts of the quick change device are completed.(2)The changing process of quick changing device of nuclear robot is described,the friction and geometric conditions of smooth changing are analyzed.The allowable position and attitude errors of the nuclear robot quick change device were analyzed,and the allowable position and attitude errors of the nuclear robot quick change device were simulated and verified by ADAMS dynamics simulation software,and the maximum allowable pose and attitude errors of the nuclear robot quick change device were obtained.(3)The excavation operation mode and posture of the nuclear robot were analyzed,the maximum excavation force of the nuclear robot was obtained,the stress state of the quick changeover device was studied under the typical posture condition of the nuclear robot,and the mechanical model of the quick changeover device was established.The finite element model of the quick changing device for nuclear robot was established by using ANSYS software,and the stress-strain neogram of the quick changing device was obtained under typical position and pose conditions.(4)According to the stress intensity interference model,the distribution types of material parameters and working loads of the nuclear robot quick-change device were determined.The Six Sigma module of ANSYS software was used to randomly sample the material parameters and working loads,which were combined as the design points to study their influence on the maximum stress-strain of the quick-change device.The sensitivity and reliability of the quick-change device were calculated by response surface method,and the reliability of the quick-change device was verified.(5)The experimental prototype of nuclear robot quick change device has been completed,and the platform of nuclear robot quick change device has been built.The changing process of the quick changing device with different end tools is simulated and its changing path is analyzed.Achieved a quick change of outfit.