Design And Research Of Reactor Coolant Small-diameter Pipeline Integrated Disposal Robot

Pipelines with an inner diameter of Φ220mm～Φ450mm are widely used in various sizes and types of nuclear reactor inlet and outlet takeovers,as well as circuit pipelines and fluctuating pipes.In the use of such pipelines,corrosion,metal fatigue,external impact may lead to pipeline leakage,which has a huge impact on personnel and the environment.Therefore,regular inspection,cleaning and maintenance are very necessary,which can effectively find early disposal problems and effectively avoid safety accidents.Due to the complex layout of pipelines and the great impact of the environment on human health,it is obviously impossible to rely on manual detection and maintenance.At the same time,the cleaning,grinding,welding,visual inspection,dimensional inspection and other operations of the inner wall of such pipes are very difficult due to the small internal space.Therefore,for the production and maintenance of such special environments and components,it is necessary and important to design a special pipeline disposal robot.Based on the needs of manufacturing and maintenance of such special equipment and components,this paper develops the design of a small modular pipeline handling robot.Its main characteristics are: miniaturization,high efficiency,long movement distance,remote operation.In view of the above pain points and requirements,this paper systematically conducts an in-depth study of the main design issues such as mechanical structure design,modeling,motion analysis,and design optimization of pipeline disposal robots.The research content of this thesis includes the following major parts:1.A small pipeline disposal modular robot is designed.Aiming at the problems of pipe diameter adaptation,pipe wall condition adaptation and elbow position passability in two different states during pipeline production and after installation,after analyzing and co MParing a variety of working drive modes and moving modes,the adaptive locking combination wheel direct drive scheme is obtained.Therefore,the mechanical structure of the robot is designed,the adaptive pipe wall support mechanism and the pipe diameter adaptive walking mechanism are designed,and the bending function and quick change module are realized through the universal quick change mechanism to realize different functions.It can realize the adaptive locking of the machine working module and the pipe wall,which ensures the cornering performance of the robot and the adaptability of the pipe diameter of the robot.2.According to the above mechanical design,the mechanical model of the modular pipeline robot is studied,and the mechanical balance and mechanical properties of the adaptive pipe wall support mechanism are analyzed.The driving capability of the walking mechanism of the modular robot was analyzed.At the same time,mechanical analysis is carried out according to different working environment conditions,such as the existence of slope after installation,etc.,for the climbing or downhill situation,and the model is optimized and improved at the same time.At the same time,the rotation problem in the tube that may be caused by its movement is analyzed,and the problem is improved.3.With the development of CAD technology,it is gradually used in a wide range of designs,and the application of some software to analyze the design results can greatly reduce the design cycle and effectively reduce the cost of experiments.The analysis of the kinematics and dynamics of the modular piping robot in this design was simulated using ADAMS.It was determined that the operation of this modular robot in the pipeline and the passage in the pipeline met the design requirements.At the same time,the motion model of different diameter pipes is established to verify the adaptability of the modular pipeline robot for different pipe diameters.In addition,ANSYS conducts static analysis of some key components of the design,checks the material and properties of components,and optimizes some components.The optimized robot can run smoothly in the Φ200mm～450mm pipeline,can pass the bend with a radius of curvature of not less than 1.5 times the outer diameter,the moving speed is 37.5mm/s,and the climbing ability of 0°～20° can realize two-way movement.The maximum traction is about 118 N.The design goals were well achieved.