【作者】 刘满禄； 陈卓； 周建； 张华；

【Author】 LIU Manlu;CHEN Zhuo;ZHOU Jian;ZHANG Hua;Robot Technology Used for Special Environment Key Laboratory of Sichuan Province, Southwest University of Science and Technology;School of Manufacturing Science and Engineering, Southwest University of Science and Technology;

【机构】 西南科技大学特殊环境机器人技术四川重点实验室； 西南科技大学制造科学与工程学院；

【摘要】 针对CAP1400压水堆示范工程堆外核测探测器安装时,堆腔底部地面不平整、机器人完成安装任务难度大的问题,通过理论分析、建立三维模型,设计了一种底盘调平机构。该机构主要由调平支架、步进电机、丝杠、滑轨压动零件等组成,在满足机器人设计要求的条件下,实现底盘的精确调平。结合实际工作情况分析计算了调平机构的调平参数,并对样机进行模拟工作环境下的性能测试。结果表明该机构可满足CAP1400压水堆示范工程现场环境的条件下实现机器人系统调平功能,满足了调平装置设计及功能要求。更多还原

【Abstract】 The uneven characteristic of the reactor bottom increases the difficulty of using robot to install the nuclear detector in the CAP1400 Pressurized Water Reactor(PWR) demonstration project. In this paper, a chassis leveling device is designed through theoretical analysis and the 3 D model simulation. The leveling device is mainly composed of leveling bracket, stepping motor, lead screw and slide rail pressing parts.Meanwhile, the designed device can accurately level the chassis and meet the design requirements of the installation robot. We calculated the adjustment parameters of the leveling device according to the actual situation and conducted extensive performance test experiments on the simulated environment. The experimental results show that our chassis leveling device can meet the requirements of engineering in CAP1400 PWR.更多还原