AP1000蒸汽发生器接管焊缝无损检测机器人的设计、仿真及优化

Mechanical Design, Simulation and Optimization of Weld-Inspection Robot in AP1000

摘要: 目前国内对于AP1000蒸汽发生器接管焊缝检测作业研究甚少，而检测过程中对于工人的保护又迫在眉睫。本文提出一种新型无损检测机器人，创新性地利用了蒸汽发生器人孔作为安装基准，配合以UR10机械手臂进行整体结构设计，然后与将三维模型导入ADAMS建立虚拟样机，通过动力学仿真分析，验证了各关节电机和减速器的选型正确性，最后利用ANSYS Workbench对关键零部件进行强度和刚度校核，并在此基础上进行机械结构优化，以期达到轻量化的标准。

Abstract: At present, researches of the connecting weld inspection on AP1000 Steam Generator (SG) are not up to expectations while the protection of workers in the testing process is imminent. In this paper, a new type of scanning robot was proposed which used the man-hole of SG as the installation datum and UR10 robotic arm was equipped to cooperate with it. Then a three-dimensional model was established to be imported into ADAMS for a virtual prototype. Through the dynamic simulation analysis, it verified the correction of each joint motor and reducer. Finally ANSYS Workbench was used to check the strength and stiffness of key compo-nents. On this basis, mechanical structure was optimized to achieve the lightweight standard.