The Design And Simulation Of The J-Groove Welding Robot For Nuclear Pressure Vessel

It is our country's realistically choice to develop nuclear power, which is one of the practical approaches to carbon emission reduction. With the development of domestic nuclear power industry, a large number of equipment has been designed for supporting the nuclear power appliance; the localization of the equipments has been on the agenda. As far as other areas concerted, the nuclear power equipment requires high quality, high performance and high reliability. However, the domestic automatic welding equipment applied in nuclear power has not achieved universally, most of them was welded manually, which can not ensure the efficiency and quality. So advanced automatic welding technology must be popularized and applied.The thesis mainly studies the automatic welding between the nuclear power reactor pressure vessel (RPV) and top head control rod drive mechanism (CRDM) nozzles and illuminated the design of J-Groove welding robot for RPV. The mainly content of it includes the following aspects.1) The traits of welding parts and welding groove are analyzed, and then the welding seem coordinate system of welding robot is built for argon-arc welding robot with filler wire, the expressions of welding slope and welding rotation is derived for J-Groove, the relationship between welding seem coordinate system and gun coordinate system is built. Introduced the concrete gun in the welding gun position and pose model,the allowable working angle of gun is given when the interference between the welding part and the gun is not happen.2) The characteristic of RPV is discussed; the requirement of welding process and mechanical structure of J-Groove welding robot system is put forward. By referring to the same foreign equipment, the accessory location components and the body of the robot is designed innovatively. The driving parts and transmission parts are selected and checked, the strength of the key parts of the robot is checked by finite element method, all of this work provide theoretical basis for the design of the robot.3) The mathematical basis of solving welding robot kinematics problems is given, which contain kinematics forward and inverse solution. The robot forward parameters'matrix and the inverse expressions are studied for J-Groove welding robot, the robot kinematics simulation is realized by Matlab software, which provide the data for controlling the robot motors. The working space of the robot is determined by geometric method. The design robot answers completely for the J-Groove welding and achieves satisfying effect by welding experiment.