Research On Quick-change Device Of Manipulator In Nuclear Radiation Environment And Design Of Tool Head

Based on the operating requirements of the manipulator in the nuclear radiation environment,this paper designs and studies the quick-change device and tool head of the manipulator.Research and design a manipulator tool head quick change device and two matching tool heads,in which the active part of the quick change device is connected to the manipulator,and the passive part of the quick change device is connected to the tool head.The replacement device can realize the automatic replacement of the tool head,which can significantly improve the working efficiency and reliability of the manipulator in the nuclear radiation environment.First of all,this paper expounds the work flow of the existing quick-change device,and summarizes the corresponding design requirements according to the actual demand analysis of the manipulator in the nuclear radiation environment.And choose the appropriate locking method—steel ball locking,analyze the working process and locking principle of the locking mechanism,select the hydraulic device,and finally design the overall scheme of the quick-change device.Secondly,for this quick-change device,the matching hydraulic scissors tool head and hydraulic motor saw tool head are designed.According to the working environment and specific work tasks of the two tool heads,the parameter requirements are clarified,and the analysis and calculation are carried out.The kinematics analysis was carried out using the module of Creo,and finally the finite element structural analysis of key components was carried out using Ansys software to ensure the safety and reliability of the design structure.Furthermore,in order to ensure the smooth docking,the position and attitude tolerance capability of the manipulator quick-change device is analyzed.Firstly,the position and attitude tolerance analysis method is proposed,and then through theoretical analysis,it is calculated that when the quick-change device can successfully complete the docking,its position and attitude tolerance should be conditions are met.And use Adams to simulate the docking situation of the quick-change device in different postures,combined with Matlab for simulation analysis,it proves that the quick-change device has a good level of posture tolerance.Finally,according to the load of the quick-change device under the condition of being equipped with a hydraulic motor saw,Ansys workbench was used to perform a finite element static analysis on the stressed parts of the quick-change device.The results showed that the stress and deformation were small,and the parts were safe and reliable;The design point is selected by the central composite experimental design method,and the response surface surrogate model is used for fitting.Finally,the Six Sigma Analysis analysis method is used to analyze the reliability of the key components of the quick-change device.The Sigma levels are 2.719 and 3.8106 respectively,which proves the structural reasonably reliable.