遥操作机器人末端工具换接装置的设计与研究  

The Design and Research of Teleoperation Robot End Tool Exchange Device

作　　者：蒋君[1] 张俊俊[1] 王基生[1] 张文利[1] 

机构地区：[1]西南科技大学特殊环境机器人技术四川省重点实验室,四川绵阳621010

出　　处：《机械设计与制造》2015年第11期108-111,共4页Machinery Design & Manufacture

基　　金：国家核能开发项目(12zg6102);四川省科技支撑计划项目(2013GZX0152)

摘　　要：为了解决在维护、替换、拆卸核设施的过程中频繁更换机器人末端工具的不便以及多次更换末端工具的过程中对环境、人员造成的二次性污染的可能性等问题。设计了一种核环境下机器人多功能自动换接并拆卸不同规格螺母的工作装置,并对该装置的性能参数进行了分析,结合动力学仿真软件Adams对装置进行了动力学仿真分析,得出的仿真结果同理论计算进行了对比,验证了设计的可靠性和合理性;并根据分析结果加工出实验样机,将理论分析用于生产实践,验证了分析结果的可行性。In order to solve in the maintenance, replacement, removal of nuclear facilities in the process of frequent replacement of robot tools inconvenience and replace several times at the end of the tool on environment in the process, the casualties caused by two times, the possibility of contamination and other issues, it designed a mtdti-functional atttomatic robot for nuclear environment to remove different specifications nut work mechanism, and the pegCormance parameters of the device are analyzed, combining with dynamic simulation software Adams, the dynamic simulation analysis is carried out on the device, and it is concluded that the simulation results with the theoretical calculation are compared, verifiing the reliability and rationality of design; And processing of experimental prototype, according to the results of the analysis it will be used in the production practice, and the theoretical analysis proves the feasibility of the analysis results.

关 键 词：核环境 机器人 自动换接 螺母 仿真分析 

分 类 号：TH16[机械工程—机械制造及自动化]