| 核电站热交换器传热管外部检测机器人的研制 |
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| 引用本文： | 李旻,章亚男,龚振邦.核电站热交换器传热管外部检测机器人的研制[J].华南理工大学学报(自然科学版),2011,39(8):48-53. |
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| 作者姓名： | 李旻 章亚男 龚振邦 |
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| 作者单位： | 1. 华南理工大学机械与汽车工程学院,广东广州,510640
2. 上海大学机电工程与自动化学院,上海,200072 |
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| 基金项目： | 国家“863”计划项目(2007AA041502-6); 国家自然科学基金重点项目(69889501); 中央高校基本科研业务费专项资金资助项目(2011ZM0057) |
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| 摘 要： | 针对核电站热交换器人工检修作业异常困难的现状,提出了利用机器人进行传热管外部自动化检测的方案.采用模块化设计方法设计了由纵向移动模块、旋转模块、定位模块、伸缩模块、小车模块、底座和3个驱动器等部分组成的机器人本体.小车搭载微型摄像头,可在传热管束的横向间隙中移动,对相关区域进行视频检查.提出了3-CSR并联机构形式,设...
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| 关 键 词： | 管道机器人 热交换器 管道检测 并联机构 形状记忆合金 灰色评价方法 |
Development of Robot for Inspecting Exterior of Tubes of Heat Exchangers in Nuclear Power Plants |
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| Li Min,Zhang Ya-nan,Gong Zhen-bang.Development of Robot for Inspecting Exterior of Tubes of Heat Exchangers in Nuclear Power Plants[J].Journal of South China University of Technology(Natural Science Edition),2011,39(8):48-53. |
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| Authors: | Li Min Zhang Ya-nan Gong Zhen-bang |
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| Institution: | Li Min1 Zhang Ya-nan2 Gong Zhen-bang2(1.School of Mechanical and Automotive Engineering,South China University of Technology,Guangzhou 510640,Guangdong,China,2.School of Mechatronic Engineering and Automation,Shanghai University,Shanghai 200072,China) |
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| Abstract: | As the maintenance of heat exchangers of nuclear power plants is extremely difficult to operate manually,this paper presents a scheme of using a robot to automatically inspect the exterior of heat transfer tubes.In the investigation,the robot is developed by a modular design approach and it mainly consists of a longitudinal mobile module,a rotary module,a locating module,an extending and retracting module,a micro vehicle module,a base,and three electrical motors.The micro vehicle carries a micro camera and ... |
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| Keywords: | pipeline robot heat exchanger pipeline inspection parallel mechanism shape memory alloy grey evaluation method |
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