火电厂凝汽器在线清洗机器人机械臂减振技术

Vibration-Reducing Technology for the Arms of the On-line Washing Submarine Robot in the Condenser of Power Plant

某在研300MW机组凝汽器在线清洗工业机器人在火电厂凝汽器回水室中作业时存在3类不利区,在不利区工作时机械手在水流作用下的振动显著增大,影响定位作业.为解决该问题,进行了数值模拟和风洞实验研究.研究表明机器人臂杆加装自适应旋转整流罩是实现减振、减阻的有效方法之一.适用于机器人一、二级臂杆的整流罩翼型为NACA0030,适用于三级臂的整流罩翼型为NACA0050.风洞实验显示,在上述翼型组合下,加装自适应旋转整流罩的机器人在3个不利区内机械手振幅均有较大幅度的减少,机器人的定位精度得以提高.此外机器人在凝汽器回水室内引起的压损可减少34.3%,体现出整流罩具的良好减阻效果.

During the operation of an under-studying submarine on-line washing robot in the condenser＇s water chamber of a 300 MW unit of the power plant, it will face three disadvantageous regions, in which the vibration of the robot＇s arms will increase greatly under the effect of the water and therefore the positioning of the robot will be difficult. Numerical simulation and wind tunnel experiments are carried out to solve the problem. It states that one of the effective methods to decrease the vibration and resistance is to add self-adaptive rotating cowlings on the arms of the robot. The proper airfoil for the cowlings of the first and second arms of the robot is NACA0030 and for the cowling of third arm is NACA0050. The data of wind tunnel experiments show that, with the above airfoil combinations, the vibration of the manipulator of the robot reduces greatly in the three disadvantageous regions. The positioning accuracy of the robot can be improved then. Besides, the pressure loss of the robot decreases by 34. 3% , which shows that the cowlings are effective to reduce resistance.