摘要
随着核工业的快速发展以及核安全要求的日益提高,特种机器人的需求也持续增大。关节模组作为特种机器人的动力来源,是其最核心的集成部件。设计了一种可应用于核环境下的特种机器人关节模组结构模型,针对核环境中的γ射线辐射问题,采用主动与被动的方式对关节模组进行辐照加固,筛选耐辐射电子器件设计驱动器,一体化紧密式排布安装驱动器与电机等部件,提高空间利用率和整体耐辐射性能。基于蒙特卡罗方法MCNP程序模拟研究了铅、钨等重金属及合金对γ射线的屏蔽性能,选出合适屏蔽材料对关节模组驱动器屏蔽加固。对关节模组进行辐射实验,结果表明,经辐射加固后的关节模组在承受600 Gy的辐射剂量后仍然能正常运行,提高了关节模组耐辐射能力,对研制核环境下特种机器人具有重要意义。
With the rapid development of the nuclear industry and the increasing requirements of nuclear safety,the demand for special robots continues to increase.As the power source of special robot,joint module is the most core integrated component.A kind of special robot joints that can be applied to nuclear environment module structure model was designed.For the nuclear environment,theγradiation problem was solved by using active and passive methods to reinforce the joint module,screening radiation resistant electronic devices to design drives,and integrating tightly to install components such as drivers and motors to improve space utilization and overall radiation resistance performance.Based on the MCNP program of Monte Carlo method,the shielding properties of heavy metals and alloys such as lead and tungsten againstγ-rays were studied,and the suitable shielding materials were selected for the shielding reinforcement of joint module actuators.Radiation experiments were carried out on the joint module.The results showed that the joint module could still operate normally after the radiation dose of 600 Gy.The radiation tolerance of the joint module was improved,which was of great significance to the development of special robots in nuclear environment.
作者
苏康佳
杨芳艳
陈媛媛
SU Kangjia;YANG Fangyan;CHEN Yuanyuan(School of Mechanical Engineering,University of Shanghai for Science and Technology,Shanghai 200093,China;Institute of Machine Intelligence,University of Shanghai for Science and Technology,Shanghai 200093,China;Naval Medical University,Shanghai 200433,China)
出处
《农业装备与车辆工程》
2023年第9期56-61,共6页
Agricultural Equipment & Vehicle Engineering
基金
国家自然科学基金资助项目(92048205)
上海市浦江人才计划(2019PJD035)。
