扶正关节液压机械臂设计及性能分析

Design and Performance Analysis of Hydraulic Manipulator Arm with Righting Joints

在核工业生产过程中,核废料桶的吊装和运输工作至关重要.针对核废料桶的远距离扶正和吊装运输操作问题,提出了一种适应放射环境的扶正关节液压机械臂设计方案,实现对核废料桶的远距离扶正和吊装.结合虚拟样机,对所设计的扶正关节液压机械臂进行仿真实验,对机械臂的关节性能进行分析.结果表明:在仿真实验运动规划下,设计的扶正关节液压机械臂底座与大臂、大臂与小臂直线液压缸的推力分别为347.05 kN和453.61 kN,满足核废料桶的扶正和吊装要求,对保障核安全生产具有重要价值.

In the production process of nuclear industry,the lifting and transporting of nuclear waste drums are crucial.Aiming at the long-distance righting and lifting operation of nuclear waste drums,a hydraulic arm with righting joints adapted to the radioactive environment is proposed to realise the long-distance righting and lifting of nuclear waste drums.Combined with the virtual prototype,simulation experiments are carried out on the designed hydraulic arm with righting joints,and the joint performance of the arm is analysed.The results show that under the motion planning of the simulation experiment,the thrust force of the linear hydraulic cylinders of the base of the designed righting joint hydraulic robot arm and the big arm,and the big arm and the small arm are 347.05 kN and 453.61 kN,respectively,which can meet the requirements of righting and lifting of nuclear waste drums,and it is of great value for guaranteeing the production of nuclear safety.