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浙江大学学报(工学版)
Journal of ZheJiang University (Engineering Science)  2021, Vol. 55 Issue (5): 855-865    DOI: 10.3785/j.issn.1008-973X.2021.05.006
    
Design and experiment of remote handling motor replacement device based on passive compliant mechanism
Jun-xia JIANG(),Xin-yuan ZHANG,Bang-ming TAO,Qun DONG
School of Mechanical Engineering, Zhejiang University, Hangzhou 310027, China
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Abstract  

The power motor of intelligent equipment in hot cells of nuclear industry is prone to failure due to nuclear radiation, so the adoption of remote handling motor replacement technology is the key to the normal operation of intelligent equipment in hot cells. To solve the above problem, the design requirements of remote handling motor replacement device were analyzed, and the remote handling motor replacement method based on passive compliance was proposed. Three contact states of the shaft hole assembly were performed, and the mechanical model of motor vertical insertion was constructed. A motor docking strategy was put forward, and a five-degree of freedom (5-DOF) space passive compliant mechanism was designed. The remote handling motor replacement device structure and the remote handling replacement work flow were designed based on the characteristics of the remote operation robotic arm in hot cells. Experimental device was manufactured, and the success rate and the time-consuming of remote handling replacement were counted. In addition, the actual test value and the theoretical value of insertion force predicted by the motor vertical insertion mechanical model were compared. Results verified the reliability of the remote handling motor replacement device and the effectiveness of the motor vertical insertion mechanical model. The proposed technology provides basic technology for the automatic maintenance of intelligent equipment in hot cells, and also provides inspiration for the robot to perform other automated assembly tasks.

Key words： automatic quick-replacement motor      hot cell environment      remote operation robotic arm      compliant assembly      passive compliant mechanism     
Received: 07 May 2020      Published: 10 June 2021
CLC:  TH 122  
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Jun-xia JIANG
Xin-yuan ZHANG
Bang-ming TAO
Qun DONG
Cite this article:

Jun-xia JIANG,Xin-yuan ZHANG,Bang-ming TAO,Qun DONG. Design and experiment of remote handling motor replacement device based on passive compliant mechanism. Journal of ZheJiang University (Engineering Science), 2021, 55(5): 855-865.

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http://www.zjujournals.com/eng/10.3785/j.issn.1008-973X.2021.05.006     OR     http://www.zjujournals.com/eng/Y2021/V55/I5/855


基于被动柔顺机理的电机遥操作更换机构设计和实验

核工业热室中智能装备的驱动电机受核辐射影响易损坏，采用电机遥操作更换技术是确保热室内智能装备正常运作的关键. 针对这一问题，分析电机遥操作更换设计需求，提出基于被动柔顺机理的电机遥操作更换方法；分析轴孔装配3种接触状态，建立电机垂向插配力学模型，提出动力对接策略，设计五自由度（5-DOF）空间被动柔顺机构；基于热室中遥操作机械臂的特点，设计电机遥操作更换结构和工作流程. 构建实验装置，测试统计电机更换成功率和耗时，并针对电机垂向插配力学模型所预测的插配力进行检测和理论计算比对，验证电机遥操作更换结构的可靠性和电机垂向插配力学模型的有效性. 电机遥操作更换技术能为热室中智能装备的自动维护提供技术支撑，也为机器人执行其他自动化装配任务提供借鉴.


关键词： 电机自动更换,  热室环境,  遥操作机械臂,  柔顺装配,  被动柔顺机构 
Fig.1 Two kinds of motor connection forms
Fig.2 Schematic diagram of remote handling motor replacement
Fig.3 Four stages of hole-shaft assembly
Fig.4 On-site schematic diagram of remote handling motor replacement
Fig.5 Schematic diagram of motion docking
Fig.6 Process chart of motion docking
Fig.7 Schematic diagram of compliant assembly
Fig.8 Force model during chamfer crossing
Fig.9 Force model through one-point contact
Fig.10 Force model during two-point contact
Fig.11 Schematic diagram of 5-DOF passive compliant mechanism
Fig.12 Structure design of remote handling motor replacement device
Fig.13 Structure diagram of compliant mechanism
孔轴参数 数值 装配参数 数值 实验参数 数值
2R 90 mm W 10 mm x0 4 mm
2r 89.96 mm α 1/3 rad θ0 0.05 rad
L 373 mm LMAX 50 mm μ 0.15
Tab.1 Initial parameter of Matlab simulation
Fig.14 Effect of horizontal stiffness on insertion force
Fig.15 Effect of rotational stiffness on insertion force
Fig.16 Structure diagram of motor component
Fig.17 Structure diagram of fixed components
Fig.18 Schematic of remote handling motor replacement
Fig.19 Positioning process of guide flange
Fig.20 Process of motion docking
Fig.21 Flowchart of remote handling motor replacement
Fig.22 Experiment site of remote handling motor replacement
孔轴参数 数值 装配参数 数值 实验参数 数值
2R 90 mm W 10 mm x 0~6 mm
2r 89.96 mm α 1/3 rad θ 0~0.05 rad
L 373 mm LMAX 50 mm m0g 153 N
μ 0.15 z 0~50 mm z0 0 mm
Tab.2 Parameters of remote handling motor replacement device
Fig.23 Success rate under different errors
Fig.24 Actual insertion force measured in experiment
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