[1]陈宁,彭伟,吴楠楠,等.火电厂凝汽器在线清洗机器人机械臂减振技术[J].南京师范大学学报(工程技术版),2009,09(01):040-43.
　Chen Ning,Peng Wei,Wu Nannan.Vibration-Reducing Technology for the Arms of the On-line Washing Submarine Robot in the Condenser of Power Plant[J].Journal of Nanjing Normal University(Engineering and Technology),2009,09(01):040-43.
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火电厂凝汽器在线清洗机器人机械臂减振技术
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南京师范大学学报（工程技术版）[ISSN:1006-6977/CN:61-1281/TN]

卷:
09卷
期数:
2009年01期
页码:
040-43
栏目:
出版日期:
2009-03-30

文章信息/Info

Title:
Vibration-Reducing Technology for the Arms of the On-line Washing Submarine Robot in the Condenser of Power Plant
作者:
陈宁;彭伟;吴楠楠;
中国矿业大学机电工程学院, 江苏徐州221116
Author(s):
Chen Ning; Peng Wei; Wu Nannan
School of Mechanical and Electrical Engineering,China University of Mining and Technology,Xuzhou 221116,China
关键词:
蒸汽工程;  翼型;  数值模拟;  水下机器人;  振动
Keywords:
steam eng ineer ing;  a irfo i; l nume rical sim ulation;  subm ar ine robot;  v ibra tion
分类号:
TP242.6
摘要:
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.
Abstract:
Dur ing the operation of an under-study ing subm arine on- line wash ing robot in the condenser s’ w ater chamber o f a 300MW unit o f the pow er p lant, it w ill face three disadv antageous reg ions, in w hich the v ibration o f the robots’ a rm s w ill increase greatly under the effect of the w ater and there fo re the pos itioning o f the robot w ill be difficu lt. Num erical simu la tion and w ind tunne l experim ents are ca rried out to so lve the problem. It sta tes that one o f the e ffectiv em ethods to decrease the v ibra tion and resistance is to add se l-f adaptive rotating cow lings on the arms of the robo t. The proper airfo il for the cow lings o f the first and second arm s o f the robot is NACA0030 and for the cow ling o f third arm is NACA0050. The data o f w ind tunne l exper iments show that, w ith the abov e a irfo il comb inations, the v ibration of them anipulato r o f the robo t reduces greatly in the three d isadvantageous reg ions. The po sitioning accuracy o f the robot can be improved then. Bes ides, the pressure loss of the robot decreases by 34??3%, wh ich show s that the cow ling s are e ffective to reduce res istance.

参考文献/References:

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备注/Memo

备注/Memo:
基金项目: 江苏省高新技术研究( BG2006014)资助项目. 通讯联系人: 陈宁, 副教授, 研究方向: 新能源及火电厂节能技术. E-m ail:chaning7@163. com
更新日期/Last Update: 2013-04-23