CN103606386A - Robot for checking control rod drive mechanism claw in nuclear power plant - Google Patents

Robot for checking control rod drive mechanism claw in nuclear power plant Download PDF

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Publication number
CN103606386A
CN103606386A CN201310585646.6A CN201310585646A CN103606386A CN 103606386 A CN103606386 A CN 103606386A CN 201310585646 A CN201310585646 A CN 201310585646A CN 103606386 A CN103606386 A CN 103606386A
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nuclear power
control rod
rod drive
crd
power station
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CN103606386B (en
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窦普
陈树才
廖礼斌
冯常
余云虎
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Institute of Optics and Electronics of CAS
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Institute of Optics and Electronics of CAS
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    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
    • Y02E30/00—Energy generation of nuclear origin
    • Y02E30/30—Nuclear fission reactors

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Abstract

The invention provides a robot for checking a control rod drive mechanism claw in a nuclear power plant. The robot comprises three components, namely an operating console, a monitor system and a robot platform, wherein the operating console consists of an operating panel, a master control computer and a display system; the monitor system consists of a monitor camera system and a laser calibration system; the robot platform comprises a car body, a two-dimension fine positioning table, a pitching mechanism, a first-stage elevator, a second-stage elevator, a rotating mechanism and a detection camera system; the operating console and the monitor system are connected by a 10-core wire, and the operating console also can perform wireless communication with the robot platform through the monitor system. When wired connection is needed, the operating console can be connected with the robot platform directly through a 14-core cable. The robot for checking the control rod drive mechanism claw in the nuclear power plant is intended to send the operating condition of the control rod drive mechanism claw in a high-radiation area to the operation console in a low-radiation area through a video camera system on the robot platform, so as to be used by overhaul workers in the nuclear power plant for analysis.

Description

A kind of nuclear power station control rod drive mechanisms (CRD) hook inspection machine people
Technical field
The present invention relates to nuclear power class photoelectric monitoring field, is a kind of robot that nuclear power station control rod drive mechanisms (CRD) hook checks that is applied to specifically.
Background technology
Energy shortage problem has been a problem demanding prompt solution, if the strategic measure of neither one will directly affect economic development.It is reported, to the installed capacity of the year two thousand twenty nuclear power, will rise to 4% by present 2.2%.Be equivalent to from increasing every year on average 3-4 seat nuclear reactor to the year two thousand twenty now.According to professional quarters' introduction: this growth rate, increase total amount, domestic power demands is compared with the nuclear power installed capacity (having accounted for the more than 50% of total installation of generating capacity) of some developed countries, be also nowhere near.Construction of Nuclear Electricity also has larger development space.The designed life of a nuclear power station is generally in 40 years, and actual run time will be longer.As long as nuclear power station just be unable to do without the support of relevant auxiliary industry in operation.The present invention, as supporting with it special detection tool, will inevitably bring considerable economic benefit and social benefit.
At present, the inspection work for nuclear power station control rod drive mechanisms (CRD) hook does not have concrete, effective method in the world, does not formulate unified industry standard yet.Along with the nuclear power station increase of working time, the fault that control rod drive mechanisms (CRD) hook causes also progressively increases, and the international nuclear safety council has had recognized that the necessity that control rod drive mechanisms (CRD) hook checks, and drops into substantial contribution and manpower is engaged in R&D work.And the in-service nuclear power station of most domestic is all no more than 20 years service time, control rod drive mechanisms (CRD) hook failure rate is less, but has also had a strong impact on the normal operation of nuclear power station.
Summary of the invention
The technical problem to be solved in the present invention: in order to ensure the safe operation of nuclear power station, can check control rod drive mechanisms (CRD) hook running status, provide a kind of and can the ruuning situation of the control rod drive mechanisms (CRD) hook in High Radiation Area have been transferred to the operator's console in low radiation areas by video image mode by video sensor on robot platform, be convenient to nuclear power station overhaul personnel and analyze use.
The technical solution adopted for the present invention to solve the technical problems: a kind of nuclear power station control rod drive mechanisms (CRD) hook inspection machine people, it comprises operator's console, supervisory system and robot platform three parts, described operator's console comprises liquid crystal display, control panel, main control computer and control rack four parts, liquid crystal display, main control computer are arranged on controller cashier's office in a shop, and control panel adopts drawer type and control rack to fix.
Described supervisory system comprises monitored video camera system and laser calibration system two parts.
Described robot platform is divided into two-layer, and bottom is comprised of car body, two-dimentional fine stage, and wherein car body adopts four-wheel drive mode, and two-dimentional fine stage is fixed on car body inside.Top layer is arranged on two-dimentional fine stage, and top layer comprises detection streamer, second-grade lifting, luffing mechanism, positioning shooting system, two grade of ascend and descend mechanism, rotating mechanism, detection camera system and keeps away barrier camera system.By luffing mechanism, detection stock is risen to upright position, by one-level lifting, detection streamer is sent to tested position height, then realize circumferencial direction omnibearing observation by rotating mechanism.
Described operator's console and supervisory system adopt the cable connected mode of core to realize the transmission of data; Operator's console can carry out wireless telecommunications by supervisory system and robot platform simultaneously.When needs wired connection, operator's console can directly be connected with robot platform by 14 core cables, realizes the transmission of data and the transmission of video, and wire transmission is apart from 30m, wireless transmission distance 50m.
Described operator's console, supervisory system and robot platform adopt CAN bus communication mode to realize the transmission of data.
Described fine stage is X, Y-direction platform, and stroke is respectively 0-50mm.
Described inspection cable sheath adopts snakeskin high-voltage tube, and diameter is Φ 15mm, and inside cable is comprised of water pipe, 1 pair of twisted-pair feeder, 10 signal wires.
Described second-grade lifting adopts direct current generator to drive, and stroke is 0-3500mm.
Described luffing mechanism adopts direct current generator to drive, and pitching scope is 0-100 °.
Described two grade of ascend and descend mechanism adopts direct current generator to drive, and stroke is 0-100mm.
Described positioning shooting system adopts 10 times of variable-focus video cameras, and is furnished with LED illumination, and power is 3W.
Described positioning shooting system becomes to adopt rigid connection with luffing mechanism, becomes-15 ° to fix with luffing mechanism.
It is 2050mm that described luffing mechanism rotates to vertical direction minimum constructive height, and separately, after one-level lifting, two grade of ascend and descend, maximum height is 4800mm.
Described rotating mechanism adopts direct current generator to drive, slewing area 0-358 °.
Described inspection camera system adopts endoscopic camera, and field angle is 60 °, and is furnished with the LED illuminating lamp of 2 1W.
The described barrier camera system of keeping away is arranged on robot platform rear portion, is convenient to keep out of the way barrier observation after robot platform.
The present invention compared with prior art tool has the following advantages:
1. robot inspection's equipment of the present invention belongs to the extraordinary inspection machine people of customization, there is no in the world product of the same type;
Robot inspection's equipment configuration of the present invention many groups video sensor, facilitate overhaul personnel to operate;
3. the present invention is by certain transformation, the occasion can wide popularization and application checking in other duct types.
Accompanying drawing explanation
Fig. 1 is system architecture diagram of the present invention;
Fig. 2 is control stand schematic diagram of the present invention;
Fig. 3 is robot platform front elevation of the present invention;
Fig. 4 is robot platform left side view of the present invention;
Fig. 5 is checking process process flow diagram of the present invention;
Fig. 6 is software control flow chart of the present invention.
Embodiment
Below in conjunction with accompanying drawing and specific implementation, the present invention is described in further detail.
The present invention is a kind of nuclear power station control rod drive mechanisms (CRD) hook inspection machine people, operator's console, supervisory system and robot platform three parts, consists of, and as shown in Figure 1, operator's console and supervisory system adopt the cable connected mode of 10 cores to realize the transmission of data; Operator's console can carry out wireless telecommunications by supervisory system and robot platform simultaneously.When needs wired connection, operator's console can directly be connected with robot platform by 14 core cables, realizes the transmission of data and the transmission of video.
Top cover of reactor pressure vessel is positioned on the biological shield between storage, this equipment enters biological shield inner bottom part by wired (wireless) mode, from container cap below, enter in driving mechanism hook assembly, hook is checked, and observed situation is carried out to real-time recording storage and foreign matter processing.
As shown in Figure 2, control stand is comprised of liquid crystal display 1, guidance panel 2, main control computer 3, control rack 4 four parts.Liquid crystal display 1, main control computer 3 are arranged on to be controlled on rack 4, and control panel 2 adopts drawer type fixing with control rack 4.
Liquid crystal display 1 adopts 19 inches of liquid crystal display, and robot platform monitor video, hook are checked to video separated screen shows.
The start-stop button on guidance panel 2 with power switch and indication, body movement and other functions.
Main control computer 3 adopts WINDOWS XP operating systems, file can be in checking process real-time storage, the DVD broadcast formats such as available Media Player are browsed; While finding the doubtful point of defect, can to suspicious defect, observe and stores processor manually.
As shown in Figure 3-4, robot platform is divided into two-layer, and bottom is comprised of car body 5, two-dimentional fine stage 6, and wherein car body 5 adopts four-wheel drive mode, and two-dimentional fine stage 6 is fixed on car body 5 inside.Top layer is arranged on two-dimentional fine stage 6, by detection streamer 7, second-grade lifting 8, luffing mechanism 9, positioning shooting system 10, two grade of ascend and descend mechanism 11, rotating mechanism 12, detect camera system 13, keep away barrier camera system 14 etc. and form.
Car body 5 adopts the two structures of driving of left and right wheels, and worm and gear slows down, possess advance, retreat, turn left, right-hand rotation function, and speed is stepless adjustable.Front and back wheel is by toothed belt transmission, and radius of turn is little, strengthens its obstacle climbing ability.
Two dimension fine stage 6, adopts stepper motor to drive, for checking that stock accurately locates.
Luffing mechanism 9 adopts worm and gears to slow down and torsion spring disappears clearance mechanism, its effect is for lifting means inspection height.
Second-grade lifting 8, two grade of ascend and descend mechanism 11 are observed and processing controls rod drive mechanism hook position situation for TV, and two grade of ascend and descend 11 has certain elasticity, can dodge little barrier.
As shown in Figure 5, principle of work of the present invention is: first robot platform and supervisory system are transported to biological shield doorway, by control stand wireless remote control (or having line traffic control), control platform enters top cover of reactor pressure vessel below, luffing mechanism 9 rotates to vertical direction, by robot platform car body coarse positioning, the two-dimentional fine stage 6 on car body carries out fine positioning by 10 observations of positioning shooting system; After locating, second-grade lifting 8 enters in extra heavy pipe and is raised to position; Subsequently, two grade of ascend and descend mechanism 11 starts to rise, and does ± 180 ° of rotations simultaneously, to control rod drive mechanisms (CRD) hook is checked, and observed situation is carried out to real-time recording storage and foreign matter processing.After inspection, equipment reverse to decline and to exit control rod drive mechanisms (CRD) by said process, and robot platform moves to next control rod drive mechanisms (CRD) and checks, until check completely, robot platform moves to original state and withdraws working site.
As shown in Figure 6, after equipment energising, first each Node Controller completes self initialization, waits for and receives bus message, and information first judges that whether address bit is identical with this node address, reads total data when identical after arriving; After data read, carry out the judgement of check bit, the check bit data that correctly unloading is read.Through data, transform, by the data obtained assignment, give each power function, carry out each functional task until complete.
The not detailed disclosed part of the present invention belongs to the known technology of this area.
Although above the illustrative embodiment of the present invention is described; so that those skilled in the art understand the present invention; but should be clear; the invention is not restricted to the scope of embodiment; to those skilled in the art; as long as various variations appended claim limit and definite the spirit and scope of the present invention in, these variations are apparent, all utilize innovation and creation that the present invention conceives all at the row of protection.

Claims (14)

1. a nuclear power station control rod drive mechanisms (CRD) hook inspection machine people, it comprises operator's console, supervisory system and robot platform three parts, it is characterized in that: described operator's console comprises liquid crystal display (1), control panel (2), main control computer (3) and controls rack (4) four parts, liquid crystal display (1), main control computer (3) are arranged on controls rack (4) above, and control panel (2) adopts drawer type and control rack (4) fixing;
Described supervisory system comprises monitored video camera system and laser calibration system two parts;
Described robot platform is divided into two-layer, bottom is comprised of car body (5), two-dimentional fine stage (6), wherein car body (5) adopts four-wheel drive mode, two dimension fine stage (6) is fixed on car body (5) inside, it is upper that top layer is arranged on two-dimentional fine stage (6), and top layer comprises detection streamer (7), second-grade lifting (8), luffing mechanism (9), positioning shooting system (10), two grade of ascend and descend mechanism (11), rotating mechanism (12), detects camera system (13) and keep away barrier camera system (14); By luffing mechanism (9), detection stock is risen to upright position, by one-level lifting (8), detection streamer (7) is sent to tested position height, then realize circumferencial direction omnibearing observation by rotating mechanism (12).
2. a kind of nuclear power station control rod drive mechanisms (CRD) hook inspection machine people according to claim 1, is characterized in that: described operator's console and supervisory system adopt the cable connected mode of 10 cores to realize the transmission of data; Operator's console can carry out wireless telecommunications by supervisory system and robot platform simultaneously; When needs wired connection, operator's console can directly be connected with robot platform by 14 core cables, realizes the transmission of data and the transmission of video, and wire transmission is apart from 30m, wireless transmission distance 50m.
3. a kind of nuclear power station control rod drive mechanisms (CRD) hook inspection machine people according to claim 1, is characterized in that: described operator's console, supervisory system and robot platform adopt CAN bus communication mode to realize the transmission of data.
4. a kind of nuclear power station control rod drive mechanisms (CRD) hook inspection machine people according to claim 1, is characterized in that: described fine stage (6) is X, Y-direction platform, and stroke is respectively 0-50mm.
5. a kind of nuclear power station control rod drive mechanisms (CRD) hook inspection machine people according to claim 1, it is characterized in that: described inspection cable (7) crust adopts snakeskin high-voltage tube, diameter is Φ 15mm, and inside cable is comprised of water pipe, 1 pair of twisted-pair feeder, 10 signal wires.
6. a kind of nuclear power station control rod drive mechanisms (CRD) hook inspection machine people according to claim 1, is characterized in that: described second-grade lifting (8) adopts direct current generator to drive, and stroke is 0-3500mm.
7. a kind of nuclear power station control rod drive mechanisms (CRD) hook inspection machine people according to claim 1, is characterized in that: described luffing mechanism (9) adopts direct current generator to drive, and pitching scope is 0-100 °.
8. a kind of nuclear power station control rod drive mechanisms (CRD) hook inspection machine people according to claim 1, is characterized in that: described two grade of ascend and descend mechanism (11) adopts direct current generator to drive, and stroke is 0-100mm.
9. a kind of nuclear power station control rod drive mechanisms (CRD) hook inspection machine people according to claim 1, is characterized in that: described positioning shooting system (10) adopts 10 times of variable-focus video cameras, and is furnished with LED illumination, and power is 3W.
10. a kind of nuclear power station control rod drive mechanisms (CRD) hook inspection machine people according to claim 1, is characterized in that: described positioning shooting system (10) becomes to adopt rigid connection with luffing mechanism (9), becomes-15 ° to fix with luffing mechanism (9).
11. a kind of nuclear power station control rod drive mechanisms (CRD) hook inspection machine people according to claim 1, it is characterized in that: it is 2050mm that described luffing mechanism (9) rotates to vertical direction minimum constructive height, separately, after one-level lifting (8), two grade of ascend and descend (11), maximum height is 4800mm.
12. a kind of nuclear power station control rod drive mechanisms (CRD) hook inspection machine people according to claim 1, is characterized in that: described rotating mechanism (12) adopts direct current generator to drive, slewing area 0-358 °.
13. a kind of nuclear power station control rod drive mechanisms (CRD) hook inspection machine people according to claim 1, is characterized in that: described inspection camera system (13) adopts endoscopic camera, and field angle is 60 °, and is furnished with the LED illuminating lamp of 2 1W.
14. a kind of nuclear power station control rod drive mechanisms (CRD) hook inspection machine people according to claim 1, is characterized in that: the described barrier camera system (14) of keeping away is arranged on robot platform rear portion, are convenient to keep out of the way barrier observation after robot platform.
CN201310585646.6A 2013-11-19 2013-11-19 A kind of nuclear power station control rod drive mechanisms (CRD) hook inspection machine people Active CN103606386B (en)

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Cited By (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN105006261A (en) * 2015-07-03 2015-10-28 中科华核电技术研究院有限公司 Nuclear fuel subassembly video detection method and detection device
CN106251920A (en) * 2016-09-05 2016-12-21 上海第机床厂有限公司 Reactor control rod hook mechanism abrasion test device
CN106448771A (en) * 2016-12-19 2017-02-22 清华大学天津高端装备研究院 Center graphite pillar replacing device of nuclear reactor
CN106448762A (en) * 2016-09-05 2017-02-22 中国科学院光电技术研究所 Screw hole video inspecting device
CN109413396A (en) * 2018-12-21 2019-03-01 核动力运行研究所 A kind of penetration piece full-motion video monitoring device and method for realizing the distribution of jungle formula
CN109760006A (en) * 2019-01-17 2019-05-17 西南科技大学 A kind of atomic power robot and method for rapidly positioning of view-based access control model reference member
CN111347443A (en) * 2018-12-21 2020-06-30 核动力运行研究所 High-radiation-resistant robot control system
CN111799002A (en) * 2020-07-14 2020-10-20 核动力运行研究所 Top cap video inspection device

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US20090122942A1 (en) * 2007-08-20 2009-05-14 Motoyuki Nakamura Apparatus for ultrasonic inspection of reactor pressure vessel
CN101661804A (en) * 2008-08-28 2010-03-03 国核电站运行服务技术有限公司 Radiation resistant underwater monitoring robot

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JPH03233397A (en) * 1990-02-09 1991-10-17 Toshiba Corp Device for measuring core gap of fast breeder
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US20090122942A1 (en) * 2007-08-20 2009-05-14 Motoyuki Nakamura Apparatus for ultrasonic inspection of reactor pressure vessel
CN101661804A (en) * 2008-08-28 2010-03-03 国核电站运行服务技术有限公司 Radiation resistant underwater monitoring robot

Cited By (10)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN105006261A (en) * 2015-07-03 2015-10-28 中科华核电技术研究院有限公司 Nuclear fuel subassembly video detection method and detection device
CN105006261B (en) * 2015-07-03 2017-12-26 中广核研究院有限公司 Nuclear fuel assembly video detecting method and detection means
CN106251920A (en) * 2016-09-05 2016-12-21 上海第机床厂有限公司 Reactor control rod hook mechanism abrasion test device
CN106448762A (en) * 2016-09-05 2017-02-22 中国科学院光电技术研究所 Screw hole video inspecting device
CN106448762B (en) * 2016-09-05 2017-12-08 中国科学院光电技术研究所 A kind of screw video inspection device
CN106448771A (en) * 2016-12-19 2017-02-22 清华大学天津高端装备研究院 Center graphite pillar replacing device of nuclear reactor
CN109413396A (en) * 2018-12-21 2019-03-01 核动力运行研究所 A kind of penetration piece full-motion video monitoring device and method for realizing the distribution of jungle formula
CN111347443A (en) * 2018-12-21 2020-06-30 核动力运行研究所 High-radiation-resistant robot control system
CN109760006A (en) * 2019-01-17 2019-05-17 西南科技大学 A kind of atomic power robot and method for rapidly positioning of view-based access control model reference member
CN111799002A (en) * 2020-07-14 2020-10-20 核动力运行研究所 Top cap video inspection device

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