CN103606386B - A kind of nuclear power station control rod drive mechanisms (CRD) hook inspection machine people - Google Patents
A kind of nuclear power station control rod drive mechanisms (CRD) hook inspection machine people Download PDFInfo
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- CN103606386B CN103606386B CN201310585646.6A CN201310585646A CN103606386B CN 103606386 B CN103606386 B CN 103606386B CN 201310585646 A CN201310585646 A CN 201310585646A CN 103606386 B CN103606386 B CN 103606386B
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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 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 part, and wherein operator's console is made up of guidance panel, main control computer and display system; Supervisory system is made up of monitored video camera system and laser calibration system; Robot platform is made up of car body, two-dimentional fine stage, luffing mechanism, one-level lifting, two grade of ascend and descend, rotating mechanism, detection camera system etc.Wherein operator's console and supervisory system are the wired connection of 10 cores, and operator's console carries out wireless telecommunications by supervisory system and robot platform simultaneously.When needs wired connection, operator's console can be directly connected with robot platform by 14 core cables.The present invention is intended to, by video camera system on robot platform, the ruuning situation of control rod drive mechanisms (CRD) hook in High Radiation Area is sent to the operator's console being positioned at Low emissivity region, and for nuclear power station, overhaul personnel analyzes use.
Description
Technical field
The present invention relates to nuclear power class photoelectric monitoring field, is a kind of robot being applied to nuclear power station control rod drive mechanisms (CRD) hook and checking specifically.
Background technology
Energy shortage problem has been a problem demanding prompt solution, if the strategic measure of neither one, directly will affect economic development.It is reported, rise to 4% to the installed capacity of the year two thousand twenty nuclear power by by present 2.2%.Be equivalent to from increasing 3-4 seat nuclear reactor every year on average to the year two thousand twenty now.According to professional quarters' introduction: this growth rate, growth total amount, domestic power demands, compared with the nuclear power installed capacity (having accounted for more than 50% of total installation of generating capacity) of some developed countries, are 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 running.The present invention, as special detection tool supporting with it, will inevitably bring considerable economic benefit and social benefit.
At present, the inspection work in the world for nuclear power station control rod drive mechanisms (CRD) hook does not have concrete, effective method, does not formulate unified industry standard yet.Along with the increase of nuclear power station 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 most domestic in-service nuclear power station 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 operator's console that the ruuning situation of the control rod drive mechanisms (CRD) hook in High Radiation Area can be transferred to by video image mode by video sensor on robot platform in Low emissivity region, 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 part, described operator's console comprises liquid crystal display, control panel, main control computer and control rack four part, liquid crystal display, main control computer are arranged on controller cashier's office in a shop, and control panel adopts drawer type to fix with control rack.
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 made up of car body, two-dimentional fine stage, and wherein car body adopts four-wheel drive mode, and two-dimentional fine stage is fixed on vehicle body.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 realizes circumferencial direction omnibearing observation by rotating mechanism.
Described operator's console and supervisory system adopt the cabled manner of core to realize the transmission of data; Operator's console carries out wireless telecommunications by supervisory system and robot platform simultaneously.When needs wired connection, operator's console can be directly connected with robot platform by 14 core cables, realizes the transmission of data and the transmission of video, wire transmission distance 30m, wireless transmission distance 50m.
Described operator's console, supervisory system and robot platform adopt CAN communication modes 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 made up of water pipe, 1 pair of twisted-pair feeder, 10 signal wires.
Described second-grade lifting adopts DC motor Driver, and stroke is 0-3500mm.
Described luffing mechanism adopts DC motor Driver, and pitching scope is 0-100 °.
Described two grade of ascend and descend mechanism adopts DC motor Driver, 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 DC motor Driver, slewing area 0-358 °.
Described inspection camera system adopts endoscopic camera, and field angle is 60 °, and is furnished with the LED illumination lamp of 2 1W.
Described barrier camera system of keeping away is arranged on robot platform rear portion, keeps out of the way barrier and observe after being convenient to 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 similar-type products in the world;
2. robot inspection's equipment configuration of the present invention many groups video sensor, facilitates overhaul personnel to operate;
3. the present invention is by certain transformation, can the occasion that checks in other duct types of wide popularization and application.
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, by operator's console, supervisory system and robot platform three part form, as shown in Figure 1, operator's console and supervisory system adopt the cabled manner of 10 cores to realize the transmission of data; Operator's console carries out wireless telecommunications by supervisory system and robot platform simultaneously.When needs wired connection, operator's console can be directly 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, enter in driving mechanism hook assembly below container cap, hook is checked, and real-time recording storage and foreign matter process are carried out to observed situation.
As shown in Figure 2, control stand is made up of liquid crystal display 1, guidance panel 2, main control computer 3, control rack 4 four part.Liquid crystal display 1, main control computer 3 are arranged on and control on rack 4, and control panel 2 adopts drawer type to fix with control rack 4.
Liquid crystal display 1 adopts 19 inch liquid crystal display device, and robot platform monitor video, hook are checked video separated screen display.
Guidance panel 2 has the start-stop button of power switch and instruction, body movement and other functions.
Main control computer 3 adopts WINDOWSXP operating system, file can in checking process real-time storage, the DVD broadcast formats such as available MediaPlayer are browsed; When finding the doubtful point of defect, observation can be carried out and stores processor to suspected defects manually.
As shown in Figure 3-4, robot platform is divided into two-layer, and bottom is made up of car body 5, two-dimentional fine stage 6, and wherein car body 5 adopts four-wheel drive mode, and it is inner that two-dimentional fine stage 6 is fixed on car body 5.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, detects camera system 13, keeps away barrier camera system 14 etc. and form.
Car body 5 adopts left and right wheels pair to drive structure, and worm and gear slows down, and possess advance, retrogressing, left-hand rotation, 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 driving stepper motor, for checking that stock is accurately located.
Luffing mechanism 9 adopts worm and gear to slow down and torsion spring disappears clearance mechanism, and its effect is in order to 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 below top cover of reactor pressure vessel, 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 positioning shooting system 10 observation; After locating, second-grade lifting 8 to enter 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 check control rod drive mechanisms (CRD) hook, and carries out real-time recording storage and foreign matter process to observed situation.After inspection, equipment reverses decline by said process and exits control rod drive mechanisms (CRD), and robot platform moves to next control rod drive mechanisms (CRD) and checks, until check complete, robot platform moves to original state and withdraws working site.
As shown in Figure 6, after equipment energising, first each Node Controller completes initializes itself, wait-receiving mode bus message, and information first judges that whether address bit is identical with this node address after arriving, and then reads total data time identical; After digital independent, carry out the judgement of check bit, check bit correctly then unloading read data.Through data transformations, give each power function by the data obtained assignment, perform each functional task until complete.
The not disclosed in detail part of the present invention belongs to the known technology of this area.
Although be described the illustrative embodiment of the present invention above; 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 change to limit and in the spirit and scope of the present invention determined, these changes are apparent, and all innovation and creation utilizing the present invention to conceive are all at the row of protection in appended claim.
Claims (1)
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 part, 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 part, liquid crystal display (1), main control computer (3) are arranged on and control on rack (4), and control panel (2) adopts drawer type to fix with control rack (4);
Described supervisory system comprises monitored video camera system and laser calibration system two parts;
Described robot platform is divided into two-layer, bottom is made up of car body (5), two-dimentional fine stage (6), wherein car body (5) adopts four-wheel drive mode, it is inner that two dimension fine stage (6) is fixed on car body (5), 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 realizes circumferencial direction omnibearing observation by rotating mechanism (12);
Described operator's console and supervisory system adopt the cabled manner of 10 cores to realize the transmission of data; Operator's console carries out wireless telecommunications by supervisory system and robot platform simultaneously; When needs wired connection, operator's console can be directly connected with robot platform by 14 core cables, realizes the transmission of data and the transmission of video, wire transmission distance 30m, wireless transmission distance 50m;
Described operator's console, supervisory system and robot platform adopt CAN communication modes to realize the transmission of data;
Described fine stage (6) is X, Y-direction platform, and stroke is respectively 0-50mm;
Described inspection cable (7) crust adopts snakeskin high-voltage tube, and diameter is Φ 15mm, and inside cable is made up of water pipe, 1 pair of twisted-pair feeder, 10 signal wires;
Described second-grade lifting (8) adopts DC motor Driver, and stroke is 0-3500mm;
Described luffing mechanism (9) adopts DC motor Driver, and pitching scope is 0-100 °;
Described two grade of ascend and descend mechanism (11) adopts DC motor Driver, and stroke is 0-100mm;
Described positioning shooting system (10) adopts 10 times of variable-focus video cameras, and is furnished with LED illumination, and power is 3W;
Described positioning shooting system (10) becomes to adopt rigid connection with luffing mechanism (9), becomes-15 ° to fix with luffing mechanism (9);
It is 2050mm that described luffing mechanism (9) rotates to vertical direction minimum constructive height, and separately after one-level lifting (8), two grade of ascend and descend (11), maximum height is 4800mm;
Described rotating mechanism (12) adopts DC motor Driver, slewing area 0-358 °;
Described inspection camera system (13) adopts endoscopic camera, and field angle is 60 °, and is furnished with the LED illumination lamp of 2 1W;
Described barrier camera system (14) of keeping away is arranged on robot platform rear portion, keeps out of the way barrier and observe after being convenient to robot platform;
The course of work of this nuclear power station control rod drive mechanisms (CRD) hook inspection machine people is: first robot platform and supervisory system are transported to biological shield doorway, by control stand wireless remote control or there is line traffic control, control platform enters below top cover of reactor pressure vessel, 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 positioning shooting system (10) observation; After locating, second-grade lifting (8) to enter 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 check control rod drive mechanisms (CRD) hook, and carries out real-time recording storage and foreign matter process to observed situation; After inspection, equipment reverses decline by said process and exits control rod drive mechanisms (CRD), and robot platform moves to next control rod drive mechanisms (CRD) and checks, until check complete, robot platform moves to original state and withdraws working site.
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| CN201310585646.6A CN103606386B (en) | 2013-11-19 | 2013-11-19 | A kind of nuclear power station control rod drive mechanisms (CRD) hook inspection machine people |
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| CN201310585646.6A CN103606386B (en) | 2013-11-19 | 2013-11-19 | A kind of nuclear power station control rod drive mechanisms (CRD) hook inspection machine people |
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| CN103606386A CN103606386A (en) | 2014-02-26 |
| CN103606386B true CN103606386B (en) | 2016-04-27 |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| 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 |
| 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 |
| CN106448771B (en) * | 2016-12-19 | 2018-09-21 | 清华大学天津高端装备研究院 | A kind of nuclear reactor center graphite column more changing device |
| CN111347443A (en) * | 2018-12-21 | 2020-06-30 | 核动力运行研究所 | High-radiation-resistant robot control system |
| 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 |
| CN109760006B (en) * | 2019-01-17 | 2020-09-29 | 西南科技大学 | Nuclear robot rapid positioning method based on visual reference piece |
| 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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| US5392326A (en) * | 1992-02-20 | 1995-02-21 | Kabushiki Kaisha Toshiba | Boiling water reactor |
| 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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| Publication number | Priority date | Publication date | Assignee | Title |
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| JP2862618B2 (en) * | 1990-02-09 | 1999-03-03 | 株式会社東芝 | Core breeder for fast breeder reactor |
| US7340387B2 (en) * | 2003-06-26 | 2008-03-04 | Doosan Heavy Industries & Construction Co., Ltd. | Control rod driving simulator for verification of control rod driving mechanism control system of atomic power plant |
| JP4682175B2 (en) * | 2007-08-20 | 2011-05-11 | 日立Ｇｅニュークリア・エナジー株式会社 | Inspection device and inspection method for welds in reactor pressure vessel |
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Patent Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
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| US5392326A (en) * | 1992-02-20 | 1995-02-21 | Kabushiki Kaisha Toshiba | Boiling water reactor |
| 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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