华龙一号反应堆探测器组件拆除系统定位技术研究  

Research on Positioning of HPR1000 Reactor Detector Replacement

作　　者：安彦波[1] 余志伟[1] 李娜[1] 王炳炎[1] 熊思勇 张安锐 An Yanbo;Yu Zhiwei;Li Na;Wang Bingyan;Xiong Siyong;Zhang Anrui(Science and Technology on Reactor System Design Technology Laboratory,Nuclear Power Institute of China,Chengdu,610213,China)

机构地区：[1]中国核动力研究设计院核反应堆系统设计技术重点实验室,成都610213

出　　处：《核动力工程》2021年第1期161-166,共6页Nuclear Power Engineering

摘　　要：华龙一号反应堆探测器组件拆除过程中,首先需对待拆除探测器组件进行定位。本文首先提出探测器组件拆除过程中的定位要求,然后结合探测器组件拆除工艺对定位系统进行分析,提出全闭环视觉伺服定位方法,该方法定位精度高,满足拆除装置定位精度要求;同时可保证探测器组件在提升过程中偏斜角度较小,减少对机械密封接头的磨损。In the process of replacing HPR1000 reactor detector, the first step is to position the reactor detector replacement above the detector. This paper proposes the positioning requirements of the reactor detector replacement firstly, and then analyzes the position system combined with the process of replacing reactor detector, and proposes the closed loop visual servo positioning scheme of reactor detector replacement. This technical scheme fulfills the position accuracy requirement, ensures the detector a small deflection angle during lifting and mitigates the wear of the mechanical seal joint.

关 键 词：探测器组件 探测器组件拆除 机器视觉 全闭环 定位 

分 类 号：TL351[核科学技术—核技术及应用]