大型核电机组免抽转子检测机器人设计研发  

Design and development of large nuclear power generator detection robot without extracting rotor

作　　者：王军 蔡涵颖 房静[3] 孙洪铭 张剑泉 张新民 WANG Jun;CAI Hanying;FANG Jing;SUN Hongming;ZHANG Jianquan;ZHANG Xinmin(Nuclear Power Operations Research Institute,Shanghai 200126,China;Fujian Fuqing Nuclear Power Co.,Ltd.,Fujian Fuzhou 350318,China;North China Electric Power University,Hebei Baoding 071000,China;Hainan Nuclear Power Co.,Ltd.,Hainan Changjiang 572733,China)

机构地区：[1]核电运行研究(上海)有限公司,上海200126 [2]福建福清核电有限公司,福建福州350318 [3]华北电力大学,河北保定071000 [4]海南核电有限公司,海南昌江572733

出　　处：《工业仪表与自动化装置》2023年第5期64-69,共6页Industrial Instrumentation & Automation

基　　金：核电运行研究(上海)有限公司新技术开发类项目,项目名称《机器人检测发电机本体状态方法研究》(KY-B-21-012)。

摘　　要：大型核电机组定期检测维护工期长、作业重、成本高,针对这一系列问题,设计开发了一种新型核电机组免抽转子检测机器人,用于替代传统人工目视检测作业。首先介绍了核电机组的结构参数,据此设计了机器人的整体功能架构组成,进一步设计了运动控制系统、视觉检测系统和槽楔松紧度诊断系统,最后通过工程现场测试了机器人的相关功能模块。测试结果表明,设计开发的检测机器人操作简便、可靠性高、控制灵活,能够有效分析大型核电机组的健康状态,可以显著减低机组运维成本,具有一定工程推广价值。The regular detection maintenance task for large nuclear power generator is long period,heavy work and high cost.In order to solve these problems,a novel nuclear power generator detection robot without extracting rotor is designed and developed,and the traditional manual visual detection can be replaced.Firstly,the structural parameters of nuclear power generator is introduced and the overall functional architecture composition of robot is designed,then the motion control,the vision detection and the slot wedge tightness diagnosis systems are further designed.Finally,the robot function models are verified by site test.The testing resutls show that the developed robot has the advantages of easily operation,high reliability,flexible control,can effectively analyze the health condition of large nuclear power generator and obviously reduce the operation maintenance cost,and has a certain project promotion value.

关 键 词：核电机组 检测维护 免抽转子 机器人 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]