热室退役机器人研制及废物回取台架实验验证  

Development of Hot Cell Decommissioning Robot and Bench Examination of Waste Recovery

作　　者：孙润杰 刘刈[1] 王旭[1] 班子惠 吴杰[1] 张立军[1] 张生栋[1] 张兴旺[1] 陈艳[1] 聂鹏[1] 李睿之[1] 任韧 SUN Runjie;LIU Yi;WANG Xu;BAN Zihui;WU Jie;ZHANG Lijun;ZHANG Shengdong;ZHANG Xingwang;CHEN Yan;NIE Peng;LI Ruizhi;REN Ren(China Institute of Atomic Energy,Beijing 102413,China)

机构地区：[1]中国原子能科学研究院,北京102413

出　　处：《同位素》2023年第6期579-588,共10页Journal of Isotopes

基　　金：核设施退役治理工程资助项目(BD21000222)。

摘　　要：101反应堆热室在退役过程中存在辐射水平高、空间小、环境复杂等难题,为完成热室内放射性废物回取等工作,设计一套退役机器人系统,以模拟热室台架为平台,开展废物回取实验验证。结果表明,机器人采用液压驱动方式,为双层滑台结构,具有6个自由度,在最大臂展情况下负载能力>30 kg。台架实验中,退役机器人的可达性较好,可实现储存井及热室地面散存废物的回取。退役机器人系统整体设计合理,功能满足热室退役要求,台架实验结果可为实际的工程实施提供技术支撑。During the decommissioning of the 101 reactor hot cell,there are some problems,such as high radiation level,small space,complex environment,etc.In order to complete the recovery of radioactive waste,decommissioning robot system was designed.The experimental verification of waste recovery was carried out on the platform of simulated hot cell.The results show that the robot is driven by hydraulic pressure and has 6 degrees of freedom.The load capacity of the robot is up to 30 kg under the condition of maximum arm span.In the bench examination,the decommissioning robot has high reachability,which can realize the recovery of the waste from the storage well and the ground of the hot cell.The decommission robot design is reasonable and the function can meet the requirements of the hot cell decommissioning.The results can provide technical support for the actual implementation of the project.

关 键 词：热室 退役机器人 废物回取 可达能力 

分 类 号：TL943[核科学技术—辐射防护及环境保护]