核电文丘里管道检查测厚机器人设计与应用  

Design and Application of Nuclear Power Plant Venturi Pipeline Inspection and Thickness Measurement Robot

作　　者：文忠 樊钊 薛家阳 方哲伦 潘宇 WEN Zhong;FAN Zhao;XUE Jiayang;FANG Zhelun;PAN Yu(Shanghai Guohe Jiyun Digital Technology Co.,Ltd.,Shanghai 200233,China;State Nuclear Power Plant Service Company,Shanghai 200233,China)

机构地区：[1]上海国和吉运数字科技有限公司,上海200233 [2]国核电站运行服务技术有限公司,上海200233

出　　处：《机械设计与研究》2024年第6期116-121,共6页Machine Design And Research

基　　金：国家科技重大专项(2019ZX06005002)。

摘　　要：核电厂主给水系统文丘里管是利用压差计算主给水流量的一种节流装置,运行过程中受环境影响,内壁易发生腐蚀减薄,甚至穿孔破裂,其结构完整性直接影响核电厂的安全稳定运行,需定期检测。针对文丘里管的检测,传统方式不具备可达性,开展检查测厚机器人技术研究,旨在实现可远程操控的机器人作业。通过检测方法的对比分析,采用高清视频检查和电磁超声测厚技术,能够有效解决受限空间下该管道的检测问题。开展了检查测厚机器人结构和功能模块设计,及控制系统软硬件开发,并研制了机器人工程样机,在模拟管道内进行了试验测试,并多次在核电大修现场开展了文丘里管视频检查、测厚工作。结果表明:机器人具有良好的通过性,能够灵活精确地到达待检位置,工作稳定可靠;管道内视频检查图像数据完整、清晰度高,测厚数据精准,检测结果与工程实际一致。该机器人的研发与成功应用,为狭小、不可达区域的视频检查和测厚提供了机器人解决方案,可推进无损检测领域的技术进步。The Venturi tube in the main feedwater system of a nuclear power plant is a throttling device that uses pressure difference to calculate the main feedwater flow rate.During operation,it is affected by the environment,and the inner wall is prone to corrosion,thinning,and even perforation and rupture.Its structural integrity directly affects the safe and stable operation of the nuclear power plant and requires regular testing.Traditional inspection methods lack accessibility.Therefore,research on inspection and thickness measurement robot technology is being conducted with the aim of achieving remotely controllable robot operations.Through comparative analysis,the use of high-definition video inspection and electromagnetic ultrasonic thickness measurement technology can effectively solve the detection problem of the pipeline in confined spaces.The design of the structure and functional modules of the inspection and thickness measurement robot has been carried out,and the control system software and hardware have been developed.An engineering prototype of the robot has also been developed and experimental tests have been conducted in simulated pipelines.Video inspections and thickness measurements of the Venturi tubes have been performed multiple times at nuclear power overhaul sites.The results indicate that the robot can flexibly and accurately reach the inspection position and works stably and reliably.The video inspection image data inside the pipeline is complete,high-definition,and the thickness measurement data is accurate.The detection results are consistent with the actual engineering situation.The development and successful application of this robot provide a robot solution for video inspection and thickness measurement in narrow and inaccessible areas,which can promote technological progress in the field of non-destructive testing.

关 键 词：核电厂 文丘里管 检查 测厚 机器人 

分 类 号：TH-39[机械工程] TL38[核科学技术—核技术及应用]