Robotic device for visual inspection of internal components of pebble bed reactor core cavity

Abstract

A robot device for visually detecting a component in a core cavity of a pebble bed reactor comprises a driving unit, a lifting rotating mechanism, a connecting pipe assembly and a visual detection robot device body. According to the robot device, a mechanical arm is driven in a rope driving manner, so that the reliability of the visual detection robot device body working in high-temperature and radiation conditions in the core cavity can be improved, and meanwhile, the location and posture of a shooting system can be flexibly conveniently changed to achieve accuracy detection on the componentin the core cavity; in addition, an upper guide pipe set and a lower guide pipe set are used during rope driving, so that a guide structure of a rope is simplified; a main rod, a main rod sliding block, a crank and the mechanical arm form a crank sliding block mechanism which can be folded while passing through a small-size graphite fuel ball feeding channel and can be unfolded while entering a big-size core cavity, so that the robot device has the characteristic of being adapting to the core cavity being narrow in an entrance and wide in inside. The robot device is simple in structure, and capable of visually detecting the component in the core cavity of the pebble bed reactor.

Description

technical field [0001] The invention belongs to the technical field of robots, and in particular relates to a robot device for visual inspection of internal components of a pebble bed reactor core cavity. Background technique [0002] Energy issues play a pivotal role in human society. At present, fossil energy is still the mainstream energy in the world. However, under the pressure of climate change and other issues, nuclear energy, as a clean and environmentally friendly energy with extensive energy storage and mature technology, is becoming more and more popular. more attention. Among the types of nuclear power plant reactors, pebble bed reactors have attracted attention because of their relatively high safety. During the operation of the pebble bed reactor, in order to ensure its safety, the reactor needs to be shut down regularly for in-service inspection, and the inspection of the internal components of the core cavity is an important part of the in-service inspection...

AI Technical Summary

Problems solved by technology

Its disadvantages are: due to the flexibility of the bellows, in order to control the position of the camera system, the bellows cannot extend too long from the top of the core cavity to the inside of the core cavity, so that the camera system can only be placed on the top of the core cavity. It is impossible to detect all positions in the core cavity; similarly, due to the flexibility of the bellows, when a defect is detected, it is difficult for the detection device to locate the defect

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