Movement track planning method of reactor pressure vessel lower seal head surfacing layer detection manipulator

Abstract

The invention is applicable to the field of nuclear power station overhaul, and particularly relates to a movement track planning method of a reactor pressure vessel lower seal head surfacing layer detection manipulator. A nondestructive testing method for the vicinity of a penetration piece of a lower seal head of a pressure vessel is not available due to the limitation of the movement space of manipulator testing equipment. According to the method, an inspection area is selected aiming at the condition near the penetration piece at the bottom of the pressure vessel of a nuclear reactor, thetype of the inspection part, the structure of the pressure vessel and control parameters are analyzed, a movement method and a movement space of the manipulator are designed, the central axis of an end tool is perpendicular to a normal line of an intersection point with a spherical surface in the movement process, and a tool interval is arranged in a gap of the penetration piece. The movement track planning method of the reactor pressure vessel lower seal head surfacing layer detection manipulator can meet the high requirements of high adaptability, high safety, maximum range and the like required when the lower seal head of the pressure vessel is detected.

Description

technical field [0001] The invention is applicable to the field of maintenance of nuclear power plants, and in particular relates to a method for planning a motion trajectory of a manipulator for detecting the surfacing layer of a lower head of a reactor pressure vessel. Background technique [0002] There are few cases at home and abroad on the inspection of the lower head area of ​​reactor pressure vessels. The main reason is that the inspection of this area is not mandatory in the European, American and domestic non-destructive inspection specifications. It is precisely because the frequency of inspection in this area is not high and the detection technology It is difficult to develop. At present, there are relatively few researches on non-destructive testing technology and testing equipment in the lower head area at home and abroad. It is known internationally that Westinghouse Corporation of the United States has developed corresponding testing technology and devices, wh...

AI Technical Summary

Problems solved by technology

The detection environment is complex, the light is weak, it is difficult to effectively monitor, and the detection range span is large, which puts forward higher requirements for the scanning trajectory planning

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