Simulation system of steam generator heat transfer tube detection robot

Abstract

The invention provides a steam generator heat transfer tube detection robot simulation system. The steam generator heat transfer tube detection robot simulation system comprises a user programming interface used for initializing programming and importing and inputting simulation parameters; the simulation interface is used for realizing connection with a detection robot control system; the signal processing and analyzing module is used for realizing data interaction control of the detection robot simulation system and the detection robot control system; the steam generator heat transfer tube plate simulation module is used for realizing simulation of a steam generator heat transfer tube plate structure and space coordinates; the detection robot simulation module is used for realizing simulation of functions and performance of the steam generator heat transfer tube detection robot; the sensor simulation module is used for realizing motion simulation of the detection robot; and the simulation graph display module is used for realizing real-time simulation graph display. The simulation system of the steam generator heat transfer tube detection robot can simulate function debugging and performance testing of the steam generator heat transfer tube detection robot, manpower and material resources are saved, and the working efficiency is improved.

Description

technical field [0001] The invention relates to a simulation system, in particular to a robot simulation system for detecting a heat transfer tube of a steam generator. Background technique [0002] The steam generator of AP1000 nuclear power plant is equipped with tens of thousands of thin-walled heat transfer tubes, which are arranged in a triangular or square arrangement. The steam generator heat transfer tube is the pressure boundary between the primary side and the secondary side of the nuclear power plant. Under the action of water flow and long-term alternating stress of high temperature and high pressure, the heat transfer tubes will have defects such as thinning, wear, pits, stress corrosion, and intergranular corrosion during the operation of nuclear power plants. leakage, causing radioactive contamination of the secondary circuit. Therefore, the inspection of heat transfer tubes in nuclear power plants is a mandatory inspection item during the annual refueling o...

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Problems solved by technology

[0003] In the prior art, in the detection system of steam generator heat transfer tubes, the commonly used detection robot equipment includes the ROSA manipulator of the Westinghouse Company of the United States, the PEGASYS pusher, the ZR100 pusher developed by the US ZETEC company, etc., but the above detection robot equipment No robot simulation system is configured, and the actual inspection robot is often used to debug the inspection robot equipment in the field work, so there are the following defects:

[0004] (1) It takes a lot of manpower and material resources;

[0005] (2) It is easy to cause equipment damage and damage to the heat transfer tube sheet of the steam generator due to unfamiliarity with the site environment;

[0006] (3) In the actual steam generator, the function debugging and performance testing of the steam generator detection robot system cannot be encountered in various possible failure situations, and the function of the steam generator detection robot cannot be comprehensively inspected

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