A circumferential observation system for fusion reactors based on a snake-like endoscopic robot

Abstract

This invention proposes a circumferential observation system for a fusion reactor based on a snake-like endoscopic robot, belonging to the field of remote operation and maintenance of magnetic confinement fusion reactors. The system includes a snake-like endoscopic robot, storage pipes, a pipe plug flipping mechanism, and a bellows sealing device. The observation system is integrated into the lower pipe structure of the fusion reactor. During installation, it is necessary to ensure that the axis of the transport channel maintains a 20° inclination angle with the horizontal plane. A high-strength alloy bracket achieves through-type fixation to the passive plate and blind plate. This inclined installation method ensures the optimal observation angle for the snake-like endoscopic robot during operation and optimizes the structural stability of the system in a vacuum environment.

Description

Technical Field

[0001] This invention belongs to the field of remote operation and maintenance of magnetic confinement fusion reactors, and particularly relates to a holographic observation system for fusion reactors based on a snake-shaped endoscopic robot. Background Technology

[0002] Nuclear fusion energy, as one of the most promising clean energy solutions for the future, faces numerous technical challenges in its commercial application, among which the monitoring and maintenance of key components under extreme operating environments is particularly prominent. During operation, key components inside the tokamak device, such as the first wall and divertor, must continuously withstand the direct impact of high-temperature plasma, as well as the combined effects of strong electromagnetic fields and high-energy particle radiation. Under such harsh conditions, the surfaces of key components are prone to various forms of damage, including thermal fatigue cracks, material erosion, and structural deformation. These damages not only significantly affect the safe operating life of the device but may also lead to a decline in plasma confinement performance, thereby affecting the efficiency and stability of the fusion reaction. Therefore, developing efficient and reliable in-service monitoring technologies to achieve real-time monitoring and assessment of the condition of key components is crucial for ensuring the long-term reliable operation of fusion devices.

[0003] Currently, internal inspection of fusion reactors mainly relies on two traditional methods: The first is manual inspection after shutdown. This method requires completely stopping the device's operation, restoring the vacuum chamber to normal pressure, and then having specialized technicians enter for visual inspection. This method not only causes prolonged shutdowns, severely impacting research progress and economic benefits, but it is also commonly used during major overhauls of devices like ITER, with inspection intervals typically exceeding six months. According to ITER's 2023 annual maintenance report, a single overhaul will result in a continuous shutdown of the fusion reactor for more than 35 days, and each additional inspection point requires an additional 0.5 days of downtime. The second method involves introducing external inspection equipment through pre-installed large inspection channels. While this method avoids personnel entry, it still requires complex equipment docking and vacuum handling procedures, posing significant operational risks and the potential for vacuum leaks. Furthermore, due to limitations in channel size and the mobility of inspection equipment, this method cannot achieve full coverage inspection of critical components. It is worth noting that traditional industrial robots and testing equipment have inherent limitations such as high structural rigidity and poor environmental adaptability, making it difficult to work reliably in the special confined space and extreme conditions of fusion reactors. This further limits the application effectiveness of existing testing technologies.

[0004] A comprehensive analysis of existing technologies reveals three significant shortcomings: First, the current detection systems suffer from a severe lack of intelligence, relying entirely on manual experience for interpretation and analysis of acquired data. This is not only inefficient but also lacks autonomous learning and damage prediction capabilities, making it impossible to establish effective damage evolution models. Second, the detection process requires prolonged interruptions to device operation, resulting in substantial economic losses and severely hindering the continuity of scientific research. Finally, existing detection systems lack real-time monitoring capabilities, exhibiting a significant time lag between problem detection and completion of the detection, making it difficult to promptly detect and respond to sudden damage. From a commercial operation perspective, current detection technology has become a key bottleneck restricting the economic viability of fusion energy. EUROfusion's techno-economic analysis indicates that traditional detection methods result in maintenance costs accounting for as much as 38% (the target value needs to be reduced to below 15%), with an annual loss of 600-800 hours of effective operating time due to detection operations, leading to direct economic losses of €120-160 million. More seriously, each detection requires 6-8 highly qualified senior technicians with specialized operating licenses, fundamentally conflicting with the trend towards automated operation and maintenance of nuclear facilities. As fusion devices develop towards larger scales and higher parameters, higher demands are placed on in-service monitoring technologies. Therefore, there is an urgent need to develop a new observation system that can adapt to the special operating environment of fusion reactors and has real-time monitoring and intelligent analysis capabilities. This system should have multiple advantages, including environmental adaptability, intelligent diagnosis, and rapid response, to achieve efficient and accurate monitoring of the status of key components and provide strong support for the long-term safe operation of fusion devices. Summary of the Invention

[0005] To address the above technical problems, this invention provides a fusion reactor circumferential observation system based on a snake-shaped endoscopic robot. The specific technical solution is as follows:

[0006] A fusion reactor full-circumferential observation system based on a snake-shaped endoscopic robot includes: a snake-shaped endoscopic robot and a storage pipe, a pipe plug flipping mechanism, and a bellows sealing device;

[0007] Among them, the snake-shaped endoscopic robot and the storage tube are used for the storage and movement of the snake-shaped endoscopic robot;

[0008] The pipe plug flipping mechanism is used to flip up the pipe plug;

[0009] Bellows sealing devices are used to control the operation of the pipe plug flipping mechanism and maintain the seal of the vacuum system.

[0010] The present invention has the following beneficial effects:

[0011] 1. Significantly improved system integration. Through innovative built-in integrated design, this system highly integrates the observation equipment inside the fusion reactor tube, achieving a rapid response mode of "ready to start immediately." Compared with traditional external detection solutions, it completely eliminates multiple intermediate steps such as equipment transportation, channel docking, and vacuum balancing, greatly simplifying the operation process and significantly reducing system complexity.

[0012] 2. A qualitative leap in operational efficiency. Significant breakthroughs have been achieved in time efficiency: equipment preparation time has been reduced by orders of magnitude compared to traditional methods; the vacuum processing stage has been optimized from long waiting times to instant response; and actual testing efficiency has been significantly improved. The overall operation cycle has been dramatically optimized compared to traditional models.

[0013] 3. Leapfrog development in intelligence level. The system possesses three core intelligent features: equipped with an autonomous decision-making system based on deep reinforcement learning to achieve rapid real-time path planning; configured with multiple detection modules to automatically identify most typical defects; and established a digital twin collaborative platform to provide sub-spatial positioning and precise attitude control capabilities.

[0014] 4. Comprehensive improvement in operational reliability. Significant breakthroughs have been achieved in key performance indicators: the vacuum stability of the dynamic sealing system is significantly improved compared to traditional solutions; the new thermal management system enables rapid temperature control response; and the radiation protection design extends the service life of core components several times over.

[0015] 5. Maintenance mode transformation. A paradigm shift from "manually intensive operation" to "intelligent autonomous operation" has been achieved: the need for manual monitoring has been greatly reduced; the reliability of system operation has been significantly improved; and it has the ability to conduct uninterrupted monitoring around the clock, providing key technical support for the commercial operation of fusion reactors.

[0016] This invention employs an angle-optimized design: a 20° installation angle allows the snake-like endoscopic robot to obtain the best observation angle; it adopts a dual-mode cooling system: adaptive flow control in working / standby states; it employs a vacuum dynamic sealing scheme: a metal bellows sealing design; and it employs a fail-safe mechanism: the system can be quickly reset in an emergency. Attached Figure Description

[0017] Figure 1 The diagram shows a circumferential observation system for a fusion reactor. Figure 1 ;

[0018] Figure 2 The diagram shows a circumferential observation system for a fusion reactor. Figure 2 ;

[0019] Figure 3 shows a schematic diagram of the snake-shaped endoscopic robot and storage pipeline;

[0020] Figure 4 shows a schematic diagram of the pipe plug flipping mechanism;

[0021] Figure 5 shows a schematic diagram of the pipe plug flipping mechanism to open and close the pipe;

[0022] Figure 6 shows a schematic diagram of the drive motor for the bellows sealing device and the pipe plug flipping mechanism.

[0023] Symbols in the attached diagram: 1-Passive plate, 2-Pipe plug, 3-Cooling water pipe, 4-Storage pipe for snake endoscope robot, 5-Corrugated pipe for connecting cooling water pipe, 6-End observation device for snake endoscope robot, 7-Snake endoscope robot, 8-Moving track for snake endoscope robot, 9-Blind plate, 10-Slide table, 11-Sleeve, 12-Connecting rod between sleeve and plug, 13-Plug drive rod, 14-Welding rod of corrugated pipe inside blind plate, 15-Corrugated pipe inside blind plate, 16-Corrugated pipe outside blind plate, 17-Plug drive motor, 18-Slide valve. Detailed Implementation

[0024] To make the objectives, technical solutions, and advantages of this invention clearer, the invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the invention. Furthermore, the technical features involved in the various embodiments of this invention described below can be combined with each other as long as they do not conflict with each other. To achieve the above objectives, this invention adopts the following technical solution.

[0025] like Figure 1 , 2 As shown, a fusion reactor circumferential observation system based on a snake-like endoscopic robot includes: a passive plate 1, a pipe plug 2, a cooling water pipe 3, a snake-like endoscopic robot storage pipe 4, a corrugated pipe for connecting the cooling water pipe 5, a snake-like endoscopic robot end-effector observation device 6, a snake-like endoscopic robot 7, a snake-like endoscopic robot moving track 8, a blind plate 9, a sliding table 10, a sleeve 11, a sleeve-plug connecting rod 12, a plug drive rod 13, a corrugated pipe welding rod inside the blind plate 14, a corrugated pipe inside the blind plate 15, a corrugated pipe outside the blind plate 16, a plug drive motor 17, and a gate valve 18. The entire system comprises three parts: the snake-like endoscopic robot and the storage pipe, a pipe plug flipping mechanism, and a corrugated pipe sealing device. The entire device is installed within the lower pipe diameter, between the passive plate 1 and the blind plate 9 of the fusion reactor device.

[0026] Figure 3The diagram shows a snake-shaped endoscope robot and its storage pipe according to the present invention, including a snake-shaped endoscope robot storage pipe 4, a snake-shaped endoscope robot end-effector observation device 6, a snake-shaped endoscope robot 7, a snake-shaped endoscope robot movement track 8, and a gate valve 18. The rectangular portion at the front end of the snake-shaped endoscope robot storage pipe 4 is inserted into the observation port opened in the passive plate 1 and connected by welding. The tail end of the snake-shaped endoscope robot storage pipe 4 is connected to the gate valve 18 by double-ended studs. To ensure operability, the snake-shaped endoscope robot storage pipe 4 penetrates a blind plate 9. To ensure the device's airtightness is not compromised, the snake-shaped endoscope robot storage pipe 4 is welded at the point where it penetrates the blind plate 9. The snake-shaped endoscope robot movement track 8 is installed inside the snake-shaped endoscope robot storage pipe 4 and fixed by welding. The movement mechanism of the snake-shaped endoscope robot 7 moves forward and backward by cooperating with the snake-shaped endoscope robot movement track 8.

[0027] Figure 4 The diagram shows the pipe plug lifting mechanism of the present invention, including a pipe plug 2, a cooling water pipe 3, a corrugated pipe 5 for connecting the cooling water pipe, a slide 10, a sleeve 11, a sleeve-plug connecting rod 12, and a plug driving rod 13. The slide 10 is fixedly connected to the passive plate 1 by bolts. The extended slide 10 is parallel to the snake-shaped endoscopic robot storage pipe 4. The sleeve 11 is fitted into the slide 10 for movement. The pipe plug 2 is located inside the front end of the snake-shaped endoscopic robot storage pipe 4 and is used to block the pipe when not in operation. The two sleeve-plug connecting rods 12 are connected to the pipe plug 2 and the sleeve 11 by hinges, forming a parallelogram mechanism. One plug driving rod 13 is connected to the sleeve-plug connecting rod 12 by a hinge. The movement of the parallelogram mechanism is controlled by the feed, thereby controlling the lifting and lowering of the pipe plug 2. The other plug driving rod 13 is connected to the sleeve 11 by a hinge, and the movement of the pipe plug 2 is controlled by the feed. The cooling system consists of a cooling water pipe 3 and a corrugated pipe 5 for connecting the cooling water pipe. One end of the cooling water pipe 3 is connected to the pipe plug 2 by welding, and the other end passes through the blind plate 9 and is connected to the water supply equipment. The connection is welded to ensure the sealing of the device. Since the cooling water pipe 3 is made of steel, the corrugated pipe 5 is needed to connect the cooling water pipe 3 to meet the bending requirements of the cooling water pipe 3 during the lifting and lowering of the pipe plug 2. Figure 5 (a) and (b) show schematic diagrams of the pipe plug flipping mechanism for opening and closing the pipe.

[0028] Figure 6The schematic diagrams of the bellows sealing device and the pipe plug flipping mechanism shown in (a) and (b) include a bellows welding rod 14 inside the blind plate, a bellows 15 inside the blind plate, a bellows 16 outside the blind plate, and a plug drive motor 17. The bellows 15 inside the blind plate is welded to the blind plate 9, with its bellows portion parallel to the snake-shaped endoscopic robot storage pipe 4. The bellows welding rod 14 inside the blind plate is welded to the bellows 15 inside the blind plate and connected to the plug drive rod 13 via a hinge. The bellows 16 outside the blind plate is welded to the blind plate 9, with its bellows portion parallel to the snake-shaped endoscopic robot storage pipe 4. The plug drive motor 17 is bolted to the outside of the blind plate 9. The motor drive shaft extends into the opening of the bellows 16 outside the blind plate, controlling the movement of the telescopic rod inside. The telescopic rod passes through the through hole of the blind plate 9 and connects to the bellows 15 inside the blind plate. The movement of the plug drive rod 13 is controlled by the extension and retraction of the corrugated pipe 15 inside the blind flange, which ultimately realizes the lifting and lowering of the pipe plug 2.

[0029] The working process is as follows: Installation stage: Install all components of the fusion reactor circumferential observation system with the snake-shaped endoscope robot in a non-vacuum state. The snake-shaped endoscope robot storage pipe 4 is tilted at a 20° angle to the horizontal plane. The snake-shaped endoscope robot 7 is adjusted and placed inside the snake-shaped endoscope robot storage pipe 4. After installation, the gate valve 18 is closed, and a vacuum operation is performed. Standby state: At this time, the fusion reactor is in operation, the pipe plug 2 is in the closed position, and the cooling water pipe 3 continuously supplies circulating water to cool the pipe plug 2. The snake-shaped endoscope robot 7 is in standby state inside the snake-shaped endoscope robot storage pipe 4. Start-up state: At this time, the fusion reactor operation ends, the cooling water pipe 3 stops supplying water, and the plug drive motor 17 controls the extension and retraction of the corrugated pipe 15 inside the blind plate, driving the movement of the plug drive rod 13 to realize the translation and upward flipping of the pipe plug 2, opening the snake-shaped endoscope robot storage pipe 4 to facilitate the operation of the snake-shaped endoscope robot 7. Observation phase: The snake-shaped endoscope robot 7 moves along the snake-shaped endoscope robot movement track 8, and extends the robotic arm carrying the snake-shaped endoscope robot end observation device 6 into the working position of the vacuum chamber to observe the target area of ​​the mission; Recovery phase: After completing the observation mission, the snake-shaped endoscope robot 7 returns to the initial position, the pipe plug 2 descends and moves to close the snake-shaped endoscope robot storage pipe 4, and the cooling water pipe 3 resumes water supply to cool the pipe plug 2, waiting for the next operation to begin.

[0030] This invention employs a compact, integrated design, highly integrating the entire observation system within the internal space of the fusion reactor's lower tube. Through optimized spatial layout, it achieves seamless integration with the fusion reactor's main structure, significantly reducing the occupation of external space and interference with fusion reactor operation. Simultaneously, it possesses a high degree of automated operation capability. The system integrates an intelligent control module, enabling fully autonomous operation from equipment wake-up and path planning to observation task execution. Human intervention is minimized, requiring only one operator for remote monitoring to complete the entire observation process.

[0031] This invention proposes a vacuum maintenance method based on a metal bellows. A high-strength metal material is used to fabricate the inner bellows 15 of a blind flange, giving it axial expansion and contraction capabilities. Installed inside the blind flange 9, it employs a double-end connection structure: one end is rigidly connected to a welded rod 14 of the inner bellows of the blind flange, which is connected to a plug drive rod 13 via a hinge; the other end is connected to a power rod driven by a plug drive motor 17. The elastic deformation characteristics of the metal bellows control the operation of the pipe plug lifting mechanism, satisfying the displacement requirements of mechanical transmission while effectively maintaining the sealing integrity of the vacuum system, thus solving the technical problem of easy dynamic seal failure in traditional solutions.

[0032] This invention proposes a cooling system. First, the pipe plug 2 adopts a gradient alloy-microchannel composite cooling structure. The pipe plug 2 itself employs a graded material design scheme. The high-temperature zone near the vacuum chamber uses tungsten alloy, with an operating temperature range of 80-1500℃, while the outer low-temperature zone uses stainless steel. Simultaneously, cooling pipes are integrated within the pipe plug 2, increasing the cooling water coverage area and enhancing cooling efficiency. Second, a cooling piping system combining straight metal pipes and corrugated metal hoses is used. The straight metal pipes ensure structural strength under vacuum conditions, while the corrugated hoses provide flexible connections to accommodate the upward movement of the pipe plug 2. The piping connection involves one end penetrating a blind flange 9 to connect to an external cooling water source, and the other end connecting to the plug's cooling water inlet and outlet. This design, through gradient material distribution and optimized piping configuration, effectively solves the cooling problem of the pipe plug 2 under high-temperature conditions while simultaneously meeting the requirements of mechanical movement.

Claims

1. A fusion reactor circumferential observation system based on a snake-like endoscopic robot, characterized in that, include: Snake-shaped endoscopic robot with storage pipes, pipe plug flipping mechanism and bellows sealing device; Among them, the snake-shaped endoscopic robot and the storage tube are used for the storage and movement of the snake-shaped endoscopic robot; The pipe plug flipping mechanism is used to flip up the pipe plug; Bellows sealing devices are used to control the operation of the pipe plug flipping mechanism and maintain the seal of the vacuum system; The pipe plug lifting mechanism includes a pipe plug, a cooling water pipe, a corrugated pipe for connecting the cooling water pipe, a slide, a sleeve, a sleeve-plug connecting rod, and a plug drive rod. The slide and the passive plate are fixedly connected by bolts. The extended slide is parallel to the storage pipe of the snake-like endoscope robot. The sleeve is inserted into the slide for movement. The pipe plug is located inside the front end of the storage pipe of the snake-like endoscope robot and is used to block the pipe when not in operation. Two sleeve-plug connecting rods are connected to the pipe plug and sleeve by hinges, forming a parallelogram mechanism. One plug drive rod is connected to the sleeve-plug connecting rod by hinges. The movement of the parallelogram mechanism is controlled by the feed to control the lifting and lowering of the pipe plug. The other plug drive rod is connected to the sleeve by hinges. The movement of the pipe plug is controlled by the feed. The cooling system consists of a cooling water pipe and a corrugated pipe for connecting the cooling water pipe. One end of the cooling water pipe is welded to the pipe plug, and the other end passes through a blind plate and is connected to the water supply equipment.

2. The fusion reactor circumferential observation system based on a snake-like endoscopic robot according to claim 1, characterized in that, The fusion reactor full-circumference observation system is located between the passive plate and the blind plate of the fusion reactor device.

3. A fusion reactor circumferential observation system based on a snake-like endoscopic robot according to claim 2, characterized in that, The snake-like endoscopic robot and its storage pipeline include a snake-like endoscopic robot storage pipeline, a snake-like endoscopic robot end-effector, a snake-like endoscopic robot, a snake-like endoscopic robot movement track, and a gate valve. The rectangular section at the front end of the snake-like endoscopic robot storage pipeline is inserted into the observation port opened in the passive plate and connected by welding. The tail end of the snake-like endoscopic robot storage pipeline is connected to the gate valve by double-ended studs. The snake-like endoscopic robot storage pipeline passes through a blind plate, and the section where the snake-like endoscopic robot storage pipeline passes through the blind plate is welded. The snake-like endoscopic robot movement track is installed inside the snake-like endoscopic robot storage pipeline and fixed by welding. The movement mechanism of the snake-like endoscopic robot moves forward and backward by cooperating with the snake-like endoscopic robot movement track.

4. A fusion reactor circumferential observation system based on a snake-like endoscopic robot according to claim 3, characterized in that, The cooling water pipes are made of steel, and corrugated pipes are used to connect the cooling water pipes.

5. A fusion reactor circumferential observation system based on a snake-like endoscopic robot according to claim 2, characterized in that, The bellows sealing device and pipe plug lifting mechanism include a bellows welding rod inside the blind plate, an inner bellows of the blind plate, an outer bellows of the blind plate, and a plug drive motor. The inner bellows of the blind plate is welded to the blind plate, and its bellows portion is parallel to the storage pipe of the snake-shaped endoscopic robot. The bellows welding rod inside the blind plate is welded to the inner bellows of the blind plate and connected to the plug drive rod via a hinge. The outer bellows of the blind plate is welded to the blind plate, and its bellows portion is parallel to the storage pipe of the snake-shaped endoscopic robot. The plug drive motor is bolted to the outside of the blind plate. The motor drive shaft extends into the opening of the outer bellows of the blind plate, controlling the movement of the telescopic rod inside. The telescopic rod passes through the through hole of the blind plate and connects to the inner bellows of the blind plate. The movement of the plug drive rod is controlled by the extension and retraction of the inner bellows of the blind plate, ultimately realizing the lifting and lowering of the pipe plug.

6. A fusion reactor circumferential observation system based on a snake-like endoscopic robot according to claim 1, characterized in that, The snake-shaped endoscopic robot's storage tubes are tilted at a 20° angle to the horizontal plane.

7. A fusion reactor circumferential observation system based on a snake-like endoscopic robot according to claim 1, characterized in that, The inner corrugated pipe of the blind flange is made of high-strength metal material and installed inside the blind flange. It adopts a double-end connection structure: one end is rigidly connected to the welding rod of the inner corrugated pipe of the blind flange, and the welding rod of the inner corrugated pipe of the blind flange is connected to the plug drive rod through a hinge. The other end is connected to the power rod driven by the plug drive motor.

8. A fusion reactor circumferential observation system based on a snake-like endoscopic robot according to claim 1, characterized in that, The pipe plug adopts a gradient alloy-microchannel composite cooling structure.

9. A fusion reactor circumferential observation system based on a snake-like endoscopic robot according to claim 8, characterized in that, The high-temperature zone of the pipe plug near the vacuum chamber is made of tungsten alloy, which can withstand higher operating temperatures, while the low-temperature zone on the outside is made of stainless steel. At the same time, the pipe plug integrates cooling pipes.

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