核电站蒸汽发生器在役检修多功能机械手研制

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Development of Manipulator for In-Service Inspection and Maintenance of NPP Steam Generator

1. School of Mechanical and Electrical Engineering, Harbin Engineering University, Harbin 150001, China;
2. Research Institute of Nuclear Power Operation, Wuhan, 430074, China

摘要: 以核电站蒸汽发生器在役检修应用为背景,研制了国内首个多功能机械手系统。该机械手能用于传热管涡流检查、超声检查、堵管、衬管、水室表面电视检查等检修工作。机械手主要由脚部(基础模块)和6个旋转关节模块组成。模块化设计不仅提高了机械手的可靠性和可维护性,还使其能够适应不同型号蒸汽发生器的检修需要。机械手特殊的两端作业方式提高了检修效率,极大地降低了操作人员整体辐射水平。
- 蒸汽发生器 /
- 机械手 /
- 维修工具 /
- 模块化
Abstract: Considering the specifically application environment for in-service inspection and maintenance of steam generators, an multifunctional manipulator system was developed first in China. This manipulator can be used in many occasions, such as eddy current inspection of tube, ultrasonic inspection, plugging, sleeving, and television inspection. The manipulator includes a base modular and six rotational joint modules. By modular design, not only the reliability and maintainability of the manipulator are improved, but also the requirements by different SGs are satisfied. The manipulator worked at a special two-base model, which improved the efficiency of services and greatly decreased the levels of radiation.
- Steam generator /
- Manipulator /
- Maintenance tools /
- Modular