Research on Smart Handling Robot for Nuclear Reactor

Smart handling is more and more important to the core of nuclear power plant (NPP)nuclear reactor. Refueling of nuclear fuel was mainly relied on NPP operators in the past. The potential risk always exists. The smart handling robot is developed so as to reduce the related risk. The research method of the robot development and key point is introduced in the paper. The smart handling robot for nuclear reactor will have broad prospects in China. Introduction Smart handling robot for nuclear reactor is a project with more and more needs of nuclear power plant in China. Currently nuclear business in China is growing steadily. In future nuclear energy will occupy 10% roughly in China power industry. Nuclear power is a kind of clean and high effective energy. The core of NPP is nuclear reactor. The fuel of nuclear reactor is replaced periodically. In the past the task is done by NPP operator. However, the relevant potential risk including reliability, consistency and recognition always exists. The research objective of the paper is to reduce the risks. Requirement to Radiation Source Intelligent Handling System There are nearly 10 NPPs now in China. The number of undergoing and planning plants is over 10 [1]. The smart handling robot will have broad application prospects. Detail Requirement to Radiation Source Intelligent Handling System Considering the situation of NPP and reactor in China, the smart handling robot will meet main technical indicators as below. (1) The system is divided into two parts including actuator and control terminal. The system can be controlled to move and accomplish appointed process remotely. (2) Radiation source code can be recognized accurately. (3) Sole neutron source or γ source can be got from radiation source distributor and assembled to appointed box. Then the combined radiation source can be transferred to intermediate transfer container. (4) The combined radiation source can be taken out from intermediate transfer container. Then it is disassembled sole radiation source and transferred to radiation source distributor. (5) The radiation source box can be rotated tightening and disassembling. Grasping smooth surface, tightening, disassembling and grasping should have certain flexibility. The relevant data should be online displayed on terminal. (6) The volume limit is 2000mm×2000mm×2000mm control terminal. (7) The system should have emergency handling function. Key Technology to Smart Handling Robot The smart handling robot has some key technology steps including lightweight structure design of mechanical arm, fast positioning and teaching, workpiece recognition and visual servoing and autonomous location and grasping of moving targets etc. The detail is as below.