核设施退役场景中耐辐射机器人应用设计

Application and Design of Radiation Resistant Robot in Decommissioning Scene of Nuclear Facilities

在核设施退役场景中采用机器人替代人员执行相关操作是一种必要且有效的技术手段,核工业机器人设计中的核心技术难点是提高电子学系统在强辐射场所中的耐辐射性能.本文基于耐辐射加固与剂量管理方法,提出了一种在强辐射场所中可以兼顾可达性、可靠性、耐辐射性能和经济性的机电一体化设备耐辐射加固方法;并耦合全景源项搜寻、辐射探测、智能路径规划、越障与稳定控制、自动化场所与辐射热点去污等技术,集成设计了一款适用于核设施退役场所的智能辐射探测与去污机器人.

In the decommissioning scenario of nuclear facilities,it is a necessary and effective technical means to use robots to replace personnelin performing relevant operations.The core technical difficulty in the design of nuclear robots is to improve the radiation resistance of electronic systems in strong radiation fields.Based on the methods of radiation resistance reinforcement and dose management,this paper puts forward a radiation resistance reinforcement method of mechatronics equipment which can take into account accessibility,reliability,radiation resistance and economy in strong radiation fields;An intelligent radiation detection and decontamination robot suitable for decommissioning sites of nuclear facilities is integrated and designed by coupling technologies such as full field source item search,radiation detection,intelligent path planning,obstacle crossing and stability control,automatic sites and radiation hotspot decontamination.