Design and Development of Intelligent Replacement Robot for Radioactive Spent Filter Element in NPP and Its Performance Validation

Abstract

During the operation of a nuclear power plant, many main systems will generate variety of radioactive spent filter elements. These filter elements are main solid waste which need to be replaced regularly to keep safety of these systems. Because these filter elements have a certain level of radioactivity, the replacement operation has a higher risk. Therefore, according to the national and nuclear power plant radioactive waste regulations, it is necessary to ensure the safe and reliable operation of the radiation protection, make sure that operator and facilities are protected from radiation exposure or minimized. Based on the analysis of the filter element replacement process and equipment of domestic nuclear power units in service, combined with the requirements of newel construction of intelligent nuclear power plants, it is necessary to propose a radioactive spent filter element intelligent replacement ROBOT program. This paper discusses the design scheme of a new intelligent replacement robot for radioactive spent filter elements, and key issues involving fully automatic replacement technology for radioactive filter elements, such as filter layout and filter element replacement process optimization, robot grabbing actuator design, robot positioning mechanism design and accuracy guarantee, etc. have been systematically studied. A set of robot systems with intelligent replacement of radioactive irrationality have been developed. The test has been verified and the technical conditions for implementation in NPP have been met.