Study On High Dose Rate ? Ray Measurement Technology Based On Inclination Sensor

With the development of the utilization of nuclear energy,the requirements of nuclear power plant emergency handling robots and nuclear facility decommissioning robots that can be used in the field of "nuclear safety" and "nuclear security" are increasing day by day.Combined with the working environment conditions of nuclear robot,taking the target requirements of Huluwa III robot which was independently developed and designed by our laboratory as an example,it can be seen that in order to complete the independent tool head replacement and shovel,shear,break,grasp and other actions under the condition of remote control,it is necessary to measure the joint angle change of the mechanical arm during the replacement and working process.However,due to the radiation damage of the robot control system and its subsystems caused by nuclear radiation,the radiation resistance of the sensors and other electronic components in the control system is the weakest.Therefore,it is very important to understand the radiation resistance,radiation damage mechanism and corresponding reinforcement methods of the key sensors in the radioactive environment.Through theoretical analysis and experimental research,thefeasibility of using a inclination sensor to measure the rotation angle of a robot joint in a high-dose gamma-ray radiation environment is demonstrated.The total radiation-resistant dose of the inclination sensor was measured by irradiation experiments.The effects of external related factors on the radiation resistance of the inclination sensor under the conditions of ?-ray irradiation were studied using the radiation dose rate,total dose,and joint rotation speed as parameters.The sensor shielding device is analyzed and designed.In this paper,Through the irradiation experiment,the total radiation dose of the inclination angle sensor is measured;under the condition of ?-ray irradiation,the influence of external factors on the radiation resistance of the inclination angle sensor is studied with the radiation dose rate,total dose and joint rotation speed as parameters;and the shielding device of the sensor is analyzed and designed comprehensively.This chapter introduces the theoretical knowledge related to kinematics and dynamics modeling of robot working device,which provides the corresponding basis for trajectory planning in automatic reloading;analyzes the radiation damage mechanism of MOS components,its post irradiation damage effect and external related factors,and studies the influence of radiation dose rate,total dose and other factors on the working performance of sensor from the perspective of practical application;summarizes the current situation Line of radiationshielding reinforcement method.Under the condition of ?-ray radiation,the effects of radiation dose rate,total dose and joint rotation speed on the radiation resistance of the sensor were analyzed by using the control variable method.The results show that the dose rate has little effect on the radiation resistance of the dip sensor;when the total radiation dose is large,the amplitude and frequency of the output waveform of the dip sensor signal have great changes,and the maximum reduction can reach 50% of the amplitude in the normal environment;and when the joint speed is increased under the same total radiation dose,the amplitude of the waveform will be further reduced,including SDA126 T dip sensor When the joint speed is 5r / min,the measurement amplitude becomes one third of the normal environment.After annealing,the working performance of the sensor is recovered,and the higher the annealing temperature is,the better the elimination effect and the faster the speed are.According to the actual work requirements,the sensor is designed to be reinforced.Based on the comprehensive analysis of the thickness and quality of the half value layer of the commonly used shielding materials for ? rays,lead is selected as the shielding material,and the sensor shielding structure is designed according to the principle of minimizing the impact on the robot's work;the particle transport is simulated by MCNP simulation software,and the shielding structure is furtheroptimized and designed;the size of the shielding body is calculated to be92 mm × 80 mm × 49 mm according to the actual requirements,and The relationship between radiation attenuation and distance is verified by simulation experiment.