Design of automatic lancing and televisual inspection robot for HPR1000 steam generator

HPR1000(abbreviation of China Hualong Pressurizer Reactor 1000) steam generator is the vital part of the 3rd generation of nuclear power technologies and has its unique structure. With its running, how to carry out sludge lancing and televisual inspection during outage needs to be taken into consideration. Design of lancing and inspection robot was proposed based on the analysis of structure layout and function requirement. The design follows principle of module and intelligence design. The robot is composed of three parts: support jack for better results, transition module for movement and implementation module for lancing and inspection. The main challenges were listed and solutions were introduced. The mechanism, design process, validation calculation and some tests were also described in the paper. Test results prove that the robot's functions satisfy all the demands of sludge lancing and televisual inspection. It will be applied on site when the time window is ready this July.