一种吊运核废料起重机的电气关键技术

李永 刘光辉 李虎 李钢强

【摘  要】当前，中国的核电事业发展的如火如荼，相比石化能源发电带来的环境污染，核电凭借几乎无污染的突出特点，促使国家政府加码投入核电。目前中国内地在运核电机组总计446台，总装机容量约为390.8GW，年生产核废料约4000万吨。随着装机容量的持续增加，核废料也将按比例增加，数量如此巨大的核废料每年都需要处理，处理过程中需要使用大量的起重机进行搬运，由于涉及核辐射，此类起重机比较特殊，需要远程操作或无人操作远程监控。国内起重机厂家对这一块的技术研究起步较晚，很不成熟，采购国外设备，由于涉核的敏感性导致价格极高还附带许多苛刻条件，比如：进口德国、芬兰的起重机，需要提供作业信息、设备定位等等信息，不利于国家核电事业发展的保密性及国防的安全性。所以：迫切需要国内设备厂商掌握此种起重设备的关键技术、摆脱对国外产品的依赖。卫华机械工程研究院经过多年的研究、积累，成功研制生产出了此种起重机，并在2018年应用到了广西某核废料处理厂，至今运行安全、可靠，稳定。本文将对此种起重机的电气控制做深入的探讨。

At present，the development of nuclear power in China is in full swing.Compared with the environmental pollution caused by petrochemical power generation，the prominent feature of almost no pollution in nuclear power has prompted the national government to increase investment in nuclear power.At present，there are a total of 446 nuclear power units in operation in the Chinese mainland，with a total installed capacity of about 390.8GW and an annual production of about 40 million tons of nuclear waste.With the continuous increase of installed capacity，nuclear waste will also be increased proportionally.Such a huge amount of nuclear waste needs to be disposed of every year，and a large number of cranes are needed to carry it out in the process of disposal.Due to the nuclear radiation involved，such cranes are relatively special and require remote operation or unmanned remote monitoring.Domestic crane manufacturers started late this part of the technology research，very immature，purchasing foreign equipment，due to the sensitivity of the nuclear involved，the price is extremely high and there are many harsh conditions，such as：imported German，Finnish cranes，need to provide operational information Information such as equipment positioning is not conducive to the confidentiality of the development of the national nuclear power industry and the security of national defense.Therefore：domestic equipment manufacturers are urgently required to master the key technologies of such lifting equipment and get rid of dependence on foreign products.After years of research and accumulation，Weihua Mechanical Engineering Research Institute successfully developed and produced such a crane.It was applied to a nuclear waste treatment plant in Guangxi in 2018.It has been safe，reliable and stable.This article will make an in-depth discussion on the electrical control of this type of crane.

【關键词】起重机;核废料;电气控制;起重机定位;双目视觉

Crane;Nuclear waste;Electrical control;Crane positioning;Binocular vision

1 引言

对于使用起重机作业吊装的核废料处理车间，当前皆是远程操作，起重机操作人员通过视频画面操作，避免核辐射，容易引起视觉疲劳，一般每小时要休息15分钟，工作效率很低。如果采用全自动起重机进行自动吊装，起重机定位是一项关键技术，核废料桶在库内固定成行、列的坐标位置摆放，通过安装在起重机上的绝对定位装置，定位在相应的行列位置坐标上，很容易。但是由于起重机在吊装运行垒桶的过程中，很容易出现位置偏差，缺少视觉判断系统，起重机吊具自动吊装过程中会出现夹具夹取位置不准，造成吊装失败，或吊起滑落的事故。车间库内的核废料桶的进库、出库、贮存时间需要统计，起重机需要数据库技术。另外：核废料桶暂存车间密封严密，起重机远程操作、全自动运行、远程监控，如何能够保证控制、测量信号的稳定性也是本文探讨的重要内容。图1是某核废料桶装车间的图片。核废料桶装车间与外界通过0.5～1m厚的钢筋混凝土内嵌防辐射材料隔绝，内部用电设备，电源线、信号线、控制线、照明线、视频线通过埋藏在地下的电缆沟与外界相连。起重机通过外部控制室远程操作。核废料桶的出入库通过双道特制安全门，使用外部车辆运输。图2是作业起重机的图片，图3是远程操作室的图片。