Razvoj robota za ispitivanje instrumentacijskih cijevi na dnu reaktorske posude

undergraduate thesis

• Title (english): Development of examination robot for bottom mounted instrumentation in the reactor vessel
• Author: Tin Novosel
• Mentor: Mladen Crneković (mentor)
• Mentor: Danijel Rohde (komentor)
• Granter: University of Zagreb; Faculty of Mechanical Engineering and Naval Architecture; Zagreb
• Defense date and country: 2021-02-25, Croatia
• Scientific / art field, discipline and subdiscipline: TECHNICAL SCIENCES; Mechanical Engineering

Abstract

Svaki tehnički sustav, pa tako i nuklearne elektrane potrebno je redovito servisirati za
pravilan i siguran rad. Nerazornim ispitivanjima provjeravaju se ključni dijelovi nuklearnih
elektrana kako bi se pravovremeno naišlo na moguće pukotine ili anomalije materijala. Zone
povišenog zračenja onemogućuju dugotrajan boravak ljudi unutar elektrane pa su iz tog razloga
potrebni roboti za provođenje nerazornih ispitivanja. U ovom završnom radu opisuje se način
definiranja i izrade globalne sheme ožičenja manipulatora te razvod pneumatskih cijevi i
spajanje za ostvarivanje svih funkcija manipulatora „Target-20-R“, tvrtke INETEC.
Definiranjem električnih komponenti i izradom tablice u kojoj su navedene karakteristike kao
što su naponske i signalne linije, maksimalne struje i snaga komponenti dobiva se jasnu sliku o
potrebnim kablovima i konektorima koje se odabiru po kriteriju maksimalne struje i napona za
koje su predviđeni. Sheme ožičenja i razvoda pneumatskih cijevi izrađene su u softveru
AutoCAD electrical te priložene kao prilog završnom radu. Po navedenim shemama provedena
je izrada ožičenja i na posljetku provedena analiza ukupne vrijednosti cijelog ožičenja. Drugi
dio završnog rada je projektiranje elektroničke tiskane pločice za regulaciju tlaka kućišta
manipulatora. Potrebno je postići stalni pretlak kućišta kako bi se upravljačke jedinice unutar
manipulatora zaštitile od puštanja vode u kućište. Projektiranje pločice se provodi u softveru
Altium Designer 20. u kojem su opisane razne funkcije te izrađeni dokumenti koji su potrebni
proizvodnju tiskane pločice. Opisano je naručivanje, lemljenje i na posljetku postupak sigurnog
testiranja kako moguća greška pri izradi ne bi rezultirala uništenjem pločice.

Abstract (english)

Every technical system, including nuclear power plants, needs to be serviced regularly
for regular and safe operation. Non-destructive testing methods are used for the inspection of
key parts of nuclear power plants to detect possible cracks or material anomalies in a timely
manner. High radiation zones prevent people from staying inside the power plant for a long
time, which is why robots are needed to conduct non-destructive testing. This paper describes
the method of defining and developing a global wiring diagram of the manipulator „Target-20-
R“ by company INETEC, as well as the distribution of the pneumatic pipes and connections for
the realization of all functions needed. By defining electrical components and creating a table
in which characteristics are listed such as voltage and signal lines, maximum current, and power
of components. By inspecting the content of the table and also according to the criteria of
maximum current and voltage, cables and connectors are selected. Wiring and pipes distribution
diagrams were made in the AutoCAD Electrical software and attached as a supplement to this
final paper. The second part of the final paper is the design of an electronic printed circuit board
(PCB) for regulating the pressure of the manipulator housing. It is necessary to achieve a
constant overpressure of the housing in order to protect the control units inside the manipulator
housing from water leakage. The design of the bord is carried out in the software Altium
Designer 20. in which various functions are described and files, required for the production of
the printed circuit bord, are prepared. Ordering and soldering procedures are also described and
in the end safe testing process is explained so that a possible manufacturing error would not
result in the destruction of the PCB.

• Keywords: Nuklearna industrija; nerazorna ispitivanja; robotika; manipulator; sheme ožičenja; pneumatika; AutoCAD electrical; elektroničke tiskane pločice; Altium Designer
• Keywords (english): Nuclear industry; non- destructive testing; robotics; manipualtor; wiring diagrams; pneumatics; AutoCAD electrical; electronic printed circuit board; Altium Designer
• Language: croatian
• URN:NBN: urn:nbn:hr:235:981512
• Study programme: Title: Mechanical Engineering; Study programme type: university; Study level: undergraduate; Academic / professional title: sveučilišni/a prvostupnik/ prvostupnica (baccalaureus/baccalaurea) inženjer/inženjerka strojarstva (sveučilišni/a prvostupnik/ prvostupnica (baccalaureus/baccalaurea) inženjer/inženjerka strojarstva)
• Type of resource: Text
• File origin: Born digital
• Access conditions: Embargoed access; Embargo expiration date: 2026-02-23
• Created on: 2021-02-18 17:01:34