Abstract Nuclear power plants, as one of the cornerstones of today's global and, most importantly, European energy sector, place considerably high demands on all stages from design and construction, through operation and control, to safe decommissioning at the end of the facility's life. A relatively large decommissioning process is underway in Europe, which will increase over the coming decades. This process of decommissioning nuclear facilities is closely linked to the objective assessment of the efficiency of decontamination processes. The present paper deals with techniques and technologies for obtaining samples from the hard-to-reach inner surface of the primary circuit of a nuclear reactor. Sampling by a service robot fitted with sampling probes is assumed to be performed under relatively dry conditions, i.e. before the application and after the discharge of the decontamination solution. The basis of the electro-pneumatic robot for default pipes with a diameter of 500 mm is an eight-wheel mobile platform with self-stabilizing capability thanks to inclined wheels. The robot is equipped with a pair of unique sampling probes and a fixing arm to position the robot in the pipeline during the sampling. The basis of the article is the technical solution of the service robot, with an emphasis on the functioning and efficiency of the sampling probes. The presented comprehensive system constitutes a proven knowledge base for the decommissioning of nuclear power facilities.

中文翻译：

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退役核设施一回路管道采样机器人

摘要 核电站作为当今全球和最重要的欧洲能源部门的基石之一，对从设计和建造、运行和控制到设施寿命结束时的安全退役的所有阶段都提出了相当高的要求。欧洲正在进行一个相对较大的退役过程，这一过程将在未来几十年增加。核设施退役过程与去污过程效率的客观评估密切相关。本论文涉及从核反应堆主回路难以触及的内表面获取样本的技术和技术。假设由装有采样探头的服务机器人在相对干燥的条件下进行采样，即 应用前和排放去污液后。用于直径为 500 毫米的默认管道的电动气动机器人的基础是一个八轮移动平台，由于倾斜的轮子具有自稳定能力。机器人配备了一对独特的采样探头和一个固定臂，用于在采样过程中将机器人定位在管道中。文章的基础是服务机器人的技术解决方案，重点是采样探头的功能和效率。所提出的综合系统构成了一个经过验证的核电设施退役知识库。用于直径为 500 毫米的默认管道的电动气动机器人的基础是一个八轮移动平台，由于倾斜的轮子具有自稳定能力。机器人配备了一对独特的采样探头和一个固定臂，用于在采样过程中将机器人定位在管道中。文章的基础是服务机器人的技术解决方案，重点是采样探头的功能和效率。所提出的综合系统构成了一个经过验证的核电设施退役知识库。用于直径为 500 毫米的默认管道的电动气动机器人的基础是一个八轮移动平台，由于倾斜的轮子具有自稳定能力。机器人配备了一对独特的采样探头和一个固定臂，用于在采样过程中将机器人定位在管道中。文章的基础是服务机器人的技术解决方案，重点是采样探头的功能和效率。所提出的综合系统构成了一个经过验证的核电设施退役知识库。重点是采样探头的功能和效率。所提出的综合系统构成了一个经过验证的核电设施退役知识库。重点是采样探头的功能和效率。所提出的综合系统构成了一个经过验证的核电设施退役知识库。