CN115831411A - Spent fuel assembly gripping device - Google Patents

Abstract

The embodiment of the invention provides a gripping device for a spent fuel assembly. The device comprises: a housing; the supporting seat is arranged at one end of the shell and provided with an opening; a driving part disposed in the housing; the grabbing part penetrates through the opening, and the grabbing part can be opened or closed under the driving action of the driving part; wherein the range of angles in which the gripping portion can be opened includes between 0 ° and 120 °.

Description

Spent fuel assembly grabbing device

technical field

The embodiments of the present invention relate to the technical field of nuclear engineering, in particular to a spent fuel assembly grasping device.

Background technique

In some cases, spent fuel assemblies need to be captured. For example, in the spent fuel reprocessing process, when the shearer is used to shear the spent fuel assembly pushed out from the bunker, if the shearer breaks down and needs to be repaired, the emergency grabbing device can be used to grab the unused fuel assembly. After cutting the spent fuel assembly, drag the spent fuel assembly back to the bunker to reduce the radioactive intensity in the shearing machine and provide the necessary space for the maintenance of the shearing machine.

Spent fuel assemblies have various sizes, which requires the compatibility and adaptability of the grabbing device. It is necessary to study a grabbing device that can grab spent fuel assemblies of different sizes.

Contents of the invention

According to one aspect of the present invention, there is provided a spent fuel assembly grasping device, which includes: a shell; a support seat arranged at one end of the shell, and the support seat is provided with an opening; a driving part is set in the shell; a grasping part for grasping The grabbing part passes through the opening, and the grabbing part can be opened or closed under the driving action of the driving part; wherein, the angle range in which the grabbing part can be opened includes between 0° and 120°.

The grabbing device provided by the embodiments of the present invention has good compatibility and adaptability.

Description of drawings

Other objects and advantages of the present invention will be apparent from the following description of the embodiments of the present invention with reference to the accompanying drawings, and may help to have a comprehensive understanding of the present invention.

Figure 1 shows an overall schematic diagram of a spent fuel assembly grabbing device according to an embodiment of the present invention;

Fig. 2 shows a schematic diagram of a partial structure of the gripping device of Fig. 1;

Fig. 3 shows a schematic diagram of the gripping device of Fig. 1 in an operating state;

FIG. 4 shows a schematic diagram of another partial structure of the gripping device of FIG. 1 .

Detailed ways

In order to make the purpose, technical solution and advantages of the present application clearer, the technical solution of the present application will be clearly and completely described below in conjunction with the accompanying drawings of the embodiments of the present application. Apparently, the described embodiment is one embodiment of the present application, but not all of the embodiments. Based on the described embodiments of the present application, all other embodiments obtained by persons of ordinary skill in the art without creative efforts shall fall within the protection scope of the present application.

It should be noted that, unless otherwise defined, the technical terms or scientific terms used in the application shall have the usual meanings understood by those skilled in the art to which the application belongs. If the descriptions such as "first" and "second" are involved in the whole text, the descriptions such as "first" and "second" are only used to distinguish similar objects, and cannot be understood as indicating or implying their relative importance, sequence, etc. The order or the number of technical features indicated by implicit indication should be understood as "first", "second" and other described data can be interchanged under appropriate circumstances. For ease of description, spatially relative terms, such as "above", "below", "top", "bottom", etc., may be used herein only to describe the relationship between one device or feature and other devices or features as shown in the figures. The spatial positional relationship should be understood as also including different orientations in use or operation other than the orientation shown in the figure.

FIG. 1 shows an overall schematic diagram of a spent fuel assembly grabbing device 100 according to an embodiment of the present invention, and FIG. 2 shows a schematic diagram of a partial structure of the grabbing device 100 in FIG. 1 . 1 and 2, the grabbing device 100 includes: a housing 10; a support base 20 disposed at one end of the housing 10, and the support base 20 is provided with an opening 22; a driving part 30 is disposed in the housing 10; 40, the grasping part 40 passes through the opening 22, and the grasping part 40 can be opened or closed under the driving action of the driving part 30; wherein, the angle range that the grasping part 40 can open includes between 0° and 120°.

In the grasping device 100 of the embodiment of the present invention, the angle range that the grasping part 40 can open is relatively large, at least including the range of 0°-120°, that is to say, the minimum angle that the grasping part 40 can open can be is 0°, and the maximum angle that can be opened can be 120°. Of course, in other possible cases, the angle range that the grasping portion 40 can open may be larger, and is not limited to only the range of 0°-120°.

Since the grasping part 40 can open a wide range of angles, for spent fuel assemblies of different sizes, the grasping part 40 can open a corresponding angle to grasp the spent fuel assembly, thereby ensuring that the grasping device 100 is in good condition. compatibility and adaptability.

In the embodiment of the present invention, the support seat 20 is fixedly connected with the housing 10 through threaded fasteners. Of course, in other embodiments, the support seat 20 may also be fixedly connected to the housing 10 by snap-fitting, welding and other means. The opening of the support base 20 communicates with the internal environment of the housing 10 , a part of the grasping portion 40 is located inside the housing 10 , and the other part protrudes out of the housing 10 through the opening 22 . The supporting seat 20 can provide support for the grasping part 40 . A part of the grasping part 40 and the driving part 30 are both disposed in the housing 10 , so that these components can be protected by the housing 10 , and at the same time, the grasping device 100 has a good integrity.

Such integrity enables the grabbing device 100 to be transported and moved as a whole. For example, the grabbing device 100 can be used as an emergency grabbing device in the shearer system of the spent fuel reprocessing process, and can move in the bunker. to grab the spent fuel assembly and drag it into the bunker. Referring to FIG. 1 , the grabbing device 100 includes: a plurality of rollers 14 disposed on both sides of the casing 10 . The rollers 14 can move along the track in the silo to realize the movement of the grabbing device 100 in the silo.

The housing 10 may be provided with a hoisting hole 16 . By providing the hoisting hole 16 , it is convenient to hoist and transfer the grabbing device 100 , so as to realize the installation, maintenance, disassembly, replacement and other work of the grabbing device 100 . The number of hoisting holes 16 can be multiple. A plurality of hoisting holes 16 may be distributed on the top surface of the housing 10 and may be disposed near opposite sides of the top surface.

The grabbing part 40 may include a plurality of grippers, and the opening or closing of the gripping part 40 is realized by the rotation of the plurality of grippers. The centers of rotation of the grippers may be the same or different. The opening angle of the grasping portion 40 may be an angle formed between a pair of grippers facing each other, or may be a sum of angles at which the pair of grippers facing each other can rotate.

FIG. 3 shows a schematic diagram of the gripping device 100 of FIG. 1 in an operating state. 1 to 3, in an embodiment of the present invention, the grasping part 40 includes: a movable part 42, which can move under the driving action of the driving part 30; a plurality of grippers 44, through which the grippers 44 pass The opening 22 is also hinged to the support base 20 ; a plurality of connection parts 46 , one end of the plurality of connection parts 46 is hinged to the movable part 42 , and the other end of the plurality of connection parts 46 is hinged to the plurality of grippers 44 .

The movable part 42, the connecting part 46, the gripper 44 and the support seat 20 are hinged through multiple hinge points. Through such a multi-stage hinged manner, the gripper 44 has good flexibility and greater mobility. The angle can be rotated greatly, so as to ensure that the grasping part 40 has a large opening angle range, which is suitable for grasping spent fuel assemblies of different sizes.

Multiple hinge points include: the hinge point between the movable part 42 and the connecting part 46, which is used as the first hinge point; the hinge point between the connecting part 46 and the claw 44, which is used as the second hinge point; The hinge point between the claw 44 and the support seat 20 is used as the third hinge point.

The third hinge point is stationary relative to the grabbing device 100, and the gripper 44 rotates around the third hinge point. The rotation angle of a single gripper 44 around the third hinge point can be used as the opening angle of the gripper 44, and the The sum of the opening angles of a pair of opposing claws 44 can be used as the opening angle of the grasping portion 40 . For example, if the maximum opening angle of a single gripper 44 is 60°, then the maximum opening angle of the grasping portion 40 is 120°.

The first hinge point moves following the movement of the movable portion 42 . On the premise that the third hinge point remains stationary, the movement of the first hinge point will cause the second hinge point to also move, thereby changing the postures of the connecting portion 46 and the gripper 44, so that the gripper 44 rotates around the third hinge point .

The first hinge point, the second hinge point and the third hinge point are arranged as a broken line, the second hinge point is used as the vertex of the broken line, the connection line between the first hinge point and the second hinge point and the third hinge point and the second hinge point The lines connecting the points form angles. When the movable part 42 moves, the angle of the included angle changes. In the embodiment of the present invention, when the movable part 42 moves away from the support seat 20, the angle of the included angle becomes larger, and the opening angle of the grasping part 40 becomes larger; When the direction of the seat 20 moves, the angle of the included angle becomes smaller, and the opening angle of the grasping portion 40 becomes smaller.

The number of grippers 44 and connecting parts 46 may be two. Of course, in other embodiments, the number of grippers 4 and connecting parts 46 can also be increased as required. The plurality of connection parts 46 may be symmetrically distributed on the peripheral side of the movable part 42 . The grabbing portion 40 may be approximately symmetrical. The movable part 42 can move along a straight line, and the moving path of the center of the movable part 42 can coincide with the center line of the grasping part 40 .

In some embodiments, the gripper 44 includes: an extension part 442 and a bending part 444, one end of the extension part 442 is hinged to the connecting part 46, and the other end of the extension part 442 is connected to the bending part 444; a protruding part 446, a protruding part 446 protrudes from the inner side of the extension part 442 , and the protruding part 446 is hinged to the supporting seat 20 .

The extension part 442 can be an elongated structure, the extension part 442 passes through the opening 22, one end of the extension part 442 is located in the housing 10 and hinged with the connecting part 46, and the other end of the extension part 442 protrudes out of the housing 10, thereby bending Portion 444 is located outside housing 10 for grasping.

The inner side of the extension part 442 is the side of the extension part 442 facing the inside of the grasping part 40 . A protruding portion 446 is formed inside the extension portion 442 , and the protruding portion 446 is closer to the centerline of the gripping portion 40 . The protrusion 446 may protrude from a middle portion of the extension 442 . The second hinge point is formed at one end of the extension part 442, and the third hinge point is formed on the protruding part 446. Compared with the third hinge point formed on the extension part 442, the connection between the first hinge point and the second hinge point can be ensured. The included angle formed by the connecting line and the connecting line between the third hinge point and the second hinge point is smaller, so that there is more room for the included angle to be expanded, so that the grasping portion 40 can be opened more fully, that is, The angle range in which the grasping portion 40 can be opened is larger.

In an embodiment of the invention, protrusion 446 is generally triangular in shape. Of course, in other embodiments, the protruding portion 446 may also be in any suitable shape. The protruding portion 446 and the extension portion 442 may be integrally formed.

In some embodiments, one end of the bent portion 444 forms an arc-shaped matching surface 445 . The grabbing device 100 of the present invention can be used for grabbing spent fuel assemblies, specifically grabbing the operating head 52 of spent fuel assemblies. As shown in FIG. 3 , the operating head 52 has an annular groove, and the bent portion 444 can extend into the annular groove and abut against the groove bottom and the groove wall of the annular groove. By forming the arc-shaped matching surface 445 , the bent portion 444 can be more closely matched with the annular groove, so as to achieve a stable grip.

In some embodiments, the grabbing device 100 further includes a positioning part 50, one end of which is connected to the support base 20, and the other end extends outside the housing 10, the positioning part 50 is located between the plurality of grippers 44, and the positioning part 50 has predetermined length.

The positioning part 50 is used to abut against the end surface of the operating head 52 of the spent fuel assembly, and the timing of the grasping by the grasping device 100 is indicated by the abutment. When using the grabbing device 100 for grabbing, the grabbing part 40 can first open a relatively large angle, and the grabbing device 100 moves toward the spent fuel assembly, and when the positioning part 50 abuts against the end surface of the operating head 52 , the grasping portion 40 can be closed, and at this time, the grasping portion 40 can just grasp the annular groove of the operating head 52 of the spent fuel assembly. After the grabbing part 40 finishes grabbing, the grabbing device 100 can be moved to drag the spent fuel assembly into the bunker.

The positioning part 50 may have various specifications, and the lengths of the positioning parts 50 of different specifications are different. When grabbing spent fuel assemblies of different sizes, the positioning part 50 of the corresponding specification is installed. Alternatively, the positioning part 50 can be stretched to change its length, and when grabbing spent fuel assemblies of different sizes, the positioning part 50 can be adjusted to a suitable length.

The positioning part 50 may be connected to the support base 20 in a detachable manner, for example, may be connected to the support base 20 in a threaded manner. There may be multiple openings 22 , and each claw 44 passes through each opening 22 . One end of the positioning portion 50 is connected to a portion of the support base 20 located between the plurality of openings 22 .

In some embodiments, the driving part 30 includes: a lead screw 32 on which the movable part 42 is disposed; a motor 34 used to drive the lead screw 32 to rotate so that the movable part 42 moves along the lead screw 32 . The motor 34 can be a stepper motor. The movable part 42 may be a nut. When the motor 34 drives the lead screw 32 to rotate clockwise, the movable part 42 moves away from the support base 20, and the gripper 44 opens; when the motor 34 drives the lead screw 32 to rotate counterclockwise, the movable part 42 moves closer to the support The direction of seat 20 moves, and gripper 44 closes.

In some embodiments, the grabbing device 100 further includes: a first limiting part 36 and a second limiting part 38, which are arranged on the lead screw 32, and the movable part 42 is arranged between the first limiting part 36 and the second limiting part. Move between the limiting parts 38 . The first limiting part 36 and the second limiting part 38 provide the functions of limiting and stopping, preventing the movable part 42 from moving to an undesired position. The first limiting portion 36 and the second limiting portion 38 may be round nuts.

The grabbing device 100 may further include: a shaft coupling 31 connected to the output end of the motor 34 , the motor 34 drives the shaft coupling 31 to rotate, and the shaft coupling 31 drives the lead screw 32 to rotate. By setting the shaft coupling 31, good cushioning and shock absorption effects can be provided. The grabbing device 100 may further include: a bearing 33 , and the lead screw 32 is installed in the bearing 33 .

FIG. 4 shows a schematic diagram of another partial structure of the grabbing device 100 in FIG. 1 . As shown in FIG. 4 , the grabbing device 100 further includes: a motor mounting base 35 for mounting the motor 34 ; and a lead screw mounting base 37 for mounting the lead screw 32 . A motor mount 35 and a lead screw mount 37 may be mounted to the housing 10 .

In some embodiments, the grabbing device 100 further includes: a signal receiving part 60, configured to receive a remote control signal; a control part 70, electrically connected to the signal receiving part 60 and the drive part 30; the signal receiving part 60 and the control part 70 are both provided Inside the housing 10 , the control unit 70 is provided between the signal receiving unit 60 and the driving unit 30 .

By arranging the signal receiving part 60 and the control part 70, the remote control of the gripping device 100 can be realized, and the use of signal transmission cables penetrating the hot chamber can be avoided. The signal receiving part 60 can receive the real-time remote control signal sent by the outdoor remote controller, and transmit the remote control signal to the control part 70, and the control part 70 outputs a control signal to the drive part 30 based on the received remote control signal, and controls the drive part 30 to drive the grabbing Portion 40 is opened or closed. Specifically, the control unit 70 can control the rotation direction and the rotation speed of the motor 34 .

Both the signal receiving part 60 and the control part 70 are disposed in the casing 10 and can be protected by the casing 10 while ensuring the integrity of the grasping device 100 . The control unit 70 is disposed between the signal receiving unit 60 and the driving unit 30 , so that the control unit 70 communicates with the signal receiving unit 60 and the driving unit 30 respectively. The signal receiving part 60 , the control part 70 and the driving part 30 may be arranged along the extending direction of the casing 10 . The control part 70 may be mounted to the housing 10 . The control unit 70 may be an IO controller.

In some embodiments, the grabbing device 100 further includes: a first mounting plate 62, mounted on opposite side walls of the housing 10, the signal receiving portion 60 is disposed on the first mounting plate 62; a second mounting plate 64, connected to the shell The body 10 is connected to the first mounting plate 62 , the second mounting plate 64 is perpendicular to the first mounting plate 62 , and the second mounting plate 64 is used for installing the electrical connection wire between the signal receiving part 60 and the control part 70 .

By arranging the signal receiving part 60 on the first mounting plate 62, and installing the electrical connection line between the signal receiving part 60 and the control part 70 on the second mounting plate 64, the connection between the signal receiving part 60 and the control part 70 Overall better. The signal receiving part 60 can be arranged on the first mounting plate 62 outside the housing 10, the signal receiving part 60 and the control part 70 can be connected through an electrical connection line, and the electrical connection line can be installed on the second mounting plate 64, and then These components are integrally and modularly installed in the casing 10, so as to facilitate the installation, disassembly and arrangement of the signal receiving part 60, the control part 70 and related electrical connection lines. The electrical connection wires can be neatly installed on the second mounting plate 64 , preventing the electrical connection wires from being placed in the casing 10 in disorder, causing interference and hindrance to other components.

Grooves can be provided on opposite side walls of the housing 10 , and the first mounting plate 62 fits into the grooves and can be fixedly connected to the housing 10 through fasteners. Two opposite sides of the second mounting plate 64 are respectively connected to the housing 10 and the first mounting plate 62 , and the second mounting plate 64 may be connected to a position close to the side of the first mounting plate 62 .

In some embodiments, the gripping device 100 further includes: a battery 80 disposed in the casing 10, the battery 80 is used to provide power for the signal receiving part 60, the control part 70 and the driving part 30; the third mounting plate 82, the second Three mounting plates 82 are mounted on opposite side walls of the casing 10 , the third mounting plate 82 and the signal receiving portion 60 are disposed on opposite sides of the first mounting plate 62 , and the battery 80 is disposed on the third mounting plate 82 . The battery 80 may be a lithium battery.

Grooves can be provided on opposite side walls of the housing 10 , and the third mounting plate 82 fits into the grooves and can be fixedly connected to the housing 10 through fasteners. The third mounting plate 82 is used for carrying the battery 80 . The third mounting plate 82 and the signal receiving portion 60 are arranged on the opposite sides of the first mounting plate 62, so that the battery 80 and the signal receiving portion 60 can be stacked, and the battery 80 and the signal receiving portion 60 are arranged along the shell 10. Arranging in a direction perpendicular to the extending direction can make the arrangement more compact and reduce the occupation of the internal space of the housing 10 . This is advantageous for the grabbing device 100 that needs to move within the silo, the volume of the grabbing device 100 is limited due to the limitation of the silo. The third mounting plate 82 may be disposed parallel to the first mounting plate 62 . A space may be provided between the third mounting plate 82 and the first mounting plate 62 to prevent the heat generated by the battery 80 from affecting the signal receiving portion 60 .

In some embodiments, the housing 10 is provided with a battery access opening 12, and the battery 80 is limited in the battery access opening 12; the gripping device 100 also includes a pressing member 84, and one end of the pressing member 84 is arranged on the housing 10 The other end of the pressing member 84 extends into the battery access opening 12 and presses against the battery 80 .

The shape and size of the battery access opening 12 matches the shape and size of the casing 10 , so that the battery 80 can be confined within the battery access opening 12 . The position of the third mounting plate 82 corresponds to the position of the battery access opening 12 , so that the battery 80 can be placed on the third mounting plate 82 and restricted by the battery access opening 12 . The setting of the battery access opening 12 is convenient for the battery 80 to be put into or taken out from the housing 10 . By providing the pressing member 84, the battery 80 can be further fixed and prevented from loosening. One end of the pressing member 84 can be fixedly connected with the housing 10 through a fastener.

At the battery access opening 12, the battery 80 can be exposed outside. On the one hand, since the grabbing device 100 moves in the silo, the hopper can protect the grabbing device 100 to a certain extent; Therefore, there is no need to additionally shield the battery 80 at the battery access opening 12 .

Regarding the embodiments of the present invention, it should also be noted that, under the condition of no conflict, the embodiments of the present invention and the features in the embodiments can be combined with each other to obtain new embodiments.

The above are only specific embodiments of the present invention, but the protection scope of the present invention is not limited thereto, and the protection scope of the present invention should be based on the protection scope of the claims.

Claims (13)

1. A spent fuel assembly grabbing device which is characterized by comprising:

a housing;

the supporting seat is arranged at one end of the shell and provided with an opening;

a driving part disposed in the housing;

the grabbing part penetrates through the opening, and the grabbing part can be opened or closed under the driving action of the driving part;

wherein the range of angles in which the gripping portion can be opened includes between 0 ° and 120 °.

2. The device of claim 1, wherein the grasping portion comprises:

a movable portion movable by a driving action of the driving portion;

a plurality of grippers passing through the opening and hinged to the support base;

the movable part is hinged to the movable part, and one end of each connecting part is hinged to the corresponding connecting part, and the other end of each connecting part is hinged to the corresponding gripper.

3. The device of claim 2, wherein the gripper comprises:

the extension part is hinged with the connecting part, and the other end of the extension part is connected with the bending part;

a protrusion protruding from an inner side of the extension, the protrusion being hinged with the support seat.

4. The device of claim 3, wherein one end of the bent portion forms an arcuate mating surface.

5. The apparatus of claim 2 further comprising a positioning portion having one end attached to said support base and another end extending outside of said housing, said positioning portion being positioned between said plurality of grippers, said positioning portion having a predetermined length.

6. The apparatus according to claim 2, wherein the driving part comprises:

a lead screw on which the movable portion is provided;

a motor for driving the lead screw to rotate such that the movable portion moves along the lead screw.

7. The apparatus of claim 6, further comprising: the first limiting part and the second limiting part are arranged on the lead screw, and the movable part is arranged to move between the first limiting part and the second limiting part.

8. The apparatus of claim 1, further comprising:

a signal receiving part for receiving a remote control signal;

a control unit electrically connected to the signal receiving unit and the driving unit;

the signal receiving part and the control part are arranged in the shell, and the control part is arranged between the signal receiving part and the driving part.

9. The apparatus of claim 8, further comprising:

a first mounting plate mounted to opposite side walls of the housing, the signal receiving part being provided to the first mounting plate;

the second mounting panel, with the casing with first mounting panel is connected, the second mounting panel with first mounting panel is perpendicular, the second mounting panel is used for installing signal reception portion with the electric connecting wire between the control part.

10. The apparatus of claim 9, further comprising:

the battery is arranged in the shell and used for providing power for the signal receiving part, the control part and the driving part;

a third mounting plate, the third mounting plate install extremely the relative both sides wall of casing, the third mounting plate with signal reception portion locates the both sides of mutually backing mutually of first mounting plate, the battery set up in the third mounting plate.

11. The apparatus of claim 10, wherein the housing defines a battery access opening, the battery being confined within the battery access opening;

the device also comprises a pressing piece, wherein one end of the pressing piece is arranged on the shell, and the other end of the pressing piece extends into the battery taking and placing opening and presses the battery.

12. The device of claim 1, wherein the device is movable within a cartridge, the device further comprising: and the rollers are arranged on two sides of the shell.

13. The device of claim 1, wherein the housing defines a lifting hole.

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