CN115831411B - Spent fuel assembly grabbing device - Google Patents

Abstract

An embodiment of the present invention provides a spent fuel assembly grabbing device. The device comprises: a shell; a support seat, which is arranged at one end of the shell and has an opening; a driving unit, which is arranged in the shell; a grabbing unit, which passes through the opening and can be opened or closed under the driving action of the driving unit; wherein the grabbing unit can be opened at an angle ranging from 0° to 120°.

Description

Spent fuel assembly grabbing device

Technical Field

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

Background technique

In some cases, it is necessary to grab the spent fuel assembly. For example, in the spent fuel reprocessing process, when a shear is used to shear the spent fuel assembly pushed out from the silo, if the shear fails and needs to be repaired, an emergency grabbing device can be used to grab the spent fuel assembly that has not been sheared and drag the spent fuel assembly back to the silo to reduce the radioactivity intensity in the shear and provide necessary space for the maintenance of the shear.

Spent fuel assemblies come in a variety of sizes, which places requirements on 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.

Summary of the invention

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

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

BRIEF DESCRIPTION OF THE DRAWINGS

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

FIG1 shows an overall schematic diagram of a spent fuel assembly grabbing device according to one embodiment of the present invention;

FIG2 is a schematic diagram showing a partial structure of the gripping device of FIG1 ;

FIG3 is a schematic diagram showing the gripping device of FIG1 in an operating state;

FIG. 4 is a schematic diagram showing 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 drawings of the embodiments of the present application. Obviously, the described embodiment is one embodiment of the present application, not all embodiments. Based on the described embodiments of the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

It should be noted that, unless otherwise defined, the technical terms or scientific terms used in this application should be the usual meanings understood by people with general skills in the field to which this application belongs. If the full text involves descriptions such as "first" and "second", 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, order of precedence, or implicitly indicating the number of technical features indicated. It should be understood that the data described by "first" and "second" can be interchangeable under appropriate circumstances. For the convenience of description, spatial relative terms such as "above", "below", "top", "bottom", etc. can be used here, which are only used to describe the spatial position relationship between a device or feature as shown in the figure and other devices or features, and should be understood to also include different orientations in use or operation other than the orientation shown in the figure.

Fig. 1 shows a general 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 of Fig. 1. Referring to Fig. 1 and Fig. 2, the grabbing device 100 comprises: a housing 10; a support seat 20, which is arranged at one end of the housing 10 and has an opening 22; a driving unit 30, which is arranged in the housing 10; a grabbing unit 40, which passes through the opening 22 and can be opened or closed under the driving action of the driving unit 30; wherein the grabbing unit 40 can be opened at an angle ranging from 0° to 120°.

In the gripping device 100 of the embodiment of the present invention, the gripping portion 40 can open to a larger angle range, at least including the range of 0°-120°, that is, the gripping portion 40 can open to a minimum angle of 0° and a maximum angle of 120°. Of course, in other possible situations, the gripping portion 40 can open to a larger angle range, and is not limited to the range of 0°-120°.

Since the gripping portion 40 can be opened at a wide angle, the gripping portion 40 can be opened at a corresponding angle to grip the spent fuel assemblies of different sizes, thereby ensuring good compatibility and adaptability of the gripping device 100 .

In an embodiment of the present invention, the support seat 20 is fixedly connected to the housing 10 by a threaded fastener. Of course, in other embodiments, the support seat 20 can also be fixedly connected to the housing 10 by means of snap-fitting, welding, etc. The opening of the support seat 20 is communicated with the internal environment of the housing 10, a part of the gripping portion 40 is located in the housing 10, and the other part extends out of the housing 10 through the opening 22. The support seat 20 can provide support for the gripping portion 40. A part of the gripping portion 40 and the driving portion 30 are both arranged in the housing 10, so that these components can be protected by the housing 10, and at the same time, the gripping device 100 has 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 a shearing machine system of a spent fuel reprocessing process, and can move in a silo to grab a spent fuel assembly and drag it into the silo. Referring to FIG1 , the grabbing device 100 includes: a plurality of rollers 14, which are arranged on both sides of a housing 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. The hoisting hole 16 is provided to facilitate hoisting and transfer of the grabbing device 100, so as to achieve installation, maintenance, disassembly, replacement, etc. of the grabbing device 100. There may be a plurality of hoisting holes 16. The plurality of hoisting holes 16 may be distributed on the top surface of the housing 10, and may be provided near opposite sides of the top surface.

The gripping portion 40 may include a plurality of gripping claws, and the gripping portion 40 is opened or closed by rotating the plurality of gripping claws. The rotation centers of the plurality of gripping claws may be the same or different. The opening angle of the gripping portion 40 may be an angle formed between a pair of gripping claws facing each other, or may be the sum of the angles at which the pair of gripping claws facing each other can rotate.

Fig. 3 is a schematic diagram showing the gripping device 100 of Fig. 1 in an operating state. In combination with Fig. 1 to Fig. 3, in the embodiment of the present invention, the gripping portion 40 comprises: a movable portion 42, which can be moved under the driving action of the driving portion 30; a plurality of gripping claws 44, which pass through the opening 22 and are hinged to the support seat 20; and a plurality of connecting portions 46, one end of the plurality of connecting portions 46 is hinged to the movable portion 42, and the other end of the plurality of connecting portions 46 is hinged to the plurality of gripping claws 44.

The movable portion 42, the connecting portion 46, the gripper 44 and the support base 20 are hinged through multiple hinge points. Through such a multi-stage hinge method, the gripper 44 has good flexibility, a large movable angle, and can rotate to a large extent, thereby ensuring that the gripper 40 has a large opening angle range and is suitable for gripping spent fuel assemblies of different sizes.

The multiple hinge points include: a hinge point between the movable part 42 and the connecting part 46, which is used as a first hinge point; a hinge point between the connecting part 46 and the gripper 44, which is used as a second hinge point; and a hinge point between the gripper 44 and the supporting seat 20, which is used as a third hinge point.

The third hinge point is immovable relative to the gripping 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 sum of the opening angles of a pair of grippers 44 facing each other can be used as the opening angle of the gripping portion 40. For example, if the maximum opening angle of a single gripper 44 is 60°, then the maximum opening angle of the gripping portion 40 is 120°.

The first hinge point moves following the movement of the movable part 42. Under the premise that the third hinge point remains stationary, the movement of the first hinge point will cause the second hinge point to move as well, thereby changing the posture of the connecting part 46 and the claw 44, so that the claw 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 the vertex of the broken line, and the line between the first hinge point and the second hinge point and the line between the third hinge point and the second hinge point form an angle. When the movable part 42 moves, the angle of the angle changes. In an embodiment of the present invention, when the movable part 42 moves in a direction away from the support seat 20, the angle of the angle becomes larger, and the opening angle of the gripping part 40 becomes larger; when the movable part 42 moves in a direction close to the support seat 20, the angle of the angle becomes smaller, and the opening angle of the gripping part 40 becomes smaller.

The number of the grippers 44 and the connecting portion 46 can be two. Of course, in other embodiments, the number of the grippers 44 and the connecting portion 46 can also be increased as needed. The plurality of connecting portions 46 can be symmetrically distributed around the movable portion 42. The gripping portion 40 can be a substantially symmetrical structure. The movable portion 42 can move along a straight line, and the moving path of the center of the movable portion 42 can coincide with the center line of the gripping portion 40.

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

The extension portion 442 can be an elongated structure, the extension portion 442 passes through the opening 22, one end of the extension portion 442 is located inside the shell 10 and is hinged to the connecting portion 46, and the other end of the extension portion 442 extends outside the shell 10, so that the bending portion 444 is located outside the shell 10 for grasping.

The inner side of the extension portion 442 is the side of the extension portion 442 facing the inside of the gripping portion 40. A protrusion 446 is formed on the inner side of the extension portion 442, and the protrusion 446 is closer to the center line of the gripping portion 40. The protrusion 446 can protrude from the middle part of the extension portion 442. The second hinge point is formed at one end of the extension portion 442, and the third hinge point is formed on the protrusion 446. Compared with the third hinge point formed on the extension portion 442, it can ensure that the angle formed by the connecting line between the first hinge point and the second hinge point and the connecting line between the third hinge point and the second hinge point is smaller, so that the angle has more room to expand, so that the gripping portion 40 can be more fully opened, that is, the gripping portion 40 can be opened in a larger angle range.

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

In some embodiments, one end of the bent portion 444 forms an arc-shaped mating surface 445. The gripping device 100 of the present invention can be used to grip a spent fuel assembly, specifically to grip an operating head 52 of a spent fuel assembly. As shown in FIG3 , 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 groove wall of the annular groove. By forming an arc-shaped mating surface 445, the bent portion 444 can be more closely matched with the annular groove to achieve stable gripping.

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

The positioning portion 50 is used to abut against the end face of the operating head 52 of the spent fuel assembly, and the abutment indicates the timing of the grasping device 100 to grasp. When the grasping device 100 is used to grasp, the grasping portion 40 can first open a larger angle, and the grasping device 100 moves toward the spent fuel assembly. When the positioning portion 50 is moved to abut against the end face of the operating head 52, the grasping portion 40 can be closed, and the grasping portion 40 can just grasp the annular groove of the operating head 52 of the spent fuel assembly. After the grasping portion 40 completes the grasping, the grasping device 100 can be moved to drag the spent fuel assembly into the silo.

The positioning part 50 can have a variety of 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 specifications is installed. Alternatively, the positioning part 50 can be extended to change its length. When grabbing spent fuel assemblies of different sizes, the positioning part 50 is adjusted to a suitable length.

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

In some embodiments, the driving part 30 includes: a lead screw 32, on which the movable part 42 is disposed; and a motor 34, which is used to drive the lead screw 32 to rotate so that the movable part 42 moves along the lead screw 32. The motor 34 may be a stepping 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 seat 20, and the claw 44 opens; when the motor 34 drives the lead screw 32 to rotate counterclockwise, the movable part 42 moves toward the support seat 20, and the claw 44 closes.

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

The gripping device 100 may further include: a coupling 31 connected to the output end of the motor 34, the motor 34 drives the coupling 31 to rotate, and the coupling 31 drives the lead screw 32 to rotate. By providing the coupling 31, a good buffering and shock absorbing effect can be provided. The gripping device 100 may further include: a bearing 33, and the lead screw 32 is installed in the bearing 33.

Fig. 4 is a schematic diagram showing another part of the structure of the gripping device 100 of Fig. 1. As shown in Fig. 4, the gripping device 100 further includes: a motor mounting seat 35 for mounting the motor 34; and a screw mounting seat 37 for mounting the screw 32. The motor mounting seat 35 and the screw mounting seat 37 can be mounted to the housing 10.

In some embodiments, the grasping device 100 also includes: a signal receiving unit 60 for receiving remote control signals; a control unit 70 electrically connected to the signal receiving unit 60 and the driving unit 30; the signal receiving unit 60 and the control unit 70 are both arranged in the shell 10, and the control unit 70 is arranged between the signal receiving unit 60 and the driving unit 30.

By providing the signal receiving unit 60 and the control unit 70, the remote control of the grabbing device 100 can be realized, and the use of a signal transmission cable running through the hot chamber can be avoided. The signal receiving unit 60 can receive a real-time remote control signal sent by a remote controller outside the hot chamber, and transmit the remote control signal to the control unit 70. The control unit 70 outputs a control signal to the driving unit 30 based on the received remote control signal, and controls the driving unit 30 to drive the grabbing unit 40 to open or close. Specifically, the control unit 70 can control the rotation direction and rotation speed of the motor 34.

The signal receiving unit 60 and the control unit 70 are both arranged in the housing 10, and can be protected by the housing 10, while ensuring the integrity of the grasping device 100. The control unit 70 is arranged between the signal receiving unit 60 and the driving unit 30, so that the control unit 70 can communicate with the signal receiving unit 60 and the driving unit 30 respectively. The signal receiving unit 60, the control unit 70 and the driving unit 30 can be arranged along the extension direction of the housing 10. The control unit 70 can be installed to the housing 10. The control unit 70 can be an IO controller.

In some embodiments, the grasping device 100 also includes: a first mounting plate 62, which is installed to the opposite side walls of the shell 10, and the signal receiving unit 60 is arranged on the first mounting plate 62; a second mounting plate 64, which is connected to the shell 10 and the first mounting plate 62, and the second mounting plate 64 is perpendicular to the first mounting plate 62, and the second mounting plate 64 is used to install the electrical connection line between the signal receiving unit 60 and the control unit 70.

By setting the signal receiving unit 60 on the first mounting plate 62, and installing the electrical connection line between the signal receiving unit 60 and the control unit 70 on the second mounting plate 64, the integrity between the signal receiving unit 60 and the control unit 70 is improved. The signal receiving unit 60 can be set on the first mounting plate 62 outside the housing 10, the signal receiving unit 60 and the control unit 70 can be connected by an electrical connection line, and the electrical connection line can be installed on the second mounting plate 64, and then these components can be installed in the housing 10 as a whole and modularly, so as to facilitate the installation, disassembly and arrangement of the signal receiving unit 60, the control unit 70 and the related electrical connection lines. The electrical connection lines can be regularly installed on the second mounting plate 64 to prevent the electrical connection lines from being placed in the housing 10 in a disorderly manner, causing interference and obstruction to other components.

Grooves may be provided on opposite side walls of the housing 10, and the first mounting plate 62 cooperates with the grooves and may be fixedly connected to the housing 10 via fasteners. 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 the first mounting plate 62 at a position close to the side.

In some embodiments, the gripping device 100 further includes: a battery 80, which is disposed in the housing 10 and is used to provide power to the signal receiving unit 60, the control unit 70 and the driving unit 30; a third mounting plate 82, which is mounted to opposite side walls of the housing 10, the third mounting plate 82 and the signal receiving unit 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 the opposite side walls of the housing 10, and the third mounting plate 82 cooperates with the grooves and can be fixedly connected to the housing 10 by fasteners. The third mounting plate 82 is used to carry the battery 80. The third mounting plate 82 and the signal receiving unit 60 are arranged on opposite sides of the first mounting plate 62, so that the battery 80 and the signal receiving unit 60 can be arranged in a stacked manner, and the battery 80 and the signal receiving unit 60 are arranged in a direction perpendicular to the extension direction of the housing 10, which can be arranged more compactly and reduce the occupation of the internal space of the housing 10. This is beneficial for the grasping device 100 that needs to move in the silo. Due to the limitation of the silo, the volume of the grasping device 100 is limited. The third mounting plate 82 and the first mounting plate 62 can be arranged in parallel. A gap can 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 unit 60.

In some embodiments, the shell 10 is provided with a battery access port 12, and the battery 80 is confined in the battery access port 12; the gripping device 100 also includes a pressing member 84, one end of the pressing member 84 is provided on the shell 10, and the other end of the pressing member 84 extends into the battery access port 12 and presses the battery 80.

The shape and size of the battery access opening 12 match the shape and size of the housing 10, so that the battery 80 can be confined in 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 confined by the battery access opening 12. The arrangement of the battery access opening 12 facilitates the placement of the battery 80 in or removal from the housing 10. By arranging a pressing member 84, the battery 80 can be further fixed to prevent it from loosening. One end of the pressing member 84 can be fixedly connected to the housing 10 by a fastener.

At the battery access opening 12, the battery 80 can be exposed. On the one hand, since the grabbing device 100 moves in the silo, the silo can provide some protection for the grabbing device 100; on the other hand, the grabbing device 100 is used for emergency purposes, and the long-term performance of the battery 80 does not need to be considered. Therefore, there is no need to provide additional shielding for the battery 80 at the battery access opening 12.

Regarding the embodiments of the present invention, it should also be noted that, in the absence of conflict, the embodiments of the present invention and the features therein may 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. The protection scope of the present invention shall be based on the protection scope of the claims.

Claims (6)

1. A spent fuel assembly gripping apparatus for gripping an operating head of a spent fuel assembly, comprising:

A housing;

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

A driving part disposed in the housing;

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

Wherein the angle range in which the gripping part can be opened comprises between 0 and 120 degrees;

The grasping portion includes:

A movable part movable under the driving action of the driving part;

a plurality of grippers penetrating through the openings and hinged with the support base;

The plurality of connecting parts are hinged with the movable part at one ends, and the plurality of grippers are hinged with the other ends of the plurality of connecting parts;

the gripper comprises:

the device comprises an extending part and a bending part, wherein one end of the extending part is hinged with the connecting part, and the other end of the extending part is connected with the bending part;

a protruding portion protruding from an inner side of the extension portion, the protruding portion being hinged with the support base;

The operation head is provided with an annular groove, and the bending part can extend into the annular groove and is abutted with the groove bottom and the groove wall of the annular groove;

one end of the bending part forms an arc-shaped matching surface, so that the bending part is more tightly matched with the annular groove;

The device also comprises a positioning part, one end of which is connected to the supporting seat, and the other end of which extends outside the shell, wherein the positioning part is positioned among the grippers and has a preset length;

When the grabbing device moves towards the spent fuel assembly to the position where the positioning part abuts against the end face of the operation head, the grabbing part is closed, and at the moment, the grabbing part just grabs the annular groove of the operation head of the spent fuel assembly;

the apparatus further comprises: a signal receiving section 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 both arranged in the shell, and the control part is arranged between the signal receiving part and the driving part;

the apparatus further comprises:

The first mounting plate is mounted on two opposite side walls of the shell, and the signal receiving part is arranged on the first mounting plate;

The second mounting plate is connected with the shell and the first mounting plate, is perpendicular to the first mounting plate and is used for mounting an electric connection wire between the signal receiving part and the control part;

the apparatus further comprises:

a battery provided in the housing, the battery being configured to supply power to the signal receiving section, the control section, and the driving section;

The third mounting plate is mounted on two opposite side walls of the shell, the third mounting plate and the signal receiving part are arranged on two opposite sides of the first mounting plate, and the battery is arranged on the third mounting plate;

The third mounting plate is arranged in parallel with the first mounting plate, and a space is arranged between the third mounting plate and the first mounting plate;

First grooves are formed in two opposite side walls of the shell, and the first mounting plate is matched with the first grooves and fixedly connected with the shell through fasteners; opposite sides of the second mounting plate are respectively connected with the shell and the first mounting plate, and the second mounting plate is connected to the first mounting plate at a position close to the side; and second grooves are formed in two opposite side walls of the shell, and the third mounting plate is matched with the second grooves and can be fixedly connected with the shell through fasteners.

2. The apparatus according to claim 1, wherein the driving section includes:

a lead screw on which the movable portion is provided;

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

3. The apparatus as recited in claim 2, further comprising: the first limiting part and the second limiting part are arranged on the screw rod, and the movable part is arranged to move between the first limiting part and the second limiting part.

4. The device of claim 1, wherein the housing is provided with a battery access port, the battery being confined within the battery access port;

The device also comprises a pressing piece, 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.

5. The apparatus of claim 1, wherein the apparatus is movable within a magazine, the apparatus further comprising: the rollers are arranged on two sides of the shell.

6. The device of claim 1, wherein the housing is provided with a lifting hole.