CN109346194B - Cladding teleoperation transfer device of nuclear fusion device - Google Patents
Cladding teleoperation transfer device of nuclear fusion device Download PDFInfo
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- CN109346194B CN109346194B CN201810919827.0A CN201810919827A CN109346194B CN 109346194 B CN109346194 B CN 109346194B CN 201810919827 A CN201810919827 A CN 201810919827A CN 109346194 B CN109346194 B CN 109346194B
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- cladding
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- G—PHYSICS
- G21—NUCLEAR PHYSICS; NUCLEAR ENGINEERING
- G21B—FUSION REACTORS
- G21B1/00—Thermonuclear fusion reactors
- G21B1/25—Maintenance, e.g. repair or remote inspection
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
- Y02E30/00—Energy generation of nuclear origin
- Y02E30/10—Nuclear fusion reactors
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Abstract
The invention discloses an annular vacuum chamber, wherein an annular cladding is arranged in the vacuum chamber, the pipeline and the fixation of the cladding are firstly disassembled through a multi-joint mechanical arm at the bottom, the cladding is lifted through a hydraulic ejector rod mechanism at the bottom and a cladding annular transfer device at the upper part, the upper cladding annular transfer device and the lower cladding annular transfer device cooperate to realize the cladding annular transfer and move to the position of a window, a hoisting mechanism at the upper part cooperates with the hydraulic ejector rod mechanism to move the cladding to the position right below the upper window in the radial direction, and finally the cladding is hoisted out of the vacuum chamber through a hoist at the upper part. The invention adopts a large modular cladding structure, effectively reduces the transfer time, has low gravity center of transfer equipment, and is more stable, safe and reliable in the operation process.
Description
Technical Field
The invention relates to the technical field of fusion reactor engineering, in particular to a cladding teleoperation transfer device of a nuclear fusion device.
Background
The research of controllable magnetic confinement thermonuclear fusion is a research field with great significance in the current natural science research, the establishment of commercial fusion reactor can play an immeasurable role in maintaining and developing human civilization, and the Tokamak device is considered as a controllable magnetic confinement thermonuclear fusion research device with the optimal fusion energy utilization prospect. The cladding is used as a core component of the fusion reactor, provides necessary elements such as neutrons, tritium and the like for fusion reaction, and simultaneously brings huge heat generated by the fusion reaction out of the vacuum chamber. The cladding, because it plays an important role and wears out as the device operates, requires regular maintenance. The existing cladding design adopts a small module design (ITERs are about 450), so that the maintenance period is extremely long, and meanwhile, because of too many modules, gaps among the modules and occupied space are large, and the tritium increment of the fusion reactor is greatly influenced. The structural design of the large module cladding (48 on the low field side and 32 on the high field side) effectively solves the problems of long maintenance period, tritium increment and the like, but the weight of the large module cladding is increased from 5 tons of small modularization to 50 tons of large modules, and the difficulty of transporting the cladding in a vacuum chamber is greatly increased. It is therefore desirable to design a heavy duty mechanism for large modular cladding designs to transport cladding modules located in the non-maintenance window area to the window area.
Disclosure of Invention
The invention aims to provide a cladding teleoperation transfer device of a nuclear fusion device, which is used for meeting the transfer of a large cladding module of the nuclear fusion device.
In order to achieve the purpose, the invention adopts the technical scheme that:
the utility model provides a teleoperation transfer device of nuclear fusion device covering, includes annular real empty room, be equipped with annular covering in the real empty room, its characterized in that:
rigid supports for supporting the cladding are respectively arranged on two sides of the bottom of the vacuum chamber, an annular supporting rail is fixed on the inner wall of the upper part of the vacuum chamber, and the upper part of the cladding is connected with the supporting rail through a flexible support; the flexible support comprises a fixed hinged block fixed on the outer wall of the upper part of the cladding, a movable hinged block is arranged on the fixed hinged block through a disc spring group, and the front end of the movable hinged block is clamped in the support guide rail and can slide in the support rail.
The bottom of the vacuum chamber is paved with a lower inner ring track and a lower outer ring track which are distributed inside and outside, the lower inner ring track and the lower outer ring track are respectively matched with a lower cladding transfer device in a sliding way, a multifunctional transfer trolley is arranged on the lower cladding transfer device, an executing tool is arranged in the multifunctional transfer trolley, the upper part of the multifunctional transfer trolley is distributed with a transverse front track and a transverse rear track, and a hydraulic ejector rod mechanism and a multi-joint mechanical arm matched with the executing tool are respectively arranged on the front track and the rear track in a sliding way.
The top of the vacuum chamber is laid with an inner and an outer annular tracks which are distributed internally and externally, the inner and the outer annular tracks both comprise annular connecting parts which are fixedly connected with the top of the vacuum chamber, and the inner sides of the annular connecting parts are fixedly connected with an integrated upper annular track; the upper inner ring track and the upper outer ring track are matched with an upper cladding transfer device in a rolling way; the covering top is equipped with the portion of bending, the portion of bending card is pressed on the upper covering transfer device.
The upper and lower cladding transfer devices respectively comprise a main supporting block and an auxiliary supporting block which are matched with the corresponding annular tracks in a rolling and guiding manner; the upper part of the main supporting block is provided with a vertical jacking jack, and a piston rod of the jacking jack is upward; a longitudinal driving hydraulic cylinder is arranged at the belly of the main supporting block, and the front end of a piston rod of the driving hydraulic cylinder is hinged on the auxiliary supporting block; and two sides of the bottom of the auxiliary supporting block are respectively provided with a transverse clamping cylinder, and piston rods of the clamping cylinders are opposite and can be clamped on two sides of the corresponding annular track in a matching manner.
A kind of nuclear fusion device cladding teleoperation transfer device, characterized by: notches are arranged on the upper inner and outer annular rails and the lower inner and outer annular rails corresponding to the vacuum chamber window, and arc-shaped rails are arranged on the notches of the upper inner and outer annular rails; the gap positions of the lower inner ring and the lower outer ring to the track are provided with transfer trailers, and arc-shaped track sections corresponding to the lower inner ring and the lower outer ring to the track are arranged on the transfer trailers.
A kind of nuclear fusion device cladding teleoperation transfer device, characterized by: the front end of a piston rod of the driving hydraulic cylinder is hinged with the auxiliary supporting block through a spherical hinge.
A kind of nuclear fusion device cladding teleoperation transfer device, characterized by: the lower part of the cladding and the rigid support are fixed through bolts.
A kind of nuclear fusion device cladding teleoperation transfer device, characterized by: the hydraulic ejector rod mechanism and the multi-joint mechanical arm respectively slide on the front track and the rear track through the screw rod nut mechanism, and the screw rods in the screw rod nut mechanism are controlled to rotate through the motor.
A kind of nuclear fusion device cladding teleoperation transfer device, characterized by: the executing tools comprise a welding tool, a bolt disassembling tool, a pipeline cutting and grinding tool and the like.
A kind of nuclear fusion device cladding teleoperation transfer device, characterized by: and the parts of the main supporting block and the auxiliary supporting block corresponding to the annular track are respectively provided with a roller in a rotating way.
The cladding adopts a mode of fixing up and down, wherein the lower part adopts rigid connection and is fixedly connected by bolts, the upper part adopts a flexible support, the flexible support comprises a fixed hinge block and a movable hinge block, and the movable hinge block is always in full contact with the track through a self-adjusting mechanism of a disc spring group, so that the posture of the cladding is adjusted.
The cladding teleoperation transfer device of the nuclear fusion device is characterized in that: the hydraulic ejector rod mechanism is driven by a ball screw along the track motion.
The cladding teleoperation transfer device of the nuclear fusion device is characterized in that: the multi-joint mechanical arm is driven by a ball screw along the track motion.
The working process of the invention is as follows:
firstly, the operations of disassembling the cladding bolt, cutting the pipeline, welding and the like are realized by matching the multi-joint mechanical arm on the multifunctional transfer trolley with the actuating mechanism.
And then, the upper and lower cladding layer transfer devices simultaneously act on the top and the bottom of the cladding layer, and the cladding layer is lifted and transferred to the corresponding window part of the vacuum chamber.
The working principle of the upper and lower cladding transfer device is as follows:
the upper and lower cladding transfer device jacks up the load through the jacking jack, at this moment, the driving hydraulic cylinder on the main supporting block stretches out its piston rod and promotes the vice supporting shoe to remove, after the piston rod of driving hydraulic cylinder stretches out extreme position, starts the tight jar of clamp on the vice supporting block, makes the piston rod that presss from both sides tight jar stretch out simultaneously and press from both sides tightly in the orbital both sides of corresponding hoop, and the position of vice supporting shoe is fixed this moment. After the position of the auxiliary supporting block is fixed, the piston rod of the hydraulic cylinder is driven to retract to drive the main supporting block to be close to the square of the auxiliary supporting block, and the upper and lower cladding transfer devices move annularly on the corresponding annular rails by repeating the operation.
When the upper and lower cladding transfer devices move on the corresponding annular tracks, the upper and lower cladding transfer devices respectively apply upward force to the top and the bottom of the cladding, and the specific process is as follows: the lower cladding transfer device jacks up the multifunctional transfer trolley through a jacking jack on the lower cladding transfer device, the multifunctional transfer trolley jacks up the bottom of the cladding through a hydraulic ejector rod mechanism on the multifunctional transfer trolley, the hydraulic ejector rod mechanism is a hydraulic cylinder, and the front end of a piston rod of the hydraulic cylinder acts on the bottom of the cladding to jack up the cladding. The upper cladding transfer device acts on the bending part at the top of the cladding through a hydraulic ejector rod mechanism on the upper cladding transfer device, and exerts an upward force on the top of the cladding.
And finally, after the cladding is transferred to the window part corresponding to the vacuum chamber, the upper annular track and the lower annular track adopt a separable design at the position right facing the window, and the cladding is lifted out of the vacuum chamber by a crane at the upper part.
The technical scheme of the invention has the following beneficial effects:
according to the nuclear fusion cladding transferring scheme, in the maintenance process, pipelines and the fixing of a cladding are firstly removed through a multi-joint mechanical arm at the bottom, the cladding is lifted up through a hydraulic ejector rod mechanism at the bottom and a cladding annular transferring device at the upper part, the upper cladding annular transferring device and the lower cladding annular transferring device cooperate to realize cladding annular transferring and move to the position of a window, a hoisting mechanism at the upper part cooperates with the hydraulic ejector rod mechanism to move the cladding to the position right below the upper window in the radial direction, and finally the cladding is hoisted out of a vacuum chamber through a hoist at the upper part. The invention adopts a large modular cladding structure, effectively reduces the transfer time, has low gravity center of transfer equipment, and is more stable, safe and reliable in the operation process.
Drawings
Fig. 1 is a schematic cross-sectional view of the present invention.
FIG. 1a is an enlarged partial schematic view of FIG. 1 of the present invention.
Figure 2 is a schematic view of the multi-function transfer car of the present invention.
Figure 3a is a schematic top inner and outer circumferential tracks of the present invention.
Figure 3b is a schematic view of the bottom inner and outer circumferential tracks of the present invention.
Figure 4a is an isometric illustration of a cladding hoop transfer device of the present invention.
Figure 4b is a bottom view of the cladding hoop transfer device of the present invention.
Figure 5 is a schematic view of the flexible support of the present invention.
Fig. 6 is a general overview of the present invention.
FIG. 7 is a schematic view of the top portion of the present invention.
Detailed Description
As shown in fig. 1 and 2.
A cladding teleoperation transfer device of a nuclear fusion device comprises an annular vacuum chamber 33, annular cladding 1 and annular cladding 2 are arranged in the vacuum chamber 33, rigid supports 12 and 14 for supporting the cladding 1 and the cladding 2 are respectively arranged on two sides of the bottom of the vacuum chamber 33, annular support rails 34 and 39 are fixed on the inner wall of the upper part of the vacuum chamber 33, and the upper parts of the cladding 1 and the cladding 2 are connected with the support rails 34 and 39 through flexible supports; the flexible support comprises a fixed hinge block 38 fixed on the outer wall of the upper part of the cladding 1 and 2, a movable hinge block 30 is arranged on the fixed hinge block 38 through a rotating shaft 31 and a disc spring group 32, and a clamping part is arranged at the front end of the movable hinge block 30 and clamped in the support guide rail and can slide in the support track 34.
The bottom of the vacuum chamber 33 is paved with inner and outer distributed lower inner and outer circular tracks 8, 9, the lower inner and outer circular tracks 8, 9 are respectively matched with lower cladding transfer devices 10, 11 in a sliding way, the lower cladding transfer devices 10, 11 are provided with a multifunctional transfer vehicle 7, an executing tool is arranged in the multifunctional transfer vehicle 7, the upper part of the multifunctional transfer vehicle 7 is distributed with transverse front and rear tracks 20, 21, and the front and rear tracks 20, 21 are respectively provided with a hydraulic ejector rod mechanism 19 in a sliding way and a multi-joint mechanical arm 18 matched with the executing tool.
The top of the vacuum chamber 33 is laid with inner and outer distributed upper and outer circular rails 3, 5, the upper and outer circular rails 3, 5 comprise an annular connecting part 35 fixedly connected with the top of the vacuum chamber 33, and the inner sides of the annular connecting part 35 are fixedly connected with an integrated upper annular rail 36; the upper ring-shaped tracks of the upper inner ring-shaped track 3 and the upper ring-shaped track 5 are matched with the upper cladding 1 and the upper cladding 2 transfer devices in a rolling way; the top of cladding 1, 2 is equipped with the portion of bending 37, the portion of bending 37 card is pressed on the upper cladding 1, 2 transfer device.
The upper and lower cladding transfer devices 10 and 11 respectively comprise a main supporting block 24 and a secondary supporting block 25 which are matched with the corresponding annular tracks in a rolling and guiding manner; the upper part of the main supporting block 24 is provided with a vertical jacking jack 26, and a piston rod of the jacking jack 26 is upward; a longitudinal driving hydraulic cylinder 27 is arranged on the belly of the main supporting block 24, and the front end of a piston rod of the driving hydraulic cylinder 27 is hinged on the auxiliary supporting block 25; and two sides of the bottom of the secondary supporting block 25 are respectively provided with a transverse clamping cylinder 29, and piston rods of the clamping cylinders 29 are opposite and can be clamped on two sides of the corresponding annular track in a matching manner.
The position that corresponds real empty room 33 window on the interior, outer loop of lower to track 8, 9 is equipped with the breach, the breach position is equipped with transports trailer 23, transports and is equipped with on the trailer 23 and corresponds the arc track section to track 8, 9 with interior, outer loop down.
The front end of the piston rod of the driving hydraulic cylinder 27 is hinged with the auxiliary supporting block 25 through a spherical hinge.
The lower parts of the cladding layers 1 and 2 and the rigid supports 12 and 14 are fixed through bolts.
The hydraulic ejector rod mechanism and the multi-joint mechanical arm respectively slide on the front rail 20 and the rear rail 21 through the screw rod nut mechanism, and the screw rods in the screw rod nut mechanism are controlled to rotate through the motor.
The bottom circumferential rail is of a separable design facing the window and moves out of the vacuum chamber 33 with the transfer trailer 23 from the lower window.
Claims (7)
1. The utility model provides a teleoperation transfer device of nuclear fusion device covering, includes annular real empty room, be equipped with annular covering in the real empty room, its characterized in that:
rigid supports for supporting the cladding are respectively arranged on two sides of the bottom of the vacuum chamber, an annular supporting rail is fixed on the inner wall of the upper part of the vacuum chamber, and the upper part of the cladding is connected with the supporting rail through a flexible support; the flexible support comprises a fixed hinge block fixed on the outer wall of the upper part of the cladding, a movable hinge block is arranged on the fixed hinge block through a disc spring group, and the front end of the movable hinge block is clamped in the support guide rail and can slide in the support rail;
the bottom of the vacuum chamber is paved with a lower inner ring track and a lower outer ring track which are distributed internally and externally, the lower inner ring track and the lower outer ring track are respectively matched with a lower cladding transfer device in a sliding way, a multifunctional transfer trolley is arranged on the lower cladding transfer device, an execution tool is arranged in the multifunctional transfer trolley, the upper part of the multifunctional transfer trolley is distributed with a transverse front track and a transverse rear track, and a hydraulic ejector rod mechanism and a multi-joint mechanical arm matched with the execution tool are respectively arranged on the front track and the rear track in a sliding way;
the top of the vacuum chamber is laid with an inner and an outer annular tracks which are distributed internally and externally, the inner and the outer annular tracks both comprise annular connecting parts which are fixedly connected with the top of the vacuum chamber, and the inner sides of the annular connecting parts are fixedly connected with an integrated upper annular track; the upper inner ring track and the upper outer ring track are matched with an upper cladding transfer device in a rolling way; the top of the cladding is provided with a bending part which is clamped and pressed on the upper cladding transfer device;
the upper and lower cladding transfer devices respectively comprise a main supporting block and an auxiliary supporting block which are matched with the corresponding annular tracks in a rolling and guiding manner; the upper part of the main supporting block is provided with a vertical jacking jack, and a piston rod of the jacking jack is upward; a longitudinal driving hydraulic cylinder is arranged at the belly of the main supporting block, and the front end of a piston rod of the driving hydraulic cylinder is hinged on the auxiliary supporting block; and two sides of the bottom of the auxiliary supporting block are respectively provided with a transverse clamping cylinder, and piston rods of the clamping cylinders are opposite and can be clamped on two sides of the corresponding annular track in a matching manner.
2. A cladding teleoperational transfer device for a nuclear fusion device as in claim 1 wherein: notches are arranged on the upper inner and outer annular rails and the lower inner and outer annular rails corresponding to the vacuum chamber window, and arc-shaped rails are arranged on the notches of the upper inner and outer annular rails; the gap positions of the lower inner ring and the lower outer ring to the track are provided with transfer trailers, and arc-shaped track sections corresponding to the lower inner ring and the lower outer ring to the track are arranged on the transfer trailers.
3. A cladding teleoperational transfer device for a nuclear fusion device as in claim 1 wherein: the front end of a piston rod of the driving hydraulic cylinder is hinged with the auxiliary supporting block through a spherical hinge.
4. A cladding teleoperational transfer device for a nuclear fusion device as in claim 1 wherein: the lower part of the cladding and the rigid support are fixed through bolts.
5. A cladding teleoperational transfer device for a nuclear fusion device as in claim 1 wherein: the hydraulic ejector rod mechanism and the multi-joint mechanical arm respectively slide on the front track and the rear track through the screw rod nut mechanism, and the screw rods in the screw rod nut mechanism are controlled to rotate through the motor.
6. A cladding teleoperational transfer device for a nuclear fusion device as in claim 1 wherein: the executing tool comprises a welding tool, a bolt disassembling tool, a pipeline cutting tool and a grinding tool.
7. A cladding teleoperational transfer device for a nuclear fusion device as in claim 1 wherein: and the parts of the main supporting block and the auxiliary supporting block corresponding to the annular track are respectively provided with a roller in a rotating way.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201810919827.0A CN109346194B (en) | 2018-08-14 | 2018-08-14 | Cladding teleoperation transfer device of nuclear fusion device |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201810919827.0A CN109346194B (en) | 2018-08-14 | 2018-08-14 | Cladding teleoperation transfer device of nuclear fusion device |
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| CN109346194A CN109346194A (en) | 2019-02-15 |
| CN109346194B true CN109346194B (en) | 2020-06-09 |
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Families Citing this family (6)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN109761009B (en) * | 2019-03-07 | 2021-02-19 | 中国科学院合肥物质科学研究院 | Cladding teleoperation transfer device for nuclear fusion device maintenance |
| CN112489820B (en) * | 2020-11-27 | 2024-03-29 | 中国科学院合肥物质科学研究院 | Multifunctional maintenance platform for nuclear fusion device |
| CN112397209B (en) * | 2020-11-27 | 2022-07-08 | 中国科学院合肥物质科学研究院 | Annular transfer driving device for nuclear fusion device |
| CN112489821B (en) * | 2020-11-27 | 2024-03-29 | 中国科学院合肥物质科学研究院 | Divertor circumferential transfer system for maintenance of nuclear fusion device |
| CN112489822B (en) * | 2020-11-27 | 2024-03-29 | 中国科学院合肥物质科学研究院 | Cladding maintenance transfer mechanism for nuclear fusion device |
| CN112927826B (en) * | 2021-01-29 | 2024-04-30 | 中国科学院合肥物质科学研究院 | Ion source maintenance platform of neutral beam injection heating system of nuclear fusion device |
Family Cites Families (7)
| Publication number | Priority date | Publication date | Assignee | Title |
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| JP2869495B2 (en) * | 1990-07-11 | 1999-03-10 | 株式会社日立製作所 | Nuclear fusion device |
| JPH1062573A (en) * | 1996-08-22 | 1998-03-06 | Ishikawajima Harima Heavy Ind Co Ltd | Apparatus for taking in/out of in-piping equipment |
| CN103440883B (en) * | 2013-08-20 | 2015-12-23 | 中国科学院合肥物质科学研究院 | For having the component transports device of six degree of freedom regulatory function under nuclear fusion environment |
| CN103818689B (en) * | 2014-02-11 | 2016-04-06 | 中国科学院等离子体物理研究所 | A kind of mechanism for the transhipment of nuclear fusion device covering |
| CN105110244A (en) * | 2015-08-27 | 2015-12-02 | 中国科学院等离子体物理研究所 | Heavy load hoisting mechanism used for maintenance of nuclear fusion device parts |
| CN105261400A (en) * | 2015-09-09 | 2016-01-20 | 中国科学院等离子体物理研究所 | Remote operation transfer scheme for component maintenance of nuclear fusion apparatus |
| CN206558220U (en) * | 2017-01-10 | 2017-10-13 | 中国科学院合肥物质科学研究院 | A kind of covering rotating and moving device of configuration-changeable with nuclear fusion device |
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