CN115831411A

CN115831411A - Spent fuel assembly gripping device

Info

Publication number: CN115831411A
Application number: CN202211693005.8A
Authority: CN
Inventors: 张博文; 董碧波; 明玉周; 李海; 朱玲凡; 周科源; 高山; 侯天宇
Original assignee: China Institute of Atomic of Energy
Current assignee: China Institute of Atomic of Energy
Priority date: 2022-12-28
Filing date: 2022-12-28
Publication date: 2023-03-21
Anticipated expiration: 2042-12-28
Also published as: CN115831411B

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 gripping device

Technical Field

The embodiment of the invention relates to the technical field of nuclear engineering, in particular to a gripping device for a spent fuel assembly.

Background

In some cases, the spent fuel assemblies need to be grabbed. For example, in the spent fuel post-processing process, when the shearing machine is used for shearing the spent fuel assemblies pushed out of the bin, if the shearing machine breaks down and needs to be repaired, the emergent gripping device can be used for gripping the spent fuel assemblies which are not sheared completely, and dragging the spent fuel assemblies back into the bin, so that the radioactive intensity in the shearing machine is reduced, and meanwhile, necessary space is provided for repairing the shearing machine.

The spent fuel assemblies have various sizes, which makes requirements on compatibility and adaptability of the gripping device, and it is necessary to develop a gripping device capable of gripping the spent fuel assemblies with different sizes.

Disclosure of Invention

According to an aspect of the present invention, there is provided a spent fuel assembly gripping device, including: a housing; the supporting seat is arranged at one end of the shell and is provided with an opening; a driving part arranged in the shell; 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 grasping portion can be opened includes between 0 ° and 120 °.

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

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, and may help to provide a full understanding of the present invention.

Fig. 1 is a general schematic view of a spent fuel assembly gripping device according to an embodiment of the invention;

FIG. 2 is a schematic view showing a partial structure of the grasping apparatus of FIG. 1;

FIG. 3 shows a schematic view of the grasping device of FIG. 1 in an operational state;

fig. 4 shows a schematic view of a further partial structure of the gripper device from fig. 1.

Detailed Description

In order to make the objects, technical solutions and advantages of the present application more clear, the technical solutions of the present application will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present application. It should be apparent that the described embodiment is one embodiment of the present application, and not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the described embodiments of the application without any inventive step, are within the scope of protection of the application.

It is to be noted that, unless otherwise defined, technical or scientific terms used herein shall have the ordinary meaning as understood by those of ordinary skill in the art to which this application belongs. If the description "first", "second", etc. is referred to throughout, the description of "first", "second", etc. is used only for distinguishing similar objects, and is not to be construed as indicating or implying a relative importance, order or number of technical features indicated, it being understood that the data described in "first", "second", etc. may be interchanged where appropriate. Spatially relative terms, such as "above," "below," "top," "bottom," and the like, may be used herein for ease of description and are used merely to describe one element or feature's spatial relationship to another element or feature as illustrated in the figures, and should be understood to encompass different orientations in use or operation in addition to the orientation depicted in the figures.

Fig. 1 is a general schematic view of a spent fuel assembly gripping device 100 according to an embodiment of the present invention, and fig. 2 is a schematic view of a partial structure of the gripping device 100 of fig. 1. Referring to fig. 1 and 2, the grasping apparatus 100 includes: a housing 10; a support base 20 disposed at one end of the housing 10, the support base 20 having an opening 22; a drive unit 30 provided in the housing 10; a grasping portion 40, the grasping portion 40 passing through the opening 22, the grasping portion 40 being capable of opening or closing under the driving action of the driving portion 30; the angle range in which the grasping portion 40 can be opened includes between 0 ° and 120 °.

In the grasping apparatus 100 according to the embodiment of the present invention, the range of the angle at which the grasping portion 40 can be expanded is large, including at least the range of 0 ° to 120 °, that is, the minimum angle at which the grasping portion 40 can be expanded may be 0 °, and the maximum angle at which the grasping portion 40 can be expanded may be 120 °. Of course, in other possible cases, the range of angles at which the grasping portions 40 can be opened may be larger, and is not limited to a range of only 0 ° to 120 °.

Because the angle range that the grabbing portion 40 can be opened is large, for the spent fuel assemblies with different sizes, the grabbing portion 40 can be opened by a corresponding angle to grab the spent fuel assemblies, so that good compatibility and adaptability of the grabbing device 100 are ensured.

In the embodiment of the present invention, the support base 20 is fixedly coupled to the housing 10 by a screw fastener. Of course, in other embodiments, the supporting base 20 may be fixedly connected to the housing 10 by means of clamping, welding, or the like. The opening of the support base 20 communicates with the internal environment of the housing 10, and a portion of the grasping portion 40 is located inside the housing 10 and another portion protrudes outside the housing 10 through the opening 22. The support base 20 may provide support for the catch 40. A portion of the gripping portion 40 and the driving portion 30 are disposed within the housing 10 such that these components may be protected by the housing 10 while providing the gripping apparatus 100 with good integrity.

Such integrity enables the gripping device 100 to be transported and moved as a whole, for example, the gripping device 100 can be applied to a shearing machine system of a spent fuel reprocessing process as an emergency gripping device, and can be moved in a bin to grip and drag a spent fuel assembly into the bin. Referring to fig. 1, the grasping apparatus 100 includes: and a plurality of rollers 14 disposed at both sides of the housing 10. The rollers 14 may move along tracks within the magazine to effect movement of the gripping device 100 within the magazine.

The housing 10 may be provided with a lifting hole 16. Through setting up hole for hoist 16, be convenient for hoist and mount, shift grabbing device 100 to realize installing, maintenance, dismantlement, work such as change grabbing device 100. The number of the hoisting holes 16 can be multiple. A plurality of lifting holes 16 may be distributed on the top surface of the housing 10 and may be disposed adjacent to opposite sides of the top surface.

The grasping portion 40 may include a plurality of grippers, and the opening or closing of the grasping portion 40 is achieved by the rotation of the plurality of grippers. The centers of rotation of the plurality of grippers may be the same or different. The open angle of the grasping portion 40 may be an angle formed between a pair of opposing grasping claws, or may be a sum of angles at which the pair of opposing grasping claws can rotate.

Fig. 3 shows a schematic view of the grasping apparatus 100 of fig. 1 in an operating state. Referring to fig. 1 to 3, in an embodiment of the present invention, the grasping portion 40 includes: a movable portion 42 movable by the driving action of the driving portion 30; a plurality of grippers 44, the plurality of grippers 44 passing through the opening 22 and being hinged with the support base 20; and a plurality of connecting portions 46, one ends of the plurality of connecting portions 46 being hinged to the movable portion 42, and the other ends of the plurality of connecting portions 46 being hinged to the plurality of grippers 44.

The movable portion 42, the connecting portion 46, the gripper 44 and the supporting seat 20 are hinged through a plurality of hinge points, and the gripper 44 has good flexibility and a large movable angle in a multi-stage hinge mode, so that the large-range rotation can be performed, the gripping portion 40 is guaranteed to have a large opening angle range, and the gripping portion is suitable for gripping spent fuel assemblies of different sizes.

The plurality of hinge points include: a hinge point between the movable portion 42 and the connecting portion 46, which serves as a first hinge point; a hinge point between the connecting portion 46 and the gripper 44, which serves as a second hinge point; the hinge point between the catch 44 and the support base 20 serves as a third hinge point.

The third hinge point is stationary with respect to the grasping apparatus 100, the grippers 44 rotate about the third hinge point, the rotation angle of a single gripper 44 about the third hinge point may be the opening angle of the gripper 44, and the sum of the opening angles of a pair of grippers 44 facing each other may be the opening angle of the grasping portion 40. For example, 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 portion 42. With the third hinge point held stationary, movement of the first hinge point will cause movement of the second hinge point, which in turn changes the attitude of the connecting portion 46 and the gripper 44, causing the gripper 44 to rotate about the third hinge point.

The first hinge point, the second hinge point and the third hinge point are arranged into broken lines, the second hinge point is used as the vertex of the broken lines, and an included angle is formed by a connecting line between the first hinge point and the second hinge point and a connecting line between the third hinge point and the second hinge point. As the movable portion 42 moves, the angle of the included angle changes. In the embodiment of the present invention, when the movable portion 42 is moved in the direction away from the support base 20, the angle of the included angle becomes large, and the opening angle of the grasping portion 40 becomes large; when the movable portion 42 is moved in a direction to approach the support base 20, the angle of the included angle becomes small, and the opening angle of the grasping portion 40 becomes small.

The number of grippers 44 and coupling portions 46 may be two. Of course in other embodiments the number of grippers 4 and coupling portions 46 may be increased as desired. The plurality of connecting portions 46 may be symmetrically distributed on the circumferential side of the movable portion 42. The grasping portion 40 may be substantially symmetrical in structure. The movable portion 42 may move in a straight line, and a moving path of the center of the movable portion 42 may coincide with the center line of the grasping portion 40.

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

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

The inner side of the extension 442 is a side of the extension 442 facing the inside of the grasping portion 40. A projection 446 is formed on the inner side of the extension 442, and the projection 446 is closer to the center line of the grip portion 40. The projection 446 may protrude from a middle portion of the extension 442. The second hinge point is formed at one end of the extending portion 442, and the third hinge point is formed on the protrusion 446, so that an included angle formed by a connecting line between the first hinge point and the second hinge point and a connecting line between the third hinge point and the second hinge point is smaller than that formed by the third hinge point on the extending portion 442, so that the included angle has a larger margin to be expanded, and thus the grasping portion 40 can be more fully expanded, that is, the grasping portion 40 can be expanded in a larger angle range.

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

In some embodiments, one end of the bend 444 forms an arcuate mating surface 445. The gripping device 100 of the present invention can be used for gripping a spent fuel assembly, specifically, the operating head 52 of the spent fuel assembly. As shown in fig. 3, the operating head 52 has an annular recess into which the bend 444 may extend and abut the groove bottom and groove walls of the annular recess. By forming the curved mating surface 445, the bent portion 444 can be more closely fitted with the annular groove to achieve a firm grip.

In some embodiments, the grasping apparatus 100 further includes a positioning portion 50 having one end connected to the support base 20 and the other end extending outside the housing 10, the positioning portion 50 being located between the plurality of grippers 44, the positioning portion 50 having a predetermined length.

The positioning portion 50 is configured to abut against an end surface of an operating head 52 of the spent fuel assembly, and to indicate a timing of gripping by the gripping device 100. When the grabbing device 100 is used for grabbing, the grabbing part 40 can be firstly opened to a larger angle, the grabbing device 100 moves towards the spent fuel assembly, when the positioning part 50 is moved to abut against the end face of the operating head 52, the grabbing part 40 can be closed, and at this time, the grabbing part 40 can just grab the annular groove of the operating head 52 of the spent fuel assembly. After the gripping portion 40 finishes gripping, the gripping device 100 may be moved to drag the spent fuel assemblies into the bunker.

The positioning portion 50 may have various specifications, and the lengths of the positioning portions 50 of different specifications are different, so that when capturing spent fuel assemblies of different sizes, the positioning portions 50 of corresponding specifications are installed. Alternatively, the positioning portion 50 may be telescopic to change its length, and when grabbing spent fuel assemblies of different sizes, the positioning portion 50 is adjusted to a suitable length.

The positioning portion 50 may be detachably coupled to the support base 20, for example, may be coupled to the support base 20 by a screw. The number of openings 22 may be plural, with each gripper 44 passing through each opening 22. One end of the positioning part 50 is coupled to a portion of the support base 20 between the plurality of openings 22.

In some embodiments, the driving part 30 includes: a lead screw 32 on which the movable portion 42 is provided; a motor 34, the motor 34 being used to drive the lead screw 32 to rotate such that the movable portion 42 moves along the lead screw 32. The motor 34 may be a stepper motor. The movable portion 42 may be a nut. When the motor 34 drives the screw 32 to rotate clockwise, the movable portion 42 moves away from the support base 20, and the grippers 44 open; when the motor 34 drives the screw 32 to rotate counterclockwise, the movable portion 42 moves toward the support base 20, and the gripper 44 is closed.

In some embodiments, the grasping apparatus 100 further includes: the first and second position-limiting

portions

36 and 38 are provided on the screw shaft 32, and the movable portion 42 is provided to move between the first and second position-limiting

portions

36 and 38. The first and second position-limiting

portions

36, 38 provide a position-limiting, stop-stopping function that prevents the movable portion 42 from moving to an undesirable position. The first position-limiting portion 36 and the second position-limiting portion 38 can be round nuts.

The grasping apparatus 100 may further include: the coupler 31 is connected with the output end of the motor 34, the motor 34 drives the coupler 31 to rotate, and the coupler 31 drives the screw rod 32 to rotate. By arranging the coupler 31, good buffering and shock absorption effects can be provided. The grasping apparatus 100 may further include: the bearing 33, the lead screw 32 is installed in the bearing 33.

Fig. 4 shows a schematic view of another partial structure of the gripping device 100 of fig. 1. As shown in fig. 4, the grasping apparatus 100 further includes: a motor mounting seat 35 for mounting the motor 34; and a lead screw mounting seat 37 for mounting the lead screw 32. The motor mount 35 and the lead screw mount 37 may be mounted to the housing 10.

In some embodiments, the grasping apparatus 100 further includes: a signal receiving section 60 for receiving a remote control signal; a control unit 70 electrically connected to the signal receiving unit 60 and the driving unit 30; the signal receiving portion 60 and the control portion 70 are both provided in the housing 10, and the control portion 70 is provided between the signal receiving portion 60 and the driving portion 30.

By providing the signal receiving portion 60 and the control portion 70, remote control of the grasping apparatus 100 can be achieved, and the use of signal transmission cables running through the hot chamber can be avoided. The signal receiving unit 60 may receive a real-time remote control signal transmitted from the remote controller outside the hot room, and transmit the remote control signal to the control unit 70, and 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 grasping unit 40 to open or close. Specifically, the control section 70 may control the rotation direction and the rotation speed of the motor 34.

The signal receiving portion 60 and the control portion 70 are disposed within the housing 10 and may be protected by the housing 10 while ensuring the integrity of the grasping apparatus 100. The control unit 70 is disposed between the signal receiving unit 60 and the driving unit 30, and facilitates the communication between the control unit 70 and 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 housing 10. The control part 70 may be mounted to the housing 10. The control section 70 may be an IO controller.

In some embodiments, the grasping device 100 further includes: first mounting plates 62 mounted to opposite sidewalls of the housing 10, the signal receiving part 60 being provided to the first mounting plates 62; and a second mounting plate 64 connected to the housing 10 and the first mounting plate 62, the second mounting plate 64 being perpendicular to the first mounting plate 62, the second mounting plate 64 being used to mount an electrical connection line between the signal receiving part 60 and the control part 70.

By providing the signal receiving portion 60 on the first mounting plate 62 and mounting the electrical connection line between the signal receiving portion 60 and the control portion 70 on the second mounting plate 64, the integrity between the signal receiving portion 60 and the control portion 70 is improved. The signal receiving portion 60 can be disposed outside the housing 10 on the first mounting plate 62, the signal receiving portion 60 and the control portion 70 can be connected by an electrical connection line, the electrical connection line can be mounted on the second mounting plate 64, and then these components can be integrally and modularly mounted in the housing 10, so that the signal receiving portion 60, the control portion 70 and the related electrical connection line can be conveniently mounted, dismounted and arranged. The electrical connection lines can be regularly mounted on the second mounting plate 64 to prevent the electrical connection lines from being randomly placed in the housing 10 and interfering with other components.

Grooves may be formed on two opposite sidewalls of the housing 10, and the first mounting plate 62 may be engaged with the grooves and may be fixedly coupled to the housing 10 by fasteners. The second mounting plate 64 is connected to the housing 10 and the first mounting plate 62 at opposite sides thereof, respectively, and the second mounting plate 64 may be connected to the first mounting plate 62 at a position near the side edges.

In some embodiments, the grasping apparatus 100 further includes: a battery 80 disposed in the housing 10, the battery 80 being used for supplying power to the signal receiving part 60, the control part 70 and the driving part 30; a third mounting plate 82, the third mounting plate 82 is mounted to two opposite side walls of the housing 10, the third mounting plate 82 and the signal receiving portion 60 are disposed on two 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 may be formed in two opposite sidewalls of the housing 10, and the third mounting plate 82 may be engaged with the grooves and may be fixedly coupled 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 portion 60 are disposed on 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 a direction perpendicular to the extending 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 advantageous for gripping devices 100 that need to be moved within the magazine, due to the limited size of the magazine, the gripping device 100. 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 signal receiving part 60 from being affected by heat generated from the battery 80.

In some embodiments, the housing 10 is provided with a battery access opening 12, the battery 80 being confined within the battery access opening 12; the grasping apparatus 100 further includes a pressing member 84, one end of the pressing member 84 is disposed on the housing 10, and the other end of the pressing member 84 extends into the battery access opening 12 and presses the battery 80.

The shape and size of the battery access opening 12 matches the shape and size of the housing 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 such that the battery 80 can be placed on the third mounting plate 82 and restrained by the battery access opening 12. The battery access port 12 is provided to facilitate the insertion and removal of the battery 80 into and from the housing 10. By providing the pressing member 84, the battery 80 can be further fixed against loosening. One end of the pressing member 84 may be fixedly coupled to the housing 10 by a fastener.

At the battery access port 12, the battery 80 may be exposed. On one hand, as the gripping device 100 moves in the bin, the bin can play a certain protection role on the gripping device 100; on the other hand, the grasping apparatus 100 is used as an emergency regardless of the long-term performance of the battery 80. Thus, no additional shielding of the battery 80 at the battery access opening 12 is required.

It should also be noted that, in the case of the embodiments of the present invention, features of the embodiments and examples may be combined with each other to obtain a new embodiment without conflict.

The above description is only an embodiment of the present invention, but the scope of the present invention is not limited thereto, and the scope of the present invention is subject to the scope of the claims.

Claims

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.