Nuclear fuel assembly handling device and nuclear fuel assembly handling system

Abstract

The application provides a nuclear fuel assembly carrying device and a nuclear fuel assembly carrying system. The nuclear fuel assembly carrying device comprises a sleeve, a core rod, a limiting rod and a grabbing mechanism. The sleeve comprises a barrel and a first limiting hole penetrating through the barrel. The core rod is arranged in the sleeve and can reciprocate in the sleeve. The core rod comprises a rod body and a second limiting hole and a third limiting hole penetrating through the rod body and arranged at intervals. The limiting rod is used for limiting the displacement of the core rod relative to the sleeve. The limiting rod is arranged in the first limiting hole and the second limiting hole or in the first limiting hole and the third limiting hole. The grabbing mechanism is arranged at one end of the core rod and is used for clamping or releasing the nuclear fuel assembly when the core rod is displaced. The nuclear fuel assembly carrying device and the nuclear fuel assembly carrying system provided by the application can realize remote automatic operation in the fuel assembly carrying process, improve the carrying effect and efficiency of the fuel assembly, reduce the working strength of the operator in the operation process and reduce the safety hazard.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of nuclear fuel assembly handling, in particular to a nuclear fuel assembly handling device and a nuclear fuel assembly handling system. BACKGROUND

[0002] The nuclear fuel assembly handling device is used for loading and unloading nuclear fuel assemblies when a nuclear power plant reactor is first loaded or shut down for refueling, and transporting nuclear fuel assemblies between the reactor core and the transfer device. When the nuclear power plant is shut down for refueling, the simulation fuel assembly is first loaded by the nuclear fuel assembly handling device, so that the simulation fuel assembly is in a vertical state, and the simulation fuel assembly is hoisted from the spent fuel pool to the bottom of the transfer pool in the nuclear power plant fuel plant, and the simulation fuel assembly is inserted into the fuel basket at the bottom of the transfer pool from top to bottom. The transfer pool is in a water-free state so that the staff can work.

[0003] In the related art, after the simulation fuel assembly is inserted into the fuel basket by the conventional nuclear fuel assembly handling device, the staff needs to manually release the simulation fuel assembly. Since the simulation fuel assembly is radioactive after being taken out of the spent fuel pool, the staff needs to wear a special protective air suit for the nuclear power plant to enter the 12-meter deep fuel transfer pool through a vertical ladder to perform the simulation fuel assembly disassembly operation, and the height from the bottom end to the top end of the fuel basket is high. After the simulation fuel assembly is inserted, the staff needs to climb to the top end of the fuel basket to manually release the simulation fuel assembly, resulting in a complex overall loading and unloading operation process of the simulation fuel assembly and a high work intensity, a high risk of radioactive contamination and personnel falling, and a large safety hazard. SUMMARY

[0004] Therefore, it is necessary to provide a nuclear fuel assembly handling device and a nuclear fuel assembly handling system, which aims to realize remote automatic handling of nuclear fuel assemblies, improve the handling effect and efficiency of nuclear fuel assemblies, reduce the work intensity of the staff in the handling process, and reduce the safety hazard.

[0005] The embodiment of the first aspect of the application provides a nuclear fuel assembly carrying device, which comprises a sleeve, a core rod, a grabbing mechanism and a limiting rod. The sleeve comprises a barrel and a first limiting hole penetrating through the barrel. The barrel has a first central axis. The first limiting hole has a first axis. The first axis intersects the first central axis. The core rod is arranged in the sleeve. The core rod can reciprocate along the extension direction of the first central axis. The core rod comprises a rod body and a second limiting hole and a third limiting hole penetrating through the rod body and arranged at intervals. The second limiting hole has a second axis. The third limiting hole has a third axis. The second axis and the third axis intersect the first central axis and are parallel to the first axis. The grabbing mechanism is arranged at one end of the core rod. The third limiting hole is arranged closer to the grabbing mechanism than the second limiting hole. The grabbing mechanism is used to grab or release the nuclear fuel assembly following the displacement of the core rod relative to the sleeve. The limiting rod extends along the extension direction of the first axis. The limiting rod is used to fix the core rod and the sleeve. The limiting rod is arranged in the first limiting hole and the second limiting hole or in the first limiting hole and the third limiting hole.

[0006] In the embodiment of the application, the penetration and extension of the limiting rod in the core rod and the sleeve are controlled to limit the displacement of the core rod relative to the sleeve, so as to realize the automatic grabbing and releasing of the grabbing mechanism, the fixing and separation of the nuclear fuel assembly carrying device and the nuclear fuel assembly, and the remote automatic carrying of the nuclear fuel assembly. Compared with manual operation, the remote automatic carrying of the nuclear fuel assembly by the nuclear fuel assembly carrying device is simple and convenient to control, can reduce the working strength of the staff in the operation process, improve the carrying efficiency of the nuclear fuel assembly, and can improve the positioning accuracy and repeat positioning accuracy of the nuclear fuel assembly in the carrying process, improve the stability and safety of the nuclear fuel assembly in the carrying and unloading process, improve the carrying effect of the nuclear fuel assembly, and reduce the safety hidden trouble in the carrying process. Secondly, the nuclear fuel assembly carrying operation in the environment with radioactive contamination risk can be realized by the nuclear fuel assembly carrying device. The staff does not need to reach the connection between the nuclear fuel assembly carrying device and the nuclear fuel assembly to realize the fixing and separation of the nuclear fuel assembly carrying device and the nuclear fuel assembly, which can reduce the radioactive contamination risk and falling risk of the staff in the carrying process, and further improve the safety of the nuclear fuel assembly carrying process.

[0007] In some embodiments, the nuclear fuel assembly handling device further comprises a hanger ring, a fixing member and a first elastic member, the hanger ring is arranged on the side of the core rod away from the grabbing mechanism, and the core rod is partially arranged in the hanger ring; the fixing member is arranged in the hanger ring and fixedly connected with the core rod, and is used for limiting the core rod from being pulled out of the hanger ring; and the first elastic member is arranged between the fixing member and the hanger ring and surrounds the core rod.

[0008] In some embodiments, the nuclear fuel assembly handling device further comprises a guide assembly, the guide assembly comprises a guide cylinder and a connecting rope, the guide cylinder is fixedly connected with the outer wall of the sleeve, the guide cylinder extends along the extension direction of the first axis and communicates with the first limiting hole, and is used for allowing the limiting rod to at least partially extend into the guide cylinder; one end of the connecting rope is arranged in the guide cylinder and fixedly connected with the limiting rod, and the other end of the connecting rope extends out of the guide cylinder and is fixedly arranged; and the included angle between the first axis and the first central axis is less than 90°.

[0009] In some embodiments, the nuclear fuel assembly handling device further comprises a guide assembly, the guide assembly comprises a guide cylinder, a connecting rope and a second elastic member, the guide cylinder is fixedly connected with the outer wall of the sleeve, the guide cylinder extends along the extension direction of the first axis and communicates with the first limiting hole, and is used for allowing the limiting rod to at least partially extend into the guide cylinder; one end of the connecting rope is arranged in the guide cylinder and fixedly connected with the limiting rod, and the other end of the connecting rope extends out of the guide cylinder and is fixedly arranged; and the second elastic member is arranged in the guide cylinder along the direction of the first axis and surrounds the connecting rope, and is used for providing a force to the limiting rod towards the first limiting hole.

[0010] In some embodiments, the guide assembly further comprises a support member, the support member is fixedly connected between the outer wall of the guide cylinder and the outer wall of the sleeve.

[0011] In some embodiments, the grabbing mechanism comprises a housing, a control cylinder and a jaw assembly, the housing is fixedly connected with the lower end of the sleeve; the control cylinder is arranged in the housing, the control cylinder is fixedly connected with the lower end of the core rod, and the lower end of the control cylinder is provided with a protruding structure; the jaw assembly surrounds the control cylinder, and the side of the jaw assembly close to the core rod is at least partially arranged in the housing; the jaw assembly comprises a plurality of jaws which are uniformly and spacedly arranged, the part between the two ends of each jaw is connected with the housing through a rotating shaft, the extension direction of the rotating shaft is perpendicular to the first central axis, and the side of the jaw away from the core rod is provided with a hook; and the protruding structure is used for slidingly abutting against the inner surface of the jaw assembly.

[0012] In some embodiments, the gripper comprises a first part, a second part and a third part fixedly connected, the first part is arranged closer to the core rod than the second part and the third part, the second part and the third part are arranged spaced apart along the circumference of the control cylinder, the first part is connected with the shell through the rotation shaft, and the hook is arranged on the side of the second part and the third part away from the first part.

[0013] In some embodiments, the nuclear fuel assembly handling device further comprises at least one guide pin fixedly connected with the sleeve, the guide pin extends in a direction parallel to the first central axis.

[0014] In some embodiments, the guide pin has a second central axis parallel to the first central axis, the guide pin comprises a guide head, the guide head can rotate around the second central axis, and in a cross section perpendicular to the extension direction of the first central axis, the cross section of the guide head is in the shape of an eccentric circle.

[0015] Embodiments of the second aspect of the application provide a nuclear fuel assembly handling system comprising the nuclear fuel assembly handling device described above.

[0016] The nuclear fuel assembly handling system provided by the embodiments of the application comprises a nuclear fuel assembly handling system, by controlling the penetration and extension of the limiting rod in the core rod and the sleeve, the movement displacement of the core rod relative to the sleeve is limited, automatic grabbing and releasing of the grabbing mechanism is realized, fixing and separation of the nuclear fuel assembly handling device and the nuclear fuel assembly is realized, and remote automatic handling of the nuclear fuel assembly is realized. Compared with manual operation, remote automatic handling of the nuclear fuel assembly is realized by the nuclear fuel assembly handling device, the control mode is simple and convenient, the working intensity of the workers in the operation process can be reduced, the handling efficiency of the nuclear fuel assembly is improved, the positioning accuracy and the repeat positioning accuracy of the nuclear fuel assembly in the handling process can be improved, the stability and safety of the nuclear fuel assembly in the handling and loading and unloading process can be improved, the handling effect of the nuclear fuel assembly is improved, and the safety hidden danger in the handling process is reduced. Secondly, the nuclear fuel assembly handling operation in the environment with radioactive contamination risk can be realized by the nuclear fuel assembly handling device, the workers do not need to reach the connection between the nuclear fuel assembly handling device and the nuclear fuel assembly to realize the fixing and separation of the handling device and the nuclear fuel assembly, the radioactive contamination risk and the falling risk borne by the workers in the handling process can be reduced, and the safety of the nuclear fuel assembly handling process is further improved. BRIEF DESCRIPTION OF DRAWINGS

[0017] Figure 1 FIG. 1 is a structural schematic diagram of a nuclear fuel assembly handling device in an embodiment of the application;

[0018] Figure 2 FIG. 4 is a sectional view of a nuclear fuel assembly handling device according to an embodiment of the present application;

[0019] Figure 3 FIG. 5 is a left view of a nuclear fuel assembly handling device according to an embodiment of the present application;

[0020] Figure 4 FIG. 6 is a structural schematic view of a gripping mechanism according to an embodiment of the present application;

[0021] Figure 5 FIG. 7 is a structural schematic view of a guide pin according to an embodiment of the present application;

[0022] Figure 6 FIG. 8 is a sectional view of a nuclear fuel assembly handling device according to an embodiment of the present application along the direction of A-A; Figure 5

[0023] Reference signs: nuclear fuel assembly handling device - 100, sleeve - 1, barrel - 11, first central axis - 110, first limiting hole - 12, first axis - 120, core rod - 2, rod body - 21, second limiting hole - 22, third limiting hole - 23, limiting protrusion - 24, limiting rod - 3, gripping mechanism - 4, shell - 41, control barrel - 42, protrusion structure - 421, clamping jaw assembly - 43, clamping jaw - 431, first part - 4311, second part - 4312, third part - 4313, grappling hook - 432, rotation shaft - 433, third elastic member - 44, lifting ring - 5, fixing member - 6, first elastic member - 7, guide assembly - 8, guide barrel - 81, connecting rope - 82, second elastic member - 83, support member - 9, guide pin - 10, guide head - 101. DETAILED DESCRIPTION

[0024] In order to facilitate the understanding of the present application, a more comprehensive description of the present application will be made below with reference to the relevant drawings. The preferred embodiments of the present application are shown in the drawings. However, the present application can be implemented in many different forms, and is not limited to the embodiments described herein. On the contrary, the purpose of providing these embodiments is to make the understanding of the disclosure of the present application more thorough and comprehensive.

[0025] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which the present application belongs. The terminology used in the description of the present application herein is only for the purpose of describing the specific embodiments of the present application, and is not intended to limit the present application. The term "and / or" used herein includes any and all combinations of one or more of the associated listed items.

[0026] ​In describing a position relationship, unless otherwise specified, when an element such as a layer, film or substrate is referred to as being "on" another element, it can be directly on the other element or intervening elements can also be present. In addition, when a layer is referred to as being "under" or "underneath" another layer, it can be directly under the other layer, or one or more intervening layers can also be present. It will also be understood that when a layer is referred to as being "between" two layers, it can be the only layer between the two layers, or one or more intervening layers can also be present.

[0027] In the case of "comprising", "having", "including" or "containing", no additional component can be present unless expressly stated otherwise. Unless otherwise stated, the singular forms "a", "an" and "the" include plural forms. Unless otherwise stated, the term "or" includes both exclusive or and inclusive or.

[0028] It will be understood that, although the terms "first", "second", etc. can be used herein to describe various elements, these elements should not be limited by these terms. These terms are only used to distinguish one element from another. For example, a first element could be termed a second element, and, similarly, a second element could be termed a first element, without departing from the scope of the present application.

[0029] It will be further understood that, in interpreting the description, although the term "comprises" or "has" is used, this is not intended to exclude that which would be interpreted as falling under the term "comprises" or "has" and "consisting of.

[0030] Furthermore, in the specification, the phrase "plan view schematic diagram" refers to a drawing when the target portion is viewed from above, and the phrase "cross-sectional view schematic diagram" refers to a drawing when a section is taken by vertically cutting the target portion and the section is viewed from the side.

[0031] Furthermore, the drawings are not drawn to scale 1:1, and the relative sizes of the elements are only drawn by way of example in the drawings, and are not necessarily drawn in true scale.

[0032] Based on the above problems, the present application provides a nuclear fuel assembly carrying device and a nuclear fuel assembly carrying system, aiming to realize remote automatic carrying of the nuclear fuel assembly, improve the carrying effect and efficiency of the nuclear fuel assembly, reduce the working intensity of the workers in the carrying process, and reduce the safety hidden danger.

[0033] Embodiments of the first aspect of the present application provide a nuclear fuel assembly carrying device 100, as shown in Figures 1 to 3As shown, the nuclear fuel assembly carrying device 100 comprises a sleeve 1, a core rod 2, a grabbing mechanism 4 and a limiting rod 3. The sleeve 1 comprises a barrel 11 and a first limiting hole 12 penetrating the barrel 11. The barrel 11 has a first central axis 110, and the first limiting hole 12 has a first axis 120. The first axis 120 intersects the first central axis 110. In other words, the sleeve 1 itself forms an internal hole penetrating both ends in the axial direction, i.e., parallel to the first central axis 110. The first limiting hole 12 penetrates the other side of the barrel 1 along a direction inclined to the first central axis 110 from the outer peripheral wall of the sleeve 1. The core rod 2 is arranged in the sleeve 1 and can reciprocate in the axial direction in the sleeve 1. The core rod 2 comprises a rod body 21 and a second limiting hole 22 and a third limiting hole 23 penetrating the rod body 21 and arranged at intervals. The second limiting hole 22 has a second axis, and the third limiting hole 23 has a third axis. Both the second axis and the third axis intersect the first central axis 110 and are parallel to the first axis 120. The grabbing mechanism 4 is arranged at one end of the core rod 2, and the third limiting hole 23 is arranged closer to the grabbing mechanism 4 than the second limiting hole 22. The grabbing mechanism 4 is used to grab or release the nuclear fuel assembly following the axial displacement of the core rod 2 relative to the sleeve 1. The limiting rod 3 extends along the extension direction of the first axis 120. The limiting rod 3 is used to fix the core rod 2 and the sleeve 1. The limiting rod 3 is arranged in the first limiting hole 12 and the second limiting hole 22, or in the first limiting hole 12 and the third limiting hole 23.

[0034] In the embodiment of the present application, as shown in the drawings, Figure 2 The third limiting hole 23 is arranged closer to the grabbing mechanism 4 than the second limiting hole 22, i.e., the third limiting hole 23 is arranged below the second limiting hole 22. In the case that the limiting rod 3 is arranged in the first limiting hole 12 and the second limiting hole 22, the grabbing mechanism 4 can grab the nuclear fuel assembly, so that the nuclear fuel assembly carrying device 100 is fixedly connected with the nuclear fuel assembly. In the case that the limiting rod 3 is arranged in the first limiting hole 12 and the third limiting hole 23, the grabbing mechanism 4 can release the nuclear fuel assembly, so that the nuclear fuel assembly carrying device 100 is separated from the nuclear fuel assembly. Hereinafter, the nuclear fuel assembly carrying device 100 is referred to as the carrying device 100. In the process of connecting the carrying device 100 with the nuclear fuel assembly, first, the carrying device 100 is moved to the upper side of the nuclear fuel assembly to be aligned with the nuclear fuel assembly. At this time, the center of gravity of the nuclear fuel assembly is located on the extension line of the first central axis 110 of the sleeve 1. The limiting rod 3 is arranged in the first limiting hole 12 and the third limiting hole 23. The core rod 2 and the sleeve 1 are in the locked state. The core rod 2 is limited to be unable to displace in the sleeve 1. The grabbing mechanism 4 is in the retracted state and will not hinder the grabbing mechanism 4 from extending into the nuclear fuel assembly.

[0035] In the embodiment of the present application, after the carrying device 100 is in contact with the nuclear fuel assembly, the position of the sleeve 1 is fixed and does not change, the limiting rod 3 is moved out of the first limiting hole 12 and the third limiting hole 23, the core rod 2 and the sleeve 1 are in the unlocked state, the core rod 2 is controlled to move downward or is moved downward under the action of its own gravity or other forces, the second limiting hole 22 is moved to the height position corresponding to the first limiting hole 12, at this time the grabbing mechanism 4 is in the open state under the driving of the core rod 2, so as to be clamped and connected with the nuclear fuel assembly. Then the limiting rod 3 is re-inserted into the first limiting hole 12 and the second limiting hole 22, so that the core rod 2 and the sleeve 1 are in the locked state again, the core rod 2 is limited and cannot be displaced in the sleeve 1, the grabbing mechanism 4 is in and remains in the open state, so as to maintain the clamping state of the grabbing mechanism 4 and the nuclear fuel assembly, complete the fixed connection of the nuclear fuel assembly and the carrying device 100, and reduce the probability of the nuclear fuel assembly falling off the carrying device 100 in the carrying process. When the crane drives the carrying device 100 to move, the nuclear fuel assembly can be synchronously driven to move.

[0036] In the embodiment of the present application, when the carrying device 100 needs to be separated from the nuclear fuel assembly after the movement and carrying of the nuclear fuel assembly are completed, the limiting rod 3 is first moved out of the first limiting hole 12 and the second limiting hole 22, so that the core rod 2 and the sleeve 1 are in the unlocked state, the core rod 2 is then controlled to move upward, the third limiting hole 23 is moved to the height position corresponding to the first limiting hole 12, at this time the grabbing mechanism 4 is in the retracted state under the driving of the core rod 2, so as to be separated from the nuclear fuel assembly, and then the limiting rod 3 is re-inserted into the first limiting hole 12 and the third limiting hole 23, so that the core rod 2 and the sleeve 1 are in the locked state again, the core rod 2 is limited and cannot be displaced in the sleeve 1, the grabbing mechanism 4 is in and remains in the retracted state, so as to not hinder the grabbing mechanism 4 from extending out of the nuclear fuel assembly, and the nuclear fuel assembly will not be accidentally lifted up during the process that the crane drives the carrying device 100 to continue to move upward.

[0037] In the embodiment of the present application, the insertion and removal of the limiting rod 3 in the core rod 2 and the sleeve 1 are remotely controlled to limit the axial movement displacement of the core rod 2 relative to the sleeve 1, so as to realize the automatic grasping and releasing of the grasping mechanism 4, realize the fixation and separation of the handling device 100 and the nuclear fuel assembly, thereby realizing the movement, installation and disassembly of the nuclear fuel assembly, and realizing the remote automatic handling of the nuclear fuel assembly. In this process, compared with manual operation, the remote automatic handling of the nuclear fuel assembly is realized by the handling device 100, and the control method is simple and convenient, which can reduce the workload of the staff during the operation, improve the handling efficiency of the nuclear fuel assembly, and also improve the positioning accuracy and repeat positioning accuracy of the nuclear fuel assembly during the handling process, improve the stability and safety of the nuclear fuel assembly during the handling and loading and unloading process, improve the handling effect of the nuclear fuel assembly, and reduce the safety hazards during the handling process. Secondly, the nuclear fuel assembly can be safely moved and released to the fuel basket at the bottom of the transfer pool in the fuel building of the nuclear power plant through the transport device 100, thereby realizing the nuclear fuel assembly transport operation in an environment with radioactive contamination risks. The staff do not need to reach the connection between the transport device 100 and the nuclear fuel assembly to fix and separate the transport device 100 and the nuclear fuel assembly, which can reduce the risk of radioactive contamination and falling faced by the staff during the transport process, and further improve the safety of the nuclear fuel assembly transport process.

[0038] Alternatively, as Figure 2 As shown, when the limit rod 3 is inserted into the first limit hole 12 and the second limit hole 22, or inserted into the first limit hole 12 and the third limit hole 23, the limit rod 3 at least partially extends out of the first limit hole 12, preferably at the lower end. Therefore, the staff can judge whether the limit rod 3 is fixed in place by observing whether the limit rod 3 at least partially extends out of the first limit hole 12, so as to ensure the reliable locking of the core rod 2 and the sleeve 1, and ensure the safety and reliability of the handling device 100 in handling nuclear fuel assemblies. The judgment standard is simple and clear, which can reduce the difficulty of the staff's work and improve the handling efficiency. Specifically, in the simulated nuclear fuel assembly transfer project of the nuclear power plant refueling overhaul, after the handling device 100 is applied, the work of the staff wearing special protective equipment in the fuel transfer pool can be eliminated, and the maintenance period can be shortened by more than 4 hours.

[0039] During the carrying process of the nuclear fuel assembly, the core rod 2 is used not only to control the opening and closing of the grabbing mechanism 4, but also to bear the pressure applied by the nuclear fuel assembly together with the sleeve 1 and the grabbing mechanism 4. The safety load of the sleeve 1, the core rod 2 and the grabbing mechanism 4 is greater than or equal to three times the gravity of the nuclear fuel assembly itself, so as to ensure the safety and stability of the nuclear fuel assembly during the carrying process and meet the special requirements of the nuclear fuel assembly lifting device. Specifically, the bearing capacity of the core rod 2 is greater than or equal to 1300 kg. The carrying device 100 provided by the embodiment of the present application can also be applied to the underwater area of the nuclear power plant to remotely grab, release and lift the underwater nuclear fuel assembly, and has a wide range of applications.

[0040] In some embodiments, as shown in Figures 1 to 3 The carrying device 100 for the nuclear fuel assembly further comprises a lifting ring 5 and a fixing member 6. The lifting ring 5 is arranged on the side of the core rod 2 away from the grabbing mechanism 4. Optionally, the core rod 2 is at least partially arranged in the lifting ring 5, and the fixing member 6 is arranged in the lifting ring 5 and fixedly connected with the core rod 2. The fixing member 6 is used to limit the core rod 2 from coming out of the lifting ring 5.

[0041] In one embodiment, the carrying device 100 for the nuclear fuel assembly further comprises a first elastic member 7. The first elastic member 7 is arranged between the fixing member 6 and the lifting ring 5 in the axial direction and is sleeved on the core rod 2. The lifting ring 5 is used to be connected with a crane in the nuclear power plant. The upper end of the lifting ring 5 is in a circular arc shape, which facilitates the crane to be connected. The first elastic member 7 includes but is not limited to a spring. The fixing member 6 is threadedly connected and / or pin-connected with the core rod 2, so as to ensure the stability of the connection between the fixing member 6 and the core rod 2 and the convenience of disassembly, so as to better fix the first elastic member 7. When the fixing member 6 is disassembled, the spring can be replaced in a simple and reliable manner.

[0042] In the embodiment of the present application, during the lifting process of the nuclear fuel assembly, it is required that the new nuclear fuel assembly maintains an upward pulling force of not more than 250 kg before being released from the constraint of the support frame by the carrying device 100, so as to keep the new nuclear fuel assembly in a vertical state at all times and ensure the safety of the nuclear fuel assembly. The fixing member 6 and the first elastic member 7 can form a mechanical buffer structure, which provides pre-tightening force protection for the nuclear fuel assembly during the carrying process of the nuclear fuel assembly, so that the carrying device 100 has automatic tension buffer. Specifically, the first elastic member 7 is arranged between the fixing member 6 and the lifting ring 5 in the axial direction and is sleeved on the core rod 2. The first elastic member 7 can buffer the impact force between the lifting ring 5 directly connected with the crane and the core rod 2 during the crane point motion conversion process, reduce the risk that the tension provided by the carrying device to the nuclear fuel assembly exceeds the limit due to the influence of factors such as the crane speed, the point motion response speed of the button box, the operation skill of the personnel, etc. during the crane point motion process, reduce the probability that the nuclear fuel assembly is damaged due to the tension exceeding the limit, reduce the operation risk of the workers, and improve the safety and stability of the carrying process of the nuclear fuel assembly.

[0043] Optionally, as shown in Figure 1 and Figure 2 The core rod 2 is also provided with a limiting protrusion 24 between the lifting ring 5 and the sleeve 1, which is used to limit the maximum displacement of the core rod 2 during the carrying process, and to ensure the safety and stability of the nuclear fuel assembly during the carrying process.

[0044] In some embodiments, as shown in Figure 1 and Figure 2 The first axis 120 is inclined relative to the first central axis 110, and the included angle between the first axis 120 and the first central axis 110 is less than 90°, which facilitates the insertion or removal of the limiting rod 3 into or out of the first limiting hole 12, the second limiting hole 22 and the third limiting hole 23. When the limiting rod 3 is inserted, the limiting rod 3 can enter the first limiting hole 12, the second limiting hole 22 or the third limiting hole 23 by relying on its own gravity, realizing automatic alignment of the limiting rod 3 and improving the carrying efficiency of the carrying device 100.

[0045] In some embodiments, as shown in Figure 1 and Figure 2 The nuclear fuel assembly carrying device 100 further comprises a guide assembly 8, which comprises a guide cylinder 81 and a connecting rope 82. The guide cylinder 81 extends along the extension direction of the first axis 120, and is fixedly connected with the outer wall of the sleeve 1 and communicates with the upper end of the first limiting hole 12. The inner space of the guide cylinder 81 is used to guide the limiting rod 3 to enter the first limiting hole 12. One end of the connecting rope 82 is used to pass through the guide cylinder 81 and is fixedly connected with the upper end of the limiting rod 3, and the other end extends out of the guide cylinder 81. The operator connects the end extending out of the guide cylinder 81 with a safe position for fixing, such as the edge of the nuclear power plant pool. The included angle between the first axis 120 and the first central axis 110 is less than 90°.

[0046] In the embodiment of the present application, the guide cylinder 81 extends along the extension direction of the first axis 120. The extension direction of the guide cylinder 81 is the same as the extension direction of the first limiting hole 12 and the limiting rod 3. The guide cylinder 81 is used to provide movement space for the limiting rod 3 to limit the movement direction and displacement of the limiting rod 3, ensuring the convenience of locking the sleeve 1 and the core rod 2. The connecting rope 82 is used to assist the staff in remotely controlling the insertion and extension of the limiting rod 3. Specifically, the staff can pull the connecting rope 82 at the edge of the nuclear power plant pool to move the limiting rod 3 upward out of the first limiting hole 12, the second limiting hole 22 or the third limiting hole 23. The limiting rod 3 is placed in the guide cylinder 81, and the core rod 2 and the sleeve 1 are in an unlocked state. A worker can also release the connecting rope 82 at the edge of the nuclear power plant's water pool, so that the angle between the first axis 120 and the first central axis 110 is less than 90°. This allows the upwardly inclined limiting rod 3 to re-extend into the first limiting hole 12, the second limiting hole 22, or the third limiting hole 23 along the direction of the first axis 120 under the action of its own gravity, thereby locking the core rod 2 and the sleeve 1. The movement of the limiting rod 3 is remotely controlled via the connecting rope 82, thereby controlling the operating state of the handling device 100. This simple and convenient control method can reduce the workload of workers during operation, improve the efficiency of handling nuclear fuel assemblies, and reduce the risk of radioactive contamination and falls to workers during operation.

[0047] In some embodiments, as Figure 2 As shown, the guide assembly 8 includes a guide cylinder 81, a connecting rope 82 and a second elastic member 83. The guide cylinder 81 extends along the extension direction of the first axis 120. The guide cylinder 81 is fixedly connected to the outer wall of the sleeve 1 and is connected to the upper end of the first limiting hole 12. The internal space of the guide cylinder 81 is used to guide the limiting rod 3 into the first limiting hole 12. One end of the connecting rope 82 is used to pass through the guide cylinder 81 and is fixedly connected to the upper end of the limiting rod 3, and the other end extends to the outside of the guide cylinder 81; the second elastic member 83 is placed in the guide cylinder 81 along the direction of the first axis 120 and is arranged around the connecting rope 82, for providing a force to the limiting rod 3 toward the first limiting hole 12.

[0048] In the embodiments of the present application, the second elastic member 83 is used to assist the worker to control the connecting rope 82 more simply and labor-saving, so as to control the penetration and extension of the limiting rod 3 more simply and labor-saving. Specifically, the first axis 120 is perpendicular to the first central axis 110, the guide cylinder 81 and the sleeve 1 are arranged vertically, and the worker can pull the connecting rope 82 on the edge of the pool of the nuclear power plant. The connecting rope 82 drives the limiting rod 3 to move in the guide cylinder 81 and compresses the second elastic member 83, so that the limiting rod 3 extends out of the first limiting hole 12, the second limiting hole 22 or the third limiting hole 23, and the core rod 2 and the sleeve 1 are in the unlocked state. The worker can also release the connecting rope 82 on the edge of the pool of the nuclear power plant. The second elastic member 83 rebounds, and the limiting rod 3 re-extends into the first limiting hole 12, the second limiting hole 22 or the third limiting hole 23 along the extension direction of the first axis 120 under the elastic force provided by the second elastic member 83, so that the core rod 2 and the sleeve 1 are in the locked state.

[0049] In the embodiments of the present application, when the guide assembly 8 includes the second elastic member 83, the first axis 120 can be arranged obliquely relative to the first central axis 110, or can be arranged vertically. The included angle between the first axis 120 and the first central axis 110 can be less than 90°, or can be greater than or equal to 90°, which can be set according to actual needs, for example, according to the space arrangement in the nuclear power plant. The present application does not limit this. The second elastic member 83 includes but is not limited to a spring.

[0050] In some embodiments, as shown in Figure 1 and Figure 2 The guide assembly 8 further includes a support member 9, which is fixedly connected between the outer wall of the guide cylinder 81 and the outer wall of the sleeve 1. When the first axis 120 is arranged obliquely relative to the first central axis 110, the support member 9 is triangular. When the first axis 120 is arranged vertically relative to the first central axis 110, the support member 9 is rectangular. At this time, the support member 9 can be arranged on the side of the guide cylinder 81 close to the lifting ring 5, or can be arranged on the side of the guide cylinder 81 close to the grabbing mechanism 4. The support member 9 is used to fix the guide cylinder 81 and the sleeve 1, improve the connection stability of the guide cylinder 81 and the sleeve 1, and improve the reliability of the carrying device 100.

[0051] In some embodiments, as shown in Figures 1 to 4As shown, the grabbing mechanism 4 comprises a housing 41, a control cylinder 42 and a jaw assembly 43, the housing 41 is fixedly connected with the lower end of the sleeve 1; the control cylinder 42 is located in the housing 41, the control cylinder 42 is fixedly connected with the lower end of the core rod 2, the lower end of the control cylinder 42 is provided with a protruding structure 421; the jaw assembly 43 is arranged around the control cylinder 42, the side of the jaw assembly 43 close to the core rod 2 is at least partially located in the housing 41; the jaw assembly 43 comprises a plurality of jaws 431 arranged uniformly and at intervals, the part between the two ends of each jaw 431 is connected with the housing 41 through a rotating shaft 433, the extension direction of the rotating shaft 433 is perpendicular to the first central axis 110, that is, the rotating shaft 433 is horizontal, the side of the jaw 431 away from the core rod 2 is provided with a hook 432, the hook 432 is curved towards the direction away from the first central axis 110, that is, curved outward; the protruding structure 421 is used for sliding abutment with the inner surface of the jaw assembly 431.

[0052] In the embodiment of the present application, the jaw assembly 43 comprises a plurality of jaws 431 arranged uniformly and at intervals, specifically, as shown in the drawings, Figures 1 to 4 As shown, the jaw assembly 43 comprises four jaws 431 arranged uniformly and at intervals, the four jaws 431 can ensure that the nuclear fuel assembly is balanced in stress during the handling process, improve the stability of the nuclear fuel assembly during the handling process, and improve the handling effect. The inner surface of the jaw 431 is a bevel, the jaw 431 comprises an upper part above the rotating shaft 433 and a lower part below the rotating shaft 433. Before the grabbing mechanism 4 is connected and clamped with the nuclear fuel assembly, the grabbing mechanism 4 is in a contracted state, the control cylinder 42 is located above the jaw 431, the protruding structure 421 abuts against the inner surface of the upper part of the jaw 431, and the lower part of the jaw 431 is deflected in the direction close to the first central axis 110 to be contracted, so that the jaw 431 can be extended into the nuclear fuel assembly without obstruction.

[0053] When the gripping mechanism 4 grips the nuclear fuel assembly, the claws 431 extend into the nuclear fuel assembly, the core rod 2 moves downward, the control cylinder 42 is fixedly connected with the core rod 2, the core rod 2 drives the control cylinder 42 to move downward, the convex structure 421 moves downward until abutting against the lower inner surface of the claws 431, the lower part of the claws 431 moves in the direction away from the first central axis 110 under the action of the convex structure 421, that is, deflects outward, the gripping mechanism 4 is in an open state, the grappling hook 432 at the lower end of the claws 431 abuts against and engages with the nuclear fuel assembly, and the fixing of the carrying device 100 and the nuclear fuel assembly is achieved. When the gripping mechanism 4 needs to release the nuclear fuel assembly, the core rod 2 moves upward, driving the control cylinder 42 to move upward synchronously, the convex structure 421 moves upward until abutting against the upper inner surface of the claws 431, and no longer acts on the lower inner surface of the claws 431, the upper part of the claws 431 deflects outward under the action of the convex structure 421, and correspondingly, the lower part of the claws 431 deflects inward, the gripping mechanism 4 is in a telescopic state again, the claws 431 can move out of the nuclear fuel assembly without obstruction, and the separation of the carrying device 100 and the nuclear fuel assembly is achieved.

[0054] In some embodiments, as shown in Figure 2 The nuclear fuel assembly carrying device further includes a third elastic member 44, which is arranged in the sleeve 1 along the direction of the first central axis 110, and is sleeved on one end of the core rod 2 close to the gripping mechanism 4. One end of the third elastic member 44 is fixedly connected with the core rod 2, and the other end is fixedly connected with the shell 41, for buffering the impact force applied to the sleeve 1 by the core rod 2 during movement, so that the rising and falling of the core rod 2 is more stable, thereby improving the stability of the gripping mechanism 4 connected with the core rod 2 in gripping or releasing the nuclear fuel assembly, improving the stability of the carrying device 100 in carrying the nuclear fuel assembly, and improving the carrying effect. The third elastic member 44 includes but is not limited to a spring.

[0055] In some embodiments, as shown in Figures 1 to 4As shown, the clamping jaw 431 comprises a first part 4311 fixedly connected, a second part 4312 and a third part 4313, the first part 4311 is arranged closer to the core rod 2 than the second part 4312 and the third part 4313, the second part 4312 and the third part 4313 are arranged spaced apart along the circumference of the control cylinder 42, the first part 4311 is connected to the shell 41 through the rotating shaft 433, and the hook 432 is arranged on the side of the second part 4312 and the third part 4313 away from the first part 4311. When the grabbing mechanism 4 grabs the nuclear fuel assembly, the hooks 432 on the second part 4312 and the third part 4313 are connected to the nuclear fuel assembly at the same time, which can share the pressure of the nuclear fuel assembly on the clamping jaw 431 during the carrying process, so that the nuclear fuel assembly is balanced during the carrying process, the grabbing of the grabbing mechanism 4 is stable, and the stability of the carrying device 100 for carrying the nuclear fuel assembly is improved, and the carrying effect is improved.

[0056] In some embodiments, the sleeve 1 comprises a shell 41, the shell 41 is a part of the sleeve 1, and the nuclear fuel assembly carrying device 100 further comprises at least one guide pin 10 connected with the sleeve 1. Alternatively, as shown in Figures 1 to 4 The sleeve 1 and the shell 41 are fixedly connected, and the at least one guide pin 10 is connected with the shell 41. The guide pin 10 extends downward in a direction parallel to the first central axis 110, and is used for alignment connection with the nuclear fuel assembly. The guide pin 10 guides and assists positioning for the alignment connection between the carrying device 100 and the nuclear fuel assembly, realizes the centering and rigid connection between the grabbing mechanism 4 and the nuclear fuel assembly, improves the accuracy of the alignment connection between the carrying device 100 and the nuclear fuel assembly, and ensures that the nuclear fuel assembly is in a vertical state when being lifted out, thereby improving the carrying effect and efficiency of the nuclear fuel assembly.

[0057] Alternatively, the carrying device 100 comprises two oppositely arranged guide pins 10, or four uniformly arranged guide pins 10, which can further improve the alignment connection accuracy and stability of the carrying device 100 and the nuclear fuel assembly. Of course, the number of guide pins 10 can also be two or three, which can be set according to actual needs, and the present application does not limit this.

[0058] In some embodiments, as shown in Figure 5 and Figure 6As shown, the guide pin 10 has a second central axis parallel to the first central axis 110, and the guide pin 10 includes a guide head 101 capable of rotating around the second central axis, and the cross section of the guide head 101 is in the shape of an eccentric circle in a cross section perpendicular to the extension direction of the first central axis 110. When the handling device 100 is fixed and cannot be adjusted due to the arrangement of the operating platform in the factory building, the height of the transport container and the nuclear fuel assembly after being vertically arranged is not coordinated with the height and arm length of the operator, the protective plastic sleeve of the nuclear fuel assembly blocks the line of sight of the operator, and the like, in the process of centering the gripper and the nuclear fuel assembly pair, it is difficult to center the nuclear fuel assembly in place at one time, and when the gripping mechanism 4 is jammed with the upper tube seat of the nuclear fuel assembly due to miscentering, the guide pin 10 rotating around the second central axis in the shape of an eccentric circle can quickly separate it from the fuel assembly in order to re-center, ensure the safety of the fuel assembly during loading and unloading, and reduce the probability of damage to the gripping mechanism 4 or the nuclear fuel assembly due to jamming of the gripping mechanism 4 with the upper tube seat of the nuclear fuel assembly.

[0059] The embodiment of the second aspect of the present application provides a nuclear fuel assembly handling system, which includes the nuclear fuel assembly handling device 100 as described in any of the above.

[0060] The nuclear fuel assembly handling system provided by the embodiment of the present application includes the nuclear fuel assembly handling device 100, which includes Figures 1 to 4 As shown, by remotely controlling the penetration and extension of the limiting rod 3 in the core rod 2 and the sleeve 1, the movement displacement of the core rod 2 relative to the sleeve 1 is limited, so as to realize the automatic grabbing and releasing of the gripping mechanism 4, the fixing and separation of the handling device 100 and the nuclear fuel assembly, and the remote automatic handling of the nuclear fuel assembly. Compared with manual operation, the remote automatic handling of the nuclear fuel assembly by the handling device 100 is simple and convenient in control, can reduce the working intensity of the operator during operation, improve the handling efficiency of the nuclear fuel assembly, and also can improve the positioning accuracy and repeated positioning accuracy of the nuclear fuel assembly during handling, improve the stability and safety of the nuclear fuel assembly during handling and loading and unloading, improve the handling effect of the nuclear fuel assembly, and reduce the safety hazards during handling. Secondly, the handling operation of the nuclear fuel assembly in the environment with radioactive contamination risk can be realized by the handling device 100, without the need for the operator to reach the connection between the handling device 100 and the nuclear fuel assembly to realize the fixing and separation of the handling device 100 and the nuclear fuel assembly, which can reduce the radioactive contamination risk and falling risk of the operator during handling, and further improve the safety of the nuclear fuel assembly handling process.

[0061] In some embodiments, the nuclear fuel assembly handling system further comprises a transfer device and a controller, the transfer device is fixedly connected with the handling device 100 to drive the handling device 100 to move in different directions, so as to realize the movement and loading and unloading of the nuclear fuel assembly. The transfer device comprises a crane. The controller is used to control the moving direction and displacement of the transfer device, so as to control the moving direction and displacement of the handling device 100. The controller comprises but is not limited to a PLC (Programmable Logic Controller) and an industrial computer.

[0062] In some embodiments, the nuclear fuel assembly handling system further comprises a mechanical tensiometer, which is installed on the handling device 100 and is used to measure the tension borne by the handling device 100, so as to facilitate the staff to observe the tension borne by the handling device 100 in real time, and improve the stability and safety of the handling device 100 in handling the nuclear fuel assembly.

[0063] The technical features of the above-mentioned embodiments can be combined arbitrarily. In order to make the description simple, all possible combinations of the technical features in the above-mentioned embodiments are not described, however, as long as the combinations of the technical features do not exist contradictory, they should be considered as the scope of the present application.

[0064] The above-mentioned embodiments only express several implementation manners of the present application, the description is more specific and detailed, but it should not be understood as the limitation of the patent scope of the present application. It should be pointed out that for those skilled in the art, without departing from the concept of the present application, a number of modifications and improvements can be made, which all belong to the protection scope of the present application. Therefore, the patent protection scope of the present application should be subject to the appended claims.

Claims

1. A nuclear fuel assembly transport device, characterized in that: include: The sleeve comprises a cylindrical body and a first limiting hole penetrating the cylindrical body, wherein the cylindrical body has a first central axis, the first limiting hole has a first axis, and the first axis intersects with the first central axis; a core rod, which is inserted into the sleeve and can reciprocate in the sleeve along the extension direction of the first central axis. The core rod includes a rod body and a second limiting hole and a third limiting hole that pass through the rod body and are spaced apart. The second limiting hole has a second axis, and the third limiting hole has a third axis. The second axis and the third axis intersect with the first central axis and are parallel to the first axis. a gripping mechanism disposed at one end of the core rod, wherein the third limiting hole is disposed closer to the gripping mechanism than the second limiting hole, and the gripping mechanism is configured to grip or release the nuclear fuel assembly in response to the displacement of the core rod relative to the sleeve; a limiting rod extending along the extension direction of the first axis, the limiting rod being used to fix the core rod and the sleeve, the limiting rod being inserted into the first limiting hole and the second limiting hole, or inserted into the first limiting hole and the third limiting hole; The nuclear fuel assembly handling device further includes a guide assembly, which includes: a guide cylinder fixedly connected to the outer wall of the sleeve, the guide cylinder extending along the extension direction of the first axis and communicating with the first limiting hole, for allowing the limiting rod to at least partially extend therein; A connecting rope, one end of which is used to pass through the guide cylinder and be fixedly connected to the limit rod, and the other end of which is used to extend outside the guide cylinder and be fixedly arranged; A second elastic member is placed in the guide cylinder along the first axis and is arranged around the connecting rope, and is used to provide a force to the limiting rod toward the first limiting hole.

2. The nuclear fuel assembly transport device according to claim 1, characterized in that: The nuclear fuel assembly handling device further comprises: a hanging ring, provided on a side of the core rod away from the grasping mechanism, wherein the core rod is partially inserted into the hanging ring; and a fixing member, disposed in the lifting ring and fixedly connected to the core rod, the fixing member being used to prevent the core rod from falling out of the lifting ring; and The first elastic member is arranged between the fixing member and the hanging ring and surrounds the core rod.

3. The nuclear fuel assembly transport device according to claim 1, characterized in that: The nuclear fuel assembly handling device further includes a guide assembly, which includes: An angle between the first axis and the first central axis is less than 90°.

4. The nuclear fuel assembly transport device according to claim 3, characterized in that: The guide assembly further includes a support member fixedly connected between the outer wall of the guide cylinder and the outer wall of the sleeve.

5. The nuclear fuel assembly transport device according to claim 1, characterized in that: The grabbing mechanism comprises: a housing fixedly connected to the lower end of the sleeve; A control cylinder is located in the housing and is fixedly connected to the lower end of the core rod. A protrusion structure is provided on the outer periphery of the lower end of the control cylinder. A jaw assembly, wherein the jaw assembly is arranged around the control cylinder, and the side of the jaw assembly close to the core rod is at least partially located in the shell; the jaw assembly includes a plurality of jaws arranged evenly and at intervals, and the part between the two ends of each jaw is connected to the shell through a rotating shaft, and the extension direction of the rotating shaft is perpendicular to the first central axis, and a grab hook is provided on the side of the jaw away from the core rod; the protrusion structure is used to slide and abut against the inner surface of the jaw assembly.

6. The nuclear fuel assembly transport device according to claim 5, characterized in that: The clamp includes a first part, a second part and a third part that are fixedly connected. The first part is arranged closer to the core rod than the second part and the third part. The second part and the third part are arranged at intervals along the circumference of the control cylinder. The first part is connected to the shell through the rotating shaft. The grab hook is arranged on the side of the second part and the third part away from the first part.

7. The nuclear fuel assembly transport device according to claim 1, characterized in that: The nuclear fuel assembly handling device further includes at least one guide pin fixedly connected to the sleeve, and the guide pin extends in a direction parallel to the first central axis.

8. The nuclear fuel assembly transport device according to claim 7, characterized in that: The guide pin has a second central axis, which is parallel to the first central axis. The guide pin includes a guide head, which can rotate around the second central axis. In the cross section perpendicular to the extension direction of the first central axis, the cross section of the guide head is eccentric.

9. A nuclear fuel assembly handling system, characterized in that: The invention comprises the nuclear fuel assembly handling device according to any one of claims 1 to 8.

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