Heavy water reactor new fuel rod bundle clamping jaw device

Abstract

The invention belongs to the technical field of heavy water reactor nuclear power plant auxiliary facilities, and particularly relates to a heavy water reactor new fuel rod bundle clamping jaw device. The end plate clamping block and the contact sensor are fixed to a clamping mechanism side support, the upper end of the clamping mechanism side support is connected with a clamping mechanism top support, the clamping mechanism top support is connected with a sliding block, and the side edge of the clamping mechanism top support is connected with an air cylinder extending rod. Under the limitation of the sliding block, the air cylinder pushes the clamping mechanism top support to move in the direction of the sliding rail, and opening and closing of the rod bundle clamping mechanism are achieved. The sliding rail and the air cylinder are fixed to the clamping jaw device support, and the rod bundle positioning block is connected with the clamping jaw device support. One end of the anti-falling mechanism hydraulic rod is connected to the hydraulic rod installation support, the other end of the anti-falling mechanism hydraulic rod is connected to the anti-falling mechanism crank, the anti-falling mechanism crank is connected with the anti-falling mechanism gear, and the anti-falling mechanism support is in a foldable L shape. According to the rod bundle grabbing and positioning device, the rod bundle grabbing, rod bundle positioning and anti-falling functions can be achieved, and the grabbing and transferring requirements of new fuel rod bundles are met.

Description

Technical Field

[0001] The present invention belongs to the technical field of auxiliary facilities of heavy water reactor nuclear power plants, and particularly relates to a new fuel rod bundle gripper device for heavy water reactors. Background Art

[0002] The new fuel rod bundle gripper device for heavy water reactors is a key and important facility of the fuel operating system, and is a device specially designed for grasping and transporting new fuel rod bundles during the refueling process of heavy water reactors without shutting down the reactor. The process of grasping and transporting new fuel rod bundles in a heavy water reactor unit is as follows: The robotic arm drives the rod bundle gripper to move to the rod bundle. After alignment, the rod bundle is grasped and transported to the target position to complete the loading of the new fuel rod bundle.

[0003] After years of operation of the heavy water reactor unit, the radiation dose in the rod bundle loading area is about 0.6 mSv / h on average due to its proximity to the reactor core. As the operation time of the unit prolongs, the radiation dose will continue to increase. Currently, the total dose received by operators during manual rod bundle transfer at the refueling site before the rod bundle enters the reactor is about 0.3 mSv / person·year. Secondly, when manually transferring the rod bundle, a small pneumatic balance crane is usually used to lift the rod bundle, which is prone to risks such as the rod bundle not being lifted in place, shaking or even falling during the rod bundle transfer process, and is likely to cause damage to the rod bundle.

[0004] In view of the above situation, it is necessary to design a new fuel rod bundle gripper device for heavy water reactors, which can effectively reduce the radiation dose level received by on-site operators, reduce labor intensity, improve the new fuel loading efficiency, and at the same time ensure that the fuel rod bundle is prevented from falling and being damaged during the loading process, and improve the safety and reliability during the new fuel loading process. Summary of the Invention

[0005] The purpose of the present invention is to provide a new fuel rod bundle gripper device for heavy water reactors, which can realize functions such as rod bundle grasping, rod bundle positioning and anti-falling, so as to meet the grasping and transporting requirements of new fuel rod bundles and be applicable to the clamping and transporting of new fuel rod bundles for heavy water reactors.

[0006] To achieve the above purpose, the technical solution adopted by the present invention is as follows: A new fuel rod bundle gripper device for a heavy water reactor, comprising a rod bundle clamping mechanism. The rod bundle clamping mechanism includes an end plate clamping block, a contact sensor, a cylinder extension rod, a cylinder, a gripper device bracket, a slider, a slide rail, a side bracket of the clamping mechanism, and a top bracket of the clamping mechanism; the end plate clamping block and the contact sensor are fixed on the side bracket of the clamping mechanism, the upper end of the side bracket of the clamping mechanism is connected to the top bracket of the clamping mechanism, the top bracket of the clamping mechanism is connected to the slider, the side of the top bracket of the clamping mechanism is connected to the cylinder extension rod, and under the restriction of the slider, the cylinder pushes the top bracket of the clamping mechanism to move along the direction of the slide rail to realize the opening and closing of the rod bundle clamping mechanism; the slide rail and the cylinder are fixed on the gripper device bracket, and the rod bundle positioning block is connected to the gripper device bracket; one end of the anti-falling mechanism hydraulic rod is connected to the hydraulic rod mounting bracket, and the other end is connected to the anti-falling mechanism crank. The anti-falling mechanism crank is connected to the anti-falling mechanism gear. The anti-falling mechanism bracket is a foldable L shape, and the rotating section thereof is fixed with the anti-falling mechanism gear. The anti-falling mechanism bracket is connected to the anti-falling mechanism fixed bracket. The lower end of the anti-falling mechanism bracket is fixed with an anti-falling gripper. The lower part of the anti-falling mechanism fixed bracket is connected to the anti-falling mechanism gear, and the upper part of the anti-falling mechanism fixed bracket is connected to the gripper device bracket. The hydraulic rod mounting bracket is fixed to the gripper device bracket.

[0007] The lower end of the rod bundle positioning block is an arc surface with a curvature larger than the outer diameter curvature of the rod bundle. When the anti-falling gripper extends towards the rod bundle, it first contacts the rod bundle to confirm the position of the rod bundle.

[0008] The rod bundle positioning block is connected to its fixed bracket, and its fixed bracket is connected to the gripper device bracket.

[0009] The end plate clamping block is fixed on the side bracket of the clamping mechanism by four bolts. The inside of the end plate clamping block is a circular groove, and the groove is chamfered.

[0010] One end of the anti-falling mechanism hydraulic rod is connected to the hydraulic rod mounting bracket through bolts and bearings, and the other end is connected to the anti-falling mechanism crank through bolts and bearings. When working, the anti-falling mechanism hydraulic rod extends to push the anti-falling mechanism crank to rotate.

[0011] The contact sensor is fixed on the side bracket of the clamping mechanism by bolts. The installation position of the contact sensor is measured to ensure that it just contacts the rod bundle to be accurately clamped, so as to realize the detection of the clamping state of the rod bundle.

[0012] The upper end of the side bracket of the clamping mechanism is connected to the top bracket of the clamping mechanism by bolts; the slide rail and the cylinder are fixed to the jaw device bracket by bolts; the anti-fall mechanism bracket is connected to the anti-fall mechanism fixed bracket through a bearing; the lower end of the anti-fall mechanism bracket is fixed with an anti-fall jaw by bolts; the lower part of the anti-fall mechanism fixed bracket is connected to the anti-fall mechanism gear through a bearing; the upper part of the anti-fall mechanism fixed bracket is connected to the jaw device bracket by bolts and long strip connectors; the hydraulic rod mounting bracket is fixed to the jaw device bracket by bolts; the jaw device bracket is provided with guard plate mounting holes, and an L-shaped guard plate is installed on the guard plate mounting holes by bolts.

[0013] When the anti-fall mechanism crank rotates, it drives the anti-fall mechanism gear to rotate simultaneously. There are two anti-fall mechanism gears on each side that mesh with each other, so that when the anti-fall mechanism crank rotates, the two anti-fall mechanism gears rotate synchronously, and then the arc movement of the anti-fall mechanism bracket is realized.

[0014] A quick connector group is fixed above the jaw device bracket to connect the external air pipe and the air supply pipe of the cylinder. Above the jaw device bracket is a robotic arm connection flange, which is used to install the rod bundle jaw device on the robotic arm, and the jaw device bracket and the robotic arm connection flange are integrally processed.

[0015] After the anti-fall jaw approaches the rod bundle from above the rod bundle, the rod bundle positioning block contacts the fuel rod bundle. Then the cylinder drives the rod bundle clamping mechanism to move from both ends to the middle. Subsequently, the anti-fall jaw clamps the rod bundle through the end plate clamping block; then after the contact sensor confirms that the position of the rod bundle is correct, the cylinder drives the anti-fall mechanism gear to rotate, and the anti-fall mechanism gear drives the anti-fall jaw to extend below the rod bundle and surround the rod bundle at a distance of 5 cm from the periphery. When the rod bundle is clamped and transported to the target position, first the cylinder drives the anti-fall jaw to retract, and then the rod bundle clamping mechanism releases the rod bundle to both sides.

[0016] The beneficial effects achieved by the present invention are as follows: The rod bundle clamping mechanism of the present invention uses flexible clamping at both ends of the rod bundle, and is designed with a position detection function for the target rod bundle to prevent collision with the rod bundle clamping mechanism due to the deviation of the rod bundle position during the rod bundle clamping process; after the rod bundle is clamped, it can judge whether the rod bundle is clamped in place; the pneumatic or electric components used in the clamping mechanism have a safety self-locking function, ensuring that in the case of air cut-off or power cut-off, the rod bundle will not be damaged or dropped. There is a rod bundle anti-fall measure designed, with a multi-redundant rod bundle protection function to ensure that the rod bundle will not fall 100% under any circumstances. The present invention uses a rod bundle positioning block to confirm the position of the rod bundle; uses a cylinder and a slider slide rail to clamp and release the rod bundle; uses a contact sensor to confirm the clamping state of the rod bundle; uses mechanisms such as a crank and a gear to realize the movement of the rod bundle anti-fall mechanism; uses the anti-fall mechanism to prevent the rod bundle from falling under unexpected conditions. Description of the Drawings

[0017] Figure 1 It is the front view of a new fuel rod bundle gripper device for a heavy water reactor of the present invention; Figure 2 It is the bottom view of a new fuel rod bundle gripper device for a heavy water reactor of the present invention; Figure 3 It is the front view of the rod bundle clamping mechanism of a new fuel rod bundle gripper device for a heavy water reactor of the present invention; Figure 4 It is the bottom view of the rod bundle clamping mechanism of a new fuel rod bundle gripper device for a heavy water reactor of the present invention; Figure 5 It is the left and right views of the anti - falling mechanism of a new fuel rod bundle gripper device for a heavy water reactor of the present invention; In the figure: 1, end plate clamping block; 2, contact sensor; 3, anti - falling mechanism gear; 4, anti - falling mechanism crank; 5, anti - falling mechanism hydraulic rod; 6, anti - falling mechanism bracket; 7, cylinder extension rod; 8, quick - connect joint group; 9, robotic arm connection flange; 10, guard plate mounting hole position; 11, cylinder; 12, rod bundle positioning block; 13, gripper device bracket; 14, slider; 15, slide rail; 16, clamping mechanism side bracket; 17, clamping mechanism top bracket; 18, hydraulic rod mounting bracket; 19, anti - falling mechanism fixed bracket; 20, anti - falling gripper. Detailed implementation manners

[0018] The present invention will be described in detail below with reference to the accompanying drawings and specific embodiments.

[0019] As Figures 1-5 shown, a new fuel rod bundle gripper device for a heavy water reactor includes: a rod bundle positioning mechanism, a rod bundle clamping mechanism, and an anti - falling mechanism.

[0020] The rod bundle positioning mechanism is composed of the rod bundle positioning block 12 and its fixed bracket. The lower end of the rod bundle positioning block 12 is an arc surface with a curvature slightly larger than the outer diameter curvature of the rod bundle. When the anti - falling gripper extends towards the rod bundle, it first contacts the rod bundle to confirm the position of the rod bundle, avoiding collision with the rod bundle clamping mechanism due to the deviation of the rod bundle position. The rod bundle positioning block 12 is connected to its fixed bracket by bolts, and the fixed bracket is then connected to the gripper device bracket 13 by bolts.

[0021] The rod bundle clamping mechanism is responsible for clamping and fixing the rod bundle, and is composed of an end plate clamping block 1, a contact sensor 2, a cylinder extension rod 7, a cylinder 11, a jaw device bracket 13, a slider 14, a slide rail 15, a clamping mechanism side bracket 16, and a clamping mechanism top bracket 17. The end plate clamping block 1 is fixed on the clamping mechanism side bracket 16 by four bolts. The inner diameter of the circular groove inside the end plate clamping block 1 is the same as the outer diameter of the end plate, and after chamfering, it is convenient to clamp both ends of the rod bundle without clearance. The contact sensor 2 is fixed on the clamping mechanism side bracket 16 by bolts, and the installation position is measured to ensure that it just contacts the accurately clamped rod bundle, so as to realize the detection of the clamping state of the rod bundle. The upper end of the clamping mechanism side bracket 16 is connected to the clamping mechanism top bracket 17 by bolts. The clamping mechanism top bracket 17 is connected to the slider 14, and the side of the clamping mechanism top bracket 17 is connected to the cylinder extension rod 7. Under the restriction of the slider 14, the cylinder 11 pushes the clamping mechanism top bracket 17 to move along the direction of the slide rail 15, so as to realize the opening and closing of the rod bundle clamping mechanism. The slide rail 15 and the cylinder 11 are fixed on the jaw device bracket 13 by bolts. A quick-connect joint group 8 is fixed above the jaw device bracket 13 to connect the external air pipe and the air supply pipe of the cylinder 11. Above the jaw device bracket 13 is a robotic arm connection flange 9, which is used to install the rod bundle jaw device on the robotic arm. The jaw device bracket 13 and the robotic arm connection flange 9 are integrally machined.

[0022] The anti-falling mechanism is responsible for protecting the rod bundle at the periphery of the rod bundle. It is the main mechanism to achieve safety redundancy and ensures that the rod bundle does not fall under accidental conditions. It consists of the anti-falling mechanism gear 3, the anti-falling mechanism crank 4, the anti-falling mechanism hydraulic rod 5, the anti-falling mechanism bracket 6, the hydraulic rod mounting bracket 18, the anti-falling mechanism fixed bracket 19, and the anti-falling jaw 20. One end of the anti-falling mechanism hydraulic rod 5 is connected to the hydraulic rod mounting bracket 18 through bolts and bearings, and the other end is connected to the anti-falling mechanism crank 4 through bolts and bearings. During operation, the anti-falling mechanism hydraulic rod 5 extends, pushing the anti-falling mechanism crank 4 to rotate. The anti-falling mechanism crank 4 is connected to the anti-falling mechanism gear 3 through bolts. When the anti-falling mechanism crank 4 rotates, it drives the anti-falling mechanism gear 3 to rotate simultaneously. There are two anti-falling mechanism gears 3 on each side that mesh with each other, so that when the anti-falling mechanism crank 4 rotates, the two anti-falling mechanism gears 3 rotate synchronously, and then the arc movement of the anti-falling mechanism bracket 6 is realized. The anti-falling mechanism bracket 6 is a foldable L shape. The rotating section is fixed with the anti-falling mechanism gear 3 and is connected to the anti-falling mechanism fixed bracket 19 through bearings. The lower end is fixed with the anti-falling jaw 20 through bolts. The lower part of the anti-falling mechanism fixed bracket 19 is connected to the anti-falling mechanism gear 3 through bearings to realize the rotation of the anti-falling mechanism gear 3 at a fixed position. The upper part is connected to the jaw device bracket 13 through bolts and a long strip-shaped connecting piece. The hydraulic rod mounting bracket 18 and the jaw device bracket 13 are fixed through bolts to jointly realize the fixation of the entire anti-falling mechanism. There are guard plate mounting holes 10 on the jaw device bracket 13, and an L-shaped guard plate is installed through bolts on the guard plate mounting holes 10 as the outer protection of the mechanism.

[0023] After the anti-falling jaw 20 approaches the rod bundle from above the rod bundle, the rod bundle positioning block 12 contacts the fuel rod bundle. Subsequently, the cylinder 11 drives the rod bundle clamping mechanism to move from both ends to the middle. Then, the anti-falling jaw 20 clamps the rod bundle through the end plate clamping block 1. Then, after the contact sensor 2 confirms that the position of the rod bundle is correct, the cylinder 11 drives the anti-falling mechanism gear 3 to rotate, and the anti-falling mechanism gear 3 drives the anti-falling jaw 20 to extend below the rod bundle and surround the rod bundle at about 5 cm from the periphery. When the rod bundle is clamped and transferred to the target position, first, the cylinder 11 drives the anti-falling jaw 20 to retract, and then the rod bundle clamping mechanism loosens the rod bundle to both sides.

Claims

1. A new fuel rod bundle gripper device for a heavy water reactor, characterized in that: It includes a rod bundle clamping mechanism, which consists of an end plate clamping block, a contact sensor, a cylinder extension rod, a cylinder, a jaw device bracket, a slider, a slide rail, a side bracket of the clamping mechanism, and a top bracket of the clamping mechanism. The end plate clamping block and the contact sensor are fixed on the side bracket of the clamping mechanism. The upper end of the side bracket of the clamping mechanism is connected to the top bracket of the clamping mechanism. The top bracket of the clamping mechanism is connected to the slider, and the side of the top bracket of the clamping mechanism is connected to the cylinder extension rod. Under the restriction of the slider, the cylinder pushes the top bracket of the clamping mechanism to move along the direction of the slide rail to realize the opening and closing of the rod bundle clamping mechanism. The slide rail and the cylinder are fixed on the jaw device bracket, and the rod bundle positioning block is connected to the jaw device bracket. One end of the anti-fall mechanism hydraulic rod is connected to the hydraulic rod mounting bracket, and the other end is connected to the anti-fall mechanism crank. The anti-fall mechanism crank is connected to the anti-fall mechanism gear. The anti-fall mechanism bracket is a foldable L-shaped, and the rotating section is fixed with the anti-fall mechanism gear. The anti-fall mechanism bracket is connected to the anti-fall mechanism fixed bracket. The lower end of the anti-fall mechanism bracket is fixed with an anti-fall jaw. The lower part of the anti-fall mechanism fixed bracket is connected to the anti-fall mechanism gear, and the upper part of the anti-fall mechanism fixed bracket is connected to the jaw device bracket. The hydraulic rod mounting bracket is fixed to the jaw device bracket.

2. The new fuel rod bundle gripper device for a heavy water reactor according to claim 1, characterized in that: The lower end of the rod bundle positioning block is an arc surface with a curvature larger than the outer diameter curvature of the rod bundle. When the anti-fall jaw extends towards the rod bundle, it first contacts the rod bundle to confirm the position of the rod bundle.

3. The new fuel rod bundle gripper device for a heavy water reactor according to claim 1, characterized in that: The rod bundle positioning block is connected to its fixed bracket, and its fixed bracket is connected to the jaw device bracket.

4. The new fuel rod bundle gripper device for a heavy water reactor according to claim 1, characterized in that: The end plate clamping block is fixed on the side bracket of the clamping mechanism by four bolts. The inside of the end plate clamping block is a circular groove, and the groove is chamfered.

5. The new fuel rod bundle gripper device for a heavy water reactor according to claim 1, characterized in that: One end of the anti-fall mechanism hydraulic rod is connected to the hydraulic rod mounting bracket through bolts and bearings, and the other end is connected to the anti-fall mechanism crank through bolts and bearings. When working, the anti-fall mechanism hydraulic rod extends to push the anti-fall mechanism crank to rotate.

6. The new fuel rod bundle gripper device for a heavy water reactor according to claim 1, characterized in that: The contact sensor is fixed on the side bracket of the clamping mechanism by bolts. The installation position of the contact sensor is measured to ensure that it just contacts the accurately clamped rod bundle to realize the detection of the clamping state of the rod bundle.

7. The gripping device for new fuel rod bundles of a heavy water reactor according to claim 1, characterized in that: The upper end of the side bracket of the clamping mechanism is connected to the top bracket of the clamping mechanism by bolts; the slide rail and the cylinder are fixed on the jaw device bracket by bolts; the anti-fall mechanism bracket is connected to the anti-fall mechanism fixed bracket through bearings; the lower end of the anti-fall mechanism bracket is fixed with an anti-fall jaw by bolts; the lower part of the anti-fall mechanism fixed bracket is connected to the anti-fall mechanism gear through bearings; the upper part of the anti-fall mechanism fixed bracket is connected to the jaw device bracket by bolts and long strip connectors; the hydraulic rod mounting bracket is fixed to the jaw device bracket by bolts; there are guard plate mounting holes on the jaw device bracket, and an L-shaped guard plate is installed on the guard plate mounting holes by bolts.

8. The new fuel rod bundle gripper device for a heavy water reactor according to claim 1, characterized in that: When the anti-fall mechanism crank rotates, it drives the anti-fall mechanism gear to rotate simultaneously. There are two anti-fall mechanism gears on each side meshing with each other to realize the synchronous rotation of the two anti-fall mechanism gears when the anti-fall mechanism crank rotates, and further realize the arc movement of the anti-fall mechanism bracket.

9. The new fuel rod bundle gripper device for a heavy water reactor according to claim 1, characterized in that: Above the gripper device bracket, there is a quick-connect fitting group fixed, which is used to connect the external air pipe and the air supply pipe of the cylinder. Above the gripper device bracket is the robotic arm connection flange, which is used to install the rod bundle gripper device on the robotic arm. The gripper device bracket and the robotic arm connection flange are integrally machined.

10. The new fuel rod bundle gripper device for a heavy water reactor according to claim 1, characterized in that: After the anti-fall gripper approaches the rod bundle from above the rod bundle, the rod bundle positioning block contacts the fuel rod bundle. Subsequently, the cylinder drives the rod bundle clamping mechanism to move from both ends to the middle. Then, the anti-fall gripper clamps the rod bundle through the end plate clamping block. After the contact sensor confirms that the position of the rod bundle is correct, the cylinder drives the anti-fall mechanism gear to rotate. The anti-fall mechanism gear drives the anti-fall gripper to extend below the rod bundle and surround the rod bundle at a distance of 5 cm from the periphery. When the rod bundle is clamped and transferred to the target position, first, the cylinder drives the anti-fall gripper to retract, and then the rod bundle clamping mechanism loosens the rod bundle to both sides.

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