Loading and unloading machine

Abstract

The invention provides a loading and unloading machine which comprises a telescopic sleeve, a driving device, a fixed sleeve and at least one guide device, the telescopic sleeve is located in the fixed sleeve and can axially move relative to the fixed sleeve, and the guide device is located on the side face of the telescopic sleeve. The driving device drives the guiding device to move relative to the telescopic sleeve so that the guiding device and the telescopic sleeve can be locked, and the lower end of the guiding device can extend to the position lower than the telescopic sleeve so that the fuel assembly grabbed by the telescopic sleeve can move along the guiding device. According to the invention, a guiding function can be provided for the fuel assembly lower tube seat when a reactor core loads a deformed spent fuel assembly, so that the safety of fuel is ensured, the labor of operators is greatly reduced, the time for loading, reloading and overhauling is saved, and the operation efficiency of a power plant is improved.

Description

Technical Field

[0001] The present application relates to the field of nuclear technology, and in particular to a loading and unloading machine. Background Art

[0002] Nuclear power plant loaders and unloaders are critical equipment in the nuclear fuel loading and unloading process. Their performance and operational reliability are directly related to the safe operation and refueling efficiency of the nuclear power plant. After nuclear fuel assemblies undergo core circulation, they are subjected to factors such as high temperature, high pressure, and neutron irradiation, causing them to deform to a certain extent. When the loaders and unloaders load these deformed fuel assemblies into the core, they may cause collisions and scratches between the tube sockets, and the fuel assemblies may not be properly seated in the core. These problems not only increase operational complexity and risk but also may cause damage to the fuel assemblies, thereby affecting the safety and economic efficiency of the nuclear power plant.

[0003] During nuclear power plant overhauls and refueling, auxiliary guide tools are currently widely used to assist with fuel loading operations. However, these tools typically require manual operation, which not only increases the operator's workload but also poses safety risks during operation, making it difficult to ensure efficient and accurate operation. Nuclear power plant operating experience shows that existing manual auxiliary guide tools are no longer able to meet the high safety and efficiency requirements of modern nuclear power plants. Therefore, there is an urgent need to develop a more automated auxiliary guide tool to ensure the safety of fuel handling and significantly improve operational efficiency.

[0004] In the prior art, CN210805251U proposes a gripper guide device for a nuclear power plant loading and unloading machine. The device includes a wheel assembled with a shaft and then integrally mounted in a guide wheel seat. The guide wheel side wheels are assembled with an eccentric shaft and secured to the guide wheel seat via an eccentric shaft retaining ring. Adjustment bolts are mounted on the guide wheel seat and tighten the wheels. Another example is CN110828015B, which proposes a remote emergency operation tool for a heavy water reactor nuclear power plant loading and unloading machine. This tool includes a drive mechanism, a long drive rod, an intermediate guide bracket, and a drive head assembly. The intermediate guide bracket is mounted in a corresponding through-hole in the bottom plate at the bottom of the heavy water reactor nuclear power plant loading and unloading machine. The intermediate guide bracket provides guidance and support for the long drive rod. The long drive rod is connected by several intermediate connecting tubes to form a rigid long rod of any length. The lower end of the long drive rod is connected to a drive mechanism mounted on the ground. The drive mechanism can drive the drive head assembly mounted on the upper portion of the long drive rod to rise, fall, and rotate within a certain range.

[0005] However, the existing technical solutions cannot completely solve the above problems. Summary of the Invention

[0006] The purpose of this application is to solve the above technical problems.

[0007] To achieve the above-mentioned purpose, the present application proposes a loading and unloading machine, comprising a telescopic sleeve, a driving device, and at least one guide device, wherein the guide device is located on the side of the telescopic sleeve, and the driving device drives the guide device to move relative to the telescopic sleeve to achieve locking of the guide device and the telescopic sleeve, and the lower end of the guide device can extend to a position lower than the telescopic sleeve, so that the fuel assembly grasped by the telescopic sleeve can move along the guide device.

[0008] Furthermore, the guide device is arranged in a vertical direction.

[0009] Furthermore, it also includes a self-locking structure, the guide device is connected to the driving device through the self-locking structure, the self-locking structure includes a rotating part and an upper connecting part, the upper connecting part is connected to the driving device, and the driving device drives the upper connecting part and the rotating part to move to achieve unlocking and locking of the upper connecting part and the rotating part, and locking and unlocking of the telescopic sleeve and the self-locking structure.

[0010] Furthermore, the self-locking structure further includes a connecting arm, and the self-locking structure is locked and unlocked with the telescopic sleeve through the connecting arm and the rotating member.

[0011] Furthermore, the upper connecting member includes at least one extending arm, which is arranged in a vertical direction and includes at least one protrusion. The rotating member is a hollow structure, and the inner wall of the rotating member includes at least one limiting groove. The protrusion of the extending arm of the upper connecting member can enter the limiting groove of the rotating member to realize locking and unlocking between the self-locking structure and the telescopic sleeve.

[0012] Furthermore, the inner wall of the rotating member includes two limiting grooves, and the upper connecting member includes two extending arms, and the two extending arms are parallel to each other.

[0013] Furthermore, the limiting groove of the rotating part includes two vertical grooves and one horizontal groove, wherein one section of the vertical groove extends to the uppermost end of the rotating part, and the other section of the vertical groove does not extend to the uppermost end of the rotating part, and the two sections of the vertical groove are connected through the horizontal groove.

[0014] Furthermore, the self-locking structure also includes a self-locking cylinder, which is a hollow structure. The cylinder wall of the self-locking cylinder includes a first circumferential groove. The lower end of the self-locking cylinder is connected to the guide device. The rotating part is located inside the self-locking cylinder. The rotating part can rotate relative to the self-locking cylinder along the vertical axis. One end of the connecting arm is connected to the self-locking cylinder, and the other end of the connecting arm has a hole structure.

[0015] Furthermore, the rotating part includes a rotating support arm, which forms an outward-extending structure on the rotating part. The other end of the rotating support arm extends to the outside of the self-locking cylinder through the first circumferential groove of the horizontal through hole of the self-locking cylinder. The self-locking cylinder and the rotating part are both cylindrical structures.

[0016] Furthermore, the self-locking structure also includes a sliding cylinder, which is a hollow structure. The cylinder wall of the sliding cylinder includes a second circumferential groove. The sliding cylinder is located inside the self-locking cylinder, and the rotating member is located inside the sliding cylinder. The other end of the rotating arm extends to the outside of the self-locking cylinder through the second circumferential groove of the sliding cylinder and the first circumferential groove of the self-locking cylinder in sequence, and the sliding cylinder can move relative to the self-locking cylinder along the vertical axis.

[0017] Furthermore, the second circumferential groove of the sliding cylinder includes three sections of interconnected circumferential grooves, the vertical length of the circumferential grooves on both sides is greater than the vertical length of the circumferential grooves in the middle, and the vertical length of the circumferential grooves on both sides is greater than the vertical length of the first circumferential groove of the self-locking cylinder.

[0018] Furthermore, the self-locking structure also includes an elastic element, the upper end of the elastic element is connected to the lower end of the sliding cylinder, the elastic element is located inside the self-locking cylinder, and the lower end of the elastic element is connected to the self-locking cylinder.

[0019] Furthermore, the driving device includes a lifting cylinder and a rotating cylinder. The lifting cylinder is arranged on the outside of the fixed sleeve in the vertical direction. The piston rod of the lifting cylinder is connected to the guide device through the self-locking structure, and the lifting cylinder drives the guide device to slide up and down; the piston rod of the rotating cylinder is connected to the piston rod of the lifting cylinder through a connecting rod structure, and the rotating cylinder can drive the piston rod of the lifting cylinder to rotate and thereby drive the upper connecting part and the rotating part to rotate.

[0020] Furthermore, the guide device includes a positioning pin, which is located at the lowermost end of the guide device. The positioning pin can extend to a position lower than the fuel assembly captured by the lower portion of the telescopic sleeve.

[0021] Furthermore, the positioning pin is provided with an elastic body, and the elastic body can absorb the external impact force on the positioning pin, and the positioning pin can enter the water flow hole of the core bottom plate.

[0022] Furthermore, the telescopic sleeve also includes a connecting pin, which is fixed to the outside of the telescopic sleeve. The connecting pin can be locked and unlocked with the self-locking structure through the hole structure of the connecting arm and the rotating arm of the rotating member.

[0023] Furthermore, it also includes a height pin and a fixed sleeve, the height pin is arranged on the outside of the fixed sleeve, the fixed sleeve and the telescopic sleeve are provided with through holes, and the height pin can pass through the through holes to relatively fix the fixed sleeve and the telescopic sleeve.

[0024] Furthermore, the guide device also includes a guide wheel and a guide rail. The telescopic sleeve is located inside the fixed sleeve and can move axially relative to the fixed sleeve. The guide wheel is arranged on the upper half of the guide device, and the guide rail is arranged on the inner wall of the fixed sleeve in the vertical direction. The guide wheel can roll along the guide rail.

[0025] Furthermore, the guide rail includes a slope and a vertical portion, the elevation of the slope in the vertical direction is higher than that of the vertical portion, and the top end of the slope is connected to the vertical portion.

[0026] Furthermore, the guide device also includes at least one fixing pin hole, and the telescopic sleeve includes at least one fixing pin, the fixing pin hole is located on one side of the guide device, and the fixing pin is located on the outside of the telescopic sleeve, and the fixing pin can enter and leave the fixing pin hole to achieve secondary locking and unlocking of the guide device and the telescopic sleeve.

[0027] Furthermore, the driving device also includes a locking cylinder, the lifting cylinder includes a limiting hole, the locking cylinder is placed horizontally, the limiting hole is located on the piston rod of the lifting cylinder, and the piston rod of the locking cylinder can enter the limiting hole to limit the movement of the lifting cylinder.

[0028] Furthermore, four guide devices are included, and the four guide devices are evenly arranged along the circumference of the telescopic sleeve.

[0029] By applying the above technical solution of the present invention, at least the following technical effects are achieved:

[0030] 1. The present invention proposes a loading and unloading machine, comprising a telescopic sleeve, a drive device, a fixed sleeve, and at least one guide device. The guide device is located on the side of the telescopic sleeve, and the lower end of the guide device can extend to a position lower than the telescopic sleeve. It can provide a guiding function for the lower tube seat of the fuel assembly when loading a deformed spent fuel assembly into the core.

[0031] 2. The loading and unloading machine proposed in the present invention includes a self-locking structure, and the guide device is connected to the driving device through the self-locking structure. The self-locking structure includes a rotating part and an upper connecting part. The upper connecting part is connected to the driving device, and the driving device drives the upper connecting part and the rotating part to move to achieve locking and unlocking between the guide device and the driving device.

[0032] 3. The present invention proposes a loading and unloading machine including a positioning pin, which is located at the lowest end of the guide device and is provided with an elastic body. The positioning pin can also enter the water flow hole of the core bottom plate, thereby further improving the guiding ability of the loading and unloading machine when grabbing the fuel group.

[0033] 4. The present invention proposes a loading and unloading machine, in which the guide device is installed on the fully automatic loading and unloading machine, which not only ensures the safety of the fuel, but also greatly reduces the labor of the operators, saves the time for loading and unloading and overhaul, and improves the operating efficiency of the power plant.

[0034] Additional aspects and advantages of the present application will be given in part in the description below, and in part will become apparent from the description below, or will be learned through practice of the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0035] The accompanying drawings, which constitute part of the present invention, are intended to provide a further understanding of the present invention. The exemplary embodiments of the present invention and their descriptions are intended to explain the present invention and do not constitute an undue limitation of the present invention. In the accompanying drawings:

[0036] Figure 1 A comparison diagram of the driving device and the guide device before and after connection in one embodiment is shown;

[0037] Figure 2 A schematic diagram of a guide device in one embodiment is shown;

[0038] Figure 3 A schematic diagram of an embodiment in which the driving device and the guide device are locked is shown;

[0039] Figure 4 A schematic diagram of an embodiment of the invention is shown when the driving device and the guide device are unlocked;

[0040] Figure 5 A comparison diagram of the self-locking structure and the telescopic sleeve before and after connection in one embodiment is presented;

[0041] Figure 6 A detailed diagram of the self-locking structure in one embodiment is shown;

[0042] Figure 7 A diagram showing the locked and unlocked states of a self-locking structure in one embodiment is shown;

[0043] Figure 8A schematic diagram of guide wheels and guide rails in one embodiment is shown;

[0044] Figure 9 A schematic diagram of a positioning pin of a guide device in one embodiment is shown.

[0045] Figure markings: 1. Telescopic sleeve; 11. Connecting pin; 2. Driving device; 201. Lifting cylinder; 202. Locking cylinder; 203. Rotating cylinder; 3. Fixing sleeve; 4. Guide device; 401. Fixing pin hole; 402. Positioning pin; 403. Guide rail; 5. Grab; 6. Fuel assembly; 601. Lower tube seat of fuel assembly; 7. Main lifting mechanism; 8. Self-locking structure; 801. Self-locking cylinder; 802. Rotating part; 803. Elastic element; 804. Sliding cylinder; 805. Upper connecting part; 806. Connecting arm; 9. Core bottom plate; 901. Water flow hole of core bottom plate; 902. Core guide pin. DETAILED DESCRIPTION

[0046] It should be noted that, in the absence of conflict, the embodiments and features of the embodiments of the present invention can be combined with each other. The present invention will be described in detail below with reference to the accompanying drawings and in combination with the embodiments.

[0047] The present invention is further described in detail below with reference to specific examples. These examples should not be construed as limiting the scope of protection claimed in the present invention.

[0048] Example 1

[0049] According to one aspect of the present invention, a fuel loading and unloading machine is provided, comprising a telescopic sleeve 1, a drive device 2, and at least one guide device 4. The guide device 4 is located on the side of the telescopic sleeve 1. The drive device 2 drives the guide device 4 to move relative to the telescopic sleeve 1 to achieve locking between the guide device 4 and the telescopic sleeve 1. The lower end of the guide device 4 can extend to a position lower than the telescopic sleeve 1, allowing the fuel assembly grasped by the telescopic sleeve 1 to move along the guide device 4. The guide device 4 is arranged vertically. The fuel loading and unloading machine also includes a self-locking structure 8, through which the guide device 4 is connected to the drive device 2. The self-locking structure 8 includes a rotating member 802 and an upper connecting member 805. The upper connecting member 805 is connected to the drive device 2. The drive device 2 drives the upper connecting member 805 and the rotating member 802 to unlock and unlock the upper connecting member 805 with the rotating member 802, and to lock and unlock the telescopic sleeve 1 with the self-locking structure 8.

[0050] Specifically, if Figure 1-2As shown, when the loader does not require guidance, the guide device 4 is connected to the drive device via the self-locking structure 8, and the guide device 4 is lifted to a high position by the drive device. At this time, the guide device 4 and the telescopic sleeve 1 are separated. When the loader needs the guide device 4 to work, the drive device drives the guide device 4 down, the self-locking structure 8 is unlocked and released by the drive device. At the same time, the self-locking structure 8 is locked to the telescopic sleeve 1. At this time, the guide device 4 and the telescopic sleeve 1 move synchronously under the action of the main lifting mechanism 7.

[0051] More specifically, the guide device 4 is about 10 m long and can be divided into two parts, the upper part mainly functions to grasp, lock and guide, and the lower part mainly functions to guide the components.

[0052] By applying the above technical solution of the present invention, at least the following technical effects are achieved:

[0053] 1. The present invention proposes a loading and unloading machine, comprising a telescopic sleeve, a drive device, a fixed sleeve, and at least one guide device. The guide device is located on the side of the telescopic sleeve, and the lower end of the guide device can extend to a position lower than the telescopic sleeve. It can provide a guiding function for the lower tube seat of the fuel assembly when loading a deformed spent fuel assembly into the core.

[0054] 2. The present invention proposes a loading and unloading machine, in which the guide device is installed on the fully automatic loading and unloading machine, which not only ensures the safety of the fuel, but also greatly reduces the labor of the operators, saves the time for loading and unloading and overhaul, and improves the operating efficiency of the power plant.

[0055] Example 2

[0056] According to one aspect of the present invention, a fuel loading and unloading machine is provided, comprising a telescopic sleeve 1, a drive device 2, and at least one guide device 4. The guide device 4 is located on the side of the telescopic sleeve 1. The drive device 2 drives the guide device 4 to move relative to the telescopic sleeve 1 to achieve locking between the guide device 4 and the telescopic sleeve 1. The lower end of the guide device 4 can extend to a position lower than the telescopic sleeve 1, allowing the fuel assembly grasped by the telescopic sleeve 1 to move along the guide device 4. The guide device 4 is arranged vertically. The fuel loading and unloading machine also includes a self-locking structure 8, through which the guide device 4 is connected to the drive device 2. The self-locking structure 8 includes a rotating member 802 and an upper connecting member 805. The upper connecting member 805 is connected to the drive device 2. The drive device 2 drives the upper connecting member 805 and the rotating member 802 to unlock and unlock the upper connecting member 805 with the rotating member 802, and to lock and unlock the telescopic sleeve 1 with the self-locking structure 8. The loading and unloading machine includes four guide devices 4 , and the four guide devices 4 are evenly arranged along the circumference of the telescopic sleeve 1 .

[0057] Specifically, if Figure 1-2 As shown, when the loader and unloader do not need to guide, the four guide devices 4 are connected to the drive device through the self-locking structure 8, and the guide device 4 is lifted to a high position by the drive device. At this time, the guide device 4 and the telescopic sleeve 1 are in a separated state. When the loader and unloader need the guide device 4 to work, the guide device 4 is driven down by the drive device, the self-locking structure 8 is unlocked and released by the drive device. At the same time of release, the self-locking structure 8 is locked on the telescopic sleeve 1. At this time, the guide device 4 and the telescopic sleeve 1 move synchronously under the action of the main lifting mechanism 7. More specifically, the guide device 4 is about 10m long and can be divided into two parts, the upper part mainly functions to grasp, lock and guide, and the lower part mainly functions to guide the components. The drive device 2 is installed on the tower, fixed sleeve or trolley of the unloader.

[0058] The upper connecting member 805 includes at least one extending arm, which is arranged in a vertical direction and includes at least one protrusion. The rotating member 802 is a hollow structure, and the inner wall of the rotating member 802 includes at least one limiting groove. The protrusion of the extending arm of the upper connecting member 805 can enter the limiting groove of the rotating member 802 to realize the locking and unlocking between the self-locking structure 8 and the telescopic sleeve 1. The limiting groove of the rotating member 802 includes two vertical grooves and one horizontal groove, wherein one section of the vertical groove extends to the uppermost end of the rotating member 802, and the other section of the vertical groove does not extend to the uppermost end of the rotating member 802, and the two sections of the vertical grooves are connected through the horizontal groove. The self-locking structure 8 further includes a self-locking cylinder 801, which is a hollow structure. The cylinder wall of the self-locking cylinder 801 includes a first circumferential groove. The lower end of the self-locking cylinder 801 is connected to the guide device 4. The rotating member 802 is located inside the self-locking cylinder 801 and can rotate along a vertical axis relative to the self-locking cylinder 801. The inner wall of the rotating member 802 includes two limiting grooves. The upper connecting member 805 includes two extending arms, and the two extending arms are parallel to each other.

[0059] Specifically, if Figure 5-7 As shown, the upper connecting member 805 includes two mutually parallel extension arms, the extension arms are arranged in the vertical direction, and the protrusions on the extension arms are located at the ends of the extension arms. The rotating member 802 is a cylindrical structure, and the inner wall of the rotating member 802 has two vertical grooves and one horizontal groove. One of the vertical grooves extends to the uppermost end of the rotating member 802, and the other vertical groove does not extend to the uppermost end of the rotating member 802. The two vertical grooves are connected by the horizontal groove. The rotating member 802 can rotate along the vertical axis relative to the self-locking cylinder 801, and the protrusions on the extension arms can lock and unlock with the grooves on the inner wall of the rotating member 802, so as to realize the locking and unlocking of the self-locking structure 8 and the guide device 4.

[0060] The self-locking structure 8 also includes a connecting arm 806, and the self-locking structure 8 is locked and unlocked with the telescopic sleeve 1 through the connecting arm 806 and the rotating member 802. One end of the connecting arm 806 is connected to the self-locking cylinder 801, and the other end of the connecting arm 806 has a hole structure. The telescopic sleeve 1 also includes a connecting pin 11, which is fixed to the outside of the telescopic sleeve 1. The connecting pin 11 can be locked and unlocked with the self-locking structure 8 through the hole structure of the connecting arm 806 and the rotating arm of the rotating member 802. The rotating member 802 includes a rotating arm, which forms an outwardly extending structure on the rotating member 802. The other end of the rotating arm extends to the outside of the self-locking cylinder 801 through the first circumferential groove of the self-locking cylinder 801. The self-locking cylinder 801 and the rotating member 802 are both cylindrical structures.

[0061] Specifically, one end of the connecting arm 806 is fixedly connected to the self-locking cylinder 801. One end of the connecting arm 806 has a through hole. The telescopic sleeve 1 has a flange, and the connecting pin 11 is located on the flange of the telescopic sleeve 1. When the driving device drives the guide device 4 to descend, the connecting pin 11 enters the through hole of the connecting arm 806. At the same time, the upper connecting member 805 drives the rotating member 802 to rotate, causing the rotating arm of the rotating member 802 to rotate to the position of the connecting pin 11 on the flange. The rotating arm and the connecting arm 806 just clamp the flange of the telescopic sleeve 1, thus achieving the locking and unlocking of the self-locking structure 8 and the telescopic sleeve 1.

[0062] In other embodiments, the connecting pin may be located at one end of the connecting arm 806 , and the corresponding through hole may be located on the flange of the telescopic sleeve 1 .

[0063] The self-locking structure 8 further includes a sliding cylinder 804, which is a hollow structure. The wall of the sliding cylinder 804 includes a second circumferential groove. The sliding cylinder 804 is located inside the self-locking cylinder 801, and the rotating member 802 is located inside the sliding cylinder 804. The other end of the rotating arm extends to the outside of the self-locking cylinder 801 through the second circumferential groove of the sliding cylinder 804 and the first circumferential groove of the self-locking cylinder 801 in sequence, and the sliding cylinder 804 can move relative to the self-locking cylinder 801 along the vertical axis. The second circumferential groove of the sliding cylinder 804 includes three sections of interconnected circumferential grooves. The vertical length of the circumferential grooves on both sides is greater than the vertical length of the circumferential groove in the middle, and the vertical length of the circumferential grooves on both sides is greater than the vertical length of the first circumferential groove of the self-locking cylinder 801. The self-locking structure 8 further includes an elastic element 803 , the upper end of which is connected to the lower end of the sliding cylinder 804 . The elastic element 803 is located inside the self-locking cylinder 801 , and the lower end of the elastic element 803 is connected to the self-locking cylinder 801 .

[0064] Specifically, if Figure 5-7 As shown, the elastic element 803 is a spring, and the lower end of the elastic element 803 is fixed to the self-locking cylinder 801. When the upper connecting member 805 is pushed by the driving device 2 and inserted into the rotating member 802, the sliding cylinder 804 will be pressed downward, compressing the elastic element 803 inside, and the upper connecting member 805 drives the rotating member 802 to rotate, and the self-locking structure 8 enters the state of releasing the self-locking. When the guide device 4 is driven to rise to unlock with the telescopic sleeve 1, the extended support arm of the upper connecting member 805 enters the rotating member 802 and drives the rotating member to rotate. At the same time, the elastic element 803 releases the spring force to push the sliding cylinder 804 to rise, realizing the locking of the self-locking structure 8 and the guide device 4. The second circumferential groove of the sliding cylinder 804 is projected on the opposite vertical plane as an inverted "concave" shape, and the first circumferential groove of the self-locking cylinder 801 is projected on the opposite vertical plane as a rectangle.

[0065] The guide device 4 includes a positioning pin 402 located at its lowest end. The positioning pin 402 can extend to a position lower than the fuel assembly grasped by the lower portion of the telescopic sleeve 1. The positioning pin 402 is provided with an elastic body that can absorb external impact forces on the positioning pin 402. The positioning pin 402 can enter the water flow hole 901 of the core bottom plate 9.

[0066] Specifically, if Figure 9As shown, the positioning pin 402 is located at the lower end of the guide device 4. The elastic body is a spring and is located inside the positioning pin 402. When an external force is applied, the positioning pin 402 and the internal elastic body squeeze each other and can produce relative movement with the guide device 4, thereby reducing the impact caused by the positioning pin 402 inserting into the water flow hole of the lower grid plate. When the lower tube seat 601 of the fuel assembly 6 approaches the core floor plate 9, the positioning pin 402 at the bottom of the guide device 4 can be inserted into the water flow hole 901 of the core floor plate 9. After the fuel positioning pin 402 is inserted into the water flow hole 901, the guide hole of the lower tube seat 601 can also be aligned with the core guide pin 902 on the core floor plate 9, thereby smoothly placing the fuel assembly into the core.

[0067] The loader also includes a height pin 10 and a fixed sleeve 3. The height pin 10 is disposed outside the fixed sleeve 3. The fixed sleeve 3 and the telescopic sleeve 1 are provided with through-holes through which the height pin can pass to relatively secure the fixed sleeve 3 and the telescopic sleeve 1. Specifically, the height pin 10 is driven by a pneumatic cylinder. When the loader requires the guide device 4 to operate, the cylinder drives the height pin 10 to extend, supporting the weight of the telescopic sleeve 1 while also ensuring that the telescopic sleeve remains relatively fixed.

[0068] The guide device 4 also includes at least one fixing pin hole 401, and the telescopic sleeve 1 includes at least one fixing pin. The fixing pin hole is located on one side of the guide device 4, and the fixing pin is located on the outside of the telescopic sleeve 1. The fixing pin can enter and exit the fixing pin hole 401 to achieve secondary locking and unlocking of the guide device 4 and the telescopic sleeve 1. Specifically, when the driving device 2 drives the guide device 4 to descend, the fixing pin of the telescopic sleeve 1 inserts into the fixing pin hole of the guide device 4 and, together with the self-locking structure 8, achieves locking and unlocking of the guide device 4 and the telescopic sleeve.

[0069] In other embodiments, the fixing pin hole may be provided on the outer wall of the telescopic sleeve 1 , and correspondingly, the fixing pin is provided on one side of the guide device 4 .

[0070] The guide device 4 also includes a guide wheel and a guide rail 403. The telescopic sleeve 1 is located inside the fixed sleeve 3 and can move axially relative to the fixed sleeve 3. The guide wheel is provided in the upper half of the guide device 4. The guide rail 403 is provided on the inner wall of the fixed sleeve 3 in the vertical direction. The guide wheel can roll along the guide rail. The guide rail 403 includes a slope and a vertical portion. The elevation of the slope in the vertical direction is higher than that of the vertical portion. The top end of the slope is connected to the vertical portion. Specifically, the top end of the slope refers to the end where the top of the slope is located. Figure 8As shown, when the lifting cylinder 201 in the driving device 2 is in the lifting state, the lower half of the guide device 4 is away from the telescopic sleeve 1 and the fuel assembly 6 under the action of the guide rail 403, leaving space for lifting and lowering; when the lifting cylinder 201 in the driving device 2 is in the descending state, the lower half of the guide device 4 is close to the telescopic sleeve 1 and the fuel assembly 6 under the action of the guide rail 403, which can better realize the guiding function.

[0071] The driving device includes a lifting cylinder 201 and a rotating cylinder 203. The lifting cylinder 201 is vertically arranged on the outside of the fixed sleeve. The piston rod of the lifting cylinder 201 is connected to the guide device 4. The lifting cylinder 201 drives the guide device 4 to slide up and down. The piston rod of the rotating cylinder 203 is connected to the piston rod of the lifting cylinder 201 through a connecting rod structure. The rotating cylinder 203 can drive the piston rod of the lifting cylinder 201 to rotate and thereby drive the upper connecting member 805 and the rotating member 802 to rotate. The driving device also includes a locking cylinder 202. The lifting cylinder 201 includes a limiting hole. The locking cylinder 202 is placed horizontally. The limiting hole is located on the piston rod of the lifting cylinder 201. The piston rod of the locking cylinder 202 can enter the limiting hole to limit the movement of the lifting cylinder.

[0072] Specifically, if Figure 3-4 As shown, the driving device 2 is mainly composed of three cylinders, including a lifting cylinder 201, a locking cylinder 202, and a rotating cylinder 203. When the guide device 4 is not needed, the driving device 2 is in Figure 3 The state shown. When the guide device 4 needs to work, the locking cylinder 202 will act first, and the piston rod of the locking cylinder 202 will be inserted into the limiting hole of the lifting cylinder to limit the movement of the lifting cylinder. Its function is to limit the movement of the lifting cylinder 201 and prevent the lifting cylinder 201 from suddenly losing air and malfunctioning. When the state of the lifting cylinder 201 is stable, the locking cylinder 202 will be unlocked, and the lifting cylinder 201 will drive the self-locking structure 8 and the guide device 4 at the bottom to descend at the same time. When the fixing pin of the telescopic sleeve 1 is inserted into the fixing pin hole of the self-locking structure 8, the elastic element 803 inside the self-locking structure 8 will be compressed under the force of the cylinder descent. At the same time, the rotating cylinder 203 drives the rotating part 802 to rotate by driving the upper connecting part 805, and the guide device 4 and the lifting cylinder 201 are unlocked. At this time, the self-locking structure 8 completes the locking with the telescopic sleeve 1, the lifting cylinder 201 rises, and the upper connecting part 805 is completely separated from the rotating part 802, as shown in FIG. Figure 4After the fuel assembly 6 is in place in the core, the loader's gripper 5 disengages from the fuel assembly 6. The auxiliary guide tool and telescopic sleeve simultaneously rise to their upper limits, and the height pin 10 extends again. The drive device 2 operates again, completing the movement of the guide device 4 toward the tower. After the guide device 4 returns to its resting position, the height pin 10 retracts, completing a complete auxiliary-guided loading operation.

[0073] In other embodiments, the driving device 2 may also use a transmission device such as an electric push rod to drive components such as the guide device 4 and the self-locking structure 8 to achieve the guiding function of the guide device 4.

[0074] By applying the above technical solution of the present invention, at least the following technical effects are achieved:

[0075] 1. The present invention proposes a loading and unloading machine, comprising a telescopic sleeve, a drive device, a fixed sleeve, and at least one guide device. The guide device is located on the side of the telescopic sleeve, and the lower end of the guide device can extend to a position lower than the telescopic sleeve. It can provide a guiding function for the lower tube seat of the fuel assembly when loading a deformed spent fuel assembly into the core.

[0076] 2. The loading and unloading machine proposed in the present invention includes a self-locking structure, and the guide device is connected to the driving device through the self-locking structure. The self-locking structure includes a rotating part and an upper connecting part. The upper connecting part is connected to the driving device, and the driving device drives the upper connecting part and the rotating part to move to achieve locking and unlocking between the guide device and the driving device.

[0077] 3. The present invention proposes a loading and unloading machine including a positioning pin, which is located at the lowest end of the guide device and is provided with an elastic body. The positioning pin can also enter the water flow hole of the core bottom plate, thereby further improving the guiding ability of the loading and unloading machine when grabbing the fuel group.

[0078] 4. The present invention proposes a loading and unloading machine, in which the guide device is installed on the fully automatic loading and unloading machine, which not only ensures the safety of the fuel, but also greatly reduces the labor of the operators, saves the time for loading and unloading and overhaul, and improves the operating efficiency of the power plant.

[0079] The above are only a number of specific embodiments of the present invention, but the scope of protection of the present invention is not limited thereto. Any technician familiar with the technical field, within the technical scope disclosed by the present invention, who makes equivalent replacements or changes based on the technical solutions and inventive concepts of the present invention, should be covered by the scope of protection of the present invention.

[0080] It should be noted that, in this document, relational terms such as first and second, etc., are used only to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any actual relationship or order between these entities or operations. Moreover, the terms "comprises," "comprising," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or device comprising a series of elements includes not only those elements, but also other elements not explicitly listed, or elements inherent to such process, method, article, or device. In the absence of further limitations, an element defined by the phrase "comprising a ..." does not exclude the presence of other identical elements in the process, method, article, or device comprising the element.

[0081] It should be noted that, in the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "example", "specific example", or "some examples" means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present application. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described may be combined in an appropriate manner in any one or more embodiments or examples. In addition, those skilled in the art may combine and combine different embodiments or examples described in this specification and the features of different embodiments or examples, unless they are contradictory.

Claims

1. A loading and unloading machine, characterized in that: It comprises a telescopic sleeve (1), a driving device (2), and at least one guiding device (4). The guide device (4) is located on the side of the telescopic sleeve (1), and the driving device (2) drives the guide device (4) to move relative to the telescopic sleeve (1) to achieve locking of the guide device (4) and the telescopic sleeve (1). The lower end of the guide device (4) can extend to a position lower than the telescopic sleeve (1), so that the fuel assembly grasped by the telescopic sleeve (1) can move along the guide device (4).

2. The loading and unloading machine according to claim 1, characterized in that: The guide device (4) is arranged in a vertical direction.

3. The loading and unloading machine according to claim 2, characterized in that: It also includes a self-locking structure (8), and the guide device (4) is connected to the drive device (2) through the self-locking structure (8). The self-locking structure (8) comprises a rotating member (802) and an upper connecting member (805), wherein the upper connecting member (805) is connected to the driving device (2), and the driving device (2) drives the upper connecting member (805) and the rotating member (802) to move so as to achieve unlocking and locking of the upper connecting member (805) and the rotating member (802), and locking and unlocking of the telescopic sleeve (1) and the self-locking structure (8).

4. The loading and unloading machine according to claim 3, characterized in that: The self-locking structure (8) further comprises a connecting arm (806), and the self-locking structure (8) is locked and unlocked with the telescopic sleeve (1) via the connecting arm (806) and the rotating member (802).

5. The loading and unloading machine according to claim 4, characterized in that: The upper connecting member (805) includes at least one extending arm, the extending arm being arranged in a vertical direction, the extending arm including at least one protrusion, the rotating member (802) being a hollow structure, the inner wall of the rotating member (802) including at least one limiting groove, and the protrusion of the extending arm of the upper connecting member (805) being able to enter the limiting groove of the rotating member (802) to achieve locking and unlocking between the self-locking structure (8) and the telescopic sleeve (1).

6. The loading and unloading machine according to claim 5, characterized in that: The inner wall of the rotating member (802) includes two limiting grooves, and the upper connecting member (805) includes two extending arms, and the two extending arms are parallel to each other.

7. The loading and unloading machine according to claim 6, characterized in that: The limiting groove of the rotating member (802) includes two vertical grooves and one horizontal groove, wherein one vertical groove extends to the uppermost end of the rotating member (802), and the other vertical groove does not extend to the uppermost end of the rotating member (802), and the two vertical grooves are connected through the horizontal groove.

8. The loading and unloading machine according to claim 7, characterized in that: The self-locking structure (8) further comprises a self-locking cylinder (801), the self-locking cylinder (801) is a hollow structure, the cylinder wall of the self-locking cylinder (801) comprises a first circumferential groove, and the lower end of the self-locking cylinder (801) is connected to the guide device (4). The rotating member (802) is located inside the self-locking cylinder (801), and the rotating member (802) can rotate relative to the self-locking cylinder (801) along a vertical axis. One end of the connecting arm (806) is connected to the self-locking cylinder (801), and the other end of the connecting arm (806) has a hole structure.

9. The loading and unloading machine according to claim 8, characterized in that: The rotating member (802) includes a rotating arm, which forms an outwardly extending structure on the rotating member (802). The other end of the rotating arm extends to the outside of the self-locking cylinder (801) through the first circumferential groove of the horizontal through hole of the self-locking cylinder (801). The self-locking cylinder (801) and the rotating member (802) are both cylindrical structures.

10. The loading and unloading machine according to claim 9, characterized in that: The self-locking structure (8) further includes a sliding cylinder (804), the sliding cylinder (804) is a hollow structure, the cylinder wall of the sliding cylinder (804) includes a second circumferential groove, the sliding cylinder (804) is located inside the self-locking cylinder (801), the rotating member (802) is located inside the sliding cylinder (804), the other end of the rotating arm extends to the outside of the self-locking cylinder (801) through the second circumferential groove of the sliding cylinder (804) and the first circumferential groove of the self-locking cylinder (801) in sequence, and the sliding cylinder (804) can move relative to the self-locking cylinder (801) along the vertical axis.

11. The loading and unloading machine according to claim 10, characterized in that: The second circumferential groove of the sliding cylinder (804) includes three sections of interconnected circumferential grooves, the vertical length of the circumferential grooves on both sides is greater than the vertical length of the circumferential groove in the middle, and the vertical length of the circumferential grooves on both sides is greater than the vertical length of the first circumferential groove of the self-locking cylinder (801).

12. The loading and unloading machine according to claim 11, characterized in that: The self-locking structure (8) further includes an elastic element (803), the upper end of which is connected to the lower end of the sliding cylinder (804), the elastic element (803) is located inside the self-locking cylinder (801), and the lower end of which is connected to the self-locking cylinder (801).

13. The loading and unloading machine according to claim 12, characterized in that: The driving device (2) comprises a lifting cylinder (201) and a rotating cylinder (203); the lifting cylinder (201) is arranged on the outside of the fixed sleeve in a vertical direction; the piston rod of the lifting cylinder (201) is connected to the guide device (4) via the self-locking structure (8); and the lifting cylinder (201) drives the guide device (4) to slide up and down; The piston rod of the rotating cylinder (203) is connected to the piston rod of the lifting cylinder (201) through a connecting rod structure. The rotating cylinder (203) can drive the piston rod of the lifting cylinder (201) to rotate and thereby drive the upper connecting member (805) and the rotating member (802) to rotate.

14. The loading and unloading machine according to claim 13, characterized in that: The guide device (4) comprises a positioning pin (402) located at the lowermost end of the guide device (4). The positioning pin (402) can extend to a position lower than the fuel assembly captured by the lower part of the telescopic sleeve (1).

15. The loading and unloading machine according to claim 14, characterized in that: The positioning pin (402) is provided with an elastic body, and the elastic body can absorb the external impact force on the positioning pin (402), and the positioning pin (402) can enter the water flow hole (901) of the core bottom plate (9).

16. The loading and unloading machine according to claim 15, characterized in that: The telescopic sleeve (1) further comprises a connecting pin (11), wherein the connecting pin (11) is fixed to the outer side of the telescopic sleeve (1), and the connecting pin (11) can be locked and unlocked with the self-locking structure (8) through the hole structure of the connecting arm (806) and the rotating arm of the rotating member (802).

17. The loading and unloading machine according to claim 16, characterized in that: The invention also comprises a height pin (10) and a fixed sleeve (3), wherein the height pin (10) is arranged on the outside of the fixed sleeve (3), and through holes are provided on the fixed sleeve (3) and the telescopic sleeve (1), and the height pin can pass through the through holes to relatively fix the fixed sleeve (3) and the telescopic sleeve (1).

18. The loading and unloading machine according to claim 17, characterized in that: The guide device (4) further comprises a guide wheel and a guide rail (403); the telescopic sleeve (1) is located inside the fixed sleeve (3) and is axially movable relative to the fixed sleeve (3); the guide wheel is arranged on the upper half of the guide device (4); the guide rail (403) is arranged on the inner wall of the fixed sleeve (3) in a vertical direction; and the guide wheel is capable of rolling along the guide rail.

19. The loading and unloading machine according to claim 18, characterized in that: The guide rail (403) comprises a slope and a vertical portion, the elevation of the slope in the vertical direction is higher than that of the vertical portion, and the top end of the slope is connected to the vertical portion.

20. The loading and unloading machine according to claim 19, characterized in that: The guide device (4) further comprises at least one fixing pin hole (401), and the telescopic sleeve (1) comprises at least one fixing pin, wherein the fixing pin hole is located on one side of the guide device (4), and the fixing pin is located on the outside of the telescopic sleeve (1), and the fixing pin can enter and leave the fixing pin hole (401) to achieve secondary locking and unlocking of the guide device (4) and the telescopic sleeve (1).

21. The loading and unloading machine according to claim 20, characterized in that: The driving device (2) further comprises a locking cylinder (202), the lifting cylinder (201) comprises a limiting hole, the locking cylinder (202) is placed horizontally, the limiting hole is located on the piston rod of the lifting cylinder (201), and the piston rod of the locking cylinder (202) can enter the limiting hole to limit the movement of the lifting cylinder.

22. The loading and unloading machine according to any one of claims 1 to 21, characterized in that: It comprises four guide devices (4), and the four guide devices (4) are evenly arranged along the circumference of the telescopic sleeve (1).

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