CN114582537A

CN114582537A - Automatic moving system of spent fuel storage grillwork for nuclear island fuel plant

Info

Publication number: CN114582537A
Application number: CN202011376716.3A
Authority: CN
Inventors: 刘琪琳; 马庆会; 刘城; 李云峰; 潘国祥; 江超; 周志清; 于天石
Original assignee: China Nuclear Industry 23 Construction Co Ltd
Current assignee: China Nuclear Industry 23 Construction Co Ltd
Priority date: 2020-11-30
Filing date: 2020-11-30
Publication date: 2022-06-03
Anticipated expiration: 2040-11-30
Also published as: CN114582537B

Abstract

The invention belongs to a moving system, and particularly relates to an automatic moving system for a spent fuel storage grillwork for a nuclear island fuel plant. The utility model provides a nuclear island is spent fuel storage framework automatic moving system for fuel factory building which characterized in that: the automatic moving system comprises a driving part, a driving part and a control part, wherein the driving part is used for driving the automatic moving system to move; the control system is used for controlling the whole system; the safety system is used for emergency braking, sound-light alarming, safe edge touching, radar detection and operation locking functions; a power system: for providing energy to the entire system. The invention has the following remarkable effects: the moving mechanism is applied below a spent fuel storage grid and is used for realizing automatic moving and walking when the grid is introduced.

Description

Automatic moving system of spent fuel storage grillwork for nuclear island fuel plant

Technical Field

The invention belongs to a moving system, and particularly relates to an automatic moving system for a spent fuel storage grillwork for a nuclear island fuel plant.

Background

The conventional spent fuel storage grillwork for the nuclear island fuel plant is a standard fixed structure grillwork, and needs manual carrying based on the structural characteristics of the spent fuel storage grillwork of the nuclear island fuel plant and the limitation of the environment of the fuel plant during the spent fuel transportation process, so that not only is the working efficiency low, but also a large amount of manpower, material resources and financial resources are wasted, and more serious, the great quality safety risk exists, and the adverse factors are as follows:

the occupied time of the field is long: the 0m channel and the hoisting hole in the K area are important ways for introducing all equipment in the K area, and in the grid introduction and overturning processes, the track needs to be manufactured, welded, assembled and fixed, the K area needs to be occupied for 0m for a long time (1.5 months),

other professional equipment cannot be introduced, so that the construction progress is restricted;

easy blocking: because the 4 tanks are respectively independent and have small contact surface with the grillage, the direction is easy to deflect in the process of introducing the grillage, so that the tanks interfere with the edge of the track to generate blockage, and the introduction cannot be carried out;

the human cost is high, and work efficiency is low: in the process of introducing the grillwork, the grillwork needs to be pushed into the hoisting holes with the diameter of 0 meter by manpower, and at least 20 persons are needed to finish the work due to the fact that equipment is heavy and is easy to jam. The labor cost is more, and the working efficiency is lower;

resource waste: after the grillwork is completely introduced, the track needs to be dismissed, the grillwork cannot be used for other projects, waste materials can be only treated, in addition, the ground tank is extremely damaged in the grillwork introducing process, the ground tank is extremely easy to damage and cannot be used continuously, the purchase price of the ground tank is higher, and therefore great resource waste is caused.

Disclosure of Invention

The invention provides an automatic moving system of a spent fuel storage grillwork for a nuclear island fuel plant, aiming at the defects of the prior art.

The invention is realized by the following steps: an automatic moving system for a spent fuel storage grillwork for a nuclear island fuel plant comprises

The driving part is used for driving the automatic moving system to move;

the control system is used for controlling the whole system;

the safety system is used for emergency braking, sound-light alarming, safe edge touching, radar detection and operation locking functions;

a power system: for providing energy to the entire system.

The automatic moving system for the spent fuel storage grillwork for the nuclear island fuel plant comprises a driving rudder wheel set, a driven rudder wheel set, a raised plate set, a vehicle body and a bearing table board which are combined.

The automatic moving system for the spent fuel storage grillwork for the nuclear island fuel plant is characterized in that the driving steering wheel set is used for connecting the wheel set with the vehicle body through the slewing bearing outer ring through a bolt, the pinion is driven by the steering servo motor reducer and drives the slewing bearing outer ring, and the pinion drives the slewing bearing outer ring because the outer ring and the vehicle body are fixed together, so that when the pinion rotates relative to the slewing bearing outer ring, the pinion drives the whole wheel set to rotate for 360 degrees, further the steering and translation functions of the vehicle body are realized, the slewing bearing inner ring is connected with the wheel mounting frame through a bolt, and the polyurethane wheel is driven to move forwards and backwards through the driving servo motor reducer.

The automatic moving system for the spent fuel storage grillwork for the nuclear island fuel factory building is characterized in that the driven steering wheel set has the same steering function as the driving wheel set, the wheel set is connected with the vehicle body through the slewing bearing outer ring through bolts, the pinion is driven by the steering servo motor reducer and drives the slewing bearing outer ring, and the pinion drives the slewing bearing outer ring because the outer ring and the vehicle body are fixed together, so that when the pinion rotates relative to the slewing bearing outer ring, the pinion drives the whole wheel set to rotate for 360 degrees, and further the steering and translation functions of the vehicle body are realized.

The spent fuel storage grillage automatic moving system for the nuclear island fuel factory building as above, wherein, the wane group mainly by wane structure frame, initiative rudder wheel group, driven rudder wheel group, wane bearing frame etc. constitute, wherein the wane group is in the same place through wane bearing frame and automobile body bolted connection, realize the centre and fix, both sides can brake the adjustment function according to the unsmooth condition in ground, initiative rudder wheel group provides wane group rectilinear motion power and steering function, driven rudder wheel group provides the function of turning to, in order to realize that the wane gos forward and retreat and turn to the translation function, thereby realize the advancing, retreat, turn left, turn right, 180 left and right translation functions of whole car.

The automatic moving system for the spent fuel storage grillage for the nuclear island fuel factory building is characterized in that the vehicle body is mainly formed by welding high-quality carbon steel plates, the main material is Q345D, the local design of the vehicle body adopts a box-shaped beam structure design principle, and a box-shaped beam surface has good structural performance.

The automatic moving system for the spent fuel storage grillwork for the nuclear island fuel factory building is characterized in that the bearing table top is arranged on the automatic turnover mechanism in an L-shaped arrangement, a polyethylene plate is paved on the surface of the bearing table top, the damage of the spent fuel storage grillwork is avoided, in addition, the two sides of the turnover table top are provided with the spent fuel storage grillwork fixing devices, the moving of the spent fuel storage grillwork in the transportation and turnover processes is prevented, and the equipment is effectively protected from being damaged.

The automatic moving system for the spent fuel storage grillwork for the nuclear island fuel plant is characterized in that the control system comprises a PLC controller,

the PLC takes a Siemens PLC S7-200 SMART programmable controller ST60 as a core CPU, and 2 blocks of 16-path digital quantity input modules, 1 block of 8-path analog quantity input modules and 1 block of 4-path analog quantity output modules are expanded; 2 traction servo controllers for driving the steering wheel of the trolley to move forward and backward; 4 steering servo controllers for driving the bogie to steer; 1 frequency converter for driving the platform turnover motor; is provided with 12 paths of 4 steering wheel in-place position sensors; 4-channel analog quantity rotation angle sensor; an in-place sensor for 2-way turnover; 1 industrial handheld wireless station; 1 wired remote controller; 1, displaying information on a 10-inch human-computer interface touch liquid crystal screen; an 8-way obstacle ultrasonic radar detection sensor; 48 lead-acid power batteries and 2 inverters are used as power supplies.

The automatic moving system for the spent fuel storage grillwork for the nuclear island fuel plant is characterized in that: the safety system comprises emergency braking, sound-light alarming, safe edge touching, radar detection and operation locking,

wherein the sound-light alarm devices are arranged at four corners of the movable platform truck;

the emergency brake buttons are arranged at the four corners of the mobile platform vehicle and the middle position in the length direction;

the safety touch edge is arranged around the mobile platform car and used for immediately stopping the mobile car and giving an obstacle alarm when the safety touch edge collides with a foreign object;

radar detection, 1 set of entrance obstacle ultrasonic radar detection sensor is respectively arranged at the head and the tail of the moving platform truck

The operation locking is used for driving the output to be interlocked with the turnover mechanism, and locking between the moving platform truck and the turnover mechanism is achieved.

The automatic moving system for the spent fuel storage grillwork for the nuclear island fuel plant is characterized in that the power system comprises a battery, the battery is a storage battery pack, and the storage battery pack is a rechargeable battery.

The invention has the following remarkable effects: the moving mechanism is applied below a spent fuel storage grid and is used for realizing automatic moving and walking when the grid is introduced.

In addition, the size of the whole machine meets the regional condition limit (the regional condition of the introduction and the overturning of the spent fuel storage grillwork is shown in figure 2), when the spent fuel storage grillwork introduction and overturning device is designed, the condition limit that the width of an entrance of an expansion region is 5450mm and the height of the entrance is 5000mm is considered, and the condition that the height of a wall body is limited by +6700mm and +5750mm of a hoisting hole of 0 meter is considered, the design size of the introduction and overturning device is prevented from interfering with the entrance, enough space is ensured, so that the device can smoothly and automatically pass through the entrance of the expansion region under the condition of carrying the grillwork, and can automatically overturn for 90 degrees under the condition that the hoisting hole of 0 meter is used (the schematic diagram is shown in figure 3).

Drawings

FIG. 1 is a schematic diagram of grid introduction and inversion concepts;

FIG. 2 is an action diagram of FIG. 1;

FIG. 3 is an enlarged view of a portion of FIG. 2;

FIG. 4 is a schematic view of the automatic introduction and inversion of the grid-in its original state;

FIG. 5 is a schematic view of the automatic introduction and turning of the grid-turned over;

FIG. 6 is a schematic view of the main structure;

FIG. 7 is a schematic diagram in the form of a main block diagram;

FIG. 8 is a schematic view of a mobile platform;

FIG. 9 is an exploded view of the major components of the mobile platform;

FIG. 10 is an overall view of the active steering wheel set;

FIG. 11 is another angular view of FIG. 10;

FIG. 12 is an exploded view of an active rudder wheel set;

FIG. 13 is an overall view of the driven steering wheel set;

FIG. 14 is another angular view of FIG. 10;

FIG. 15 is an exploded view of the driven rudder wheel set;

FIG. 16 is a view showing the assembly relationship between the seesaw group and the wheel;

FIG. 17 is an overall view of the seesaw assembly;

FIG. 18 is a view from another angle of FIG. 17;

FIG. 19 is a bottom view of FIG. 17;

fig. 20 is an exploded view of the paddle set;

FIG. 21 is a schematic view of a vehicle body structure frame configuration;

FIG. 22 is a bottom view of FIG. 21;

FIG. 23 is a schematic view of a carrying mesa structure;

fig. 24 is a schematic cross-sectional structure of fig. 23.

Wherein, 1 tooth roller, 2 tooth rollers, 3 walking wheels, 4 driving mechanisms, 5 turnover mechanisms, 6 moving platform vehicles, 7 fuel grillage needing to be turned over, 8 auxiliary supports, 9 integral frames, 10 hoisting devices, 11 human-computer interaction interfaces, 12 cabinets, 13 charging sockets, 14 observation holes, 15 emergency stop buttons, 16 safety contact edges, 17 safety radars, 18 driving wheels, 19 driven wheels, 20 battery packs, 21 rocker assemblies, 22 steering gears, 23 steering reducers, 24 steering click protective sleeves, 25 steering motors, 26 slewing bearings, 27 rubber-coated wheels, 28 walking reducers, 29 wheel mounting frames, 30 walking motors, 31 steering pinions, 32 rubber-coated wheels, 33 rocker bearing chambers, 34 driving steering wheel sets, 35 driven steering wheel sets, 36 rocker structure frames, 37L-shaped bearing tables, 38 grillage fixing devices, 39 spent fuel storage grillage, 40 turnover mechanisms, 41 polyethylene protective plates, 42 grid fixing binding bands and 43 turnover machine structure frames.

Detailed Description

Description of the working principle

The automatic overturning transport trolley can control 4 steering wheels to run by operating 3 modes of a wireless industrial remote controller, a wired industrial remote controller or a human-computer interface. The driving modes comprise forward movement, backward movement, translation at 180 degrees left and right, left rotation and right rotation. The running speed meets the requirements of 0-20m/min during heavy load and 30m/min during no load, and the speed is adjustable. The low-speed, medium-speed and high-speed modes are selected by switching the 3-gear switch. The forward and backward movement of the trolley is controlled by the push and pull of the left rocker. The rocking bar is provided with five gears, and each speed under the three speed modes can be regulated by 5 gears.

The movable platform car adopts diagonal drive, and automobile body the place ahead is equipped with and turns to the crane span structure simultaneously, turns to the crane span structure and passes through wane structure and car connection, when unevenness appears in the ground, reach the horizontality between automobile body mesa and the ground through the wane structure, rear wheel wheelset independently fixes on the automobile body, two independent wheelsets at the back and preceding one set turn to the crane span structure and constitute one set of bearing system, according to three one-tenth plane principle, guarantee four wheels stable contact ground, the unsettled situation of wheelset can not appear and take place.

The turnover mechanism loaded on the vehicle body can be controlled to move by operating 3 modes of a wireless industrial remote controller, a wired industrial remote controller or a human-computer interface. The turnover mechanism can rotate 90 degrees and turn from a horizontal position to a vertical position. Meanwhile, the safety locking function is completed through a program, and when the turnover mechanism reaches a vertical position, the system automatically stops turnover through position information fed back by in-place sensors arranged on two sides of the turnover mechanism so as to protect stable hoisting of the storage grillwork. The turnover machine can send a driving instruction through the handheld remote controller only after the turnover mechanism on the vehicle body is horizontally and stably stopped in place. All the functions of running, turning and the like are completed by a hand-held remote controller, and the whole process of transportation can be completed by one person.

8 obstacle ultrasonic radar detection sensors are arranged on the periphery of the vehicle body, so that collision with pedestrians and other objects can be avoided in the transportation process. The periphery of the vehicle body is further provided with an auxiliary physical anti-collision device which is used as a final safety barrier for pedestrians and other objects. The tilter can be accompanied with corresponding light early warning and sound prompt when driving, early warning and emergency stop. The vehicle body is also provided with 8 emergency stop devices for preventing the tilter from emergency stop under any condition.

The man-machine conversation is realized by three modes, and an operator can input instruction information through keys in a handheld wired or wireless remote controller, control console keys and a touch screen operation interface respectively. And the trolley operation parameters including the operation speed, the operation direction, the battery protection value and the like are set through the touch screen. The running speed and the running direction of the trolley, the in-place turning of the trolley, the voltage state of a battery, the running current of a motor, the running state of a servo controller, fault alarming, fault code displaying and the like are monitored and displayed.

The mobile platform turnover vehicle is provided with flashing alarm lamp devices at four corners of the vehicle, the vehicle body is internally provided with a voice alarm module, and the mobile platform vehicle can emit red light flashing and voice warning sounds in the driving process so as to prevent workers from mistakenly entering an operation area to cause collision accidents.

Emergency brake buttons are arranged at four corners and the middle position in the length direction of the mobile platform turnover vehicle, and the buttons can be pressed under special conditions to enable the mobile vehicle to stop unconditionally. The button is arranged at the four corners of the vehicle body and in the middle of the vehicle body in the longitudinal direction.

The mobile platform overturning vehicle is provided with an anti-collision safety touch edge, when the safety touch edge collides with a foreign object, the mobile vehicle stops immediately and gives out an obstacle alarm, and after the foreign object moves away from a route, the mobile vehicle can continue to run only by manually pressing a confirmation button for safety.

The periphery of the turning vehicle head and the vehicle tail body of the moving platform vehicle is provided with 8 obstacle ultrasonic radar detection sensors serving as an obstacle avoidance protection mechanism, when obstacles continuously exist in the driving direction, the moving vehicle runs at a reduced speed, if the obstacles are not removed within 1 second, the moving platform vehicle stops immediately and gives an obstacle alarm, after the obstacles disappear, the moving platform vehicle is automatically started, and the work before the stopping is continuously executed.

The driving output is interlocked with the turnover mechanism program, so that the locking between the moving platform car and the turnover mechanism is realized. The grid frame turnover mechanism has the limiting protection function after 90-degree turnover, ensures that the grid frame turnover position is accurate, and can stop at any position in the turnover process of the grid frame and realize self-locking during parking. The automatic locking protection function of sudden power failure and parking, the grillwork keeps stable and immovable, and is safe and reliable.

And a storage battery pack is adopted to provide a power source for the device. The battery pack has long charging and discharging service life, stable voltage characteristics, quick charging and long service time of single charging. The vehicle is also provided with a 380V manual charging station which is provided with a standard industrial plug to be in butt joint with the battery.

Detailed design description of automatic moving system of spent fuel storage grillwork for nuclear island fuel plant

Structural assembly

Driving part

Design and description of active rudder wheel set

The initiative helm gear group passes through the slewing bearing outer lane and is in the same place wheel group and automobile body bolted connection, drives the pinion through turning to the servo motor speed reducer, and the pinion drives the slewing bearing outer lane, because outer lane and automobile body are together fixed, so the pinion is when making relative rotary motion with the slewing bearing outer lane to realize that the pinion drives whole wheel group and carries out 360 degrees rotations, and then realize turning to and the translation function of automobile body. The inner ring of the slewing bearing is connected with the wheel mounting frame through a bolt, and the polyurethane wheel is driven to move forwards and backwards by driving the servo motor reducer.

Design and description of driven rudder wheel set

The driven steering wheel set has the same steering function as the driving wheel set, the wheel set is connected with the vehicle body through the slewing bearing outer ring through bolts, the pinion is driven by the steering servo motor reducer, the pinion drives the slewing bearing outer ring, and because the outer ring is fixed with the vehicle body, the pinion drives the whole wheel set to rotate 360 degrees when making relative rotation movement with the slewing bearing outer ring, so that the steering and translation functions of the vehicle body are realized.

Design and description of warped plate set

The seesaw group mainly comprises a seesaw structure frame, a driving rudder wheel group, a driven rudder wheel group, a seesaw bearing seat and the like, wherein the seesaw group is connected with a vehicle body through the seesaw bearing seat, the middle of the seesaw group is fixed, and the two sides can brake and adjust according to the concave-convex condition of the ground. The driving rudder wheel set provides linear motion power and a steering function of the wane set, and the driven rudder wheel set provides a steering function so as to realize the functions of forward and backward steering and translation of the wane, and further realize the functions of forward, backward, left-turn, right-turn and 180-degree left-right translation of the whole vehicle. The driving rudder wheel group and the driven rudder wheel group are shown in detail in 7 and 8.

Vehicle body design and description

The vehicle body is mainly formed by welding high-quality carbon steel plates and is mainly made of Q345D. The local design of the car body adopts the structural design principle of a box beam, and the box beam surface has good structural performance.

Design and description of load-bearing table

The bearing table top is arranged on the automatic turnover mechanism in an L-shaped arrangement mode, the polyethylene plates are paved on the surface of the bearing table top, and damage to the spent fuel storage grillwork is avoided.

Control system

The electric control part of the automatic overturning transport trolley mainly takes a Siemens PLC S7-200 SMART programmable controller ST60 as a core CPU, and 2 blocks of 16-path digital quantity input modules, 1 block of 8-path analog quantity input modules and 1 block of 4-path analog quantity output modules are expanded; 2 traction servo controllers for driving the steering wheel of the trolley to move forward and backward; 4 steering servo controllers for driving the bogie to steer; 1 frequency converter for driving the platform turnover motor; is provided with 12 paths of 4 steering wheel in-place position sensors; 4-channel analog quantity rotation angle sensor; an in-place sensor for 2-way turnover; 1 industrial-grade handheld wireless station; 1 wired remote controller; 1, displaying information on a 10-inch human-computer interface touch liquid crystal screen; an 8-way obstacle ultrasonic radar detection sensor; 48 lead-acid power batteries and 2 inverters are used as power supplies.

PLC controller

The Siemens S7 series PLC is adopted, has strong expansion capability and strong module system, and supports the communication functions of wireless serial ports and wireless Ethernet.

Powerful, compact structure and economy. The Siemens SIMATIC S7 universal controller can save installation space and has the characteristic of modular design. A large number of modules can be used to expand a centralized system or a system that creates a decentralized architecture, depending on the task at hand, and to promote cost-effective economics of spare parts.

And the PLC is used for completing tasks of receiving all instruction operations of an operator through a wired or wireless remote controller and driving the touch screen to monitor the running state in the normal operation process. And monitoring a protection command in the safety system in real time, and outputting a command to drive the electric transmission device to operate or stop. And monitoring the discharging condition of the battery and prompting charging acousto-optic alarm. The driving output turnover mechanism operates to realize the locking between the moving platform truck and the turnover mechanism.

Human-machine conversation

The man-machine conversation is realized by three modes, an operator can respectively input instruction information through keys of a handheld wired or wireless remote controller, keys of an operation table and keys in the running section of a touch screen, trolley running parameters including running speed, running direction, battery protection value and the like are set through the touch screen, and the running speed, the running direction, the in-place of a turnover machine, the voltage state of a battery, the running current of a monitoring motor, the running state of a servo motor, fault alarm, fault code display and the like are monitored and displayed.

Control mode

The mobile platform car is provided with a manual control (wired/wireless remote controller), the mobile platform car is provided with a manual starting mechanism, when the mobile platform car is switched into a manual starting state, the mobile platform car is automatically stopped but cannot be automatically started after reaching a parking spot, an operation command cannot be automatically executed, and related actions need to be executed according to a remote control instruction of a field operator.

Security system

Sound and light alarm

Acousto-optic alarm devices are installed at four corners of the moving platform car, and the moving platform car can emit alarm lamp flashing and alarm sound in the driving process so as to prevent workers from mistakenly entering an operation area to cause collision accidents.

Emergency brake

Emergency brake buttons are arranged at four corners of the moving platform car and in the middle of the long direction, and the buttons can be pressed under special conditions to enable the moving platform car to stop unconditionally. The button is arranged at the four corners of the vehicle body and in the middle of the vehicle body in the longitudinal direction.

Safety contact edge

The moving platform car is provided with an anti-collision safe touch edge, when the safe touch edge collides with a foreign object, the moving car stops at once and gives out an obstacle alarm, and after the foreign object moves away from the air route, the moving car can continue to operate only by manually pressing a confirmation button for safety.

Radar detector

The front end and the rear end of a moving platform vehicle carrier are respectively provided with 1 set of entry obstacle ultrasonic radar detection sensors serving as an obstacle avoidance protection mechanism, when obstacles exist in the driving direction continuously, the moving platform vehicle runs at a reduced speed, if the obstacles are not removed within 1 second, the moving platform vehicle stops immediately and sends out an obstacle alarm, after the obstacles disappear, the moving platform vehicle is automatically started, and the work before the stop is continuously executed.

Operation locking:

Power system

Battery and charging

The mobile platform car adopts a storage battery pack to provide a power source for the mobile platform car. The battery pack is one-use, has long charging and discharging service life, stable voltage characteristic, quick charging and long service time of single charging. In addition, the vehicle-mounted should also be equipped with manual charging station, and charging wire input end length is at least 5M, and output end length is at least 5M, is equipped with standard industry plug and battery butt joint.

Description of automatic introduction process of spent fuel storage grillwork for nuclear island fuel plant

The framework is transported to the outside of the 0m expansion area of the K area by a large piece yard through a flat car;

hoisting a spent fuel storage framework to the surface A of the bearing table of the automatic lead-in system moving platform car by a truck crane, and fixing the spent fuel storage framework by a framework fixing binding band;

an operator resets all emergency stop buttons of the mobile platform truck, and when the mobile platform truck can move as shown on the control screen, the operator can operate the remote controller to move the platform truck (at the moment, the turnover mechanism is locked and cannot move);

an operator moves the spent fuel storage grillwork to a specified position to be turned over through the operations of forward movement, backward movement, 180-degree translation and the like of the platform truck;

an operator turns the grillwork by operating the turning mechanism, and the movable platform car is automatically locked when the turning mechanism turns the grillwork, so that the operation of advancing, retreating, translation left and right by 180 degrees and the like can not be carried out, and the safety of the grillwork in the turning process is ensured;

when the grillage is turned over by 90 degrees, the turning mechanism is automatically stopped and kept stable, the grillage is vertically seated on the surface B of the bearing table, an operator connects an auxiliary crane 10t hook of a fuel plant in the K region with the grillage through a special sling, and removes a grillage fixing binding band;

lifting an auxiliary crane 10t hook, introducing the grillwork into a K region +20 m fuel plant, and finally positioning the grillwork in place in a spent fuel pool through the auxiliary crane for position and elevation adjustment;

an operator operates the turnover mechanism to rotate anticlockwise to return to an initial position;

an operator operates the remote controller to move the mobile platform truck to the position of the first receiving grillwork outside the 0m expansion area of the K area for the next cycle operation through the functions of forward movement, backward movement, left-right translation at 180 degrees and the like of the platform truck.

The invention creates the improvement innovation point that: the electric walking platform with the steering wheel structure carries the tilter with the large-scale gear ring structure, is matched with a safety control system formed by a safety sensor and the like, realizes automatic introduction of a grillwork by operating a wireless industrial remote controller or a wire control handle, improves the working efficiency while reducing the human input, reduces the quality safety risk and realizes the mechanical installation automation.

Claims

1. The utility model provides a nuclear island is spent fuel storage framework automatic moving system for fuel factory building which characterized in that: comprises that

The driving part is used for driving the automatic moving system to move;

the control system is used for controlling the whole system;

a power system: for providing energy to the entire system.

2. The automatic moving system of the spent fuel storage grid for the nuclear island fuel plant as claimed in claim 1, wherein: the driving system comprises a driving rudder wheel set, a driven rudder wheel set, a warped plate set, a vehicle body and a bearing table board which are arranged in a combined mode.

3. The automatic moving system of the spent fuel storage grid for the nuclear island fuel plant as claimed in claim 2, wherein: the initiative helm gear group pass through the slewing bearing outer lane with wheel group and automobile body bolted connection together, drive the pinion through turning to the servo motor speed reducer, the pinion drives the slewing bearing outer lane, because outer lane and automobile body are together fixed, consequently the pinion is when making relative rotary motion with the slewing bearing outer lane, thereby realize that the pinion drives whole wheel group and carries out 360 degrees rotations, and then realize turning to and the translation function of automobile body, the slewing bearing inner lane is in the same place with wheel mounting bracket bolted connection, drive the polyurethane wheel through driving the servo motor speed reducer and carry out the back movement that advances.

4. The automatic moving system of the spent fuel storage grid for the nuclear island fuel plant as claimed in claim 3, wherein: driven steering wheel group turn to the function and drive wheel group the same, and through slewing bearing outer lane with wheel group and automobile body bolted connection together, drive the pinion through turning to the servo motor speed reducer, the pinion drives the slewing bearing outer lane, because outer lane and automobile body are together fixed, therefore the pinion is when making relative rotary motion with the slewing bearing outer lane to realize that the pinion drives whole wheel group and carries out 360 degrees rotations, and then realize turning to and the translation function of automobile body.

5. The automatic moving system of the spent fuel storage grid for the nuclear island fuel plant as claimed in claim 4, wherein: the wane group mainly by the wane structure frame, initiative rudder wheel group, driven rudder wheel group, the wane bearing frame etc. is constituteed, wherein the wane group passes through the wane bearing frame and is in the same place with automobile body bolted connection, realize the centre fixed, both sides can brake the adjustment function according to the unsmooth condition in ground, initiative rudder wheel group provides wane group rectilinear motion power and turns to the function, driven rudder wheel group provides the function that turns to, in order to realize that the wane gos forward and retreat and turn to the translation function, thereby realize advancing of whole car, retreat, turn left, turn right, 180 left right translation function.

6. The automatic moving system of the spent fuel storage grid for the nuclear island fuel plant as claimed in claim 5, wherein: the car body is mainly formed by welding high-quality carbon steel plates, the main material is Q345D, the local design of the car body adopts the structural design principle of a box-type beam, and the box-type beam surface has good structural performance.

7. The automatic moving system of the spent fuel storage grid for the nuclear island fuel plant as claimed in claim 6, wherein: the bearing table board is arranged on the automatic turnover mechanism in an L-shaped arrangement mode, the polyethylene plates are paved on the surface of the bearing table board, damage to the spent fuel storage grillwork is avoided, in addition, the spent fuel storage grillwork fixing devices are arranged on two sides of the turnover table board, movement of the spent fuel storage grillwork in the transportation and turnover processes is prevented, and equipment is effectively protected from being damaged.

8. The automatic moving system of the spent fuel storage grid for the nuclear island fuel plant as claimed in claim 7, wherein: the control system comprises a PLC controller,

the PLC takes a Siemens PLC S7-200 SMART programmable controller ST60 as a core CPU, and 2 blocks of 16-path digital quantity input modules, 1 block of 8-path analog quantity input modules and 1 block of 4-path analog quantity output modules are expanded; 2 traction servo controllers for driving the steering wheel of the trolley to move forward and backward; 4 steering servo controllers for driving the bogie to steer; 1 frequency converter for driving the platform turnover motor; is provided with 12 paths of 4 steering wheel in-place position sensors; 4-channel analog quantity rotation angle sensor; an in-place sensor for 2-way turnover; 1 industrial-grade handheld wireless station; 1 wired remote controller; 1, displaying information on a 10-inch human-computer interface touch liquid crystal screen; an 8-way obstacle ultrasonic radar detection sensor; 48 lead-acid power batteries and 2 inverters are used as power supplies.

9. The automatic moving system of the spent fuel storage grid for the nuclear island fuel plant as claimed in claim 8, wherein: the safety system comprises emergency braking, sound-light alarming, safe edge touching, radar detection and operation locking,

10. The automatic moving system of the spent fuel storage grid for the nuclear island fuel plant as claimed in claim 9, wherein: the power system comprises a battery, wherein the battery is a storage battery pack, and the storage battery pack is a rechargeable battery.