CN114582537B

CN114582537B - Spent fuel storage grillwork automatic moving system for nuclear island fuel plant

Info

Publication number: CN114582537B
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: 2023-07-14
Anticipated expiration: 2040-11-30
Also published as: CN114582537A

Abstract

The invention belongs to a mobile system, and particularly relates to an automatic mobile system of a spent fuel storage grillwork for a nuclear island fuel plant. An automatic moving system of spent fuel storage grillwork for a nuclear island fuel plant, which is characterized in that: comprises a driving part 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, audible and visual alarm, safe edge touching, radar detection and operation locking functions; a power system: for providing energy to the overall system. The invention has the remarkable effects that: the moving mechanism is applied under the spent fuel storage grillwork and is used for realizing automatic movement and walking when the grillwork is introduced.

Description

Spent fuel storage grillwork automatic moving system for nuclear island fuel plant

Technical Field

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

Background

The existing spent fuel storage grillwork for the nuclear island fuel factory is a standard fixed structure grillwork, and in the process of transporting the spent fuel, the manual transportation is needed based on the self structural characteristics of the spent fuel storage grillwork for the nuclear island fuel factory and the limitation of the fuel factory environment, so that the working efficiency is low, a large amount of manpower, material resources and financial resources are wasted, the working efficiency is more serious, the great quality and safety risks exist, and the adverse factors are as follows:

the occupied site time is long: the 0 meter channel and the lifting hole of the K area are important ways for introducing all devices of the K area, and in the process of introducing and overturning the grid, the track needs to be manufactured, welded, assembled and fixed, the time for occupying the K area for 0 meter is long (1.5 months),

other professional equipment cannot be introduced to restrict the construction progress;

yi Kazu: because the 4 ground tanks are independent respectively and have smaller contact surfaces with the grids, the directions are extremely easy to deviate in the process of introducing the grids, so that interference with the rail edges is caused, blocking is generated, and the introduction cannot be performed;

the labor cost is high, and the working efficiency is low: in the process of introducing the grids, the grids are pushed into the lifting holes of 0m by manpower, and at least 20 people are required to complete the work due to heavy equipment and easy jamming. The labor cost input is more, and the working efficiency is lower;

waste of resources: after the grid is completely introduced, the rails need to be dismembered to be incapable of being used for the grid introduction of other projects, and waste materials can be processed only.

Disclosure of Invention

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

The invention is realized in the following way: an automatic movement system of spent fuel storage grillwork for nuclear island fuel plant, comprising

A driving part 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, audible and visual alarm, safe edge touching, radar detection and operation locking functions;

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

The automatic spent fuel storage grillwork moving system for the nuclear island fuel plant comprises a driving rudder set, a driven rudder set, a wane set, a car body and a bearing table top, wherein the driving rudder set, the driven rudder set, the wane set and the car body are arranged in a combined mode.

According to the spent fuel storage grillwork automatic moving system for the nuclear island fuel plant, the driving rudder wheel group is connected with the vehicle body through the slewing bearing outer ring, the pinion is driven by the steering servo motor speed reducer, the slewing bearing outer ring is driven by the pinion, and because the outer ring and the vehicle body are fixed together, when the pinion and the slewing bearing outer ring do relative rotation, the pinion drives the whole vehicle wheel group to rotate by 360 degrees, the steering and translation functions of the vehicle body are further realized, the slewing bearing inner ring is connected with the vehicle wheel mounting frame through the bolts, and the polyurethane vehicle wheels are driven to move forwards and backwards through the driving servo motor speed reducer.

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

According to the spent fuel storage grillwork automatic moving system for the nuclear island fuel plant, the warp plate group mainly comprises a warp plate structure frame, a driving rudder wheel group, a driven rudder wheel group, a warp plate bearing seat and the like, wherein the warp plate group is connected with a vehicle body through the warp plate bearing seat and a bolt, the middle is fixed, braking adjustment functions can be carried out on two sides according to the concave-convex condition of the ground, the driving rudder wheel group provides the linear motion power and the steering function of the warp plate group, the driven rudder wheel group provides the steering function, so that the forward and backward steering translation function of the warp plate is realized, and the forward, backward, left and right translation functions of the whole vehicle are realized.

According to the spent fuel storage grillwork automatic moving system for the nuclear island fuel plant, the vehicle body is mainly formed by welding high-quality carbon steel plates, the main material is Q345D, the vehicle body is partially designed by adopting the box-type beam structural design principle, and the box-type beam surface has good structural performance.

According to the automatic moving system of the spent fuel storage grillwork for the nuclear island fuel plant, which is described above, the bearing table surface is arranged on the automatic turnover mechanism and is in L-shaped arrangement, and the surface is paved with the polyethylene plates, so that damage to the spent fuel storage grillwork is avoided, and the two sides of the turnover table surface are provided with the spent fuel storage grillwork fixing devices and the spent fuel storage grillwork fixing devices, so that the spent fuel storage grillwork is prevented from moving in the transportation and turnover processes, and the equipment is effectively protected from damage.

The automatic movement system of the spent fuel storage grillwork for the nuclear island fuel plant comprises a PLC controller,

the PLC takes Siemens PLC S7-200 SMART programmable controller ST60 as a core CPU, and expands 2 blocks of 16 paths of digital quantity input modules, 1 block of 8 paths of analog quantity input modules and 1 block of 4 paths of analog quantity output modules; 2 traction servo controllers for driving steering wheels of the trolley to advance and retreat; 4 steering servo controllers for driving the steering of the trolley; 1 frequency converter for driving the platform overturning motor; 12 paths of 4 steering wheel in-place position sensors are arranged; 4 paths of analog quantity rotation angle sensors; 2 paths of in-place sensors for overturning; industrial-grade handheld wireless 1 station; a wired remote controller 1; 1, a 10 inch man-machine interface touches a liquid crystal screen to display information; 8 paths of obstacle ultrasonic radar detection sensors; 48 lead-acid power batteries and 2 inverters are used as power supply.

The above-mentioned spent fuel storage grillwork automatic moving system for nuclear island fuel plants, wherein: the safety system comprises emergency braking, audible and visual alarm, safe touch edge, radar detection and operation locking,

the audible and visual alarm device is arranged at four corners of the mobile platform truck;

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

the safety contact edge is arranged around the mobile platform truck and is used for immediately stopping the mobile platform truck and giving out obstacle alarm when the safety contact edge collides with a foreign object;

radar detection, namely, 1 set of inlet obstacle ultrasonic radar detection sensor is respectively arranged at the head and tail of a mobile platform truck

The operation lock is used for driving the output to be interlocked with the turnover mechanism, so that the lock between the mobile platform truck and the turnover mechanism is realized.

The system for automatically moving the spent fuel storage grillwork for the nuclear island fuel plant comprises a power system, wherein the power system comprises a battery, the battery is a storage battery, and the storage battery is a rechargeable battery.

The invention has the remarkable effects that: the moving mechanism is applied under the spent fuel storage grillwork and is used for realizing automatic movement and walking when the grillwork is introduced.

In addition, the whole machine size meets the regional condition limitation (the regional condition of the introduction and overturning of the spent fuel storage grillwork is shown in fig. 2), when the design of the spent fuel storage grillwork introduction and overturning device is carried out, the condition limitation of the width 5450mm and the height 5000mm of the entrance of the expansion area and the wall elevation limitation of 0 meter lifting holes +6700mm and +5750mm are considered, the design size of the introduction overturning device is required to avoid interference with the expansion area entrance, and enough space is ensured to ensure that the device smoothly and automatically passes through the expansion area entrance under the condition of carrying the grillwork and automatically overturns for 90 degrees under the lifting holes of 0 meter (the schematic diagram is shown in fig. 3).

Drawings

FIG. 1 is a schematic diagram of a lattice introduction and inversion concept;

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 diagram of automatic introduction and inversion of the trellis-original state;

FIG. 5 is a schematic diagram of automatic introduction and inversion of the trellis-inverted state;

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

FIG. 7 is a schematic diagram of a major block diagram;

FIG. 8 is a schematic diagram 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 the drive rudder unit;

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 unit;

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

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

FIG. 18 is another angular view of FIG. 17;

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

fig. 20 is an exploded view of a rocker set;

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

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

FIG. 23 is a schematic view of a load bearing mesa structure;

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

The device comprises a toothed roller 1, a toothed roller 2, a travelling wheel 3, a driving mechanism 4, a turnover mechanism 5, a movable platform truck 6, a fuel grid frame 7 to be turned, an auxiliary support 8, an integral frame 9, a hoisting device 10, a man-machine interaction interface 11, a cabinet 12, a charging socket 13, an observation hole 14, a scram button 15, a safety contact edge 16, a safety radar 17, a driving wheel 18, a driven wheel 19, a battery pack 20, a 21 rocker assembly 22, a steering gear 23, a steering reduction gear 24, a steering click protective sleeve 25, a steering motor 26, a slewing bearing 27, a rubber-coated wheel 28, a travelling reduction gear 29, a wheel mounting frame 30, a steering pinion 31, a rubber-coated wheel 32, a 33 teeterboard bearing chamber, a 34 driving rudder wheel group, a 35 driven rudder wheel group 36, a 37L-shaped bearing table top, a 38 grid frame fixing device, a 39 spent fuel storage grid frame 40, a turnover mechanism 41 polyethylene protective plate 42 grid frame fixing bands and a turnover machine structure frame 43.

Detailed Description

Description of the working principles

The automatic overturning transportation trolley can control 4 steering wheels to run by controlling a wireless and wired industrial remote controller or a human-computer interface in 3 modes. The running mode is forward and backward, and the running mode is translational left and right at 180 degrees. The running speed is 0-20m/min when the heavy load is met according to the requirement, the idle load is 30m/min, and the speed can be adjusted. The low speed, medium speed and high speed modes are selected by switching the 3-speed switch. The push and pull of the left rocker are used for controlling the forward and backward movement of the trolley. The rocker is provided with five gears, and each speed in three speed modes can be regulated by 5 gears.

The mobile platform truck adopts diagonal drive, and the automobile body the place ahead is equipped with turns to the crane span structure simultaneously, turns to the crane span structure and is connected with the automobile body through the wane structure, when the unevenness appears on ground, reaches the horizontality between automobile body mesa and the ground through the wane structure, and the rear wheel wheelset is independently fixed on the automobile body, and two independent wheelsets in the back and a set of crane span structure that turns to in the front constitute a set of bearing system, become a plane principle according to the three-point, guarantees that four wheels contact ground steadily, the unsettled situation emergence of wheelset can not appear.

The movement of the turnover mechanism loaded on the car body can also be controlled by operating a wireless or wired industrial remote controller or a man-machine interface 3 mode. So that the turnover mechanism can rotate 90 degrees and turn from the horizontal position to the vertical position. Meanwhile, the safety locking function is completed through a program, and when the turnover mechanism reaches the vertical position, the system automatically stops turnover to protect stable hoisting of the storage grillwork through position information fed back by the in-place sensors arranged on two sides of the turnover mechanism. The turnover machine can send a running instruction through the handheld remote controller only after the turnover mechanism on the vehicle body is horizontally stopped in place. All the functions of running, overturning and the like are completed by the handheld remote controller, and the whole process of completing transportation by single person operation can be completely realized.

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

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

The mobile platform turnover vehicle is provided with flashing alarm lamp devices at four corners of the vehicle, a voice alarm module is arranged in the vehicle body, and the mobile platform vehicle can send out red light flashing and voice alarm sounds in the driving process so as to prevent workers from entering an operation area by mistake to generate collision accidents.

The four corners and the middle position in the long direction of the mobile platform turnover vehicle are provided with emergency brake buttons, and the emergency brake buttons can be pressed down under special conditions to enable the mobile trolley to stop unconditionally. The button is arranged at four corners of the vehicle body and in the middle of the long-direction vehicle body.

The mobile platform overturning trolley is provided with an anti-collision safety contact edge, when the safety contact edge collides with an external object, the mobile trolley immediately stops, gives out obstacle alarm, and only when the external object moves away from a route, the safety button needs to be manually pressed down for safety, the mobile trolley can continue to run.

8 obstacle ultrasonic radar detection sensors are arranged around the turning vehicle head and the vehicle tail body of the mobile platform vehicle and used as obstacle avoidance protection mechanisms, when an obstacle exists continuously in the driving direction, the mobile platform vehicle runs at a reduced speed, if the obstacle is not released within 1 second, the mobile platform vehicle immediately stops and gives out an obstacle alarm, and after the obstacle disappears, the mobile platform vehicle is automatically started to continue to execute the work before stopping.

The driving output is interlocked with the turning mechanism program, so that the locking between the mobile platform car and the turning mechanism is realized. And the limit protection function after 90-degree overturning ensures that the overturning position of the grid is accurate, and the grid can be stopped at any position in the overturning process and is stopped for self-locking. The grid keeps stable and non-moving, safe and reliable due to the sudden power-off and parking self-locking protection function.

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

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

Structural composition

Drive part

Design and description of active steering wheel set

The driving rudder set is connected with the wheel set and the vehicle body through the slewing bearing outer ring, the pinion is driven by the steering servo motor speed reducer, and the pinion drives the slewing bearing outer ring. The slewing bearing inner ring is connected with the wheel mounting frame through bolts, and the polyurethane wheels are driven to move forwards and backwards through the driving servo motor speed reducer.

Driven steering wheel set design and description

The steering function of the driven steering wheel set is the same as that of the driving wheel set, the wheel set is connected with a vehicle body through a slewing bearing outer ring, a pinion is driven through a steering servo motor speed reducer, and the pinion drives the slewing bearing outer ring.

Design and description of the Rocker group

The wane group mainly comprises a wane structure frame, a driving rudder group, a driven rudder group, a wane bearing seat and the like, wherein the wane group is connected with a vehicle body through the wane bearing seat and is fixed in the middle, and two sides can be braked according to the concave-convex condition of the ground. The driving rudder set provides rectilinear motion power and steering function of the rocker set, and the driven rudder set provides steering function to realize the functions of forward and backward steering translation of the rocker, thereby realizing the functions of forward, backward, left-turning, right-turning and 180-degree translation of the whole vehicle. Wherein the driving rudder set and the driven rudder set are shown in detail in 7 and 8.

Vehicle body design and description

The car body is mainly formed by welding high-quality carbon steel plates, and the main material is Q345D. The local design of the car body adopts the structural design principle of the box girder, and the box girder has good structural performance.

Design and description of load-bearing table

The bearing table top is arranged on the automatic turnover mechanism and is in L-shaped arrangement, and the surface of the bearing table top is paved with a polyethylene plate, so that damage to the spent fuel storage grillwork is avoided, and in addition, the two sides of the turnover table top are provided with a spent fuel storage grillwork fixing device and a spent fuel storage grillwork fixing device, so that movement of the spent fuel storage grillwork in the transportation and turnover process is prevented, and equipment is effectively protected from being damaged.

Control system

The electric control part of the automatic overturning transportation trolley mainly takes Siemens PLC S7-200 SMART programmable controller ST60 as a core CPU, and expands 2 blocks of 16 paths of digital quantity input modules, 1 block of 8 paths of analog quantity input modules and 1 block of 4 paths of analog quantity output modules; 2 traction servo controllers for driving steering wheels of the trolley to advance and retreat; 4 steering servo controllers for driving the steering of the trolley; 1 frequency converter for driving the platform overturning motor; 12 paths of 4 steering wheel in-place position sensors are arranged; 4 paths of analog quantity rotation angle sensors; 2 paths of in-place sensors for overturning; industrial-grade hand-held wireless 1 station; a wired remote controller 1; 1, a 10 inch man-machine interface touches a liquid crystal screen to display information; 8 paths of obstacle ultrasonic radar detection sensors; 48 lead-acid power batteries and 2 inverters are used as power supply.

PLC controller

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

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

And the task completed by the PLC is that in the normal operation process, an operator is received to carry out all instruction operations through a wired or wireless remote controller, and the touch screen is driven to monitor the running state. And monitoring a protection command in the safety system in real time, and outputting the command to drive the electric transmission device to operate or stop. And monitoring the discharge condition of the battery, and prompting the charge and electro-optic alarm. The output turnover mechanism is driven to operate, and locking between the mobile platform truck and the turnover mechanism is achieved.

Man-machine dialogue

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

Control mode

The mobile platform truck is provided with a manual control (a wired/wireless remote controller), the mobile platform truck is provided with a manual starting mechanism, when the mobile platform truck is switched into a manual starting state, the mobile platform truck automatically stops after reaching a stopping point but cannot be automatically started or automatically execute an operation command, and related actions are required to be executed according to remote control instructions of a field operator.

Security system

Audible and visual alarm

The four corners of the mobile platform truck are provided with audible and visual alarm devices, and the mobile platform truck can give out alarm lamp flickering and warning sounds in the driving process so as to prevent workers from mistakenly entering an operation area to generate collision accidents.

Emergency braking

The emergency braking buttons are arranged at the four corners and the middle positions in the long direction of the mobile platform vehicle, and the mobile platform vehicle can be stopped unconditionally by pressing the emergency braking buttons under special conditions. The button is arranged at four corners of the vehicle body and in the middle of the long-direction vehicle body.

Safe touch edge

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

Radar detector

The moving platform truck headstock and the car tail are respectively provided with 1 set of obstacle ultrasonic radar detection sensor of entering as obstacle avoidance protection mechanism, when the obstacle exists continuously in the driving direction, the moving platform truck operates at a reduced speed, if the obstacle is not released within 1 second, the moving platform truck immediately stops and gives out an obstacle alarm, and after waiting for the obstacle to disappear, the moving platform truck automatically starts to continue to execute the work before stopping.

Operation blocking:

Power system

Battery and charging

The mobile platform truck adopts a storage battery pack to provide a power source for the mobile platform truck. The battery pack is provided with one battery, has long charge and discharge life, stable voltage characteristic, and long single charge service time, and can be rapidly charged. In addition, a manual charging station is also arranged on the vehicle, the length of the input end of the charging wire is at least 5M, the length of the output end of the charging wire is at least 5M, and a standard industrial plug is arranged for being in butt joint with a battery.

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

The grids are transported to the outside of the 0m expansion area of the K area by a large storage yard through a flat car;

hoisting the spent fuel storage grillwork to the surface A of the bearing table surface of the automatic introducing system mobile platform car through an automobile crane, and fixing the spent fuel storage grillwork by a grillwork fixing strap;

the operator resets all emergency stop buttons of the mobile platform truck, and when the mobile platform truck can move as displayed on the control screen, the operator can operate the remote controller to move the platform truck (at the moment, the turnover mechanism forms a lock and can not realize the action);

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

an operator performs grid overturning through operating the overturning mechanism, and when the overturning mechanism performs grid overturning, the mobile platform car is automatically locked and cannot perform advancing, retreating, 180-degree horizontal movement and other operations so as to ensure the safety in the grid overturning process;

when the grid is turned over by 90 degrees, the turnover mechanism automatically stops and keeps stable, the grid is vertically seated on the B surface of the bearing table surface, an operator connects an auxiliary crane 10t hook of the K-region fuel factory building with the grid through a special lifting rigging, and the grid fixing binding belt is removed;

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

the operator operates the turnover mechanism to rotate anticlockwise back to the initial position;

the operation personnel operate the remote controller to move the movable platform truck to the position outside the 0m expansion area of the K area for initially receiving the grid through the functions of forward movement, backward movement, 180-degree horizontal movement and the like of the platform truck to carry out the next circulation operation.

The innovation point of the invention is that: the electric walking platform with the steering wheel structure is provided with the overturning machine with the large gear ring structure, and is matched with a safety control system consisting of a safety sensor and the like, and automatic introduction of the grid is realized by operating a wireless industrial remote controller or a wire control handle, so that the labor input is reduced, the working efficiency is improved, the quality safety risk is reduced, and the mechanical installation automation is realized.

Claims

1. An automatic moving system of spent fuel storage grillwork for a nuclear island fuel plant, which is characterized in that: comprising

A driving part 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 overall system;

the driving system comprises a driving rudder set, a driven rudder set, a wane set, a car body and a bearing table top which are arranged in a combined mode;

the driving rudder set is characterized in that the driving rudder set is connected with a vehicle body through a slewing bearing outer ring, a pinion is driven by a steering servo motor speed reducer, the pinion drives the slewing bearing outer ring, and because the outer ring is fixed with the vehicle body, when the pinion and the slewing bearing outer ring do relative rotation, the pinion drives the whole wheel set to rotate for 360 degrees, the steering and translation functions of the vehicle body are further realized, the slewing bearing inner ring is connected with a wheel mounting frame through a bolt, and the driving servo motor speed reducer drives polyurethane wheels to move forwards and backwards;

the steering function of the driven steering wheel set is the same as that of the driving wheel set, the wheel set is connected with a vehicle body through a slewing bearing outer ring, a pinion is driven by a steering servo motor speed reducer, the pinion drives the slewing bearing outer ring, and the pinion drives the steering servo motor speed reducer to rotate in 360 degrees when the pinion and the slewing bearing outer ring relatively rotate, so that the pinion drives the whole wheel set to rotate in 360 degrees, and the steering and translation functions of the vehicle body are realized;

the rocker group mainly comprises a rocker structure frame, a driving rudder group, a driven rudder group, a rocker bearing seat and the like, wherein the rocker group is connected with a vehicle body through the rocker bearing seat and a vehicle body bolt, the middle is fixed, braking adjustment functions can be carried out on two sides according to the concave-convex condition of the ground, the driving rudder group provides rectilinear motion power and steering functions of the rocker group, the driven rudder group provides steering functions, so that the forward and backward steering translation functions of the rocker are realized, and the forward, backward, left and right turning and 180-degree left and right translation functions of the whole vehicle are realized.

2. The automated nuclear island fuel assembly spent fuel storage rack movement system of claim 1, wherein: 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 the structural design principle of a box beam, and the box beam surface has good structural performance.

3. The automated nuclear island fuel assembly spent fuel storage rack movement system of claim 2, wherein: the utility model discloses a bearing table surface set up on automatic tilting mechanism, be L shape and arrange, and the surface pavement polyethylene board, avoid spent fuel to store the grillwork damage, be provided with spent fuel in addition in tilting table surface both sides and store grillwork fixing device and, prevent its removal in transportation and upset in-process, effective protection equipment is not damaged.

4. The automated nuclear island fuel assembly spent fuel storage rack movement system of claim 3, wherein: the control system comprises a PLC controller and a control unit,

the PLC takes Siemens PLC S7-200 SMART programmable controller ST60 as a core CPU, and expands 2 blocks of 16 paths of digital quantity input modules, 1 block of 8 paths of analog quantity input modules and 1 block of 4 paths of analog quantity output modules; 2 traction servo controllers for driving steering wheels of the trolley to advance and retreat; 4 steering servo controllers for driving the steering of the trolley; 1 frequency converter for driving the platform overturning motor; 12 paths of 4 steering wheel in-place position sensors are arranged; 4 paths of analog quantity rotation angle sensors; 2 paths of in-place sensors for overturning; industrial-grade hand-held wireless 1 station; a wired remote controller 1; 1, a 10 inch man-machine interface touches a liquid crystal screen to display information; 8 paths of obstacle ultrasonic radar detection sensors; 48 lead-acid power batteries and 2 inverters are used as power supply.

5. The automated nuclear island fuel assembly spent fuel storage rack movement system of claim 4, wherein: the safety system comprises emergency braking, audible and visual alarm, safe touch edge, radar detection and operation locking,

6. The automated nuclear island fuel assembly spent fuel storage rack movement system of claim 5, wherein: the power system comprises a battery, wherein the battery is a storage battery pack, and the storage battery pack is a rechargeable battery.