CN115472320A

CN115472320A - Reactor retirement activity operating device

Info

Publication number: CN115472320A
Application number: CN202211167428.6A
Authority: CN
Inventors: 张振楠; 刘帆; 钟香斌; 李森权; 李强; 梁玮伦
Original assignee: China General Nuclear Power Corp; China Nuclear Power Engineering Co Ltd; CGN Power Co Ltd; Lingao Nuclear Power Co Ltd
Current assignee: China General Nuclear Power Corp; China Nuclear Power Engineering Co Ltd; CGN Power Co Ltd; Lingao Nuclear Power Co Ltd
Priority date: 2022-09-23
Filing date: 2022-09-23
Publication date: 2022-12-13

Abstract

The invention discloses a reactor retirement activity operating device which comprises an annular rail, a first bridge, a second bridge, a rotating mast and an operating tool, wherein the annular rail is arranged on the first bridge; the annular rail is arranged at the edge of the opening of the reactor pit, and the first bridge and the second bridge respectively span the annular rail and are supported on the annular rail by two opposite ends of the first bridge and the second bridge; one end of the rotary mast is sequentially and rotatably connected to the second bridge frame and the first bridge frame along the axial direction of the rotary mast, and the other opposite end of the rotary mast extends along the interior of the reactor pit; the operating tool is arranged on the swiveling mast, the swiveling mast is rotatable about its own axis, and the operating tool is movable up and down in the extension direction of the swiveling mast. Different operating tools are installed on the rotary mast, so that different reactor decommissioning activities can be completed in the reactor pit instead of manpower, the working efficiency is improved, and the radiation quantity absorbed by personnel is reduced. One end of the rotating mast is provided with two rotating support connection points on the second bridge frame and the first bridge frame, so that the rotating mast has better rotating stability.

Description

Reactor retirement activity operating device

Technical Field

The invention relates to the technical field of reactor decommissioning, in particular to a reactor decommissioning active operation device.

Background

When a reactor enters the decommissioning stage, due to site limitations, reactor unloading, equipment dismantling, cleaning and decontamination, waste cutting and other activities are often performed in a reactor pit and a reactor pool. It is common practice in the art to deploy a tool for performing an activity on a reactor pool and then extend the tool into a pit for personnel to work, where typical operating equipment is arranged as follows:

(1) A sitting bottom type. Firstly, installing an operation device (such as decontamination, cutting, dismantling and the like) at the bottom of a reactor pit/reactor pool in advance, then placing a radioactive component to be treated above or on the side surface of the operation device, and performing a task by a person through the action of a video monitoring or visual control device;

(2) And (4) hanging on a wall. Installing an operation device (such as decontamination, cutting, dismantling and the like) on the side wall of a reactor pit/a reactor pool, wherein the operation device can be fixedly installed (namely, a base of the operation device is fixed at a specific position and an upper execution mechanism such as a mechanical arm or a working head moves to execute a task) or movably installed (namely, the operation device is directly installed on a movable track and moves up and down or left and right through transmission modes such as a lead screw, a rack, an electric slider and the like, and after a person controls the operation device to be in place, the operation such as cutting, dismantling and the like is started;

(3) And (4) clamping. The operating device is provided with mechanisms such as clamping, magnetic attraction and the like and is directly fixed on the surface of the radioactive part to be treated for operation;

(4) The suspension type. The operating device is connected to a travelling crane of the reactor plant through a lifting rope or a lifting rod (soft or hard), and the travelling crane controls the posture of the operating device and provides lifting force to carry out operation.

(5) And (4) a manual operation mode. In some reactor decommissioning cases, workers are dispatched directly to the surface of the pit and manually operated, which is common in the decommissioning of old nuclear facilities in the loosely regulated european and american countries. But is severely banned domestically because of the exposure of the personnel to too high radiation.

When the reactor is retired, various mechanical equipment is often required to be introduced for hoisting, dismantling, cutting and decontamination, the space in a reactor pit and a reactor water tank is narrow, the radioactivity level is high, if equipment is replaced every time one type of operation is carried out, the operation is time-consuming and labor-consuming, field workers can absorb more radiation, and the damage is extremely large.

Disclosure of Invention

The invention aims to provide a reactor retirement activity operating device.

The technical scheme adopted by the invention for solving the technical problem is as follows: providing a reactor decommissioning movable operating device, wherein the reactor decommissioning movable operating device comprises an annular rail, a first bridge, a second bridge, a rotating mast and an operating tool;

the annular rail is arranged at the edge of the reactor pit opening, and the first bridge and the second bridge respectively span the annular rail and are supported on the annular rail by two opposite ends;

one end of the rotary mast is sequentially and rotatably connected to the second bridge frame and the first bridge frame along the axial direction of the rotary mast, and the other opposite end of the rotary mast extends along the interior of the reactor pit;

the operating tool is arranged on the rotating mast, the rotating mast can rotate around the axis of the rotating mast, and the operating tool can move up and down along the extending direction of the rotating mast.

Preferably, the first and second bridges are rotatable along the endless track.

Preferably, a bearing connected with the rotating mast is arranged on the first bridge.

Preferably, a motor for driving the rotating mast to rotate is arranged on the second bridge, and the rotating mast is connected with the motor.

Preferably, a first transmission mechanism for driving the first bridge to rotate along the annular track and a second transmission mechanism for driving the second bridge to rotate along the annular track are arranged on the annular track.

Preferably, the first transmission mechanism includes a first rack disposed on the endless track, and a first gear engaged with the first rack, and the first bridge is connected to the first gear.

Preferably, the second transmission mechanism includes a second rack disposed on the endless track, and a second gear engaged with the second rack.

Preferably, the first transmission mechanism and/or the second transmission mechanism comprises a sliding lock.

Preferably, the operating means is slidably connected to the mast along a length of the mast.

Preferably, the rotating mast is a telescopic rod, and the operating tool can move up and down along the extending direction of the rotating mast through the telescopic action of the rotating mast.

The invention has at least the following beneficial effects: (1) Install on rotatory mast through changing different operation tool, the fungible manual work accomplishes different reactor decommissioning activities in the reactor pit, improves work efficiency, reduces the dose that personnel absorbed the radiation. (2) One end of the rotating mast is provided with two rotating support connection points on the second bridge frame and the first bridge frame, so that the rotating mast has better rotating stability.

Drawings

The invention will be further described with reference to the accompanying drawings and examples, in which:

fig. 1 is a schematic structural diagram of a reactor decommissioning active operation apparatus according to an embodiment of the present invention.

Detailed Description

For a more clear understanding of the technical features, objects and effects of the present invention, embodiments of the present invention will now be described in detail with reference to the accompanying drawings.

The terms "first", "second", etc. are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features.

Fig. 1 shows a reactor decommissioning mobile operating device according to an embodiment of the present invention, which includes a first bridge frame 1, a second bridge frame 2, an annular rail 3, a rotating mast 4, and an operating tool 5;

the annular rail 3 is arranged at the edge of the opening of the reactor pit, and the first bridge 1 and the second bridge 2 respectively span the annular rail 3 and are supported on the annular rail 3 by two opposite ends of the first bridge;

one end of the rotary mast 4 is sequentially and rotatably connected with the second bridge frame 2 and the first bridge frame 1 along the axial direction, and the other opposite end of the rotary mast 4 extends along the interior of the reactor pit;

the operating tool 5 is provided on the mast 4, the mast 4 being rotatable about its own axis, the operating tool 5 being movable up and down in the direction of extension of the mast 4. The operation tool 5 can move up and down along the extending direction of the rotating mast 4 under the driving of the rotating mast 4 so as to enter and exit the inside of the reactor pit.

Specifically, the reactor pit is located in the reactor pool, the opening edge of the reactor pit is substantially circular, and the circular rail 3 is provided along the shape of the opening edge of the reactor pit, and is also substantially circular. The first bridge 1 is substantially a portal structure, erected directly above the circular track 3 in the diameter direction, and supported on the circular track 3 at opposite ends. The second bridge 2 is substantially in the shape of a straight line, extends in the diameter direction of the endless track 3, and has opposite ends supported on the endless track 3. The second bridge 2 is located below the first bridge 1.

One end of the rotary mast 4 is sequentially and rotatably connected to the centers of the second bridge frame 2 and the first bridge frame 1 in the length direction along the axial direction, and the other opposite end of the rotary mast 4 extends to the reactor pit along the circle center of the annular track 3. Thus, one end of the rotating mast 4 is provided with two rotating support connection points on the second bridge frame 2 and the first bridge frame 1, and the rotating mast has better rotating stability.

One movement dimension of the operating tool 5 is increased through the free rotation of the rotary mast 4, so that some operating tools 5 which are simple in structure and cannot move freely can also play a role, and the phenomenon that the operating tools 5 on the mechanical arm 9 and other devices which are serious in death are driven to rotate by the rotation of the mechanical arm is avoided. The rotating mast 4 drives the operating tool 5 to rotate, and the rotating mast has good effects on the flexible degree of rotation and the rotating stability.

The operation tool 5 may be a tool for cleaning, cutting, or removing, and may be the robot arm 9, or a combination of the robot arm 9 and another tool. The corresponding operations of decontamination, cutting, dismantling and the like in the reactor pit can be completed by replacing different operation tools 5, the operation time is saved, the repeated research and development of a basic bracket for supporting the operation tools 5 are avoided, and the expenditure is saved. The operating tool 5 has a plurality of moving direction degrees of freedom under the drive of the rotating mast 4, can reach different depth positions and circumferential positions in the reactor pit, can provide high-precision positioning, realizes accurate cutting of equipment in the reactor, and can remotely and efficiently complete various decommissioning activities in the reactor pit.

In some embodiments, the first bridge 1 and the second bridge 2 are rotatable along the endless track 3.

Specifically, in the reactor decommissioning activity, need from last down hoist the object in the reactor pit (need hoist waste bin to the reactor pit in when the operation is demolishd to the reactor pit), first crane span structure 1 and second crane span structure 2 can follow 3 rotatory certain angles of ring rail this moment, avoid the object that needs hoist, prevent to take place accidents such as collision with hoist object.

In addition, when the cutting operation of the reactor decommissioning activity is performed, some waste gas collecting pipelines extend into a reactor pit from the edge of the reactor, at the moment, the positions of the first bridge frame 1 and the second bridge frame 2 can be rotated properly, a space is vacated for deploying other pipelines on one hand, and a safe space is reserved on the other hand, so that the pipelines are prevented from being rolled by the movement of the bridge frames.

In some embodiments, the first bridge 1 is provided with bearings (not shown) connected to the slewing mast 4 to enable the rotatable connection of the first bridge 1 to the slewing mast 4.

In some embodiments, a motor 70 for driving the rotating mast 4 to rotate is disposed on the second bridge 2, the rotating mast 4 is connected to the motor 70, and the rotating mast 4 is connected to an output shaft of the motor 70 and is driven by the motor 70 to rotate for a certain angle. By controlling the opening and closing of the motor 70 and the magnitude of the output torque, the rotation of the rotating mast 4 can be accurately controlled, so that the operating tool 5 is driven to rotate to a predetermined circumferential position in the reactor pit.

Specifically, a motor bracket 71 is mounted at the center of the second bridge 2 in the length direction, and the motor 70 is mounted on the motor bracket 71. The electrical lines of the motor 70 may extend along the first bridge 1 to the control cabinet 6.

In some embodiments, the endless track 3 is provided with a first transmission mechanism (not shown) for driving the first bridge 1 to rotate along the endless track 3, and a second transmission mechanism (not shown) for driving the second bridge 2 to rotate along the endless track 3.

Specifically, from the viewpoint of the overall stability of the reactor decommissioning movable operating device, when the first bridge frame 1 and the second bridge frame 2 are perpendicular to each other as viewed on the circumferential plane formed by the annular guide rail 3, the reactor decommissioning movable operating device has the best mechanical stability overall. However, in order to avoid some hoisting objects, when the first bridge 1 and the second bridge 2 are parallel to each other, two opposite semicircular openings are divided at the opening of the reactor pit, and at the moment, a space which is most beneficial for the hoisting objects above to enter the interior of the reactor pit is formed at the opening of the reactor pit.

It can be seen that when the first bridge 1 and the second bridge 2 respectively have separate transmission mechanisms, and the rotation motions of the first bridge 1 and the second bridge 2 along the circular track 3 are relatively independent, the relative positions of the first bridge 1 and the second bridge 2 can be flexibly adjusted, the positions of the first bridge 1 and the second bridge 2 can be flexibly changed according to different stages of the reactor decommissioning activity, and the execution efficiency of the reactor decommissioning activity can be improved.

Further, in some embodiments, the first transmission mechanism includes a first rack (not shown) disposed on the annular rail 3, and a first gear (not shown) engaged with the first rack, and the first bridge 1 is connected to the first gear. The first gear is connected to a first gear motor (not shown).

Further, in some embodiments, the second transmission mechanism includes a second rack (not shown) disposed on the endless track 3, a second gear (not shown) engaged with the second rack, and the second bridge 2 is connected to the second gear. A second gear motor (not shown) is connected to the second gear.

Specifically, the transmission mechanism adopts gear and rack transmission, which not only can provide accurate positioning, but also is convenient for the first bridge frame 1 and the second bridge frame 2 to be locked. It will be appreciated that in other embodiments, the first and second transmission mechanisms may be other forms of transmission mechanisms.

In some embodiments, a control cabinet 6 is mounted on the endless guide 3 at an end adjacent to the support end of the first bridge 1 for controlling the movement of the first and second actuators. The control system in the control cabinet 6 can control the opening and closing of the first gear motor and the second gear motor or the magnitude of output torque so as to control the movement of the first gear and the second gear. The lower end of the control cabinet 6 is connected with the annular rail 3 in a sliding mode, and when the first bridge frame 1 rotates along the annular rail 3, the control cabinet 6 rotates along the annular rail 3.

It will be appreciated that in other embodiments the control cabinet 6 may be located outside the looped track 3. Alternatively, the control system may exist in other forms such as a wireless remote controlled controller or the like.

In some embodiments, the first transmission mechanism and/or the second transmission mechanism includes a slide lock. Specifically, the first transmission mechanism is in gear and rack transmission, a sliding locking piece is arranged between the first gear and the first rack, and a control system in the control cabinet 6 controls the movement of the sliding locking piece to realize the control of two modes of locking and moving of the first transmission mechanism.

In other embodiments, the accuracy requirement for the motion mode control of the first transmission mechanism and the second transmission mechanism is different according to the actual requirement of the operating condition, and the slide locking members with the same function may be separately provided on the second transmission mechanism, or both the first transmission mechanism and the second transmission mechanism.

In some embodiments, the working tool 5 is slidably connected to the mast slewing 4 along the length of the mast slewing 4. For example, in the present embodiment, the swing mast 4 is provided with a slide block 8 connected to the swing mast 4, the slide block 8 is movable up and down along the length direction of the swing mast 4, and the operation tool 5 is slidably connected to the swing mast 4 by being mounted on the slide block 8. Alternatively, as shown in fig. 1, the operating tool 5 may be attached to the slider 8 by a small robot arm 9.

In some embodiments, the swing mast 4 is a telescopic rod, and the operation tool 5 is movable up and down in the extending direction of the swing mast 4 by the telescopic movement of the swing mast 4. For example, the swing mast 4 may be a telescopic sleeve or the like.

Two specific operations performed using the reactor decommissioning activity management apparatus of some embodiments of the present invention are provided below:

example 1: the reactor pit decontamination activity is performed, and the operation tool 5 is a decontamination tool in this embodiment, and is implemented as follows:

the cleaning tool is mounted on a base (not shown) having a one-dimensional rotation function, and the base is fixed to the slider 8. Specifically, it is considered that the reactor pit wall is flushed by using the nozzle of the decontamination tool, and the sprayed fluid can cover the pit wall without performing a complicated operation, so that the reactor pit wall is mounted on a base having a one-dimensional rotation function without using equipment such as the robot arm 9;

the slide block 8 moves along the extension direction of the rotating mast 4 to convey a decontamination tool to a specified height, the decontamination tool sprays decontaminant to cover a contaminated position, the first bridge frame 1 and the second bridge frame 2 are perpendicular to each other, and the whole device has better overall stability;

when the decontamination direction needs to be adjusted, the rotating mast 4 drives the decontamination tool to rotate horizontally, so that three hundred sixty degrees of coverage is realized. And the one-dimensional rotating base of the decontamination tool can slightly rotate to improve the decontamination operation area at the same height.

Example 2: carrying out reactor pit dismantling activities: the operating tool 5 is a gripping tool carried on a small robotic arm 9 in this embodiment, and the specific implementation process is as follows:

the slide block 8 drives the mechanical arm 9 to move to a specified position along the extension direction of the rotating mast 4;

the first bridge frame 1 and the second bridge frame 2 rotate to mutually vertical positions along the annular track 3, so that the integral stability of the device is improved;

the mechanical arm 9 is extended, the gripping tool is aligned to the graphite block, and after the graphite connection structure is damaged, the gripping tool completely grips the graphite block;

the first bridge frame 1 and the second bridge frame 2 rotate to the positions parallel to each other along the annular track 3, and a channel for the waste bin to enter the reactor pit is formed at the opening of the reactor pit, so that the situation that the position of the first bridge frame 1 and the position of the second bridge frame 2 at the opening of the reactor pit interfere with the waste bin when the waste bin is hoisted, the waste bin is difficult to enter the reactor pit or fall off, and other accidents are avoided;

the crane lifts the waste bin into the reactor pit;

the rotating mast 4 rotates to feed graphite blocks into the waste bin in cooperation with the robotic arm 9 and gripping tool.

The above description is only for the purpose of illustrating certain embodiments of the present invention and is not intended to limit the scope of the present invention, which is within the scope of the present invention, and all equivalent structures or equivalent processes that can be directly or indirectly implemented in other related arts and technologies using the contents of the present specification and the accompanying drawings are also included in the present invention.

Claims

1. The reactor decommissioning movable operation device is characterized by comprising an annular rail, a first bridge, a second bridge, a rotating mast and an operation tool;

the operating tool is arranged on the mast, which is rotatable about its own axis, and is movable up and down in the direction of extension of the mast.

2. The reactor decommissioning mobile operating device of claim 1, wherein the first and second bridges are rotatable along the endless track.

3. The reactor decommissioning activity operating device of claim 1, wherein a bearing connected to the rotating mast is provided on the first bridge.

4. The reactor decommissioning activity operating device of claim 1, wherein a motor is disposed on the second bridge for driving the rotating mast to rotate, and the rotating mast is connected with the motor.

5. The reactor ex-service activity handling device of any one of claims 1 to 4, wherein the endless track is provided with a first transmission mechanism for driving the first bridge to rotate along the endless track, and a second transmission mechanism for driving the second bridge to rotate along the endless track.

6. The reactor decommissioning activity operating device of claim 5, wherein the first transmission mechanism comprises a first rack disposed on the endless track, a first gear engaged with the first rack, and the first bridge is connected to the first gear.

7. The reactor decommissioning active operating device of claim 5, wherein the second transmission mechanism comprises a second rack disposed on the endless track, and a second gear engaged with the second rack.

8. The reactor decommissioning activity operating device of claim 5, wherein the first transmission mechanism and/or the second transmission mechanism comprises a slide lock.

9. The reactor decommissioning activity handling device of any one of claims 1-4, wherein the handling tool is slidably connected to the swing mast along a length of the swing mast.

10. The reactor decommissioning activity operating device of any one of claims 1 to 4, wherein the rotating mast is a telescopic rod, and the operating tool is movable up and down along an extending direction of the rotating mast by extension and retraction of the rotating mast.