阅读说明：本技术 控制棒夹持结构以及内置式控制棒驱动机构 (Control rod clamping structure and built-in control rod driving mechanism ) 是由 薄涵亮 *** 张作义 秦本科 赵陈儒 刘潜峰 王金海 于 2020-07-31 设计创作，主要内容包括：本发明涉及核反应堆控制棒水压驱动设备技术领域,尤其涉及一种控制棒夹持结构以及设有该组件的驱动机构。该控制棒夹持结构包括内套、定位机构和销爪机构,内套用于穿设在若干组水压缸的轴孔内,内套中设有用于供控制棒驱动轴沿轴向运动的通道,内套沿轴向依次设有至少两个安装位,相邻的安装位之间设有水压缸；每个安装位上分别安装有至少一组销爪机构以及至少一组定位机构,销爪机构用于夹持并带动控制棒驱动轴运动,相邻的销爪机构与定位机构之间成预设角度设置。本发明能减少抓取和移动时对控制棒驱动轴的磨损,并能消除零件加工及装配的误差以及位置偏差对控制棒驱动轴的移动准确性造成的不利影响。(The invention relates to the technical field of nuclear reactor control rod hydraulic drive equipment, in particular to a control rod clamping structure and a drive mechanism with the control rod clamping structure. The control rod clamping structure comprises an inner sleeve, a positioning mechanism and a pin claw mechanism, wherein the inner sleeve is used for being arranged in shaft holes of a plurality of groups of hydraulic cylinders in a penetrating mode, a channel for the control rod driving shaft to move along the axial direction is formed in the inner sleeve, the inner sleeve is sequentially provided with at least two installation positions along the axial direction, and the hydraulic cylinders are arranged between the adjacent installation positions; each installation position is respectively provided with at least one group of pin claw mechanisms and at least one group of positioning mechanisms, the pin claw mechanisms are used for clamping and driving the control rod driving shaft to move, and a preset angle is formed between every two adjacent pin claw mechanisms and the positioning mechanisms. The invention can reduce the abrasion to the control rod driving shaft during grabbing and moving, and can eliminate the adverse effects of part processing and assembling errors and position deviation on the moving accuracy of the control rod driving shaft.)

1. A control rod clamping structure is characterized by comprising an inner sleeve, a positioning mechanism and a pin claw mechanism, wherein the inner sleeve is used for being arranged in shaft holes of a plurality of groups of hydraulic cylinders in a penetrating mode, a channel for a control rod driving shaft to move along the axial direction is formed in the inner sleeve, the inner sleeve is sequentially provided with at least two installation positions along the axial direction, and the hydraulic cylinders are arranged between the adjacent installation positions; each installation position is respectively provided with at least one group of pin claw mechanisms and at least one group of positioning mechanisms, each pin claw mechanism is used for clamping and driving the control rod driving shaft to move, and the adjacent pin claw mechanisms and the positioning mechanisms are arranged at preset angles.

2. The control rod clamping structure as set forth in claim 1, wherein a mounting hole and a guide groove are respectively formed in the inner sleeve at each of the mounting locations, the mounting holes and the guide grooves being arranged at the predetermined angle; the pin claw mechanism penetrates through the mounting hole, and the positioning mechanism is assembled in the guide groove.

3. The crdm as set forth in claim 2, further comprising a connecting sleeve and a claw sleeve, wherein the pin-claw mechanism comprises a claw body and a connecting member, the connecting sleeve and the claw sleeve are sleeved outside the inner sleeve from inside to outside, one end of the claw body is pivotally connected to the connecting sleeve, the other end of the claw body is provided with a joint portion, two ends of the connecting member are pivotally connected to the connecting sleeve and the claw sleeve, respectively, and the connecting member can push the claw body to rotate by rotation, so as to push the claw body to rotate and drive the joint portion to pass through the mounting hole and be clamped on the crdm driving shaft.

4. The control rod clamping structure as set forth in claim 3, wherein a face of the joint portion facing the control rod drive shaft is provided with a first contact surface, an outer wall of the control rod drive shaft is provided with a second contact surface matching the first contact surface, and the first contact surface and the second contact surface clamp the joint portion to the control rod drive shaft by surface contact.

5. The control rod clamping structure as set forth in claim 3, wherein the connecting sleeve is provided with inner fixing holes, the claw sleeve is provided with outer fixing holes, and the inner fixing holes and the outer fixing holes are arranged in one-to-one correspondence in position; one end of the claw body is installed in one end of the inner fixing hole in a mode that the claw shaft can pivot, one end of the connecting piece is connected in the other end of the inner fixing hole in a mode that the connecting pin can pivot, and the other end of the connecting piece is connected in the outer fixing hole in a mode that the hinge pin can pivot.

6. The control rod clamping structure as set forth in claim 5, wherein the positioning mechanism comprises a positioning block and a plurality of positioning pins, the connecting sleeve is provided with positioning holes, and the positioning holes and the inner fixing holes are distributed at the preset angle; one end of the positioning block is fixed in the positioning hole through the positioning pins, the other end of the positioning block penetrates through the guide groove, and the guide groove is parallel to the movement direction of the control rod driving shaft.

7. The control rod clamping structure as set forth in claim 3, further comprising an axial compensation mechanism, the axial compensation mechanism comprising a spring frame and a spring body, an inner sleeve of the hydraulic cylinder is sleeved outside the inner sleeve, and a positioning sleeve is sleeved between the claw sleeve and the inner sleeve of the hydraulic cylinder; the inner sleeve is externally provided with a step, the spring frame is sleeved outside the inner sleeve and positioned in the positioning sleeve, and the spring frame is arranged between the step and the connecting sleeve; the spring body is pressed between the spring frame and the connecting sleeve.

8. The control rod clamping structure as set forth in claim 7, comprising a transfer pin jaw mechanism and a clamp pin jaw mechanism, the inner sheath having a first mounting location and a second mounting location thereon, respectively, the first mounting location being above the second mounting location, the transfer pin jaw mechanism being mounted at the first mounting location, the clamp pin jaw mechanism being mounted at the second mounting location, the clamp pin jaw mechanism being connected to the inner sheath by the axial compensation mechanism.

9. The control rod clamping structure as set forth in any one of claims 1 to 8, wherein the preset angle does not exceed 60 °.

10. A built-in control rod driving mechanism, which is characterized by comprising a lifting hydraulic cylinder, a transfer hydraulic cylinder, a clamping hydraulic cylinder, a limiting block and a control rod clamping structure as defined in any one of claims 1 to 9, wherein an inner sleeve of the control rod clamping structure is sleeved in shaft holes of the lifting hydraulic cylinder, the transfer hydraulic cylinder, the clamping hydraulic cylinder and the limiting block from top to bottom, and the installation positions of the inner sleeve are respectively arranged between the transfer hydraulic cylinder and the clamping hydraulic cylinder and between the clamping hydraulic cylinder and the limiting block.

Technical Field

The invention relates to the technical field of nuclear reactor control rod hydraulic drive equipment, in particular to a control rod clamping structure and a built-in control rod drive mechanism.

Background

The nuclear reactor control rod driving mechanism, referred to as the driving mechanism for short, is the most critical safety equipment of the reactor and is responsible for the important functions of starting, power regulation, shutdown and the like of the reactor. The control rod drive mechanism can be divided into an external control rod drive mechanism and an internal control rod drive mechanism according to the installation position of the control rod. The hydraulic driving system of the nuclear reactor control rod is a built-in control rod driving mechanism, the driving mechanism is arranged in the high-temperature, high-pressure and irradiation environment in a reactor pressure container, and the lifting, transferring and clamping three hydraulic cylinders are adopted to drive the transferring and clamping two sets of pin claw mechanisms to move in sequence, so that the functions of stepping up, stepping down and dropping the control rod are realized.

The existing driving mechanism drives a pin claw to move by using a hydraulic cylinder, thereby driving the control rod to move up and down step by step and drop. However, the conventional connection structure between the pin and the hydraulic cylinder is limited, and errors in machining and assembling parts are liable to occur. In the process of grabbing and driving the control rod driving shaft to move by the existing pin claw, on one hand, because a certain deviation exists between the pin claw and the initial position of the control rod driving shaft, the pin claw is difficult to accurately grab the control rod driving shaft under the deviation and the error condition, and further the moving accuracy of the control rod driving shaft is adversely affected; in the second aspect, the assembly structure between the pin claw and the hydraulic cylinder is relatively fixed, so that the moving accuracy of a control rod driving shaft of the driving mechanism is adversely affected under the condition that the error exists; in the third aspect, the existing connecting structure between the pin claw and the hydraulic cylinder is not firm enough, so that the requirements of arrangement, integral support, fixation and disassembly and assembly of the water conduit of the driving mechanism are difficult to meet.

Disclosure of Invention

The present invention is directed to solving at least one of the problems of the prior art.

Therefore, the invention provides a control rod clamping structure to solve the problem that the pin claw is difficult to accurately grasp a control rod driving shaft under the condition of part machining and assembly errors and position errors easily existing between the existing pin claw and a hydraulic cylinder, and further the moving accuracy of the control rod driving shaft of a driving mechanism is adversely affected.

The invention also provides a built-in control rod driving mechanism.

According to one aspect of the invention, the control rod clamping structure comprises an inner sleeve, a positioning mechanism and a pin claw mechanism, wherein the inner sleeve is used for being arranged in shaft holes of a plurality of groups of hydraulic cylinders in a penetrating mode, a channel for allowing a control rod driving shaft to move along the axial direction is arranged in the inner sleeve, the inner sleeve is sequentially provided with at least two installation positions along the axial direction, and the hydraulic cylinders are arranged between the adjacent installation positions; each installation position is respectively provided with at least one group of pin claw mechanisms and at least one group of positioning mechanisms, each pin claw mechanism is used for clamping and driving the control rod driving shaft to move, and the adjacent pin claw mechanisms and the positioning mechanisms are arranged at preset angles.

According to one embodiment of the invention, a mounting hole and a guide groove are respectively arranged on the inner sleeve at each mounting position, and the mounting holes and the guide grooves are distributed at the preset angle; the pin claw mechanism penetrates through the mounting hole, and the positioning mechanism is assembled in the guide groove.

According to one embodiment of the invention, the control rod clamping structure further comprises a connecting sleeve and a claw sleeve, the pin claw mechanism comprises a claw body and a connecting piece, the connecting sleeve and the claw sleeve are sleeved outside the inner sleeve from inside to outside, one end of the claw body is connected to the connecting sleeve in a pivoting manner, the other end of the claw body is provided with a joint part, two ends of the connecting piece are respectively connected to the connecting sleeve and the claw sleeve in a pivoting manner, and the connecting piece can push the claw body to rotate through rotation energy, so that the claw body is pushed to rotate and the joint part is driven to penetrate through the mounting hole and be clamped on the control rod driving shaft.

According to one embodiment of the invention, a first contact surface is arranged on one surface of the joint part facing the control rod driving shaft, a second contact surface matched with the first contact surface is arranged on the outer wall of the control rod driving shaft, and the first contact surface and the second contact surface clamp the joint part on the control rod driving shaft through surface contact.

According to one embodiment of the invention, the connecting sleeve is provided with an inner fixing hole, the claw sleeve is provided with an outer fixing hole, and the inner fixing hole and the outer fixing hole are arranged in a one-to-one correspondence manner; one end of the claw body is installed in one end of the inner fixing hole in a mode that the claw shaft can pivot, one end of the connecting piece is connected in the other end of the inner fixing hole in a mode that the connecting pin can pivot, and the other end of the connecting piece is connected in the outer fixing hole in a mode that the hinge pin can pivot.

According to one embodiment of the invention, the positioning mechanism comprises a positioning block and a plurality of positioning pins, the connecting sleeve is provided with positioning holes, and the positioning holes and the inner fixing holes are distributed at the preset angle; one end of the positioning block is fixed in the positioning hole through the positioning pins, the other end of the positioning block penetrates through the guide groove, and the guide groove is parallel to the movement direction of the control rod driving shaft.

According to one embodiment of the invention, the control rod clamping structure further comprises an axial compensation mechanism, the axial compensation mechanism comprises a spring frame and a spring body, an inner sleeve of the hydraulic cylinder is sleeved outside the inner sleeve, and a positioning sleeve is sleeved between the claw sleeve and the inner sleeve of the hydraulic cylinder; the inner sleeve is externally provided with a step, the spring frame is sleeved outside the inner sleeve and positioned in the positioning sleeve, and the spring frame is arranged between the step and the connecting sleeve; the spring body is pressed between the spring frame and the connecting sleeve.

According to one embodiment of the invention, the control rod clamping structure comprises a transfer pin claw mechanism and a clamping pin claw mechanism, a first installation position and a second installation position are respectively arranged on the inner sleeve, the first installation position is located above the second installation position, the transfer pin claw mechanism is installed at the first installation position, the clamping pin claw mechanism is installed at the second installation position, and the clamping pin claw mechanism is connected with the inner sleeve through the axial compensation mechanism.

According to one embodiment of the invention, said preset angle does not exceed 60 °.

According to another aspect of the invention, the built-in control rod driving mechanism comprises a lifting hydraulic cylinder, a transfer hydraulic cylinder, a clamping hydraulic cylinder, a limiting blocking piece and the control rod clamping structure, wherein an inner sleeve of the control rod clamping structure is sleeved in shaft holes of the lifting hydraulic cylinder, the transfer hydraulic cylinder, the clamping hydraulic cylinder and the limiting blocking piece from top to bottom, and installation positions of the inner sleeve are respectively arranged between the transfer hydraulic cylinder and the clamping hydraulic cylinder and between the clamping hydraulic cylinder and the limiting blocking piece.

One or more technical solutions in the embodiments of the present invention have at least one of the following technical effects:

according to the control rod clamping structure disclosed by the embodiment of the invention, the inner sleeve is arranged in the shaft holes penetrating through a plurality of groups of hydraulic cylinders, the inner sleeve is internally provided with a channel for the control rod driving shaft to move along the axial direction, the inner sleeve is sequentially provided with at least two installation positions along the axial direction, the hydraulic cylinder is arranged between the adjacent installation positions, so that the inner sleeve cylinder of the hydraulic cylinder is driven to move by the aid of the pressure charging and releasing of the hydraulic cylinder, and the pin claw mechanism is driven to grab the control rod driving shaft and drive the control rod driving shaft to perform axial step-up, step-down and rod-down movement along the; and the arrangement of the mounting position can also ensure that the claw falling position of the pin claw mechanism is more accurate, and the requirement of accurate grabbing under the condition that a certain deviation exists between the initial positions of the pin claw mechanism and the control rod driving shaft is met.

Furthermore, in the control rod clamping structure, each mounting position of the inner sleeve is respectively provided with at least one group of pin claw mechanisms and at least one group of positioning mechanisms, the adjacent pin claw mechanisms and the positioning mechanisms are arranged at preset angles, so that the pin claw mechanisms are arranged in a staggered manner, and the included angles of the pin claw mechanisms and the positioning mechanisms are determined, so that the uniform action points of the pin claw mechanisms on the circumferential direction of the control rod driving shaft are ensured, and the abrasion to the control rod driving shaft during grabbing and moving is reduced; the pin claw mechanism is used for clamping and driving the control rod driving shaft to move so as to meet the requirement of stable driving of the same control rod driving shaft and the same ring groove; the positioning mechanism is used for circumferentially positioning the pin claw mechanisms and even the whole control rod clamping structure, and the positioning mechanism can also ensure that the distance between each pin claw mechanism can be finely adjusted so as to compensate errors of part processing and assembly, eliminate adverse effects of the errors of part processing and assembly and position deviation on the moving accuracy of the control rod driving shaft, and meet the performance characteristic requirements of the driving mechanism.

Furthermore, the control rod clamping structure can realize mechanical looseness prevention and rotation prevention among all parts so as to meet the requirements of arrangement, integral support, fixation and disassembly and assembly of the water conduit of the driving mechanism; and can also adapt to the normal operation in the high-temperature and high-pressure environment in the nuclear reactor. Therefore, the control rod clamping structure not only can meet the engineering application of the built-in control rod driving mechanism, but also can provide better selection for the driving structure design of the hydraulic cylinder driving mechanism in other industrial fields.

In the built-in control rod driving mechanism of the embodiment of the invention, an inner sleeve of a control rod clamping structure is sleeved in shaft holes of a lifting hydraulic cylinder, a transfer hydraulic cylinder, a clamping hydraulic cylinder and a limiting blocking piece from top to bottom, and the installation positions of the inner sleeve are respectively arranged between the transfer hydraulic cylinder and the clamping hydraulic cylinder and between the clamping hydraulic cylinder and the limiting blocking piece. By arranging the control rod clamping structure, the built-in control rod driving mechanism has all the advantages of the control rod clamping structure, and the description is omitted.

Additional aspects and advantages of the invention will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of the invention.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the drawings without creative efforts.

FIG. 1 is a schematic illustration of the mounting structure of a control rod clamping structure in an embedded control rod drive mechanism according to an embodiment of the present invention;

FIG. 2 is a schematic structural view of a transfer latch mechanism of an embodiment of the present invention in a released state;

FIG. 3 is a schematic diagram of a transfer latch mechanism according to an embodiment of the present invention in a latched state;

FIG. 4 is a comparative block diagram of the transfer latch mechanism of an embodiment of the present invention in a gripping position and a translating position;

FIG. 5 is a schematic diagram of the gripper latch mechanism of an embodiment of the present invention in a released state;

FIG. 6 is a schematic diagram of a gripper latch mechanism according to an embodiment of the present invention in a gripping position;

FIG. 7 is a schematic structural view of an inner sleeve according to an embodiment of the present invention;

fig. 8 is a schematic structural view of a transfer connecting sleeve according to an embodiment of the invention;

FIG. 9 is a schematic structural view of a transfer dog sleeve according to an embodiment of the present invention;

FIG. 10 is a schematic view of a clamping jaw housing according to an embodiment of the present invention;

fig. 11 is a schematic structural view of the clamping connection sleeve according to the embodiment of the invention.

Reference numerals:

1: lifting the hydraulic cylinder; 2: an inner sleeve; 201: a first mounting hole; 202: a second mounting hole; 3: a transmission connecting sleeve; 301: a first internal fixation hole; 302: a first positioning hole; 4: a transfer hydraulic cylinder; 5: a transfer pin and pawl mechanism; 6: clamping the hydraulic cylinder; 7: a clamp pin jaw mechanism; 8: a transfer inner sleeve cylinder; 9: a lock screw; 10: a locking bar; 11: a control rod drive shaft; 12: a transfer claw sleeve; 1201: a first external fixation hole; 13: positioning pins; 14: positioning blocks; 15: a claw shaft; 16: a claw body; 17: a connecting pin; 18: a connecting member; 19: a pin shaft; 20: clamping claw sleeves; 2001: a second outer fixing hole; 21: a limiting plug; 22: clamping the inner sleeve cylinder; 23: a positioning sleeve; 24: clamping the spring frame; 25: clamping the spring body; 26: clamping the connecting sleeve; 2601: a second internal fixation hole; 2602: a second positioning hole; 27: a first contact surface; 28: a second contact surface.

Detailed Description

The embodiments of the present invention will be described in further detail with reference to the drawings and examples. The following examples are intended to illustrate the invention but are not intended to limit the scope of the invention.

As shown in fig. 1 to 11, an embodiment of the present invention provides a control rod clamping structure (an embodiment of the present invention is simply referred to as a "structure"), and based on the structure, a built-in control rod drive mechanism (an embodiment of the present invention is simply referred to as a "drive mechanism").

As shown in fig. 1, the structure includes an inner sleeve 2, a positioning mechanism, and a latch mechanism. The inner sleeve 2 is used for being arranged in shaft holes of a plurality of groups of hydraulic cylinders in a penetrating mode, a channel for the control rod driving shaft 11 to move along the axial direction is arranged in the inner sleeve 2, and the channel is arranged along the axial direction of the inner sleeve 2, namely the inner sleeve 2 is constructed to be of an axial hollow structure, so that the control rod driving shaft 11 can be coaxially inserted into the channel and can move along the axial direction of the channel. The inner sleeve 2 is sequentially provided with at least two mounting positions along the axial direction, and a hydraulic cylinder is arranged between the adjacent mounting positions. Each installation position of the inner sleeve 2 is respectively provided with at least one group of pin claw mechanisms and at least one group of positioning mechanisms, and the pin claw mechanisms are used for clamping and driving the control rod driving shaft 11 to move so as to meet the requirement of stable driving of the same control rod driving shaft 11 and the same ring groove.

In the embodiment of the invention, the hydraulic cylinder can drive the inner sleeve cylinder of the hydraulic cylinder and the inner sleeve 2 to axially move relatively through pressure charging and releasing, so that the pin claw mechanism is driven to grab the control rod driving shaft 11, and the control rod driving shaft 11 is driven to axially move up and down and drop along the channel. The arrangement of different mounting positions on the inner sleeve 2 can clearly limit the claw falling position of the pin claw mechanism in the axial direction of the control rod driving shaft 11, and further improve the accuracy of the claw falling position of the pin claw mechanism, so that the requirement of accurate grabbing under the condition that a certain deviation exists between the initial positions of the pin claw mechanism and the control rod driving shaft 11 is met.

In the embodiment of the invention, the adjacent pin claw mechanisms and the positioning mechanisms are arranged at a preset angle, so that the pin claw mechanisms are arranged in a staggered manner, and the pin claw mechanisms ensure uniform action points of the pin claw mechanisms on the circumferential direction of the control rod driving shaft 11 by determining the included angles of the pin claw mechanisms and the positioning mechanisms, thereby reducing the abrasion of the control rod driving shaft 11 during grabbing and moving.

Preferably, the preset angle is not more than 60 °, that is, an included angle between each two adjacent pin claw mechanisms is not more than 60 °, that is, most preferably, three sets of pin claw mechanisms are respectively arranged on a radial cross section of the same mounting position of the inner sleeve 2 at intervals of 120 ° along the side wall of the inner sleeve 2, and one set of positioning mechanism is respectively arranged between each two adjacent sets of pin claw mechanisms, and then an included angle between each two adjacent positioning mechanisms is 60 °. This angle setting can guarantee evenly staggering between each round pin claw mechanism to guarantee evenly staggering between round pin claw mechanism and the positioning mechanism, can also guarantee that round pin claw mechanism is more even to the ascending strong point in control rod drive shaft 11 circumference, the convenient application of force, thereby further reduce round pin claw mechanism snatch with remove the wearing and tearing of time to control rod drive shaft 11.

In the embodiment of the invention, the positioning mechanism is used for circumferentially positioning the pin claw mechanisms and even the whole control rod clamping structure, and the positioning mechanism can also ensure that the distance between the pin claw mechanisms can be finely adjusted so as to compensate errors of part processing and assembly, eliminate adverse effects of the errors of part processing and assembly and position deviation on the movement accuracy of the control rod driving shaft 11 and meet the performance characteristic requirements of the driving mechanism.

In the embodiment of the invention, the control rod clamping structure can also realize mechanical looseness prevention and rotation prevention among all parts so as to meet the requirements of arrangement, integral support, fixation and disassembly and assembly of the water conduit of the driving mechanism; and can also adapt to the normal operation in the high-temperature and high-pressure environment in the nuclear reactor.

Therefore, the structure provided by the embodiment of the invention not only can meet the engineering application of the built-in control rod driving mechanism, but also can provide a better choice for the driving structure design of the hydraulic cylinder driving mechanism in other industrial fields.

As shown in fig. 1, the driving mechanism of the present invention includes a lifting hydraulic cylinder 1, a transfer hydraulic cylinder 4, a clamping hydraulic cylinder 6, a limiting block 21, and a control rod clamping structure according to the embodiment of the present invention. The inner sleeve 2 of the control rod clamping structure is sleeved in the shaft holes of the lifting hydraulic cylinder 1, the transfer hydraulic cylinder 4, the clamping hydraulic cylinder 6 and the limiting blocking piece 21 from top to bottom, and the installation positions of the inner sleeve 2 are respectively arranged between the transfer hydraulic cylinder 4 and the clamping hydraulic cylinder 6 and between the clamping hydraulic cylinder 6 and the limiting blocking piece 21. By providing the control rod clamping structure, the driving mechanism has all the advantages of the structure, and the description is omitted.

It will be appreciated that the drive mechanism of the present invention may also be provided without a stop 21 below the second mounting location. The purpose of the limiting plug 21 is to accurately position the claw body 16 of the claw mechanism of the positioning pin 13 in a loose state, so as to avoid the claw body 16 from entering the inner sleeve 2 to influence the movement of the control rod driving shaft 11; on the other hand, the axial compensation mechanism is used together with the axial compensation mechanism to solve the problem that the grabbing position is inaccurate due to certain deviation of the pin claw mechanism and the initial position of the control rod driving shaft 11.

In the embodiment of the present invention, the structure preferably includes a transmission pin claw mechanism 5 and a clamping pin claw mechanism 7, and the inner sleeve 2 is provided with a first mounting position and a second mounting position respectively, and the first mounting position is located above the second mounting position, as shown in fig. 1. Preferably, as shown in fig. 7, the first installation position is located between the transfer hydraulic cylinder 4 and the clamping hydraulic cylinder 6, and the transfer pin and pawl mechanism 5 is installed at the first installation position and is interlocked with the inner sleeve cylinder of the transfer hydraulic cylinder 4. The second installation position is located between the clamping hydraulic cylinder 6 and the limiting blocking piece 21, the clamping pin claw mechanism 7 is installed at the second installation position and is linked with an inner sleeve cylinder of the clamping hydraulic cylinder 6, and the clamping pin claw mechanism 7 is connected with the inner sleeve 2 through an axial compensation mechanism. The first installation position and the second installation position are respectively and correspondingly provided with a positioning mechanism, so that the circumferential positions of the transmission pin claw mechanism 5 and the clamping pin claw mechanism 7 and the initial position of the control rod driving shaft 11 can be accurately positioned respectively, and the positioning mechanisms can also axially position the transmission pin claw mechanism 5 and the clamping pin claw mechanism 7 in the operation process, and the specific positioning mode is described below and is not described herein again.

In one embodiment, the inner sleeve 2 is provided with a mounting hole and a guide groove at each mounting position, a pin claw mechanism is arranged in the mounting hole in a penetrating manner, and a positioning mechanism is arranged in the guide groove. For example, as shown in fig. 7, the first mounting holes 201 and the second mounting holes 202 are preferably provided, and the number of the first mounting holes 201 and the second mounting holes 202 is preferably at least three, and the included angle between adjacent first mounting holes 201 does not exceed 120 °; similarly, the included angle between the adjacent second mounting holes 202 does not exceed 120 °. The installation holes and the guide grooves are distributed at a predetermined angle, preferably not more than 60 ° as described above, so that the installation holes and the guide grooves are distributed in the circumferential direction of the side wall of the inner sleeve 2 in a staggered manner. The structure of the inner sleeve 2 can utilize the mounting hole and the guide groove to respectively realize accurate positioning on the axial position and the circumferential position of the pin claw mechanism and the positioning mechanism of the inner sleeve 2, thereby realizing accurate axial and circumferential positioning between the pin claw mechanism and the control rod driving shaft 11, further promoting the action point of the pin claw mechanism on the control rod driving shaft 11 to be more uniform, and ensuring that the movement of the control rod driving shaft 11 is more stable and reliable.

In one embodiment, the control rod clamping structure further includes a connection sleeve and a jaw sleeve, and the pin jaw mechanism includes a jaw body 16 and a connection member 18. The connecting sleeve and the claw sleeve are sleeved outside the inner sleeve 2 from inside to outside. One end of the claw body 16 can be pivotally connected to the connecting sleeve, and the other end of the claw body 16 is provided with a joint part; the two ends of the connecting piece 18 are respectively connected to the connecting sleeve and the claw sleeve in a pivoting manner, the connecting piece 18 can push the claw body 16 to rotate through rotation, so that the claw body 16 is pushed to rotate and drives the joint part to penetrate through the mounting hole and be clamped on the control rod driving shaft 11, and the state switching of the pin claw mechanism is realized.

Furthermore, the connecting sleeve is provided with an inner fixing hole, and the claw sleeve is provided with an outer fixing hole. Preferably, the number of the inner fixing holes and the number of the outer fixing holes on the same mounting position are respectively matched with the number of the mounting holes, and the positions of the inner fixing holes and the positions of the outer fixing holes are arranged in a one-to-one correspondence manner, so that an integral connecting structure of a group of pin claw mechanisms is formed. One end of the claw body 16 is pivotably mounted in one end of the inner fixing hole through a claw shaft 15, one end of the link 18 is pivotably connected in the other end of the inner fixing hole through a link pin 17, and the other end of the link 18 is pivotably connected in the outer fixing hole through a pin shaft 19.

It can be understood that in the structure of the embodiment of the invention, the claw sleeve, the connecting sleeve, the inner sleeve 2 and the control rod driving shaft 11 are all coaxially arranged. Then, according to the specific structure of the pin claw mechanism, the inner sleeve cylinder of the hydraulic cylinder can drive the claw sleeve to move axially in the process of moving axially, and the movement of the claw sleeve drives the connecting piece 18 to rotate. On one hand, the movement of the claw sleeve pushes the claw body 16 to rotate and drives the joint part to be clamped on the control rod driving shaft 11; on the other hand, the continued movement of the claw sleeve can drive the connecting sleeve to move and drive the claw body 16 to move axially relative to the control rod driving shaft 11 so as to drive the control rod driving shaft 11 to move up and down or drop in the passage of the inner sleeve 2.

In one embodiment, the positioning mechanism includes a positioning block 14 and a plurality of positioning pins 13. The connecting sleeve is provided with a positioning hole, one end of a positioning block 14 is fixed in the positioning hole through a plurality of positioning pins 13, the other end of the positioning block 14 penetrates through a guide groove, and the guide groove is arranged in parallel to the movement direction of the control rod driving shaft 11. The positioning holes and the internal fixing holes are distributed at preset angles, so that the positioning holes and the internal fixing holes of the connecting sleeve are staggered with each other, and the positioning holes can be matched with the positions of the guide grooves and the mounting holes on the inner sleeve 2, so that the mounting of the claw body 16 and the mounting of the positioning block 14 are facilitated. Therefore, the guide groove can not only circumferentially position the positioning block 14 between the inner sleeve 2 and the connecting sleeve, but also ensure the axial positioning between the connecting sleeve and the inner sleeve 2 in the moving process of the connecting sleeve, thereby improving the motion stability and the grabbing accuracy of the control rod driving shaft 11. The positioning mechanism also can utilize the axial movement of the positioning block 14 in the guide groove, so as to provide assembly allowance for realizing fine adjustment of the distance between each pin claw mechanism, and further compensate errors of part processing and assembly.

In one embodiment, the structure further comprises an axial compensation mechanism which can drive the claw body 16 to generate certain axial displacement during the switching of the states of the pin claw mechanism, particularly during the switching from the unclamped state to the clamped state, so as to compensate the error of the initial axial positions of the control rod driving shaft 11 and the pin claw mechanism.

Further, the axial compensation mechanism comprises a spring frame and a spring body. The inner sleeve cylinder of the hydraulic cylinder is sleeved outside the inner sleeve 2, the positioning sleeve 23 is sleeved between the claw sleeve and the inner sleeve cylinder of the hydraulic cylinder, the positioning sleeve 23 can provide more space for the mounting gap between the inner sleeve cylinder and the claw sleeve of the hydraulic cylinder, and the reliable connection and accurate axial positioning between the inner sleeve cylinder and the claw sleeve of the hydraulic cylinder can be ensured. The step is arranged outside the inner sleeve 2, the spring frame is sleeved outside the inner sleeve 2 and positioned in the positioning sleeve 23, and the spring frame is arranged between the step and the connecting sleeve; the spring body is pressed between the spring frame and the connecting sleeve. The axial compensation mechanism utilizes the axial distance between the spring frame and the connecting sleeve to limit the maximum magnitude of axial error compensation, and utilizes the elastic force of the spring body to drive the claw body 16 to generate certain axial displacement during the rotation process, thereby compensating the error of the initial axial position of the control rod driving shaft 11 and the claw mechanism.

It should be noted that the latch mechanism according to the embodiment of the present invention has at least three states, specifically including: a release state, a grip state, and a move state. For example: fig. 2 shows the transfer latch mechanism 5 in a released state, fig. 3 shows the transfer latch mechanism 5 in a gripped state, fig. 4 shows a comparison between the transfer latch mechanism 5 in the gripped state and the transfer latch mechanism 5 in a displaced state, fig. 5 shows the gripper latch mechanism 7 in a released state, and fig. 6 shows the gripper latch mechanism 7 in a gripped state.

As can be seen from a comparison between fig. 2 and 3 and a comparison between fig. 5 and 6, in the pin and pawl mechanism according to the embodiment of the present invention, one end of the pawl body 16 is configured as a rotating end having an arc-shaped peripheral structure, the other end of the pawl body 16 is configured as a pushing surface that matches the connecting member 18, and a first contact surface 27 that faces toward the control rod drive shaft 11, the first contact surface 27 is disposed opposite to the pushing surface, and since the sidewall surface of the control rod drive shaft 11 is corrugated, it is preferable that a downwardly inclined surface in the corrugated structure is a second contact surface 28 disposed on the outer wall of the control rod drive shaft 11, and the first contact surface 27 matches the second contact surface 28 in structure, so that the joint portions can be fitted into the corrugated groove of the control rod drive shaft 11 by using the surface contact between the first contact surface 27 and the second contact surface 28, and the joint portions can be fitted into the grooves from all directions at the same time by using the pawl bodies 16 of the plurality of pin and pawl mechanisms, to effect a clamping between the latch mechanism and the control rod drive shaft 11.

It will be appreciated that, in order to achieve the return of the pawl body 16, it is preferable that a return spring is externally fitted around the pawl shaft 15, and the connecting member 18 is gradually separated from the joint portion of the pawl body 16 during the reverse movement, so that the pawl body 16 can be driven by the elastic force of the return spring together with the connecting member 18 to be separated from the control rod driving shaft 11, thereby achieving the state switching process of the latch mechanism from the grasping state to the releasing state.

Specifically, as shown in fig. 8, three first internal fixing holes 301 and three first positioning holes 302 are distributed at the bottom of the side wall of the transmission connecting sleeve 3 of the transmission latch mechanism 5. The first inner fixing holes 301 are arranged corresponding to the first mounting holes 201 of the inner sleeve 2, and the first positioning holes 302 are arranged corresponding to the guide grooves on the first mounting position of the inner sleeve 2. The first mounting hole 201, the first inner fixing hole 301, and the first outer fixing hole 1201 are respectively configured as oblong holes. As shown in fig. 9, three first outer fixing holes 1201 are distributed in the side wall bottom of the transmission pawl sleeve 12 of the transmission pawl mechanism 5, and the positions of the first outer fixing holes 1201 and the positions of the first inner fixing holes 301 are arranged in one-to-one correspondence.

As shown in fig. 2 and 3, the rotation end of the pawl body 16 of the transmission latch mechanism 5 is pivotally connected in the upper position of the first inner fixing hole 301 through the pawl shaft 15, one end of the link 18 is pivotally connected in the lower position of the first inner fixing hole 301 through the link pin 17, and the other end of the link 18 is pivotally connected in the first outer fixing hole 1201 through the pin shaft 19. And the top of the transmission connecting sleeve 3 is fixedly connected with the bottom of the transmission inner sleeve cylinder 8 of the transmission hydraulic cylinder 4.

During the axial movement of the transmission inner sleeve cylinder 8 of the transmission hydraulic cylinder 4, the axial movement of the transmission claw sleeve 12 drives the connecting piece 18 to rotate so as to push the joint part of the claw body 16 to be clamped on the control rod driving shaft 11, thereby realizing the process of switching the transmission pin claw mechanism 5 from a loosening state to a grasping state. As shown in fig. 4, the transmission claw sleeve 12 continues to axially move in the same direction to drive the transmission connecting sleeve 3 to axially move through the axial movement of the connecting member 18, so that the control rod driving shaft 11 is driven to axially move along the channel of the inner sleeve 2 through the claw body 16, thereby realizing the process of switching the transmission pin claw mechanism 5 from the seizing state to the moving state.

In the state switching process of the transmission pin claw mechanism 5, as the positioning block 14 is fixed in the first positioning hole 302 and moves in the guide groove along with the axial movement of the transmission connecting sleeve 3, the axial and circumferential positioning in the state switching process of the transmission pin claw mechanism 5 is improved, and the accuracy and the stability are higher.

Taking fig. 4 as an example, when the transmission pawl sleeve 12 is moved upward in the axial direction, the height at which the control rod drive shaft 11 is entirely raised by the driving action of the transmission pawl mechanism 5 while the inner jacket 2 is kept stationary in the process of switching the transmission pawl mechanism 5 from the seized state to the moved state is H.

Similarly, as shown in fig. 11, three second inner fixing holes 2601 and three second positioning holes 2602 are distributed at the bottom of the sidewall of the clamping connection sleeve 26 of the clamping pin jaw mechanism 7. The second inner fixing holes 2601 are disposed in one-to-one correspondence with the positions of the second mounting holes 202 of the inner housing 2, and the second positioning holes 2602 are disposed in one-to-one correspondence with the positions of the guide grooves on the second mounting position of the inner housing 2. The second mounting hole 202, the second inner fixing hole 2601, and the second outer fixing hole 2001 are respectively configured as oblong holes. As shown in fig. 10, three second outer fixing holes 2001 are distributed at the bottom of the side wall of the clamping claw sleeve 20 of the clamping pin claw mechanism 7, and the positions of the second outer fixing holes 2001 and the positions of the second inner fixing holes 2601 are arranged in a one-to-one correspondence manner. As shown in fig. 5 and 6, the rotation end of the claw body 16 of the clamp pin claw mechanism 7 is pivotally connected in the upper position of the second inner fixing hole 2601 by the claw shaft 15, one end of the link member 18 is pivotally connected in the lower position of the second inner fixing hole 2601 by the link pin 17, and the other end of the link member 18 is pivotally connected in the second outer fixing hole 2001 by the pin shaft 19. The top of the clamping connecting sleeve 26 is fixedly connected with the bottom of the clamping inner sleeve cylinder 22 of the clamping hydraulic cylinder 6 through a positioning sleeve 23. And, set up the step on the inner cover 2, the step is located and held between the top of the adapter sleeve 26 and the bottom which holds the inner sleeve cylinder 22, and install the axial compensating gear between the step and holding the adapter sleeve 26, namely the clamp spring bracket 24 is fixed between step and clamp adapter sleeve 26, the lower part opening of the clamp spring bracket 24, the clamp spring body 25 is fitted in the opening of the clamp spring bracket 24 and connected elastically between clamp spring bracket 24 and top of the clamp adapter sleeve 26.

During the axial movement of the clamping inner sleeve cylinder 22 of the clamping hydraulic cylinder 6, the axial movement of the clamping claw sleeve 20 is driven by the positioning sleeve 23 to drive the connecting piece 18 to rotate so as to push the joint part of the claw body 16 to be clamped on the control rod driving shaft 11, thereby realizing the process of switching the clamping pin claw mechanism 7 from the loosening state to the gripping state. The clamping jaw sleeve 20 continues to axially move in the same direction to drive the clamping connecting sleeve 26 to axially move through the axial movement of the connecting member 18, so that the control rod driving shaft 11 is driven to axially move along the channel of the inner sleeve 2 through the jaw body 16, and the process of switching the clamping pin jaw mechanism 7 from the seizing state to the moving state is further realized.

In the above state switching process of the clamp pin claw mechanism 7, since the positioning block 14 is fixed in the second positioning hole 2602 and moves in the guide groove along with the axial movement of the clamp connection sleeve 26, the axial and circumferential positioning in the state switching process of the clamp pin claw mechanism 7 is improved with higher accuracy and stability.

During the above-described switching of the state of the clamping pin jaw mechanism 7, the clamping spring carrier 24 and the clamping spring body 25 provide a compensation effect for the axial displacement of the clamping connection sleeve 26 by the spring force effect, thereby providing a resilient axial compensation effect for the error of the control rod drive shaft 11 from the initial axial position of the clamping pin jaw mechanism 7.

It can be understood that in order to realize mechanical anti-loosening and anti-rotation among all parts and meet the requirements of arrangement, integral support, fixation and disassembly and assembly of the water conduit of the driving mechanism, the structure disclosed by the embodiment of the invention is connected with the inner sleeve cylinder of the hydraulic cylinder through the fastening assembly. The fastening assembly includes a jam screw 9 and a jam rod 10. As shown in fig. 2 to 4, the locking screw 9 radially penetrates through the side wall of the transfer claw sleeve 12 and is locked in the side wall of the transfer inner sleeve cylinder 8 of the transfer hydraulic cylinder 4, and a locking rod 10 is installed on the side surface of the locking screw 9, so that the locking rod 10 is used to further increase the fastening force of the locking screw 9 and prevent the locking screw 9 from loosening. Similarly, as shown in fig. 5 and 6, one locking screw 9 radially penetrates through the side wall of the clamping claw sleeve 20 and is locked in the bottom end of the side wall of the positioning sleeve 23, and the other locking screw 9 radially penetrates through the top end of the side wall of the positioning sleeve 23 and is locked in the side wall of the clamping inner sleeve cylinder 22 of the clamping hydraulic cylinder 6, so that the clamping claw sleeve 20, the positioning sleeve 23 and the clamping inner sleeve cylinder 22 are fixed by two sets of fastening assemblies; the side surfaces of the two anti-loosening screws 9 are respectively provided with an anti-loosening rod 10.

It can be understood that, in order to adapt to normal operation in a high-temperature and high-pressure environment in a nuclear reactor, the structure in the embodiment of the invention is made of a high-temperature and high-pressure resistant material. For example, the claw body 16 and the connecting member 18 are made of high temperature and corrosion resistant stainless steel of model AMS5787 and alloy materials thereof; for another example, the claw shaft 15, the connecting pin 17 and the pin shaft 19 are made of high-temperature-resistant and corrosion-resistant stainless steel of model AMS5759 and alloy materials thereof, so that the requirement of abrasion resistance under high-temperature and high-pressure environments is met.

In the description of the embodiments of the present invention, it should be noted that the terms "center", "longitudinal", "lateral", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", and the like indicate orientations or positional relationships based on those shown in the drawings, and are only for convenience in describing the embodiments of the present invention and simplifying the description, but do not indicate or imply that the referred devices or elements must have a specific orientation, be constructed in a specific orientation, and be operated, and thus, should not be construed as limiting the embodiments of the present invention. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.

In the description of the embodiments of the present invention, it should be noted that, unless explicitly stated or limited otherwise, the terms "connected" and "connected" are to be interpreted broadly, and may be, for example, fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; may be directly connected or indirectly connected through an intermediate. Specific meanings of the above terms in the embodiments of the present invention can be understood in specific cases by those of ordinary skill in the art.

In embodiments of the invention, unless expressly stated or limited otherwise, the first feature "on" or "under" the second feature may be directly contacting the first and second features or indirectly contacting the first and second features through intervening media. Also, a first feature "on," "over," and "above" a second feature may be directly or diagonally above the second feature, or may simply indicate that the first feature is at a higher level than the second feature. A first feature being "under," "below," and "beneath" a second feature may be directly under or obliquely under the first feature, or may simply mean that the first feature is at a lesser elevation than the second feature.

In the description herein, references to the description of the term "one embodiment," "some embodiments," "an example," "a specific example," or "some examples," etc., mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of an embodiment of the invention. In this specification, the schematic representations of the terms used above are not necessarily intended to refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples. Furthermore, various embodiments or examples and features of different embodiments or examples described in this specification can be combined and combined by one skilled in the art without contradiction.

The above embodiments are merely illustrative of the present invention and are not to be construed as limiting the invention. Although the present invention has been described in detail with reference to the embodiments, it should be understood by those skilled in the art that various combinations, modifications or equivalents may be made to the technical solution of the present invention without departing from the spirit and scope of the technical solution of the present invention, and the technical solution of the present invention is covered by the claims of the present invention.