Patent Number: 055815871
Section: claims

1. A control rod driving apparatus driving a control rod assembly of a nuclear reactor and disposed in a housing mounted to a reactor pressure vessel of the nuclear reactor, which comprises: a guide tube disposed in the housing;  a connection pipe disposed inside the guide tube coaxially therewith and having a first end to which a control rod assembly is connected;  a ball spindle disposed inside the connection pipe and supported thereby so as to be rotatable;  a ball nut assembly engaged with the ball spindle so as to be axially movable along the ball spindle, said ball nut assembly supporting a second end of the connection pipe;  a hydraulic motor unit operatively connected to the ball spindle so as to rotate the ball spindle and including a motor case, a first hydraulic motor inserting the control rod assembly into the reactor core and a second hydraulic motor withdrawing the control rod assembly from the reactor core; and  transmission means operatively connected to the hydraulic motor unit and transmitting power from the motor unit to the ball spindle, said transmission means comprising worm gear means operatively connected to the ball spindle and reducing the speed of rotation of the ball spindle and a first bevel gear means operatively connected to one of the hydraulic motors for insertion and withdrawal of the control rod assembly and, said worm gears means supporting the positions of the control rod assembly,  wherein when the hydraulic motor unit is driven, the ball spindle is rotated, the ball nut assembly engaged with the ball spindle is axially rotated, and the connection pipe supported by the ball nut assembly is vertically driven to thereby drive the control rod assembly for inserting or withdrawing the control rod assembly into or from a reactor core.  a guide tube disposed in the housing;  a connection pipe disposed inside the guide tube coaxially therewith and having a first end to which a control rod assembly is connected;  a ball spindle disposed inside the connection pipe and supported thereby so as to be rotatable;  a ball nut assembly engaged with the ball spindle so as to be axially movable along the ball spindle, said ball nut assembly supporting a second end of the connection pipe;  a hydraulic motor unit operatively connected to the ball spindle so as to rotate the ball spindle and comprising a single hydraulic motor of a structure which is reversibly operable, said structure inserting the control rod assembly into the reactor core and withdrawing the control rod assembly from the reactor core and  transmission means operatively connected to the hydraulic motor unit and transmitting power from the hydraulic motor unit to the ball spindle, said transmission means comprising a bevel gear means operatively connected to said single hydraulic motor and worm gear means operatively connected to the ball spindle, the worm gear means supporting the position of the control rod assembly,  wherein when the hydraulic motor unit is driven, the ball spindle is rotated, the ball nut assembly engaged with the ball spindle is axially rotated, and the connection pipe supported by the ball nut assembly is driven vertically to thereby drive the control rod assembly for inserting or withdrawing the control rod assembly into or from a reactor core.  guide tube disposed in the housing;  a connection pipe disposed inside the guide tube coaxially therewith and having a first end to which a control rod assembly is connected;  a ball spindle disposed inside the connection pipe and supported thereby so as to be rotatable;  a ball nut assembly engaged with the ball spindle so as to be axially movable along the ball spindle, said ball nut assembly supporting a second end of the connection pipe;  a hydraulic motor unit operatively connected to the ball spindle so as to rotate the ball spindle and including a motor case, a first hydraulic motor inserting the control rod assembly into the reactor core and a second hydraulic motor withdrawing the control rod assembly from the reactor core; and  a transmission operatively connected to the hydraulic motor unit and transmitting power from the motor unit to the ball spindle, said transmission comprising a first bevel gear operatively connected to one of the hydraulic motors for insertion and withdrawal of the control rod assembly and worm gear operatively connected to the ball spindle, the worm gear supporting the position of the control rod assembly,  wherein when the hydraulic motor unit is driven, the ball spindle is rotated, the ball nut assembly engaged with the ball spindle is axially rotated, and the connection pipe supported by the ball nut assembly is vertically driven to thereby drive the control rod assembly for inserting or withdrawing the control rod assembly into or from a reactor core.  guide tube disposed in the housing;  a connection pipe disposed inside the guide tube coaxially therewith and having a first end to which a control rod assembly is connected;  a ball spindle disposed inside the connection pipe and supported thereby so as to be rotatable;  a ball nut assembly engaged with the ball spindle so as to be axially movable along the ball spindle, said ball nut assembly supporting a second end of the connection pipe;  a hydraulic motor unit operatively connected to the ball spindle so as to rotate the ball spindle and comprising a single hydraulic motor of a structure which is reversibly operable, said structure inserting the control rod assembly into the reactor core and withdrawing the control rod assembly from the reactor core; and  a transmission operatively connected to the hydraulic motor unit and transmitting power from the hydraulic motor unit to the ball spindle, said transmission comprising a bevel gear operatively connected to said single hydraulic motor and a worm gear operatively connected to the ball spindle, the worm gear supporting the position of the control rod assembly,  wherein when the hydraulic motor unit is driven, the ball spindle is rotated, the ball nut assembly engaged with the ball spindle is axially rotated, and the connection pipe supported by the ball nut assembly is driven vertically to thereby drive the control rod assembly for inserting or withdrawing the control rod assembly into or from a reactor core.  a guide tube disposed in the housing;  a connection pipe disposed inside the guide tube coaxially therewith and having a first end to which a control rod assembly is connected;  a ball spindle disposed inside the connection pipe and supported thereby so as to be rotatable;  a ball nut assembly engaged with the ball spindle so as to be axially movable along the ball spindle, said ball nut assembly supporting a second end of the connection pipe;  a hydraulic motor unit operatively connected to the ball spindle so as to rotate the ball spindle and including a motor case, a first hydraulic motor inserting the control rod assembly into the reactor core and a second hydraulic motor withdrawing the control rod assembly from the reactor core; and  transmission means operatively connected to the hydraulic motor unit and transmitting power from the motor unit to the ball spindle, said transmission means comprising worm gear means operatively connected to the ball spindle and reducing the speed of rotation of the ball spindle and a first bevel gear means operatively connected to one of the hydraulic motors for insertion and withdrawal of the control rod assembly, the worm gears means supporting the positions of the control rod assembly,  wherein when the hydraulic motor unit is driven, the ball spindle is rotated, the ball nut assembly engaged with the ball spindle is axially rotated, and the connection pipe supported by the ball nut assembly is vertically driven to thereby drive the control rod assembly for inserting or withdrawing the control rod assembly into or from a reactor core,  the nuclear reactor comprises a boiling water reactor and four fuel assemblies are disposed in respective sections formed as a unit fuel assembly structure by a cross-shaped control rod and wherein a plurality of such unit fuel assembly structures are arranged in a core of the boiling water reactor, the control rods being driven by a control rod driving system including a control rod driving apparatus which has a control rod for a power-adjustment unit, said control, rod drive apparatus having a screw-drive structure which includes a spindle in which a nut engages with a mechanism, said mechanism vertically moving the connection pipe and establishing connection with the control rods and another control rod driving apparatus driving control rods for the units except the power-adjustment unit which is formed into a hydraulic pressure piston drive structure comprising a mechanism vertically moving a connection pipe and establishing connection with said control rod, a piston and a cylinder wherein said screw drive structure is driven by a hydraulic motor, and a source supplying driving water driving the hydraulic pressure piston drive structure and a source supplying driving water driving said screw drive structure have a common hydraulic pressure supply apparatus; and  wherein the control rod for the power-adjustment unit includes a drive structure which simultaneously drives a plurality of control rods.  a guide tube disposed in the housing;  a connection pipe disposed inside the guide tube coaxially therewith and having a first end to which a control rod assembly is connected;  a ball spindle disposed inside the connection pipe and supported thereby so as to be rotatable;  a ball nut assembly engaged with the ball spindle so as to be axially movable along the ball spindle, said ball nut assembly supporting a second end of the connection pipe;  a hydraulic motor unit operatively connected to the ball spindle so as to rotate the ball spindle and including a motor case, a first hydraulic motor inserting the control rod assembly into the reactor core and a second hydraulic motor withdrawing the control rod assembly from the reactor core; and  transmission means operatively connected to the hydraulic motor unit and transmitting power from the motor unit to the ball spindle, said transmission means comprising worm gear means operatively connected to the ball spindle and reducing the speed of rotation of the ball spindle and a first bevel gear means operatively connected to one of the hydraulic motors for insertion and withdrawal of the control rod assembly, the worm gear means supporting the positions of the control rod assembly,  wherein when the hydraulic motor unit is driven, the ball spindle is rotated, the ball nut assembly engaged with the ball spindle is axially rotated, and the connection pipe supported by the ball nut assembly is vertically driven to thereby drive the control rod assembly for inserting or withdrawing the control rod assembly into or from a reactor core;  a hydraulic pressure supply pipe supplying driving water to the hydraulic motor unit wherein a change-over valve is disposed at an intermediate portion of the hydraulic pressure supply pipe, said change-over valve having a structure changing over flow of the driving water while enabling at least two operations of the control rod insertion operation, said two operations comprising a control rod withdrawal operation and an emergency control rod insertion operation and  said change-over valve comprises an introduction port introducing the driving water, a plurality of ports branched from the introduction port, spring means disposed inside the respective ports and a valve body opened and closed due to a balance between a biasing force of the spring means and hydraulic pressure transmitted through the introduction port.  a guide tube disposed in the housing;  a connection pipe disposed inside the guide tube coaxially therewith and having a first end to which a control rod assembly is connected;  a ball spindle disposed inside the connection pipe and supported thereby so as to be rotatable;  a ball nut assembly engaged with the ball spindle so as to be axially movable along the ball spindle, said ball nut assembly supporting a second end of the connection pipe;  a hydraulic motor unit operatively connected to the ball spindle so as to rotate the ball spindle and including a motor case, a first hydraulic motor inserting the control rod assembly into the reactor core and a second hydraulic motor withdrawing the control rod assembly from the reactor core; and  transmission means operatively connected to the hydraulic motor unit and transmitting power from the motor unit to the ball spindle, said transmission means comprising worm gear means operatively connected to the ball spindle and reducing the speed of rotation of the ball spindle and a first bevel gear means operatively connected to one of the hydraulic motors for insertion and withdrawal of the control rod assembly, the worm gear means supporting the positions of the control rod assembly,  wherein when the hydraulic motor unit is driven, the ball spindle is rotated, the ball nut assembly engaged with the ball spindle is axially rotated, and the connection pipe supported by the ball nut assembly is vertically driven to thereby drive the control rod assembly for inserting or withdrawing the control rod assembly into or from a reactor core and wherein driving water is introduced into the hydraulic motor by a hydraulic pressure supply pipe having a double-pipe structure.  a guide tube disposed in the housing;  a connection pipe disposed inside the guide tube coaxially therewith and having a first end to which a control rod assembly is connected;  a ball spindle disposed inside the connection pipe and supported thereby so as to be rotatable;  a ball nut assembly engaged with the ball spindle so as to be axially movable along the ball spindle, said ball nut assembly supporting a second end of the connection pipe;  a hydraulic motor unit operatively connected to the ball spindle so as to rotate the ball spindle and comprising a single hydraulic motor of a structure which is reversibly operable, said structure inserting the control rod assembly into the reactor core and withdrawing the control rod assembly from the reactor core; and  transmission means operatively connected to the hydraulic motor unit and transmitting power from the hydraulic motor unit to the ball spindle, said transmission means comprising a bevel gear means operatively connected to said single hydraulic motor and a worm gear means operatively connected to the ball spindle, the worm gear means supporting the position of the control rod assembly,  wherein when the hydraulic motor unit is driven, the ball spindle is rotated, the ball nut assembly engaged with the ball spindle is axially rotated, and the connection pipe supported by the ball nut assembly is driven vertically to thereby drive the control rod assembly for inserting or withdrawing the control into or from a reactor core,  the nuclear reactor comprises a boiling water reactor and four fuel assemblies are disposed in respective sections formed as a unit fuel assembly structure by a cross-shaped control rod and wherein a plurality of such unit fuel assembly structures are arranged in a core of the boiling water reactor, the control rods being driven by a control rod driving system including a control rod driving apparatus which has a control rod for a power-adjustment unit, said control rod drive apparatus having a screw-drive structure which includes a spindle in which a nut engages with a mechanism, said mechanism vertically moving the connection pipe and establishing connection with the control rods and another control rod driving apparatus driving control rods for the units except the power-adjustment unit which is formed into a hydraulic pressure piston drive structure comprising a mechanism vertically moving a connection pipe and establishing connection with said control rod, a piston and a cylinder,  wherein said screw drive structure is driven by said single hydraulic motor, a source supplying driving water driving the hydraulic pressure piston drive structure and a source supplying driving water driving said screw drive structure have a common hydraulic pressure supply apparatus,  the source supplying driving water driving the hydraulic pressure piston drive structure and the source supplying driving water driving said screw drive structure have a common hydraulic pressure supply apparatus, and wherein the control rod for the power-adjustment unit includes a drive structure which simultaneously drives a plurality of control rods.  a guide tube disposed in the housing;  a connection pipe disposed inside the guide tube coaxially therewith and having a first end to which a control rod assembly is connected;  a ball spindle disposed inside the connection pipe and supported thereby so as to be rotatable;  a ball nut assembly engaged with the ball spindle so as to be axially movable along the ball spindle, said ball nut assembly supporting a second end of the connection pipe;  a hydraulic motor unit operatively connected to the ball spindle so as to rotate the ball spindle and comprising a single hydraulic motor of a structure which is reversibly operable, said structure inserting the control rod assembly into the reactor core and withdrawing the control rod assembly from the reactor core; and  transmission means operatively connected to the hydraulic motor unit and transmitting power from the hydraulic motor unit to the ball spindle, said transmission means comprising bevel gear means operatively connected to said single hydraulic motor and a worm gear means operatively connected to the ball spindle, the worm gear means supporting the position of the control rod assembly,  wherein when the hydraulic motor unit is driven, the ball spindle is rotated, the ball nut assembly engaged with the ball spindle is axially rotated, and the connection pipe supported by the ball nut assembly is driven vertically to thereby drive the control rod assembly for inserting or withdrawing the control into or from a reactor core, wherein driving water is introduced into the hydraulic motor unit by a hydraulic pressure supply pipe having a double-pipe structure.  a guide tube disposed in the housing;  a connection pipe disposed inside the guide tube coaxially therewith and having a first end to which a control rod assembly is connected;  a ball spindle disposed inside the connection pipe and supported thereby so as to be rotatable;  a ball nut assembly engaged with the ball spindle so as to be axially movable along the ball spindle, said ball nut assembly supporting a second end of the connection pipe;  a hydraulic motor unit operatively connected to the ball spindle so as to rotate the ball spindle and comprising a single hydraulic motor of a structure which is reversibly operable, said structure inserting the control rod assembly into the reactor core and withdrawing the control rod assembly from the reactor core; and  transmission means operatively connected to the hydraulic motor unit and transmitting power from the hydraulic motor unit to the ball spindle, said transmission means comprising bevel gear means operatively connected to said single hydraulic motor and worm gear means operatively connected to the ball spindle, the worm gear means supporting the position of the control rod assembly,  wherein when the hydraulic motor unit is driven, the ball spindle is rotated, the ball nut assembly engaged with the ball spindle is axially rotated, and the connection pipe supported by the ball nut assembly is driven vertically to thereby drive the control rod assembly for inserting or withdrawing the control rod assembly into or from a reactor core.  guide tube disposed in the housing;  a connection pipe disposed inside the guide tube coaxially therewith and having a first end to which a control rod assembly is connected;  a ball spindle disposed inside the connection pipe and supported thereby so as to be rotatable;  a ball nut assembly engaged with the ball spindle so as to be axially movable along the ball spindle, said ball nut assembly supporting a second end of the connection pipe;  a hydraulic motor unit operatively connected to the ball spindle so as to rotate the ball spindle and including a motor case, a first hydraulic motor inserting the control rod assembly into the reactor core and a second hydraulic motor withdrawing the control rod assembly from the reactor core; and  a transmission operatively connected to the hydraulic motor unit and transmitting power from the motor unit to the ball spindle, said transmission comprising a first bevel gear operatively connected to one of the hydraulic motors for insertion and withdrawal of the control rod assembly and a worm gear operatively connected to the ball spindle, the worm gear supporting the position of the control rod assembly,  wherein when the hydraulic motor unit is driven, the ball spindle is rotated, the ball nut assembly engaged with the ball spindle is axially rotated, and the connection pipe supported by the ball nut assembly is vertically driven to thereby drive the control rod assembly for inserting or withdrawing the control rod assembly into or from a reactor core,  wherein the nuclear reactor comprises a boiling water reactor and four fuel assemblies are disposed in respective sections formed as a unit fuel assembly structure by a cross-shaped control rod and wherein a plurality of such unit fuel assembly structures are arranged in a core of the boiling water reactor, the control rods being driven by a control rod driving system including a control rod driving apparatus which has a control rod for a power-adjustment unit, said control-rod drive apparatus having a screw-drive structure which includes a spindle in which a nut engages with a mechanism, said mechanism vertically moving the connecting pipe and establishing connection with the control rods and another control rod driving apparatus driving control rods for the units except the power-adjustment unit which is formed into a hydraulic pressure piston drive structure comprising a mechanism vertically moving a connection pipe and establishing connection with said control rod, a piston and a cylinder, and said screw drive structure is driven by a hydraulic motor;  wherein the source supplying driving water driving the hydraulic pressure piston drive structure and the source supplying driving water driving said screw drive structure have a common hydraulic pressure supply apparatus; and  wherein the control rod for the power-adjustment unit includes a drive structure which simultaneously drives a plurality of control rods.  a guide tube disposed in the housing;  a connection pipe disposed inside the guide tube coaxially therewith and having a first end to which a control rod assembly is connected;  a ball spindle disposed inside the connection pipe and supported thereby so as to be rotatable;  a ball nut assembly engaged with the ball spindle so as to be axially movable along the ball spindle, said ball nut assembly supporting a second end of the connection pipe;  a hydraulic motor unit operatively connected to the ball spindle so as to rotate the ball spindle and including a motor case, a first hydraulic motor inserting the control rod assembly into the reactor core and a second hydraulic motor withdrawing the control rod assembly from the reactor core; and  a transmission operatively connected to the hydraulic motor unit and transmitting power from the motor unit to the ball spindle, said transmission comprising a first bevel gear operatively connected to one of the hydraulic motors for insertion and withdrawal of the control rod assembly and a worm gear operatively connected to the ball spindle, the worm gear supporting the position of the control rod assembly,  wherein when the hydraulic motor unit is driven, the ball spindle is rotated, the ball nut assembly engaged with the ball spindle is axially rotated, and the connection pipe supported by the ball nut assembly is vertically driven to thereby drive the control rod assembly for inserting or withdrawing the control rod assembly into or from a reactor core,  a hydraulic pressure supply pipe supplying hydraulic pressure to the reaction pressure vessel wherein a change-over valve is disposed at an intermediate portion of the hydraulic pressure supply pipe, said change-over valve having a structure changing over flow of the driving water while enabling at least two operations of the control rod insertion operation, said two operations comprising the control rod withdrawal operation and an emergency control rod insertion operation; and  wherein said change-over valve comprises an introduction port introducing the driving water, a plurality of ports branched from the introduction port, a spring disposed inside the respective ports and a valve body opened and closed due to a balance between a biasing force of the spring and hydraulic pressure transmitted through the introduction port.  a guide tube disposed in the housing;  a connection pipe disposed inside the guide tube coaxially therewith and having a first end to which a control rod assembly is connected;  a ball spindle disposed inside the connection pipe and supported thereby so as to be rotatable;  a ball nut assembly engaged with the ball spindle so as to be axially movable along the ball spindle, said ball nut assembly supporting a second end of the connection pipe;  a hydraulic motor unit operatively connected to the ball spindle so as to rotate the ball spindle and including a motor case, a first hydraulic motor inserting the control rod assembly into the reactor core and a second hydraulic motor withdrawing the control rod assembly from the reactor core; and  a transmission operatively connected to the hydraulic motor unit and transmitting power from the motor unit to the ball spindle, said transmission comprising a first bevel gear operatively connected to one of the hydraulic motors for insertion and withdrawal of the control rod assembly and a worm gear operatively connected to the ball spindle, the worm gear supporting the position of the control rod assembly,  wherein when the hydraulic motor unit is driven, the ball spindle is rotated, the ball nut assembly engaged with the ball spindle is axially rotated, and the connection pipe supported by the ball nut assembly is vertically driven to thereby drive the control rod assembly for inserting or withdrawing the control rod assembly into or from a reactor core, and wherein driving water is introduced into the hydraulic motor unit by a hydraulic pressure supply pipe and said hydraulic pressure supply pipe has a double-pipe structure.  a guide tube disposed in the housing;  a connection pipe disposed inside the guide tube coaxially therewith and having a first end to which a control rod assembly is connected;  a ball spindle disposed inside the connection pipe and supported thereby so as to be rotatable;  a ball nut assembly engaged with the ball spindle so as to be axially movable along the ball spindle, said ball nut assembly supporting a second end of the connection pipe;  a hydraulic motor unit operatively connected to the ball spindle so as to rotate the ball spindle and comprising a single hydraulic motor of a structure which is reversibly operable, said structure inserting the control rod assembly into the reactor core and withdrawing the control rod assembly from the reactor core; and  a transmission operatively connected to the hydraulic motor unit and transmitting power from the hydraulic motor unit to the ball spindle, said transmission comprising a bevel gear operatively connected to said single hydraulic motor and a worm gear operatively connected to the ball spindle, the worm gear supporting the position of the control rod assembly,  wherein when the hydraulic motor unit is driven, the ball spindle is rotated, the ball nut assembly engaged with the ball spindle is axially rotated, and the connection pipe supported by the ball nut assembly is driven vertically to thereby drive the control rod assembly for inserting or withdrawing the control into or from a reactor core,  wherein the nuclear reactor comprises a boiling water reactor and four fuel assemblies are disposed in respective sections formed as a unit fuel assembly structure by a cross-shaped control rod and wherein a plurality of such unit fuel assembly structures are arranged in a core of the boiling water reactor, the control rods being driven by a control rod driving system including a control rod driving apparatus which has a control rod for a power-adjustment unit, said control-rod drive apparatus having a screw-drive structure which includes a spindle in which a nut engages with a mechanism, said mechanism vertically moving the connecting pipe and establishing connection with the control rods and another control rod driving apparatus driving control rods for the units except the power-adjustment unit which is formed into a hydraulic pressure piston drive structure comprising a mechanism vertically moving a connection pipe and establishing connection with said control rod, a piston and a cylinder, and said screw drive structure is driven by a hydraulic motor,  wherein the source supplying driving water driving the hydraulic pressure piston drive structure and the source supplying driving water driving said screw drive structure have a common hydraulic pressure supply apparatus; and the control rod for the power-adjustment unit includes a drive structure which simultaneously drives a plurality of control rods.  a guide tube disposed in the housing;  a connection pipe disposed inside the guide tube coaxially therewith and having a first end to which a control rod assembly is connected;  a ball spindle disposed inside the connection pipe and supported thereby so as to be rotatable;  a ball nut assembly engaged with the ball spindle so as to be axially movable along the ball spindle, said ball nut assembly supporting a second end of the connection pipe;  a hydraulic motor unit operatively connected to the ball spindle so as to rotate the ball spindle and comprising a single hydraulic motor of a structure which is reversibly operable, said structure inserting the control rod assembly into the reactor core and withdrawing the control rod assembly from the reactor core; and  a transmission operatively connected to the hydraulic motor unit and transmitting power from the hydraulic motor unit to the ball spindle, said transmission comprising a bevel gear operatively connected to said single hydraulic motor and a worm gear operatively connected to the ball spindle, the worm gear supporting the position of the control rod assembly,  wherein when the hydraulic motor unit is driven, the ball spindle is rotated, the ball nut assembly engaged with the ball spindle is axially rotated, and the connection pipe supported by the ball nut assembly is driven vertically to thereby drive the control rod assembly for inserting or withdrawing the control into or from a reactor core,  wherein driving water is introduced to the hydraulic motor unit by a pressure supply pipe and a change-over valve is disposed at an intermediate portion of the hydraulic pressure supply pipe, said change-over valve has a structure changing over flow of the driving water while enabling at least two operations of the control rod insertion operation, said two operations comprising the control rod withdrawal operation and an emergency control rod insertion operation; and wherein said change-over valve comprises an introduction port introducing the driving water, a plurality of ports branched from the introduction port, a spring disposed inside the respective ports and a valve body opened and closed due to a balance between a biasing force of the spring and hydraulic pressure transmitted through the introduction port.  a guide tube disposed in the housing;  a connection pipe disposed inside the guide tube coaxially therewith and having a first end to which a control rod assembly is connected;  a ball spindle disposed inside the connection pipe and supported thereby so as to be rotatable;  a ball nut assembly engaged with the ball spindle so as to be axially movable along the ball spindle, said ball nut assembly supporting a second end of the connection pipe;  a hydraulic motor unit operatively connected to the ball spindle so as to rotate the ball spindle and comprising a single hydraulic motor of a structure which is reversibly operable, said structure inserting the control rod assembly into the reactor core and withdrawing the control rod assembly from the reactor core; and  a transmission operatively connected to the hydraulic motor unit and transmitting power from the hydraulic motor unit to the ball spindle, said transmission comprising a bevel gear operatively connected to said single hydraulic motor and a worm gear operatively connected to the ball spindle, the worm gear supporting the position of the control rod assembly,  wherein when the hydraulic motor unit is driven, the ball spindle is rotated, the ball nut assembly engaged with the ball spindle is axially rotated, and the connection pipe supported by the ball nut assembly is driven vertically to thereby drive the control rod assembly for inserting or withdrawing the control into or from a reactor core and wherein driving water is introduced into the hydraulic motor unit by a hydraulic pressure supply pipe and said hydraulic pressure supply pipe has a double-pipe structure. 2. A control rod driving apparatus according to claim 1, wherein a change-over valve is disposed at an intermediate portion of the hydraulic pressure supply pipe, said change-over valve having a structure changing over flow of the driving water while enabling at least two operations of the control rod insertion operation, said two operations comprising a control rod withdrawal operation and an emergency control rod insertion operation. 3. A control rod driving apparatus according to claim 2, wherein said change-over valve comprises an introduction port introducing the driving water, a plurality of ports branched from the introduction port, spring means disposed inside the respective ports and a valve body opened and closed due to a balance between a biasing force of the spring means and hydraulic pressure transmitted through the introduction port. 4. A control rod driving apparatus according to claim 1, wherein said hydraulic pressure supply pipe has a double-pipe structure. 5. A control rod driving apparatus driving a control rod assembly of a nuclear reactor and disposed in a housing mounted to a reactor pressure vessel of the nuclear reactor, which comprises: 6. A control rod driving apparatus according to claim 1, wherein the nuclear reactor comprises a boiling water reactor and four fuel assemblies are disposed in respective sections formed as a unit fuel assembly structure by a cross-shaped control rod and wherein a plurality of such unit fuel assembly structures are arranged in a core of the boiling water reactor, the control rods being driven by a control rod driving system including a control rod driving apparatus which has a control rod for a power-adjustment unit, said control-rod drive apparatus having a screw-drive structure which includes a spindle in which a nut engages with a mechanism, said mechanism vertically moving the connection pipe and establishing connection with the control rods and another control rod driving apparatus for driving control rods for the units except the power-adjustment unit which is formed into a hydraulic pressure piston drive structure comprising a mechanism vertically moving a connection pipe and establishing connection with said control rod, a piston and a cylinder. 7. A control rod driving apparatus according to claim 6, wherein said screw drive structure is driven by a hydraulic motor. 8. A control rod driving apparatus according to claim 7, wherein a source supplying driving water for driving the hydraulic pressure piston drive structure and a source for supplying driving water driving said screw drive structure have a common hydraulic pressure supply apparatus. 9. A control rod driving apparatus according to claim 6, wherein the control rod for the power-adjustment unit includes a drive structure which simultaneously drives a plurality of control rods. 10. A control rod driving apparatus driving a control rod assembly of a nuclear reactor and disposed in a housing mounted to a reactor pressure vessel of the nuclear reactor, which comprises: 11. A control rod driving apparatus according to claim 10, wherein the driving water is introduced into the hydraulic motor unit by a hydraulic pressure supply pipe through which the pressure in the reactor pressure vessel is applied. 12. A control rod driving apparatus according to claim 11, wherein a change-over valve is disposed at an intermediate portion of the hydraulic pressure supply pipe, said change-over valve having a structure changing over flow of the driving water while enabling at least two operations of the control rod insertion operation, said two operations comprising a control rod withdrawal operation and an emergency control rod insertion operation. 13. A control rod driving apparatus according to claim 12, wherein said change-over valve comprises an introduction port introducing the driving water, a plurality of ports branched from the introduction port, a spring disposed inside the respective ports and a valve body opened and closed due to a balance between a biasing force of the spring and hydraulic pressure transmitted through the introduction port. 14. A control rod driving apparatus according to claim 11, wherein said hydraulic pressure supply pipe has a double-pipe structure. 15. A control rod driving apparatus driving a control rod assembly of a nuclear reactor and disposed in a housing mounted to a reactor pressure vessel of the nuclear reactor, which comprises: 16. A control rod driving apparatus according to claim 10, wherein the nuclear reactor comprises a boiling water reactor and four fuel assemblies are disposed in respective sections formed as a unit fuel assembly structure by a cross-shaped control rod and wherein a plurality of such unit fuel assembly structures are arranged in a core of the boiling water reactor, the control rods being driven by a control rod driving system including a control rod driving apparatus which has a control rod for a power-adjustment unit, said control-rod drive apparatus having a screw-drive structure which includes a spindle in which a nut engages with a mechanism, said mechanism vertically moving the connection pipe and establishing connection with the control rods and another control rod driving apparatus for driving control rods for the units except the power-adjustment unit which is formed into a hydraulic pressure piston drive structure comprising a mechanism vertically moving a connection pipe and establishing connection with said control rod, a piston and a cylinder. 17. A control rod driving apparatus according to claim 16, wherein said screw drive structure is driven by a hydraulic motor. 18. A control rod driving apparatus according to claim 18, wherein a source supplying driving water for driving the hydraulic pressure piston drive structure and a source for supplying driving water driving said screw drive structure have a common hydraulic pressure supply apparatus. 19. A control rod driving apparatus according to claim 16, wherein the control rod for the power-adjustment unit includes a drive structure which simultaneously drives a plurality of control rods. 20. A control rod driving apparatus driving a control rod assembly of a nuclear reactor and disposed in a housing mounted to a reactor pressure vessel of the nuclear reactor, which comprises: 21. A control rod driving apparatus driving a control rod assembly of a nuclear reactor and disposed in a housing mounted to a reactor pressure vessel of the nuclear reactor, which comprises: 22. A control rod driving apparatus driving a control rod assembly of a nuclear reactor and disposed in a housing mounted to a reactor pressure vessel of the nuclear reactor, which comprises: 23. A control rod driving apparatus driving a control rod assembly of a nuclear reactor and disposed in a housing mounted to a reactor pressure vessel of the nuclear reactor, which comprises: 24. A control rod driving apparatus driving a control rod assembly of a nuclear reactor and disposed in a housing mounted to a reactor pressure vessel of the nuclear reactor, which comprises: 25. A control rod driving apparatus driving a control rod assembly of a nuclear reactor and disposed in a housing mounted to a reactor pressure vessel of the nuclear reactor, which comprises: 26. A control rod driving apparatus driving a control rod assembly of a nuclear reactor and disposed in a housing mounted to a reactor pressure vessel of the nuclear reactor, which comprises: 27. A control rod driving apparatus driving a control rod assembly of a nuclear reactor and disposed in a housing mounted to a reactor pressure vessel of the nuclear reactor, which comprises: 28. A control rod driving apparatus driving a control rod assembly of a nuclear reactor and disposed in a housing mounted to a reactor pressure vessel of the nuclear reactor, which comprises: 29. A control rod driving apparatus driving a control rod assembly of a nuclear reactor and disposed in a housing mounted to a reactor pressure vessel of the nuclear reactor, which comprises: 30. A control rod driving apparatus driving a control rod assembly of a nuclear reactor and disposed in a housing mounted to a reactor pressure vessel of the nuclear reactor, which comprises: 31. A control rod driving apparatus driving a control rod assembly of a nuclear reactor and disposed in a housing mounted to a reactor pressure vessel of the nuclear reactor, which comprises: