Loading and unloading machine prototype and loading and unloading machine test simulation device

Abstract

The invention provides a loading and unloading machine prototype and a loading and unloading machine test simulation device.A loading and unloading machine is suitable for being tested in the loading and unloading machine test simulation device, the loading and unloading machine test simulation device comprises one or more simulation fuel assemblies and a simulation water tank, and each simulation fuel assembly comprises one or more positioning holes and assembly codes. The simulated water tank is used for containing liquid with a certain height, the loading and unloading machine comprises a gripping apparatus, the gripping apparatus comprises one or more positioning columns and one or more grippers, and the positioning columns are suitable for being matched with positioning holes in a simulated fuel assembly; a camera adapted to observe a component code of the one or more simulated fuel components; the negative pressure water tank comprises a first surface and a second surface opposite to the first surface, and the second surface is always located below the liquid level of the liquid in the simulation water tank; and a bracket. The assembly information of the fuel assembly can be accurately identified, and the space and the cost of a simulation test are saved.

Description

Technical Field

[0001] The present application mainly relates to the field of nuclear power technology, and in particular to a principle prototype of a loading and unloading machine and a test simulation device for the loading and unloading machine. Background Art

[0002] In the process of developing technologies related to pressurized water reactor loaders and unloaders, it is necessary to simulate the core structure and thermal turbulence conditions of nuclear reactors at low cost and high efficiency, and provide real experimental data and environment for subsequent nuclear fuel information identification and positioning. Traditional simulation tests are mostly carried out in the reactor core or spent fuel pool during the refueling of pressurized water reactors. Traditional tests require huge water pools and supporting crane lifting devices, which are costly and lack a real reference for the positional relationship between the loaders and unloaders and the fuel assemblies. On the other hand, field tests are costly and have radiation risks, so existing test methods are difficult to support in-depth and continuous reproduction of real scenes. At present, experiments can also be carried out through computer simulation, but because computer simulation lacks physical simulation models for complex conditions, the authenticity and complexity of the experiments are not as good as physical simulations. Summary of the invention

[0003] The technical problem to be solved by the present application is to provide a principle prototype of a loading and unloading machine and a test simulation device for the loading and unloading machine, so as to accurately identify the component information of the fuel assembly and save the space and cost of the simulation test.

[0004] In order to solve the above technical problems, the present application provides a principle prototype of a loading and unloading machine, which is suitable for being tested in a principle prototype test simulation device of a loading and unloading machine, wherein the principle prototype test simulation device of the loading and unloading machine includes one or more simulated fuel assemblies and a simulated water cylinder, wherein the simulated fuel assembly includes one or more positioning holes and assembly codes, and the simulated water cylinder is used to hold liquid of a certain height, and the principle prototype of the loading and unloading machine includes: a gripper, including one or more positioning columns and one or more claws, wherein the positioning columns are suitable for cooperating with the positioning holes in the simulated fuel assembly; a camera, wherein the camera is connected to the gripper, and the gripper drives the camera to move, and the camera is suitable for observing the assembly codes of one or more simulated fuel assemblies; a negative pressure water tank, wherein the negative pressure water tank includes a first surface and a second surface opposite to the first surface, wherein the negative pressure water tank is connected to the camera on the first surface, and the second surface is always located below the liquid level of the liquid in the simulated water cylinder; a bracket, wherein the bracket is connected to the gripper, and the bracket is suitable for driving the gripper to move.

[0005] Optionally, the first surface of the negative pressure water tank connected to the camera includes glass, and the camera is suitable for observing the component code of the simulated fuel assembly through the glass.

[0006] Optionally, the negative pressure water tank further comprises a negative pressure water tank exhaust valve, and the negative pressure water tank exhaust valve is suitable for exhausting bubbles in the negative pressure water tank.

[0007] Optionally, the gripper further comprises a fixing bracket, and the fixing bracket is suitable for fixing one or more positioning columns.

[0008] Optionally, the principle prototype of the loading and unloading machine also includes a driving device, which is connected to the bracket and is suitable for driving the bracket to drive the gripper to move.

[0009] In order to solve the above-mentioned technical problems, the present application provides a loading and unloading machine test simulation device. The loading and unloading machine principle prototype as described above is suitable for testing in the loading and unloading machine test simulation device, and the loading and unloading machine test simulation device includes: a simulated water tank, which is used to hold liquid with a certain height; one or more simulated fuel assemblies, located inside the simulated water tank, and the simulated fuel assembly includes one or more positioning holes, assembly codes and water flow holes.

[0010] Optionally, the loading and unloading machine test simulation device also includes a water outlet pipe, a nozzle array and a grid plate, the water outlet pipe is connected to the nozzle array, the nozzle array is located below the grid plate, the grid plate is located below one or more of the simulated fuel assemblies, and the nozzle array is suitable for spraying water from the water outlet pipe toward the grid plate, and the water passing through the grid plate is sprayed out through the water flow holes of the simulated fuel assembly.

[0011] Optionally, the loading and unloading machine test simulation device also includes an annular return pipe and a cold water return pipe connected to the annular return pipe, wherein the annular return pipe is located above the simulated fuel assembly, and the annular return pipe is suitable for recovering water above the simulated fuel assembly and discharging it through the cold water return pipe.

[0012] Optionally, the loading and unloading machine test simulation device also includes a heating device, which includes a first zone and a second zone, the first zone is connected to the water outlet pipe and is suitable for heating water entering the water outlet pipe, and the second zone is connected to the cold water return pipe and is suitable for discharging water in the cold water return pipe.

[0013] Optionally, the loading and unloading machine test simulation device also includes a cooling device, which cools the water recovered by the annular return pipe.

[0014] Compared with the prior art, the present application sets a negative pressure water tank on the loader and unloader. By making the second surface of the negative pressure water tank always below the liquid level of the liquid in the simulated water tank, the liquid in the simulated water tank can fill the entire negative pressure water tank, saving more test space while allowing the liquid to fill the camera's field of view, thereby better simulating the underwater observation environment. Furthermore, by setting a heating device in the loader and unloader test simulation device to heat the liquid in the area near the simulated fuel assembly to simulate the thermal turbulence in the actual application scenario, and setting a cooling device to cool the liquid above the simulated fuel assembly, a temperature difference is formed around the simulated fuel assembly, which better restores the actual application scenario and further improves the accuracy and reliability of the loader and unloader observation. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] The accompanying drawings are included to provide a further understanding of the present application. They are included and constitute a part of the present application. The accompanying drawings illustrate embodiments of the present application and together with the present specification serve to explain the principles of the present application. In the accompanying drawings:

[0016] Figure 1 This is a schematic structural diagram of a principle prototype of a loading and unloading machine in one embodiment of the present application;

[0017] Figure 2 It is a partial structural schematic diagram of a loading and unloading machine test simulation device in one embodiment of the present application;

[0018] Figure 3 It is a structural schematic diagram of a loading and unloading machine test simulation device in one embodiment of the present application. DETAILED DESCRIPTION

[0019] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the following is a brief introduction to the drawings required for the description of the embodiments. Obviously, the drawings described below are only some examples or embodiments of the present application. For ordinary technicians in this field, the present application can also be applied to other similar scenarios based on these drawings without creative work. Unless it is obvious from the language environment or otherwise explained, the same reference numerals in the figures represent the same structure or operation.

[0020] As shown in this application and claims, unless the context clearly indicates an exception, the words "a", "an", "an" and / or "the" do not refer to the singular and may also include the plural. Generally speaking, the terms "include" and "comprise" only indicate the inclusion of the steps and elements that have been clearly identified, and these steps and elements do not constitute an exclusive list. The method or device may also include other steps or elements.

[0021] Unless otherwise specifically stated, the relative arrangement, numerical expressions and numerical values ​​of the parts and steps set forth in these embodiments do not limit the scope of the present application. At the same time, it should be understood that, for ease of description, the sizes of the various parts shown in the accompanying drawings are not drawn according to the actual proportional relationship. The technology, method and equipment known to those of ordinary skill in the relevant field may not be discussed in detail, but in appropriate cases, the technology, method and equipment should be considered as a part of the authorization specification. In all examples shown and discussed here, any specific value should be interpreted as being merely exemplary, rather than as a limitation. Therefore, other examples of exemplary embodiments may have different values. It should be noted that similar reference numerals and letters represent similar items in the following drawings, so that once a certain item is defined in an accompanying drawing, it does not need to be further discussed in subsequent drawings.

[0022] In the description of the present application, it should be understood that the directions or positional relationships indicated by directional words such as "front, back, up, down, left, right", "lateral, vertical, perpendicular, horizontal" and "top, bottom" are usually based on the directions or positional relationships shown in the drawings, and are only for the convenience of describing the present application and simplifying the description. Unless otherwise specified, these directional words do not indicate or imply that the device or element referred to must have a specific direction or be constructed and operated in a specific direction, and therefore cannot be understood as limiting the scope of protection of the present application; the directional words "inside and outside" refer to the inside and outside relative to the contours of each component itself.

[0023] For ease of description, spatially relative terms such as "above", "above", "on the upper surface of", "above", etc. may be used here to describe the spatial positional relationship between a device or feature and other devices or features as shown in the figure. It should be understood that spatially relative terms are intended to include different orientations of the device in use or operation in addition to the orientation described in the figure. For example, if the device in the accompanying drawings is inverted, the device described as "above other devices or structures" or "above other devices or structures" will be positioned as "below other devices or structures" or "below other devices or structures". Thus, the exemplary term "above" can include both "above" and "below". The device can also be positioned in other different ways (rotated 90 degrees or in other orientations), and the spatially relative descriptions used here are interpreted accordingly.

[0024] In addition, it should be noted that the use of words such as "first" and "second" to define components is only for the convenience of distinguishing the corresponding components. If not otherwise stated, the above words have no special meaning and cannot be understood as limiting the scope of protection of this application. In addition, although the terms used in this application are selected from well-known and commonly used terms, some terms mentioned in the specification of this application may be selected by the applicant at his or her discretion, and their detailed meanings are explained in the relevant parts of the description of this article. In addition, it is required to understand this application not only by the actual terms used, but also by the meaning implied by each term.

[0025] This application refers to Figure 1 A prototype of a loading and unloading machine 10 is proposed, which is suitable for Figure 3 The test is performed in a loading and unloading machine test simulation device 20 (hereinafter referred to as "simulation device 20") shown in FIG. The simulation device 20 includes three simulated fuel assemblies 21 and a simulated water cylinder 22 (refer to FIG. Figure 2 ), the simulated fuel assembly 21 includes a plurality of positioning holes 211 and an assembly code 222 (refer to Figure 3 ), the simulated water tank 22 is used to hold a liquid with a certain height to simulate the liquid working medium inside the nuclear reactor. Exemplarily, the simulation device 20 may also include one or more simulated fuel assemblies 21, wherein the simulated fuel assembly 21 may only include an upper tube seat of the simulated fuel assembly 21, which may further save the test space, and the present application does not limit this.

[0026] In this embodiment, the prototype 10 of the loading and unloading machine mainly includes a gripper 11, a camera 12, a negative pressure water tank 13 and a bracket 14. First, in order to more clearly illustrate the structure of the gripper 11 and the positioning relationship between the gripper 11 and the simulated fuel assembly 21, the combination Figure 1 and Figure 2 The matching relationship between the gripper 11 and the simulated fuel assembly 21 is further described. Figure 1 is a schematic diagram of the structure of the principle prototype 10 of the loading and unloading machine, Figure 2 It is a schematic diagram of the partial structure inside the simulation device 20 when the principle prototype 10 of the loading and unloading machine is tested in the simulation device 20.

[0027] Further, see Figure 1 and Figure 2The gripper 11 includes a plurality of positioning posts 111 and a plurality of grippers 112. The positioning posts 111 are adapted to cooperate with the positioning holes 211 in the simulated fuel assembly 21 to position the gripper 11 and the simulated fuel assembly 21, while the grippers 112 are adapted to fix the positions of the gripper 11 and the simulated fuel assembly 21. In this embodiment, the positioning holes 211 include a large positioning hole 2111 and a small positioning hole 2222. The large positioning hole 2111 can realize the approximate positioning of the gripper 11 and the simulated fuel assembly 21, while the small positioning hole 2222 can make the positioning more precise and improve the accuracy of the positioning.

[0028] For example, refer to Figure 1 The gripper 11 further includes a fixing bracket 113, which is suitable for fixing a plurality of positioning columns 111, so that the positions of the positioning columns 111 are relatively fixed, thereby improving the accuracy of positioning.

[0029] Furthermore, the loader prototype 10 further includes a camera 12 and a bracket 14, wherein the camera 12 is connected to the gripper 11, and the bracket 14 is connected to the gripper 11, and the bracket 14 is adapted to drive the gripper 11 to move, so that the gripper 11 drives the camera 12 to move. Figure 2 After the positioning column 111 of the gripper 11 and the positioning hole 211 on the simulated fuel assembly 21 position the gripper 11 and the simulated fuel assembly 21, the viewing angle of the camera 12 is as follows: Figure 2 As shown, the camera 12 can observe the assembly code 222 of the simulated fuel assembly 21 corresponding to the gripper 11 and monitor the real-time positioning of the positioning column 111 and the positioning hole 211. Exemplarily, the camera includes a zoom camera and a fixed-focus camera, which is not limited in the present application.

[0030] In this embodiment, the loader prototype 10 further includes a driving device (not shown), which is connected to the bracket 14 and is suitable for driving the bracket 14 to move. For example, the driving device can use a three-axis truss to achieve precise positioning of the loader prototype 10.

[0031] In this embodiment, the loader prototype 10 further includes a negative pressure water tank 13, which includes a first surface S1 and a second surface S2 opposite to the first surface S1. The negative pressure water tank 13 is connected to the camera 12 on the first surface S1, and the first surface S1 is glass 131, so that the camera 12 can observe the assembly code 222 of the simulated fuel assembly 21 through the glass 133. The second surface S2 of the negative pressure water tank 13 is always located below the liquid level of the simulated water cylinder 22, so that the negative pressure water tank 13 can evacuate the air inside the water tank and raise the liquid level in the negative pressure water tank 13 by atmospheric pressure, so that the inside of the negative pressure water tank 13 can be filled with liquid, so that the field of view of the camera 12 can always be in an underwater environment.

[0032] Furthermore, the negative pressure water tank 13 also includes a negative pressure water tank exhaust valve 132. When the negative pressure water tank 13 is pumped out in the initial stage, residual bubbles may be left inside the water tank. Through the setting of the negative pressure water tank exhaust valve 132, the residual bubbles in the negative pressure water tank 13 can be discharged, so that the field of view of the camera 12 is completely underwater and is not interfered by other factors. Exemplarily, the negative pressure water tank can be a truncated cone structure.

[0033] In general, in order for the camera 12 to have a completely underwater scene in its field of view, a very deep pool or water tank is required during the test to accommodate the full range of motion of the underwater camera 2. At the same time, the bracket in the prototype 10 of the loading and unloading machine needs to be extended to reach the bottom of the water, and the drive system needs to be raised to accommodate the depth of the raised pool or water tank. This will make the entire experimental device very tall and bulky, greatly increasing the requirements for the installation laboratory floor height and floor load-bearing capacity, and increasing the cost of the experiment. By setting up the negative pressure water tank 13, the observation conditions of the camera 12 can be met in a smaller space, thereby reducing the test environment requirements and costs, and further simplifying the test operation. In this embodiment, the length of the negative pressure water tank 13 is half a meter, which can save about 6 tons of simulated liquid in the simulated water cylinder.

[0034] On the other hand, the present application also refers to Figure 3 A simulation device 20 is proposed, and any loading and unloading machine proposed in any embodiment of the present application is suitable for testing in the simulation device 20, such as the above-mentioned loading and unloading machine prototype 10. Figure 3 The simulation device 20 includes a simulated water tank 22 and three simulated fuel assemblies 21, wherein the simulated water tank 22 is used to hold a liquid having a certain height, and the simulated fuel assemblies 21 are located inside the simulated water tank 22. Figure 2 The simulated fuel assembly 21 includes a plurality of positioning holes 211 , an assembly code 222 and a water flow hole 233 .

[0035] In this embodiment, the simulation device 20 also includes a water outlet pipe 23, a nozzle array 24 and a grid plate 25. The water outlet pipe 23 is connected to the nozzle array 24. The nozzle array 24 is located below the grid plate 25. The grid plate is located below multiple simulated fuel assemblies 21. The nozzle array 24 is suitable for spraying water from the water outlet pipe 23 toward the grid plate 25. The water passing through the grid plate 25 is sprayed out through the water flow holes 233 of the simulated fuel assembly 21.

[0036] Furthermore, the simulation device 20 also includes an annular return pipe 33 and a cold water return pipe 34 connected to the annular return pipe 33. The annular return pipe 33 is located above the simulated fuel assembly 21. The annular return pipe 33 is suitable for recovering water above the simulated fuel assembly 21 and discharging it through the cold water return pipe 34.

[0037] On the other hand, the simulation device 20 further includes a heating device 40 and a cooling device 41. The heating device 40 includes a first zone 401 and a second zone 402. The first zone 104 is connected to the water outlet pipe 23 and is suitable for heating water entering the water outlet pipe 23. The cooling device 41 can cool the water above the simulated fuel assembly 21. The cooled water is recovered through the annular return pipe 33 and discharged to the second zone 402 through the cold water return pipe 34. Exemplarily, the cooling device 41 can be a floating ice module.

[0038] In this embodiment, by setting the heating device 40 and the cooling device 41, hot water can reach the simulated fuel assembly 21 through the water outlet pipe 23, the nozzle array 24 and the grid plate 25, and spray out through the water flow hole 233 of the simulated fuel assembly 21, so as to achieve the effect of simulating the thermal turbulence around the fuel assembly inside the actual nuclear reactor. Furthermore, since there is a significant temperature gradient difference between the water above the fuel assembly and the thermal turbulence around the fuel assembly inside the actual nuclear reactor, the setting of the cooling device 41 can also achieve the effect of simulating the temperature gradient difference, so that the scene when the camera 12 observes the assembly code 222 is more realistic, and the accuracy and reliability of the observation are improved.

[0039] Now combine Figure 3 The observation process of the material loader prototype 10 in the simulation device 20 is described in detail. Figure 3 The loading and unloading machine prototype 10 shown by the middle dotted line is in the initial position. It should be noted that at this time, the second surface S2 of the negative pressure water tank 13 is already below the liquid level of the simulated water cylinder 22, and the field of view of the camera 12 in the initial position is already underwater.

[0040] When the test starts, the driving device drives the bracket 14 to drive the camera 12, the negative pressure water tank 13 and the gripper 11 to move horizontally to above the simulated fuel assembly 21 with the assembly code 222 to be observed. During this process, the second surface S2 of the negative pressure water tank 13 is always below the liquid level of the simulated water cylinder 22. Then the driving device drives the bracket to drive the camera 12, the negative pressure water tank 13 and the gripper 11 to descend in the vertical direction. At this time, the camera 12 continues to observe to help the positioning column 111 on the gripper 11 and the positioning hole 211 on the simulated fuel assembly 21 to position and fix the position of the gripper 11 and the simulated fuel assembly 21, so that the camera 12 can observe the assembly code 222 on the simulated fuel assembly 21.

[0041] After the test begins, the heating device 40 is started, and water flows from the outlet pipe 23 through the nozzle array 24 and the grid plate 25 and gushes out through the water flow holes on the simulated fuel assembly 21, and the temperature and flow of the water can be adjusted by the heating device 40, so as to achieve the effect of controlling the thermal turbulence, thereby simulating the scene of stable thermal turbulence around the fuel assembly in the actual operation of the nuclear reactor (as shown by the arrow x in the figure). In order to ensure that the device continues to produce stable thermal turbulence, it is necessary to keep the inlet and outlet water volume and the input and output heat in the simulation device 20 balanced respectively. Therefore, the annular return pipe 33 and the cold water return pipe 34 are required to recycle water to achieve balance. Since the heat dissipation effect of the annular return pipe 33 and the cold water return pipe 34 is not enough to completely cool the thermal turbulence at a large flow rate and form a temperature gradient difference, a cooling device is also provided in this embodiment to cool the water, thereby generating effective thermal turbulence.

[0042] Through the above settings, when the camera 12 moves from the initial position to the position after the positioning column 111 of the gripper 11 and the positioning hole 211 in the simulated fuel assembly 21 are positioned, the observation scene restores the thermal turbulence in the actual scene of the nuclear reactor as much as possible, making the observation effect more accurate and reliable. The camera 12 can also record the entire observation process, providing underwater video image information close to the real scene for subsequent simulation tests.

[0043] The present application sets a negative pressure water tank on the loader and unloader. By making the second surface of the negative pressure water tank always below the liquid level of the liquid in the simulated water tank, the liquid in the simulated water tank can fill the entire negative pressure water tank, saving more test space while allowing the liquid to fill the camera's field of view, thereby better simulating the underwater observation environment. Furthermore, by setting a heating device in the loader and unloader test simulation device to heat the liquid in the area near the simulated fuel assembly to simulate the thermal turbulence in the actual application scenario, and setting a cooling device to cool the liquid above the simulated fuel assembly, a temperature difference is formed around the simulated fuel assembly, which better restores the actual application scenario and further improves the accuracy and reliability of the loader and unloader observation.

[0044] The basic concepts have been described above. Obviously, for those skilled in the art, the above application disclosure is only an example and does not constitute a limitation of the present application. Although not explicitly stated herein, those skilled in the art may make various modifications, improvements and amendments to the present application. Such modifications, improvements and amendments are suggested in the present application, so such modifications, improvements and amendments still belong to the spirit and scope of the exemplary embodiments of the present application.

[0045] At the same time, the present application uses specific words to describe the embodiments of the present application. For example, "one embodiment", "an embodiment", and / or "some embodiments" refer to a certain feature, structure or characteristic related to at least one embodiment of the present application. Therefore, it should be emphasized and noted that "one embodiment" or "an embodiment" or "an alternative embodiment" mentioned twice or more in different positions in this specification does not necessarily refer to the same embodiment. In addition, some features, structures or characteristics in one or more embodiments of the present application can be appropriately combined.

[0046] Similarly, it should be noted that in order to simplify the description of the disclosure of this application and thus help understand one or more application embodiments, in the above description of the embodiments of this application, multiple features are sometimes merged into one embodiment, figure or description thereof. However, this disclosure method does not mean that the features required by the object of this application are more than the features mentioned in the claims. In fact, the features of the embodiments are less than all the features of the single embodiment disclosed above.

[0047] In some embodiments, numbers describing the number of components and attributes are used. It should be understood that such numbers used in the description of the embodiments are modified by the modifiers "about", "approximately" or "substantially" in some examples. Unless otherwise specified, "about", "approximately" or "substantially" indicate that the numbers are allowed to vary by ±20%. Accordingly, in some embodiments, the numerical parameters used in the specification and claims are approximate values, which may change according to the required features of individual embodiments. In some embodiments, the numerical parameters should take into account the specified significant digits and adopt the general method of retaining digits. Although the numerical domains and parameters used to confirm the breadth of their range in some embodiments of the present application are approximate values, in specific embodiments, the setting of such numerical values ​​is as accurate as possible within the feasible range.

[0048] Although the present application has been described with reference to the current specific embodiments, ordinary technicians in this technical field should recognize that the above embodiments are only used to illustrate the present application, and various equivalent changes or substitutions may be made without departing from the spirit of the present application. Therefore, as long as the changes and modifications to the above embodiments are within the essential spirit of the present application, they will fall within the scope of the claims of the present application.

Claims

1. A prototype of a loading and unloading machine, suitable for testing in a prototype test simulation device for loading and unloading machine, the prototype test simulation device for loading and unloading machine comprising one or more simulated fuel assemblies and a simulated water cylinder, the simulated fuel assembly comprising one or more positioning holes and assembly codes, the simulated water cylinder being used to hold liquid of a certain height, characterized in that: The principle prototype of the loading and unloading machine includes: a gripper, comprising one or more positioning posts and one or more grippers, wherein the positioning posts are adapted to cooperate with the positioning holes in the simulated fuel assembly; A camera, the camera is connected to the gripper, the gripper drives the camera to move, and the camera is suitable for observing the component code of one or more of the simulated fuel components; A negative pressure water tank, comprising a first surface and a second surface opposite to the first surface, wherein the negative pressure water tank is connected to the camera at the first surface, and the second surface is always located below the liquid level of the liquid in the simulated water tank; A bracket is connected to the gripper, and the bracket is suitable for driving the gripper to move.

2. The principle prototype of the loading and unloading machine according to claim 1, characterized in that: The first surface of the negative pressure water tank connected to the camera includes glass, and the camera is suitable for observing the component code of the simulated fuel component through the glass.

3. The principle prototype of the loading and unloading machine according to claim 1, characterized in that: The negative pressure water tank further comprises a negative pressure water tank exhaust valve, and the negative pressure water tank exhaust valve is suitable for exhausting bubbles in the negative pressure water tank.

4. The principle prototype of the loading and unloading machine according to claim 1, characterized in that: The gripper further comprises a fixing bracket adapted to fix one or more of the positioning posts.

5. The principle prototype of the loading and unloading machine according to claim 1, characterized in that: It also includes a driving device, which is connected to the bracket and is suitable for driving the bracket to drive the gripper to move.

6. A loading and unloading machine test simulation device, characterized in that: The principle prototype of the loading and unloading machine according to claims 1 to 5 is suitable for testing in the loading and unloading machine test simulation device, and the loading and unloading machine test simulation device comprises: A simulated water tank, wherein the simulated water tank is used to hold liquid of a certain height; One or more simulated fuel components are located inside the simulated water cylinder, and the simulated fuel components include one or more positioning holes, component codes, and water flow holes.

7. The loading and unloading machine test simulation device according to claim 6, characterized in that: It also includes a water outlet pipe, a nozzle array and a grid plate, wherein the water outlet pipe is connected to the nozzle array, the nozzle array is located below the grid plate, the grid plate is located below one or more of the simulated fuel assemblies, and the nozzle array is suitable for spraying water from the water outlet pipe toward the grid plate, and the water passing through the grid plate is sprayed out through the water flow holes of the simulated fuel assembly.

8. The loading and unloading machine test simulation device according to claim 7, characterized in that: It also includes an annular return pipe and a cold water return pipe connected to the annular return pipe. The annular return pipe is located above the simulated fuel assembly and is suitable for recovering water above the simulated fuel assembly and discharging it through the cold water return pipe.

9. The loading and unloading machine test simulation device according to claim 8, characterized in that: It also includes a heating device, which includes a first zone and a second zone. The first zone is connected to the water outlet pipe and is suitable for heating water entering the water outlet pipe. The second zone is connected to the cold water return pipe and is suitable for discharging water in the cold water return pipe.

10. The loading and unloading machine test simulation device according to claim 8, characterized in that: The utility model also comprises a cooling device, wherein the cooling device cools the water recovered by the annular water return pipe.

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