Container end plug disassembly and assembly device

Abstract

The present invention discloses a container end plug disassembly and assembly device, comprising a movable platform assembly, a visual control system, a gripping assembly, a bridging assembly, and two tabletop movable assemblies. The movable platform assembly comprises a stainless steel frame, a workbench, a Y-axis motor, a wall-penetrating sealing mechanism, and a Y-axis transmission mechanism. The visual control system comprises a radiation-resistant camera and a controller. The two tabletop movable assemblies are arranged on the workbench, and each tabletop movable assembly comprises a lifting workbench and a Z-axis lifting mechanism for driving the lifting workbench to perform Z-axis movement. The gripping assembly and the bridging assembly are arranged one-to-one on the lifting workbench of the two tabletop movable assemblies. The gripping assembly comprises a base plate, an X-axis linear motor module, a clamping claw, a transition connecting rod, and a gripping slide. The container end plug disassembly and assembly device of the present invention can realize the rapid replacement of parts and the remote disassembly and assembly of the container end plug, effectively ensuring the safety of the staff, and has high reliability and economy.

Description

Technical Field

[0001] The invention relates to a container end plug disassembly and assembly device. Background Art

[0002] Nuclear power plants generate spent fuel assemblies during operation. Small-diameter spent fuel for specialized applications is loaded into containers and transported to reprocessing sites. Due to their radioactivity, personnel are unable to physically remove or install the top end plugs during transport to the reprocessing facility. Manual removal and installation of these end plugs poses significant risks to personnel and could compromise safety. Summary of the Invention

[0003] The purpose of the present invention is to overcome the defects of the prior art and provide a container end plug disassembly and assembly device that can realize rapid replacement of parts and remote disassembly and assembly of container end plugs, effectively ensure the safety of workers, and has high reliability and economy.

[0004] The technical solution to achieve the above purpose is: a container end plug disassembly and assembly device, including a mobile platform assembly, a visual control system, a gripping assembly, a bridging assembly and two table moving assemblies, wherein:

[0005] The mobile platform assembly includes a stainless steel frame, a workbench, a Y-axis motor, a through-wall sealing mechanism, and a Y-axis transmission mechanism. The stainless steel frame is arranged on the Y-axis transmission mechanism, and the workbench is arranged on the top of the stainless steel frame. The output end of the Y-axis motor is connected to the Y-axis transmission mechanism through the through-wall sealing mechanism. The Y-axis motor drives the Y-axis transmission mechanism to drive the stainless steel frame to perform Y-axis movement. A transverse lead shielding plate and a longitudinal lead shielding plate are arranged on the workbench, and the transverse lead shielding plate and the longitudinal lead shielding plate are distributed in a T shape.

[0006] The visual control system includes a radiation-resistant camera and a controller, wherein the radiation-resistant camera is arranged on the workbench via a pan-tilt platform;

[0007] The two tabletop moving assemblies are arranged on the workbench and are respectively arranged on both sides of the transverse lead shielding plate, and each tabletop moving assembly includes a lifting workbench and a Z-axis lifting mechanism for driving the lifting workbench to perform Z-axis movement;

[0008] The grabbing assembly and the bridging assembly are arranged on the lifting workbench of the two table-top moving assemblies in a one-to-one correspondence, and the grabbing assembly is adjacent to the radiation-resistant camera;

[0009] The gripping assembly includes a base plate, an X-axis linear motor module, a gripping claw, a transition connecting rod, and a gripping slide. The base plate is arranged on a corresponding lifting workbench. The X-axis linear motor module and the gripping slide are respectively arranged on the base plate through a base. The gripping claw is located in the gripping slide. The output end of the X-axis linear motor module is connected to the gripping claw, and the X-axis linear motor module drives the gripping claw to perform X-axis motion. One end of the transition connecting rod is connected to the gripping claw, and the other end is connected to the end plug of the container to be disassembled.

[0010] The bridge assembly includes a bridge slide, an X-axis motor and an X-axis movable track, wherein the X-axis movable track is arranged on a corresponding lifting workbench, the bridge slide is arranged on the X-axis movable track, and the X-axis motor drives the bridge slide to perform X-axis motion along the X-axis movable track;

[0011] The controller communicates with the radiation-resistant camera, the Y-axis motor, the Z-axis lifting mechanism, the X-axis linear motor module and the X-axis motor respectively.

[0012] The above-mentioned container end plug disassembly and assembly device, wherein the Y-axis transmission mechanism includes two Y-direction rails, a transmission screw and a transmission block, the two Y-direction rails are symmetrically arranged on both sides of the transmission screw, the transmission block is connected to the transmission screw, the two sides of the bottom end of the stainless steel frame are arranged one-to-one on the two Y-direction rails, and the middle part of the bottom end of the stainless steel frame is connected to the transmission block.

[0013] The above-mentioned container end plug disassembly and assembly device, wherein the Z-axis lifting mechanism includes a transverse transmission rod, a longitudinal transmission rod, two X-shaped cross support frames and two longitudinal rails, the middle part of the transverse transmission rod is connected to the longitudinal transmission rod by a slider; the slider is externally connected to the output end of the Z-axis motor; the two longitudinal rails are arranged on the workbench in a left-right symmetrical manner, and are arranged on both sides of the longitudinal transmission rod, and each longitudinal rail is provided with a slide; the two ends of the transverse transmission rod are connected to the slides on the two longitudinal rails in a one-to-one correspondence; and the two ends of the transverse transmission rod are connected to one side of the bottom end of the two X-shaped cross support frames in a one-to-one correspondence; the other side of the bottom end of the two X-shaped cross support frames is connected to the workbench, and the top end of the two X-shaped cross support frames is connected to the bottom end of the lifting workbench;

[0014] The Z-axis motor drives the transverse transmission rod to move longitudinally along the longitudinal transmission rod, and the transverse transmission rod drives one side of the bottom end of the two X-shaped cross support frames to move longitudinally along the corresponding longitudinal track, thereby adjusting the crossing angle of the X-shaped cross support frames and driving the lifting workbench to move along the Z-axis.

[0015] In the above-mentioned container end plug disassembly and assembly device, the Z-axis motors of the two table moving assemblies are respectively installed on the workbench through a quick disassembly and assembly mechanism.

[0016] The above-mentioned container end plug disassembly and assembly device, wherein the quick disassembly and assembly mechanism includes a fixed seat, a fixed claw and a handle, the fixed seat is installed on the workbench by bolts, the fixed claw and the handle are respectively connected to the fixed seat, and the fixed claw grasps the Z-axis motor.

[0017] The above-mentioned container end plug disassembly and assembly device, wherein the Z-axis motor is a radiation-resistant motor, and the Z-axis motors of the two table moving assemblies are located on the same side of the transverse lead shielding plate and are adjacent to the grasping assembly; the transverse lead shielding plate separates the two Z-axis motors from the bridging assembly.

[0018] In the above-mentioned container end plug disassembly and assembly device, the controller is connected to the Z-axis motor of the Z-axis lifting mechanism.

[0019] The above-mentioned container end plug disassembly and assembly device, wherein the Y-axis motor and controller are arranged outside the hot chamber, and the Y-axis transmission mechanism is arranged inside the hot chamber; the radiation-resistant camera is connected to the controller through a radiation-resistant cable.

[0020] In the above-mentioned container end plug disassembly and assembly device, the Y-axis motor, the X-axis linear motor module and the X-axis motor are respectively radiation-resistant motors.

[0021] The container end plug disassembly and assembly device of the present invention can be used as one of the equipment of the spent fuel transfer system, can realize the rapid replacement of parts and the remote disassembly and assembly of the container end plug, effectively ensures the safety of workers, and has high reliability and economy. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] Figure 1 This is a three-dimensional structural diagram of the container end plug disassembly and assembly device of the present invention;

[0023] Figure 2 This is a schematic diagram of the installation of various components on the workbench;

[0024] Figure 3 A structural diagram of a movable stand assembly of a container end plug disassembly and assembly device according to the present invention;

[0025] Figure 4 This is a schematic structural diagram of the visual control system of the container end plug disassembly and assembly device of the present invention;

[0026] Figure 5 This is a structural schematic diagram of the table moving assembly of the container end plug disassembly and assembly device of the present invention;

[0027] Figure 6It is a structural diagram of the quick disassembly and assembly mechanism;

[0028] Figure 7 This is a schematic structural diagram of a grabbing assembly of a container end plug disassembly and assembly device according to the present invention;

[0029] Figure 8 This is a schematic diagram of the installation of the grabbing component on the lifting workbench;

[0030] Figure 9 It is a structural schematic diagram of the bridge assembly of the container end plug disassembly and assembly device of the present invention. DETAILED DESCRIPTION

[0031] In order to enable those skilled in the art to better understand the technical solution of the present invention, the specific implementation methods thereof are described in detail below with reference to the accompanying drawings:

[0032] See also Figures 1 to 9 The preferred embodiment of the present invention is a container end plug disassembly and assembly device, comprising a movable platform assembly 1, a visual control system 2, a gripping assembly 3, a bridge assembly 4, and two movable platform assemblies 5. The visual control system 2 and the two movable platform assemblies 5 are respectively arranged on the workbench of the movable platform assembly 1, and the gripping assembly 3 and the bridge assembly 4 are respectively arranged on the two movable platform assemblies 5.

[0033] See also Figure 3 The mobile platform assembly 1 includes a stainless steel frame 11, a workbench 12, a Y-axis motor 13, a through-wall sealing mechanism 14, and a Y-axis transmission mechanism 15. The stainless steel frame 11 is mounted on the Y-axis transmission mechanism 15, and the workbench 12 is mounted on top of the stainless steel frame 11. The Y-axis motor 13 is located outside the hot chamber, and the Y-axis transmission mechanism 15 is located inside the hot chamber. The output end of the Y-axis motor 13 is connected to the Y-axis transmission mechanism 15 through the through-wall sealing mechanism 14. The Y-axis motor 13 drives the Y-axis transmission mechanism 15 to move the stainless steel frame 11 along the Y axis, thereby driving the workbench 12 along the Y axis. A transverse lead shielding plate 16 and a longitudinal lead shielding plate 17 are provided on the workbench 12, and the transverse lead shielding plates 16 and the longitudinal lead shielding plates 17 are arranged in a T-shape. The transverse lead shielding plates 16 and the longitudinal lead shielding plates 17 are used to shield gamma rays.

[0034] The Y-axis drive mechanism 15 includes two Y-tracks 151, a drive screw 152, and a drive block 153. The two Y-tracks 151 are symmetrically positioned on either side of the drive screw 152, and the drive block 153 is connected to the drive screw 152. The bottom end of the stainless steel frame 11 is positioned one-to-one on each side of the two Y-tracks 151, and the middle portion of the bottom end of the stainless steel frame 11 is connected to the drive block 153. The Y-axis motor 13 drives the drive screw 152 to rotate. As the drive screw 152 rotates, the drive block 153 generates Y-axis displacement, thereby driving the stainless steel frame 11 and the worktable 12 at its top to perform Y-axis motion.

[0035] The components of the mobile platform assembly 1 are made of austenitic stainless steel profiles and steel plates welded and processed, and have good load-bearing capacity; the overall steel structure adopts steel structural parts, which can be used for a long time in the high radioactive environment inside the hot chamber, reducing the failure rate and ensuring the safety of the mechanical structure operation.

[0036] The Y-axis motor 13 provides power and is routed to the exterior of the hot chamber via a through-wall seal 14. A coupling allows for quick connection, facilitating inspection, maintenance, and component replacement. The workbench 12 features various adaptable holes and slots, as well as positioning pins, slots, and platforms, ensuring precise positioning of components after installation. This also enables remote inspection and maintenance, accommodating various quick-install mechanisms and components for easy installation and repair.

[0037] See also Figure 4 The visual control system 2 includes a radiation-resistant camera 21 and a controller 22. The radiation-resistant camera 21 is mounted on the workbench 12 via a pan / tilt platform 23. The controller 22 is located outside the reheat chamber and is connected to the camera 21 via a radiation-resistant cable 24. The pan / tilt platform 23 allows the camera 21 to rotate 360° circumferentially and 360° axially. The radiation-resistant camera 21 can capture images from various angles in real time, monitor the operation of the end plug assembly and disassembly device, and transmit the monitored images in real time to the host operation station and the mobile operation station.

[0038] See also Figure 2 、 Figure 5 and Figure 6, two table moving assemblies 5 are arranged on the workbench 12 and are respectively arranged on both sides of the horizontal lead shielding plate 16. Each table moving assembly 5 includes a lifting workbench 51 and a Z-axis lifting mechanism that drives the lifting workbench to perform Z-axis movement; the Z-axis lifting mechanism includes a horizontal transmission rod 52, a longitudinal transmission rod 53, two X-shaped cross support frames 54 and two longitudinal rails 55. The middle part of the horizontal transmission rod 52 is connected to the longitudinal transmission rod 53 through a slider 56; the slider 56 is externally connected to the output end of the Z-axis motor 57; the two longitudinal rails 55 are symmetrically arranged on the workbench 12 and are respectively arranged on both sides of the longitudinal transmission rod 53. A slide 58 is provided on each longitudinal rail 55; the horizontal transmission rod 52 The two ends are connected to the slides 58 on the two longitudinal rails 55 in a one-to-one manner; and the two ends of the transverse transmission rod 52 are connected to one side of the bottom end of the two X-shaped cross support frames 54 in a one-to-one manner; the other side of the bottom end of the two X-shaped cross support frames 54 is connected to the workbench 12, and the top end of the two X-shaped cross support frames 54 is connected to the bottom end of the lifting workbench 51; the Z-axis motor 57 drives the transverse transmission rod 52 to move longitudinally along the longitudinal transmission rod 53 through the slider 56, and the transverse transmission rod 52 drives one side of the bottom end of the two X-shaped cross support frames 54 to move longitudinally along the corresponding longitudinal rail 55, thereby adjusting the crossing angle of the X-shaped cross support frames 54 and driving the lifting workbench 51 to move along the Z axis.

[0039] The table moving assembly 5 is a purely mechanical structure, is not easily damaged, and is rarely disassembled after being installed on the workbench.

[0040] The Z-axis motor 57 adopts a radiation-resistant motor. The Z-axis motors 57 of the two table moving assemblies are located on the same side of the transverse lead shielding plate 16 and are adjacent to the grabbing assembly 3, that is, the Z-axis motor 57 and the grabbing assembly 3 are located on the same side of the transverse lead shielding plate 16; the transverse lead shielding plate 16 separates the two Z-axis motors 57 from the bridging assembly 4, reducing the exposure time of gamma rays and extending the service life.

[0041] See also Figure 2 and Figure 6 The Z-axis motors 57 of the two table moving assemblies 5 are respectively mounted and fixed on the workbench 12 via a quick-disassembly mechanism 59. The quick-disassembly mechanism 59 uses a clamping mechanism that is easy to remotely operate, facilitating rapid disassembly, replacement, and maintenance of the Z-axis motors 57. The quick-disassembly mechanism 59 includes a fixing base 591, a fixing claw 592, and a handle 593. The fixing base 591 is fixed to the workbench via bolts. The fixing claw 592 and the handle 593 are respectively connected to the fixing base 591. The fixing claw 592 is used to grasp the Z-axis motor 57, thereby enabling rapid disassembly, replacement, and maintenance of the Z-axis motor 57.

[0042] The grabbing assembly 3 and the bridging assembly 4 are arranged one-to-one on the lifting workbench 51 of the two table-top moving assemblies, and the grabbing assembly 3 is adjacent to the radiation-resistant camera 21; in this way, one table-top moving assembly 5 is used to install and control the movement of the grabbing assembly 3 in the Z axis, and the other table-top moving assembly 5 is used to install and control the movement of the bridging assembly 4 in the Z axis.

[0043] See also Figure 7 and Figure 8 The grabbing assembly 3 includes a base plate 31, an X-axis linear motor module 32, a clamping claw 33, a transition connecting rod 34 and a grabbing slide 35. The base plate 31 is arranged on the corresponding lifting workbench 51, and the X-axis linear motor module 32 and the grabbing slide 35 are respectively arranged on the base plate 31 through the base 36, and the clamping claw 33 is located in the grabbing slide 35; the output end of the X-axis linear motor module 32 is connected to the clamping claw 33, and the X-axis linear motor module 32 drives the clamping claw 33 to perform X-axis movement; one end of the transition connecting rod 34 is connected to the clamping claw 33, and the other end is connected to the container end plug to be disassembled.

[0044] The transition connecting rod 34 is connected to the hole on the end plug of the container. The clamping jaw 33 performs X-axis motion through the X-axis linear motor module 32, which can grasp the transition connecting rod 34 and automatically lock it, pulling the end plug out of the container or inserting it into the container mouth. Specifically: when the end plug needs to be removed, the transition connecting rod 34 is pre-installed on the end plug to be removed outside the hot chamber. The grabbing slide 35 can penetrate into the feed port of the transport container to directly dock the end plug. The clamping jaw 33 clamps the transition connecting rod 34 connected to the end plug. The X-axis linear motor module 32 drives the clamping jaw 33 to continue to pull to one side until the end plug is pulled out to a fixed length. When reinstalling the end plug, the reverse operation can be performed. First, the clamping jaw 33 clamps the transition connecting rod 34 connected to the end plug. The grabbing slide 35 can penetrate into the feed port. The X-axis linear motor module 32 drives the clamping jaw 33 to continue to push the end plug and insert the end plug into the container mouth.

[0045] See also Figure 9 The bridge assembly 4 includes a bridge slide 41, an X-axis motor 42, and an X-axis movable track 43. The X-axis movable track 43 is mounted on the corresponding lifting platform 51. The bridge slide 41 is mounted on the X-axis movable track 43. The X-axis motor 42 drives the bridge slide 41 to move along the X-axis movable track 43. The bridge assembly 4 serves as a bridge between the transport container and another device (a mobile flipping device), allowing the inner container to slide from the end plug through the bridge assembly 4 to the next device.

[0046] The bridge assembly 4 can move in the X, Y, and Z axis directions to assist the coaxiality of the inner container when it is displaced between the transport container and the mobile flipping device, and to prevent the inner container from being unable to smoothly enter the mobile flipping device due to the influence of the container end cover structure when the inner container is pushed out of the transport container. After the grabbing assembly 3 of the end plug disassembly and assembly device removes the inner lead shielding end plug of the transport container, the entire container end plug disassembly and assembly device adjusts the Z-axis movement through the Z-axis lifting mechanism and the Y-axis motor 13 to adjust the Y-axis movement. The center of the bridge slide 41 is aligned with the center of the channel opening for removing the lead plug to achieve coaxiality. The X-axis moving track 43 of the bridge assembly carries the bridge slide 41 to move toward the channel opening. The front end of the bridge slide 41 stops when it reaches the lead plug port of the transport container. At the same time, the mobile flipping device moves to the end of the bridge slide 41. By adjusting the displacement in the Z-axis and Y-axis directions, the locking saddle assembly of the mobile flipping device and the bridge slide 41 are ensured to be coaxial. At this point, the centerlines of the inner container, the bridge slide, and the locking saddle assembly are aligned. The bridge slide is connected to the transport container and the mobile flipping device at both ends. A worker outside the hot chamber pushes the inner container out of the transport container and into a fixed position on the mobile flipping device. The gripper mechanism on the mobile flipping device then completely removes the inner container from the transport container. The bridge assembly then moves along the X, Y, and Z axes to its initial position, or the same operation is performed to remove the remaining inner containers for storage.

[0047] See also Figure 4 The controller 22 communicates with the radiation-resistant camera 21, the Y-axis motor 13, the Z-axis motor 57 of the Z-axis lifting mechanism, the X-axis linear motor module 32, and the X-axis motor 42 respectively. The Y-axis motor 13, the X-axis linear motor module 32, and the X-axis motor 42 are radiation-resistant motors. The radiation-resistant camera 21 assists in capturing the distribution position of the lead shielding end plugs to be removed in the transport container and transmits the image to the controller 22. The controller 22 controls the movement of the Y-axis motor 13, the Z-axis motor 57, the X-axis linear motor module 32, and the X-axis motor 42 according to the distribution position of the lead shielding end plugs to be removed in the transport container, and adjusts the Y-axis, X-axis, and Z-axis displacements of each component to ensure that the grasping component 3 can accurately take the lead plugs and the bridging component 4 can bridge the inner container.

[0048] The main metal material used in the container end plug disassembly and assembly device of the present invention is austenitic stainless steel such as 06Cr18Ni11Ti. Organic materials are avoided as much as possible in the mechanisms inside the hot chamber. When organic materials are necessary, such as seals, radiation-resistant materials such as EPDM and fluororubber are mostly used. Cables are low-smoke, halogen-free, flame-retardant, and radiation-resistant cables, and polyvinyl chloride is prohibited. Electrical appliances inside the hot chamber mostly use qualified radiation-resistant products. A quick disassembly mechanism can be set on the workbench 12 to fix the wearing parts, and each module can be quickly installed and removed remotely.

[0049] The container end plug assembly and disassembly device of the present invention possesses three degrees of freedom in the X, Y, and Z directions. It can identify the position of the shielding end plug of a transport container, grasp the shielding end plug, and remove or reinstall it into the transport container. The end plug assembly and disassembly device removes the shielding end plug from the transport container and rotates it to the appropriate position, freeing up space for subsequent operations by the mobile flipping device. After completing subsequent operations, the end plug assembly and disassembly device can reinstall the shielding end plug into the transport container. The controller allows for manual and automatic switching of operation modes, and uses a radiation-resistant camera for positioning, providing parameter basis for adjusting the execution of various components within the device.

[0050] Compared with manual disassembly and installation of end plugs by workers, the container end plug disassembly and installation device of the present invention can be used to disassemble and install the container end plug through remote, manual and automatic switching operation modes, effectively ensuring the safety of workers, and also has the following beneficial effects:

[0051] (1) The entire device mostly adopts mechanical mechanisms, which can reduce the failure rate, extend the service life, shorten the maintenance cycle, and have high reliability and economy;

[0052] (2) The entire device is modularly designed with a quick-disassembly structure, which enables rapid replacement of parts, and the components on the workbench can be quickly installed and disassembled;

[0053] (3) The entire device is designed according to the actual working environment and can work in a radiation environment;

[0054] (4) The entire device is custom-designed based on actual usage requirements and is original. Its structural principle has not yet been compared with similar devices.

[0055] (5) The mobile platform assembly 1 is made of steel structure as a whole, which has a long service life in a high radioactive environment and reduces the failure rate. The Y-axis power is externally led to the outside of the hot chamber, which is convenient for the inspection and maintenance of wearing parts and electrical components.

[0056] In summary, the container end plug disassembly and assembly device of the present invention can be used as one of the equipment of the spent fuel transfer system, can realize the rapid replacement of parts and the remote disassembly and assembly of the container end plug, effectively ensure the safety of workers, and has high reliability and economy.

[0057] Those skilled in the art should recognize that the above embodiments are merely intended to illustrate the present invention and are not intended to limit the present invention. As long as they are within the spirit of the present invention, any changes or modifications to the above embodiments will fall within the scope of the claims of the present invention.

Claims

1. A container end plug disassembly device, characterized in that: It includes a mobile platform assembly, a visual control system, a gripping assembly, a bridge assembly and two table moving assemblies, including: The mobile platform assembly includes a stainless steel frame, a workbench, a Y-axis motor, a through-wall sealing mechanism, and a Y-axis transmission mechanism. The stainless steel frame is arranged on the Y-axis transmission mechanism, and the workbench is arranged on the top of the stainless steel frame. The output end of the Y-axis motor is connected to the Y-axis transmission mechanism through the through-wall sealing mechanism. The Y-axis motor drives the Y-axis transmission mechanism to drive the stainless steel frame to perform Y-axis movement. A transverse lead shielding plate and a longitudinal lead shielding plate are arranged on the workbench, and the transverse lead shielding plate and the longitudinal lead shielding plate are distributed in a T shape. The visual control system includes a radiation-resistant camera and a controller, wherein the radiation-resistant camera is arranged on the workbench via a pan-tilt platform; The two tabletop moving assemblies are arranged on the workbench and are respectively arranged on both sides of the transverse lead shielding plate, and each tabletop moving assembly includes a lifting workbench and a Z-axis lifting mechanism for driving the lifting workbench to perform Z-axis movement; The grabbing assembly and the bridging assembly are arranged on the lifting workbench of the two table-top moving assemblies in a one-to-one correspondence, and the grabbing assembly is adjacent to the radiation-resistant camera; The gripping assembly includes a base plate, an X-axis linear motor module, a gripping claw, a transition connecting rod, and a gripping slide. The base plate is arranged on a corresponding lifting workbench. The X-axis linear motor module and the gripping slide are respectively arranged on the base plate through a base. The gripping claw is located in the gripping slide. The output end of the X-axis linear motor module is connected to the gripping claw, and the X-axis linear motor module drives the gripping claw to perform X-axis motion. One end of the transition connecting rod is connected to the gripping claw, and the other end is connected to the end plug of the container to be disassembled. The bridge assembly includes a bridge slide, an X-axis motor and an X-axis movable track, wherein the X-axis movable track is arranged on a corresponding lifting workbench, the bridge slide is arranged on the X-axis movable track, and the X-axis motor drives the bridge slide to perform X-axis motion along the X-axis movable track; The controller communicates with the radiation-resistant camera, the Y-axis motor, the Z-axis lifting mechanism, the X-axis linear motor module and the X-axis motor respectively.

2. A container end plug disassembly and assembly device according to claim 1, characterized in that: The Y-axis transmission mechanism includes two Y-direction rails, a transmission screw and a transmission block. The two Y-direction rails are symmetrically arranged on both sides of the transmission screw. The transmission block is connected to the transmission screw. The two sides of the bottom end of the stainless steel frame are arranged on the two Y-direction rails in a one-to-one correspondence, and the middle part of the bottom end of the stainless steel frame is connected to the transmission block.

3. A container end plug disassembly and assembly device according to claim 1, characterized in that: The Z-axis lifting mechanism includes a transverse transmission rod, a longitudinal transmission rod, two X-shaped cross support frames and two longitudinal rails, the middle part of the transverse transmission rod is connected to the longitudinal transmission rod through a slider; the slider is externally connected to the output end of the Z-axis motor; the two longitudinal rails are arranged on the workbench in a left-right symmetrical manner and are arranged on both sides of the longitudinal transmission rod, and each longitudinal rail is provided with a slide; the two ends of the transverse transmission rod are connected to the slides on the two longitudinal rails in a one-to-one correspondence; and the two ends of the transverse transmission rod are connected to one side of the bottom end of the two X-shaped cross support frames in a one-to-one correspondence; the other side of the bottom end of the two X-shaped cross support frames is connected to the workbench, and the top ends of the two X-shaped cross support frames are connected to the bottom end of the lifting workbench; The Z-axis motor drives the transverse transmission rod to move longitudinally along the longitudinal transmission rod, and the transverse transmission rod drives one side of the bottom end of the two X-shaped cross support frames to move longitudinally along the corresponding longitudinal track, thereby adjusting the crossing angle of the X-shaped cross support frames and driving the lifting workbench to move along the Z-axis.

4. A container end plug disassembly and assembly device according to claim 3, characterized in that: The Z-axis motors of the two table moving assemblies are respectively mounted on the workbench through a quick disassembly and assembly mechanism.

5. A container end plug disassembly and assembly device according to claim 4, characterized in that: The quick disassembly and assembly mechanism includes a fixing seat, a fixing claw and a handle. The fixing seat is mounted on the workbench by bolts. The fixing claw and the handle are respectively connected to the fixing seat. The fixing claw grips the Z-axis motor.

6. A container end plug disassembly and assembly device according to claim 3, characterized in that: The Z-axis motor is a radiation-resistant motor. The Z-axis motors of the two table moving assemblies are located on the same side of the transverse lead shielding plate and are adjacent to the grabbing assembly. The transverse lead shielding plate separates the two Z-axis motors from the bridging assembly.

7. A container end plug disassembly and assembly device according to claim 3, characterized in that: The controller is connected to the Z-axis motor of the Z-axis lifting mechanism.

8. A container end plug disassembly and assembly device according to claim 1, characterized in that: The Y-axis motor and controller are arranged outside the heat chamber, and the Y-axis transmission mechanism is arranged inside the heat chamber; The radiation-resistant camera is connected to the controller via a radiation-resistant cable.

9. A container end plug disassembly and assembly device according to claim 1, characterized in that: The Y-axis motor, X-axis linear motor module and X-axis motor are radiation-resistant motors respectively.

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