Fuel basket grid cell interior weld point polishing apparatus and method of use

Abstract

The application relates to a fuel basket grid cell inner welding spot polishing device and a use method thereof. The fuel basket grid cell inner welding spot polishing device is used for polishing the welding spots in the grid cell, the use method of the fuel basket grid cell inner welding spot polishing device is adopted, the polishing of the welding spots on the four sides of the grid cell is completed, and the height of the polished welding spots meets the set requirements under the measurement of the measurement mechanism, so that the welding spot protrusion height of the inner wall of the square grid cell is qualified.

Description

Technical Field

[0001] This application relates to the field of nuclear power technology, and in particular to a device and method for grinding weld points inside the grid compartment of a fuel basket. Background Technology

[0002] With the continuous growth of domestic nuclear power scale, the amount of spent fuel produced by nuclear power plants is rapidly increasing, leading to a rapid increase in the demand for spent fuel transportation, disposal, and off-site storage. Off-site storage of spent fuel includes two main methods: wet storage and dry storage. The spent fuel storage tank is a key piece of equipment in dry storage of spent fuel. Its function is to encapsulate and contain spent fuel assemblies and radioactive materials, keeping the spent fuel assemblies in a subcritical state and effectively removing residual heat. The spent fuel storage tank is a cylindrical stainless steel metal cylinder structure, mainly composed of an outer shell and a fuel basket, with a length of 4718 mm and a sealed bottom. In some application scenarios, the fuel basket structure is as follows... Figure 1 As shown, there are a total of 32 lattice cells 2, with a cross-sectional dimension of 221mm. The lattice cells are welded to the interlocking steel plates using fusion welding to enhance the overall structural stability, forming a total of 11 layers × 8 weld points 3. Figure 1 and Figure 2 As shown.

[0003] A domestically produced spent fuel storage tank in a dry spent fuel storage project has been found to have protruding weld points inside its grid compartments. On-site measurements revealed that some of these protrusions were larger than 1.5 mm in height, exhibiting sharp edges and weld beads. These protruding weld points in the grid compartments pose a potential safety risk to the loading, transfer, and storage of spent fuel assemblies, necessitating the grinding of weld points larger than 0.5 mm.

[0004] The existing grinding robot is a flexible cylinder that uses an elastic ring to abut against the inner wall of a cylindrical pipe to fix it in place. However, the existing robot cannot fix the grid chamber of a square spent fuel storage tank at a specific position after abutting against the inner wall. At the same time, the robot cannot measure the height of the area to be ground and the area after grinding to check whether the height of the weld protrusion on the inner wall of the grid chamber is up to standard. Summary of the Invention

[0005] Therefore, it is necessary to provide a welding point grinding device and method for the internal weld points of a fuel basket's grid chamber, which addresses the problem that existing robots cannot fix the inner wall of the grid chamber at a specific position after contact with the inner wall, and that the robots cannot measure the height of the area to be ground and after grinding to detect whether the height of the weld point protrusion on the inner wall of the grid chamber is qualified.

[0006] A device for grinding weld points inside the grid compartment of a fuel basket, the device comprising: a moving mechanism, a grinding mechanism, and a measuring mechanism;

[0007] The moving mechanism includes: a frame structure, an elastic structure, a driving component, a first traveling wheel assembly, and a second traveling wheel assembly. The frame structure has a cuboid outline, and the side lengths of the frame structure along the first direction and the second direction are equal. The first traveling wheel assembly and the second traveling wheel assembly are respectively connected to the two sides of the frame structure along the third direction through the elastic structure. The first traveling wheel assembly and the second traveling wheel assembly each include four sets of traveling wheels, and the four sets of traveling wheels of the first traveling wheel assembly and the second traveling wheel assembly elastically abut against the four sides of the lattice chamber around the third direction. The driving component is used to drive the traveling wheels to rotate.

[0008] The grinding mechanism is mounted on the frame structure; the frame structure has any one of its three sides as a working surface, and the grinding mechanism extends out of the frame structure through the working surface to grind the weld points on the surface to be ground.

[0009] The measuring mechanism is mounted on the frame structure and extends out of the frame structure through the working surface to measure the height of the weld point on the surface to be polished. The projections of the measuring mechanism and the polishing mechanism on the working surface are arranged along the third direction.

[0010] The third direction is the length direction of the grid cell, and the first direction, the second direction, and the third direction are perpendicular to each other.

[0011] In actual use, the aforementioned welding point grinding device for the fuel basket's grid chamber utilizes a rectangular frame structure with equal side lengths along the first and second directions. The first and second traveling wheel assemblies are connected to the frame structure along the third direction via elastic structures. These elastic structures allow the four sets of traveling wheels of the first and second traveling wheel assemblies to elastically abut against the four sides of the grid chamber around the third direction. Therefore, the working surface can be oriented towards any one of the four surfaces to be ground around the third direction. The welding point grinding device for the fuel basket's grid chamber is then placed inside the square-section grid chamber, and the traveling wheels of the first and second traveling wheel assemblies are driven to rotate via a driving component. This causes the moving mechanism to move the grinding mechanism and measuring mechanism mounted on the frame structure. The grinding mechanism extends from the working surface of the frame structure to grind the weld points on the surface to be ground. The measuring mechanism extends from the working surface of the frame structure to measure the height of the weld points on the surface to be ground. The projections of the measuring and grinding mechanisms on the working surface are along a third direction. Therefore, during the movement of the weld point grinding device in the grid chamber of the fuel basket along the third direction, both the measuring and grinding mechanisms can grind and measure the height of the weld points on the same straight line upwards along the third direction. Thus, the height of the weld points can be measured by the measuring mechanism. If the highest measured value is greater than 0.5 mm, the height of the weld point grinding device in the grid chamber of the fuel basket is measured along the third direction. The device moves in one direction and grinds the weld points using a grinding mechanism. Then, the weld point grinding device inside the grid compartment of the fuel basket moves in the third direction, and the measuring mechanism measures again. If the highest measured value is less than 0.5mm, the next weld point is measured and ground. If the highest measured value is greater than 0.5mm, the grinding and measurement are repeated until the weld point height is less than 0.5mm. This allows for the fixing and movement of a specific position after the inner wall of any side of the grid compartment of the square spent fuel storage tank is contacted. At the same time, the weld point height is measured and the weld point is ground on the surface to be ground to ensure that the weld point protrusion height on the inner wall of the grid compartment is qualified.

[0012] In one embodiment, the frame structure further includes a first fastener and a second fastener, which are respectively installed at the centers of both ends of the frame structure along a third direction.

[0013] The elastic structure includes a first telescopic component and a second telescopic component. The first telescopic component includes four first telescopic beams, and the second telescopic component includes four second telescopic beams. The four first telescopic beams are uniformly connected to the circumferential direction of the first fixing member in a third direction. The four sets of walking wheels of the first walking wheel assembly are respectively connected to the ends of the four first telescopic beams away from the first fixing member.

[0014] The four second telescopic beams are evenly connected to the second fixing member in the circumferential direction around the third direction, and the four sets of walking wheels of the second walking wheel assembly are respectively connected to the ends of the four second telescopic beams away from the second fixing member.

[0015] In one embodiment, the elastic structure further includes a first movable component and a second movable component respectively disposed on both sides of the frame structure along a third direction. The first movable component includes four first movable blocks, four first movable rods and four first elastic elements, and the second movable component includes four second movable blocks, four second movable rods and four second elastic elements.

[0016] The four first movable rods form a square, with two of the first movable rods having their length direction along the first direction and the other two having their length direction along the second direction; a first movable block is provided at the corner of any two adjacent first movable rods, and the two ends of each first movable rod are respectively inserted into the first movable block; four first elastic elements are correspondingly sleeved on the four first movable rods, and the two ends of the first elastic elements are connected to the two adjacent first movable blocks; any one of the four sets of first traveling wheel assemblies is provided on the two adjacent first movable blocks;

[0017] The four second movable rods form a square, with two of the second movable rods having their length direction along the first direction and the other two having their length direction along the second direction; a second movable block is provided at the corner of any two adjacent second movable rods, and the two ends of each second movable rod are respectively inserted into the second movable block; four second elastic elements are correspondingly sleeved on the four second movable rods, and the two ends of the second elastic elements are connected to the two adjacent second movable blocks; any one of the four sets of second traveling wheel assemblies is provided on the two adjacent second movable blocks.

[0018] In one embodiment, the polishing mechanism includes a first polishing component and a second polishing component respectively connected to the frame structure;

[0019] The first grinding assembly includes a first grinding mill and a first grinding head connected to each other. The first grinding mill is fixed on the frame structure, and the first grinding mill drives the first grinding head to rotate to grind the weld point.

[0020] The second grinding assembly includes a second grinding mill and a second grinding head connected together. The second grinding mill is fixed on the frame structure, and the second grinding mill drives the second grinding head to rotate to grind the weld point.

[0021] The projections of the first grinding head and the second grinding head on the surface to be ground are staggered along the third direction and both cover the weld point.

[0022] In one embodiment, the measuring mechanism includes a first measuring component and a second measuring component, the first measuring component being connected to the frame structure and adjacent to the first grinding component, and the second measuring component being connected to the frame structure and adjacent to the second grinding component;

[0023] The first measuring component includes a first trigger head, a first transmission mechanism, a first digital dial indicator, and a first digital display module connected in sequence. One end of the first trigger head is connected to the first transmission mechanism fixed on the frame structure, and the other end abuts against the surface to be polished and moves in a direction perpendicular to the surface to be polished, so that the first transmission mechanism generates a displacement perpendicular to the surface to be polished and transmits the displacement data to the first digital dial indicator. The first digital dial indicator transmits the measurement data to the first digital display module and displays it through the first digital display module.

[0024] The second measuring component includes a second trigger head, a second transmission mechanism, a second digital dial indicator, and a second digital display module connected in sequence. One end of the second trigger head is connected to the second transmission mechanism fixed on the frame structure, and the other end abuts against the surface to be polished and moves in a direction perpendicular to the surface to be polished, so that the second transmission mechanism generates a displacement perpendicular to the surface to be polished and transmits the displacement data to the second digital dial indicator. The second digital dial indicator transmits the measurement data to the second digital display module and displays it through the second digital display module.

[0025] In one embodiment, the first trigger head includes a first rotating shaft, a first connecting member, a first connecting rod, and a first bearing assembly. One end of the first connecting rod is connected to the first transmission mechanism, and the other end is connected to the middle of the first connecting member. The two ends of the first connecting member are respectively connected to the two ends of the first rotating shaft. The first rotating shaft is parallel to the surface to be polished and perpendicular to the third direction. The first bearing assembly rotates around the first rotating shaft and abuts against the surface to be polished.

[0026] The second trigger head includes a second rotating shaft, a second connecting member, a second connecting rod, and a second bearing assembly. One end of the second connecting rod is connected to the second transmission mechanism, and the other end is connected to the middle of the second connecting member. The two ends of the second connecting member are respectively connected to the two ends of the second rotating shaft. The second rotating shaft is parallel to the surface to be polished and perpendicular to the third direction. The second bearing assembly rotates around the second rotating shaft and abuts against the surface to be polished.

[0027] In one embodiment, the welding point grinding device inside the grid chamber of the fuel basket further includes a monitoring mechanism connected to the moving mechanism. The monitoring mechanism observes and positions the welding point on the surface to be ground through the working surface. The projections of the monitoring mechanism and the grinding mechanism on the working surface are along a third direction.

[0028] In one embodiment, the monitoring mechanism includes a first camera, a second camera, a host computer, and a human-computer interaction module. The first camera is adjacent to the first grinding component and connected to the frame structure. The first camera observes and locates the welding point corresponding to the second grinding component on the side of the grid chamber through the working surface.

[0029] The second camera is adjacent to the second grinding component and connected to the frame structure. The second camera observes and positions the welding point corresponding to the first grinding component on the side of the grid chamber through the working surface.

[0030] The first camera and the second camera are simultaneously connected to the host, the host is connected to the mobile mechanism, and the host is signal-connected to the human-computer interaction module.

[0031] In one embodiment, the monitoring mechanism includes a first camera, a second camera, a host computer, and a human-computer interaction module. The first camera is adjacent to the first grinding component and connected to the frame structure. The first camera observes and locates the welding point corresponding to the first grinding component on the side of the grid chamber through the working surface.

[0032] The second camera is adjacent to the second grinding component and connected to the frame structure. The second camera observes and positions the welding point corresponding to the second grinding component on the side of the grid chamber through the working surface.

[0033] The first camera and the second camera are simultaneously connected to the host, the host is connected to the mobile mechanism, and the host is signal-connected to the human-computer interaction module.

[0034] In one embodiment, the welding point grinding device inside the grid compartment of the fuel basket further includes a cleaning mechanism, which includes a vacuum cleaner and a vacuum hose.

[0035] The moving mechanism also includes multiple sealing plates, which seal all sides except the working surface, and the sealing plates are provided with dust suction holes.

[0036] One end of the suction tube is connected to the vacuum cleaner, and the other end is connected to the suction hole.

[0037] In one embodiment, the internal weld grinding device of the fuel basket grid chamber further includes a control module;

[0038] The control module is connected to the moving mechanism and is used to control the moving mechanism to move along the third direction;

[0039] The control module is connected to the grinding mechanism and is used to control the grinding mechanism to perform grinding.

[0040] In one embodiment, the moving mechanism further includes a control lever connected to the first and second wheel assemblies and to the control module, the control module controlling the control lever to control the movement of the first and second wheel assemblies in a third direction.

[0041] One embodiment of this application also provides a method for using a welding point grinding device for the internal weld points of a fuel basket's grid compartment. The method involves using the welding point grinding device to grind the welding points on the side of the grid compartment. The method includes the following steps:

[0042] S100: The working surface is facing the side of the grid chamber to be polished, and the internal weld point polishing device of the fuel basket is placed in the grid chamber from one end of the grid chamber along a third direction.

[0043] S200: The moving mechanism drives the measuring mechanism and the grinding mechanism to move along the third direction within the grid chamber;

[0044] S300: The measuring mechanism measures the height of the target solder joint. When the height of the target solder joint is greater than 0.5mm, the moving mechanism drives the grinding mechanism to move along the third direction to the position of the target solder joint, and the grinding mechanism grinds the target solder joint.

[0045] S400: The measuring mechanism measures the height of the target weld point again. When the height of the target weld point is less than 0.5mm, the moving mechanism drives the measuring mechanism and the grinding mechanism to move along the third direction in the grid chamber to the next weld point. Step S300 is repeated. When the height of the target weld point is greater than 0.5mm, the moving mechanism drives the measuring mechanism and the grinding mechanism to move along the third direction in the grid chamber to the target weld point. Step S300 is repeated to continue grinding the target weld point.

[0046] S500: After the welding points on the side of the grid chamber to be polished in step S100 are polished, the moving mechanism drives the measuring mechanism and the polishing mechanism to move out of the grid chamber along the third direction. Then, the welding point polishing device inside the grid chamber of the fuel basket is rotated 90° clockwise around the third direction, and steps S100-S400 are repeated.

[0047] S600: After the welding points on the side of the grid chamber to be polished in step S500 are polished, the moving mechanism drives the measuring mechanism and the polishing mechanism to move out of the grid chamber along the third direction. Then, the welding point polishing device inside the grid chamber of the fuel basket is rotated 90° clockwise around the third direction, and steps S100-S400 are repeated.

[0048] S700: After the welding points on the side of the grid chamber to be polished in step S600 are polished, the moving mechanism drives the measuring mechanism and the polishing mechanism to move out of the grid chamber along the third direction. Then, the welding point polishing device inside the grid chamber of the fuel basket is rotated 90° clockwise around the third direction, and steps S100-S400 are repeated.

[0049] S800: After the welding points on the side of the grid chamber to be ground in step S700 are ground, the moving mechanism drives the measuring mechanism and the grinding mechanism to move out of the grid chamber along the third direction.

[0050] When using the internal weld point grinding device of the fuel basket grid chamber to grind the weld points inside the grid chamber, the above-mentioned method of using the internal weld point grinding device of the fuel basket grid chamber is adopted to complete the grinding of the weld points on the four sides of the grid chamber. Under the measurement of the measuring mechanism, the height of the weld points after grinding meets the set requirements to ensure that the weld point protrusion height of the inner wall of the square grid chamber is qualified. Attached Figure Description

[0051] Figure 1 This is a schematic diagram of the structure of a fuel basket according to one embodiment.

[0052] Figure 2 for Figure 1 A top view of a small, lattice-shaped room.

[0053] Figure 3 This is a schematic diagram of the welding point grinding device inside the grid chamber of a fuel basket, as viewed from the working surface inward, according to one embodiment.

[0054] Figure 4 for Figure 3 A side view of an elastic structure according to one embodiment.

[0055] Figure 5 for Figure 3 A side view of the elastic structure of another embodiment.

[0056] Figure 6 for Figure 3 A schematic diagram of the measuring mechanism in the diagram.

[0057] Figure 7 for Figure 3 A schematic diagram of the cleaning mechanism in the diagram.

[0058] Icon labels:

[0059] 100- Fuel basket grid chamber internal weld grinding device;

[0060] 110 - Moving mechanism; 111 - Frame structure; 1111 - First fixing component; 1112 - Second fixing component; 112 - Elastic structure; 113 - First traveling wheel assembly; 114 - Second traveling wheel assembly; 115 - Traveling wheel; 116 - Working surface; 117 - Control lever;

[0061] 120 - Grinding mechanism; 121 - First grinding assembly; 122 - Second grinding assembly; 123 - First grinding mill; 124 - First grinding head; 125 - Second grinding mill; 126 - Second grinding head;

[0062] 130 - Measuring mechanism; 131 - First measuring component; 132 - Second measuring component; 133 - First trigger head; 1331 - First rotating shaft; 1332 - First connecting piece; 1333 - First connecting rod; 1334 - First bearing assembly; 134 - First transmission mechanism; 135 - First digital dial indicator; 136 - First digital display module; 137 - Second trigger head; 1371 - Second rotating shaft; 1372 - Second connecting piece; 1373 - Second connecting rod; 1374 - Second bearing assembly; 138 - Second transmission mechanism; 139 - Second digital dial indicator; 1391 - Second digital display module;

[0063] 140 - First telescopic assembly; 141 - Second telescopic assembly; 142 - First telescopic beam; 143 - Second telescopic beam;

[0064] 150 - First movable component; 151 - Second movable component; 152 - First movable block; 153 - First movable rod; 154 - First elastic element; 155 - Second movable block; 156 - Second movable rod; 157 - Second elastic element;

[0065] 160 - Surveillance device; 161 - First camera; 162 - Second camera; 163 - Main unit; 164 - Human-computer interaction module;

[0066] 170 - Cleaning mechanism; 171 - Vacuum cleaner; 172 - Vacuum hose; 173 - Vacuum suction hole; 174 - Sealing plate;

[0067] 210 - Grid compartment; 211 - Welding point; 212 - Surface to be polished. Detailed Implementation

[0068] To make the above-mentioned objectives, features, and advantages of this application more apparent and understandable, the specific embodiments of this application are described in detail below with reference to the accompanying drawings. Many specific details are set forth in the following description to provide a thorough understanding of this application. However, this application can be implemented in many other ways different from those described herein, and those skilled in the art can make similar modifications without departing from the spirit of this application. Therefore, this application is not limited to the specific embodiments disclosed below.

[0069] In the description of this application, it should be understood that if terms such as "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential" appear, these terms indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, and are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this application.

[0070] Furthermore, where the terms "first" and "second" appear, these terms are for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined with "first" or "second" may explicitly or implicitly include at least one of that feature. In the description of this application, where the term "multiple" appears, "multiple" means at least two, such as two, three, etc., unless otherwise explicitly specified.

[0071] In this application, unless otherwise expressly specified and limited, the terms "installation," "connection," "joining," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components, unless otherwise expressly limited. Those skilled in the art can understand the specific meaning of the above terms in this application based on the specific circumstances.

[0072] In this application, unless otherwise expressly specified and limited, the use of descriptions such as "above" or "below" the second feature indicates that the first and second features are in direct contact or indirect contact via an intermediate medium. Furthermore, "above," "on top of," and "over" the second feature can mean that the first feature is directly above or diagonally above the second feature, or simply that the first feature is at a higher horizontal level than the second feature. Similarly, "below," "below," and "under" the second feature can mean that the first feature is directly below or diagonally below the second feature, or simply that the first feature is at a lower horizontal level than the second feature.

[0073] It should be noted that if an element is referred to as being "fixed to" or "set on" another element, it can be directly on the other element or there may be an intervening element. If an element is considered to be "connected to" another element, it can be directly connected to the other element or there may be an intervening element. If so, the terms "vertical," "horizontal," "upper," "lower," "left," "right," and similar expressions used in this application are for illustrative purposes only and do not represent the only possible implementation.

[0074] See Figure 3 , Figure 1 A schematic diagram of the structure of a welding point grinding device 100 inside the grid compartment of a fuel basket according to an embodiment of this application is shown. The welding point grinding device 100 inside the grid compartment of a fuel basket provided in an embodiment of this application includes: a moving mechanism 110, a grinding mechanism 120 and a measuring mechanism 130.

[0075] In the aforementioned fuel basket grid chamber internal weld point grinding device 100, the moving mechanism 110 includes: a frame structure 111, an elastic structure 112, a driving component, a first traveling wheel assembly 113, and a second traveling wheel assembly 114. The frame structure 111 has a cuboid outline, and the side lengths of the frame structure 111 along the first direction OX and the second direction OY are equal. The first traveling wheel assembly 113 and the second traveling wheel assembly 114 are respectively connected to the frame structure 111 on both sides along the third direction OZ through the elastic structure 112. The first traveling wheel assembly 113 and the second traveling wheel assembly 114 each include four sets of traveling wheels 115, and the four sets of traveling wheels 115 of the first traveling wheel assembly 113 and the second traveling wheel assembly 114 elastically abut against the four sides of the grid chamber 210 around the third direction OZ. The driving component is used to drive the traveling wheels 115 to rotate. The grinding mechanism 120 is disposed on the frame structure 111. The frame structure 111 has a working surface 116 on any surface around the third direction OZ. The grinding mechanism 120 extends out of the frame structure 111 through the working surface 116 to grind the weld points 211 on the surface 212 to be ground. The surface 212 to be ground corresponds to the working surface 116, and the working surface 116 is parallel to the surface 212 to be ground and is the frame surface of the frame structure 111 closest to the working surface 116. The measuring mechanism 130 is set on the frame structure 111 and extends out of the frame structure 111 through the working surface 116 to measure the height of the weld points 211 on the surface 212 to be ground. The projections of the measuring mechanism 130 and the grinding mechanism 120 on the working surface 116 are arranged along the third direction OZ. The third direction OZ is the length direction of the grid chamber 210, and the first direction OX, the second direction OY, and the third direction OZ are perpendicular to each other.

[0076] In actual use, the aforementioned fuel basket grid chamber internal weld point grinding device 100, because the outline of the frame structure 111 is a cuboid, and the side lengths of the frame structure 111 along the first direction OX and the second direction OY are equal, the first traveling wheel assembly 113 and the second traveling wheel assembly 114 are respectively connected to the two sides of the frame structure 111 along the third direction OZ through the elastic structure 112. The elastic structure 112 allows the four sets of traveling wheels 115 of the first traveling wheel assembly 113 and the second traveling wheel assembly 114 to be respectively connected to the grid chamber 21. The four sides of the grid chamber 210 are elastically abutted around the third direction OZ, so the working surface 116 can be oriented toward any one of the four surfaces 212 to be polished around the third direction OZ. The welding point polishing device 100 inside the grid chamber 210 with a square cross section is placed inside the grid chamber 210, and the first traveling wheel assembly 113 and the second traveling wheel assembly 114 are driven to rotate by the driving component, so that the moving mechanism 110 drives the polishing mechanism 120 and the measuring mechanism 130 set on the frame structure 111 to move. The grinding mechanism 120 extends from the frame structure 111 through the working surface 116 to grind the weld points 211 on the surface 212 to be ground. The measuring mechanism 130 extends from the frame structure 111 through the working surface 116 to measure the height of the weld points 211 on the surface 212 to be ground. The projections of the measuring mechanism 130 and the grinding mechanism 120 on the working surface 116 are along the third direction OZ. Therefore, during the movement of the weld point grinding device 100 along the third direction OZ inside the grid compartment of the fuel basket, both the measuring mechanism 130 and the grinding mechanism 120 can grind and measure the height of the weld points 211 on the same straight line along the third direction OZ. Thus, the height of the weld points 211 can be measured by the measuring mechanism 130. If the highest measured value is greater than 0.5 mm, the height of the weld points 211 inside the grid compartment of the fuel basket is measured. The weld point grinding device 100 moves along the third direction OZ and grinds the weld point 211 through the grinding mechanism 120. Then, the weld point grinding device 100 moves along the third direction OZ inside the grid chamber of the fuel basket, and the measuring mechanism 130 performs another measurement. If the highest measured value is less than 0.5mm, the measurement and grinding of the next weld point 211 is performed. If the highest measured value is greater than 0.5mm, the grinding and measurement are performed again until the height of the weld point 211 is less than 0.5mm. This fixes and moves the specific position of any side of the grid chamber 210 of the square spent fuel storage tank after the inner wall abuts. At the same time, the height of the weld point 211 is measured and the weld point 211 is ground on the surface to be ground 212 to ensure that the height of the weld point 211 protrusion on the inner wall of the grid chamber 210 is qualified.

[0077] In other embodiments, the standard height of solder joint 211 can be set to 0.4mm or 0.3mm, thereby grinding the height of solder joint 211 to below different set heights.

[0078] Specifically, the welding point grinding device 100 inside the grid compartment of the fuel basket also includes a control module. The control module is connected to the moving mechanism 110 and the grinding mechanism 120 to control the moving mechanism 110 to move along the third direction OZ and the grinding mechanism 120 to perform grinding, thereby facilitating the operator to realize the operation of each part of the welding point grinding device 100 inside the grid compartment of the fuel basket through the control module.

[0079] See Figure 4 and Figure 5 Specifically, the moving mechanism 110 also includes a control lever 117, which is connected to the first traveling wheel assembly 113 and the second traveling wheel assembly 114, and is also connected to the control module. The control module controls the control lever 117, which controls the movement of the first traveling wheel assembly 113 and the second traveling wheel assembly 114 along the third direction OZ, thereby driving the welding point grinding device 100 inside the grid compartment of the fuel basket to move back and forth along the third direction OZ.

[0080] In other embodiments, the welding point grinding device 100 inside the grid compartment of the fuel basket can be pushed or pulled out by an operator using a hand lever.

[0081] See Figure 4In one embodiment, the frame structure 111 further includes a first fixing member 1111 and a second fixing member 1112, which are respectively installed at the centers of both ends of the frame structure 111 along a third direction OZ. The elastic structure 112 includes a first telescopic assembly 140 and a second telescopic assembly 141. The first telescopic assembly 140 includes four first telescopic beams 142, and the second telescopic assembly 141 includes four second telescopic beams 143. The four first telescopic beams 142 are uniformly connected around the third direction OZ to the circumferential direction connected by the first fixing member 1111. The four sets of wheels 115 of the first traveling wheel assembly 113 are respectively connected to the ends of the four first telescopic beams 142 away from the first fixing member 1111. The four second telescopic beams 143 are uniformly connected around the third direction OZ to the circumferential direction connected by the second fixing member 1112, and the four sets of wheels 115 of the second traveling wheel assembly 114 are respectively connected to the ends of the four second telescopic beams 143 away from the second fixing member 1112. This allows one end of each first telescopic beam 142 to be connected to the first fixing member 1111, and the other end to be connected to one set of walking wheels 115 of the first walking wheel assembly 113. One end of each second telescopic beam 143 is connected to the second fixing member 1112, and the other end to be connected to one set of walking wheels 115 of the second walking wheel assembly 114. This enables each set of walking wheels 115 to elastically abut against the side wall of the corresponding grid chamber 210, so that the moving mechanism 110 and the side wall of the grid chamber 210 can elastically abut against each other through the walking wheels 115. This allows the moving mechanism 110 to fix the welding point grinding device 100 inside the grid chamber 210 at a certain point along the third direction OZ through the friction between the walking wheels 115 and the side wall of the grid chamber 210. At the same time, the driving member drives the walking wheels 115 to rotate, so that the walking wheels 115 can drive the welding point grinding device 100 inside the grid chamber 210 to move along the third direction OZ.

[0082] Specifically, the first telescopic beam 142 and the second telescopic beam 143 can be elastic telescopic beams or cylinder-type telescopic beams, as long as the first telescopic beam 142 can make the traveling wheel 115 in the first traveling wheel assembly 113 elastically abut against the inner wall of the grid chamber 210, and the second telescopic beam 143 can make the traveling wheel 115 in the second traveling wheel assembly 114 elastically abut against the inner wall of the grid chamber 210.

[0083] See Figure 5In one embodiment, the elastic structure 112 further includes a first movable component 150 and a second movable component 151 respectively disposed on both sides of the frame structure 111 along a third direction OZ. The first movable component 150 includes four first movable blocks 152, four first movable rods 153, and four first elastic elements 154. The second movable component 151 includes four second movable blocks 155, four second movable rods 156, and four second elastic elements 157. The four first movable rods 153 form a square, wherein the length direction of two first movable rods 153 is along a first direction OX, and the length direction of the other two first movable rods 153 is along a second direction OY. A first movable block 152 is disposed at the corner of any two adjacent first movable rods 153, and the two ends of each first movable rod 153 are respectively inserted into the first movable block 152. Four first elastic elements 154 are correspondingly fitted onto four first movable rods 153. The two ends of each first elastic element 154 are connected to two adjacent first movable blocks 152. Any one of the four sets of first traveling wheel assemblies 113 is positioned on two adjacent first movable blocks 152. This allows the first elastic elements 154 fitted onto the first movable rods 153 to push the first movable blocks 152 connected to them to both sides, causing the traveling wheels 115 of the first traveling wheel assemblies 113 connected to them to elastically abut against the side walls of the grid chambers 210 on both sides of the first elastic element 154. The four second movable rods 156 form a square, with two second movable rods 156 extending along the first direction OX and the other two extending along the second direction OY. A second movable block 155 is positioned at the corner of any two adjacent second movable rods 156, and the two ends of each second movable rod 156 are respectively inserted into the second movable block 155. Four second elastic elements 157 are fitted onto four second movable rods 156 in a one-to-one correspondence. The two ends of the second elastic elements 157 are connected to two adjacent second movable blocks 155. Any one of the four sets of second traveling wheel assemblies 114 is set on two adjacent second movable blocks 155, so that the second elastic elements 157 fitted onto the second movable rods 156 drive the second movable blocks 155 connected to both sides to move the traveling wheels 115 of the second traveling wheel assembly 114 connected to them to elastically abut against the side walls of the grid chambers 210 on both sides of the second elastic element 157. This allows each set of traveling wheels 115 to elastically abut against the side wall of the corresponding grid chamber 210, enabling the moving mechanism 110 to elastically abut against the side wall of the grid chamber 210 via the traveling wheels 115. This allows the moving mechanism 110 to fix the welding point grinding device 100 inside the grid chamber 210 at a certain point along the third direction OZ within the grid chamber 210 through the friction between the traveling wheels 115 and the side wall of the grid chamber 210. At the same time, the driving component drives the traveling wheels 115 to rotate, which allows the traveling wheels 115 to move the welding point grinding device 100 inside the grid chamber of the fuel basket along the third direction OZ.

[0084] In other embodiments, the welding point grinding device 100 inside the grid compartment of the fuel basket can be fixed at a certain point along the third direction OZ inside the grid compartment 210 by an operator holding a rod.

[0085] Preferably, the first movable rod 153 is provided with a first limiting member at both ends, and the first limiting member is located in the first movable block 152 to prevent the first movable rod 153 from slipping out of the first movable hole. The second movable rod 156 is provided with a second limiting member at both ends, and the second limiting member is located in the second movable block 155 to prevent the second movable rod 156 from slipping out of the second movable hole.

[0086] See Figure 3 In one embodiment, the polishing mechanism 120 includes a first polishing assembly 121 and a second polishing assembly 122 respectively connected to the frame structure 111. The first polishing assembly 121 includes a first grinder 123 and a first grinding head 124 connected together. The first grinder 123 is fixed to the frame structure 111, and the first grinder 123 drives the first grinding head 124 to rotate to polish the solder joints 211. The second polishing assembly 122 includes a second grinder 125 and a second grinding head 126 connected together. The second grinder 125 is fixed to the frame structure 111, and the second grinder 125 drives the second grinding head 126 to rotate to polish the solder joints 211. The projections of the first grinding head 124 and the second grinding head 126 on the surface to be polished 212 are staggered along the third direction OZ and both cover the solder joints 211, thereby enabling the polishing of two rows of solder joints 211 along the third direction OZ on the same surface to be polished.

[0087] Specifically, the first grinding head 124 and the second grinding head 126 are louvered grinding heads, the first mill 123 and the second mill 125 are 90° elbow type pneumatic mills, and the power source of the first mill 123 and the second mill 125 is the compressed air source of the nuclear power plant.

[0088] See Figure 3 and Figure 6In one embodiment, the measuring mechanism 130 includes a first measuring component 131 and a second measuring component 132. The first measuring component 131 is connected to the frame structure 111 and is adjacent to the first grinding component 121. The second measuring component 132 is connected to the frame structure 111 and is adjacent to the second grinding component 122. The first measuring component 131 includes a first trigger head 133, a first transmission mechanism 134, a first digital dial indicator 135, and a first digital display module 136 connected in sequence. One end of the first trigger head 133 is connected to the first transmission mechanism 134 fixed on the frame structure 111, and the other end abuts against the surface 212 to be ground and moves in a direction perpendicular to the surface 212 to be ground, so that the first transmission mechanism 134 generates a displacement perpendicular to the surface 212 to be ground and transmits the displacement data to the first digital dial indicator 135. The first digital dial indicator 135 transmits the measurement data to the first digital display module 136 and displays it. The second measuring component 132 includes a second trigger head 137, a second transmission mechanism 138, a second digital dial indicator 139, and a second digital display module 1391 connected in sequence. One end of the second trigger head 137 is connected to the second transmission mechanism 138, which is fixed to the frame structure 111, and the other end is in contact with the surface 212 to be polished. The trigger head 137 moves in a direction perpendicular to the surface 212, causing the second transmission mechanism 138 to generate a displacement perpendicular to the surface 212 and transmit the displacement data to the second digital dial indicator 139. The second digital dial indicator 139 transmits the measurement data to the second digital display module 1391, which displays the data. This allows the operator to know the measured height of the solder joint 211, thereby determining whether the height of the solder joint 211 is acceptable and whether the solder joint 211 needs polishing.

[0089] See Figure 3 and Figure 6In one embodiment, the first trigger head 133 includes a first rotating shaft 1331, a first connecting member 1332, a first connecting rod 1333, and a first bearing assembly 1334. One end of the first connecting rod 1333 is connected to the first transmission mechanism 134, and the other end is connected to the middle of the first connecting member 1332. The two ends of the first connecting member 1332 are respectively connected to the two ends of the first rotating shaft 1331. The first rotating shaft 1331 is parallel to the surface to be polished 212 and perpendicular to the third direction OZ. The first bearing assembly 1334 rotates around the first rotating shaft 1331, abuts against the surface to be polished 212, and moves in a direction perpendicular to the surface to be polished 212, so that the first transmission mechanism 134 generates a displacement perpendicular to the surface to be polished 212 and transmits the displacement data to the first digital dial indicator 135. The first digital dial indicator 135 transmits the measurement data to the first digital display module 136 and displays it through the first digital display module 136. The second trigger head 137 includes a second rotating shaft 1371, a second connecting member 1372, a second connecting rod 1373, and a second bearing assembly 1374. One end of the second connecting rod 1373 is connected to the second transmission mechanism 138, and the other end is connected to the middle of the second connecting member 1372. The two ends of the second connecting member 1372 are respectively connected to the two ends of the second rotating shaft 1371. The second rotating shaft 1371 is parallel to the surface to be polished 212 and perpendicular to the third direction OZ. The second bearing assembly 1374 rotates around the second rotating shaft 1371, abuts against the surface to be polished 212, and moves in a direction perpendicular to the surface to be polished 212, so that the second transmission mechanism 138 generates a displacement perpendicular to the surface to be polished 212 and transmits the displacement data to the second digital dial indicator 139. The second digital dial indicator 139 transmits the measurement data to the second digital display module 1391 and displays it. This allows the operator to know the measured height of the solder joint 211, thereby determining whether the height of the solder joint 211 is acceptable and whether the solder joint 211 needs to be ground.

[0090] Specifically, the first bearing group 1334 includes four bearings, and the second bearing group 1374 includes four bearings. This arrangement of multiple small bearings side-by-side reduces the space occupied by the bearings, avoiding the situation where using a single large bearing to maximize the contact surface results in insufficient internal space in the frame structure 111. In other embodiments, the number of bearings in the first bearing group 1334 can also be 5 or 6, and the number of bearings in the second bearing group 1374 can also be 5 or 6, without limitation, as long as the first bearing group 1334 and the second bearing group 1374 can cover the weld point 211 during rolling.

[0091] See Figure 3In one embodiment, the welding point grinding device 100 inside the grid compartment of the fuel basket also includes a monitoring mechanism 160, which is connected to the moving mechanism 111. The projections of the monitoring mechanism 160 and the grinding mechanism 120 on the working surface 116 are along the third direction OZ, so that during the movement of the welding point grinding device 100 inside the grid compartment of the fuel basket along the third direction OZ, the monitoring mechanism 160 can observe and locate the welding point 211 on the surface to be ground 212 through the working surface 116.

[0092] See Figure 3 In one embodiment, the monitoring mechanism 160 includes a first camera 161, a second camera 162, a host 163, and a human-computer interaction module 164. The first camera 161 is adjacent to the first grinding component 121 and connected to the frame structure 111. The first camera 161 observes and locates the weld points 211 corresponding to the second grinding component 122 on the side of the grid chamber 210 through the working surface 116. The second camera 162 is adjacent to the second grinding component 122 and connected to the frame structure 111. The second camera 162 observes and locates the weld points 211 corresponding to the first grinding component 121 on the side of the grid chamber 210 through the working surface 116. Thus, during the movement of the weld point grinding device 100 along the third direction OZ inside the grid compartment of the fuel basket, the first camera 161 can observe and locate the weld point 211 corresponding to the second grinding component 122 on the surface to be ground 212 through the working surface 116, and the second camera 162 can observe and locate the weld point 211 corresponding to the first grinding component 121 on the surface to be ground 212 through the working surface 116. The first camera 161 and the second camera 162 are simultaneously connected to the host 163, the host 163 is connected to the moving mechanism 110, and the host 163 is signal-connected to the human-machine interaction module 164, thereby enabling the operator to view the images and videos captured by the first camera 161 and the second camera 162 through the human-machine interaction module 164.

[0093] In another embodiment, the first camera 161 observes and positions the solder joint 211 corresponding to the first grinding component 121 on the side of the grid chamber 210 through the working surface 116. The second camera 162 observes and positions the solder joint 211 corresponding to the second grinding component 122 on the side of the grid chamber 210 through the working surface 116.

[0094] Specifically, the first camera 161 faces the part where the first grinding component 121 contacts the corresponding solder point 211, and the second camera 162 faces the part where the second grinding component 122 contacts the corresponding solder point 211, so that the grinding process can be observed in real time.

[0095] In another embodiment, the first camera 161 is perpendicular to the line connecting the surface to be polished to the corresponding solder point 211 of the first polishing component 121, and the second camera 162 is perpendicular to the line connecting the surface to be polished to the corresponding solder point 211 of the second polishing component 121. Thus, after polishing, the solder point polishing device 100 inside the grid chamber of the fuel basket can be moved along the third direction OZ, so that the first camera 161 observes the corresponding solder point 211 of the first polishing component 121, and the second camera 162 observes the corresponding solder point 211 of the second polishing component 121, thereby protecting the lenses of the first camera 161 and the second camera 162 and preventing lens damage caused by foreign objects splashing onto the lenses during the polishing process.

[0096] See Figure 3 and Figure 7 In one embodiment, the welding point grinding device 100 inside the fuel basket's grid compartment further includes a cleaning mechanism 170, which includes a vacuum cleaner 171 and a suction pipe 172. The moving mechanism 110 also includes multiple sealing plates 174, which seal all sides except the working surface 116. The sealing plates 174 have suction holes 173. One end of the suction pipe 172 is connected to the vacuum cleaner 171, and the other end is connected to the suction hole 173, thereby allowing the cleaning device to clean all sides except the working surface 116. All surfaces except 116 are sealed by the sealing plate 174, with only the working surface 116 facing the surface to be polished 212, making the working surface 116 the suction port of the cleaning mechanism 170. The vacuum cleaner 171 is connected to the inside of the weld point polishing device 100 inside the grid chamber of the fuel basket through the suction pipe 172. The debris generated by the polishing mechanism 120 enters the inside of the weld point polishing device 100 inside the grid chamber of the fuel basket through the opening of the working surface 116, and enters the vacuum cleaner 171 through the suction pipe 172.

[0097] An embodiment of this application also provides a method of using a welding point grinding device 100 for the internal weld points of a fuel basket's grid compartment. The welding point grinding device 100 grinds the welding points 211 on the side of the grid compartment 210. The method of using the welding point grinding device 100 for the internal weld points of a fuel basket's grid compartment includes the following steps:

[0098] S100: With the working surface 116 facing the side of the grid chamber 210 to be polished, the internal weld point polishing device 100 of the fuel basket grid chamber is placed inside the grid chamber 210 through an opening at one end of the grid chamber 210 along the third direction OZ.

[0099] S200: The moving mechanism 110 drives the measuring mechanism 130 and the grinding mechanism 120 to move along the third direction OZ within the grid chamber 210.

[0100] S300: The measuring mechanism 130 measures the height of the target solder joint 211. When the height of the target solder joint 211 is greater than 0.5mm, the moving mechanism 110 drives the grinding mechanism 120 to move along the third direction OZ to the position of the target solder joint 211, and the grinding mechanism 120 grinds the target solder joint 211.

[0101] S400: The measuring mechanism 130 measures the height of the target solder joint 211 again. When the height of the target solder joint 211 is less than 0.5mm, the moving mechanism 110 drives the measuring mechanism 130 and the grinding mechanism 120 to move along the third direction OZ in the grid chamber 210 to the next solder joint 211. Repeat step S300. When the height of the target solder joint 211 is greater than 0.5mm, the moving mechanism 110 drives the measuring mechanism 130 and the grinding mechanism 120 to move along the third direction OZ in the grid chamber 210 to the target solder joint 211. Repeat step S300 to continue grinding the target solder joint 211.

[0102] S500: After the side weld points 211 of the grid chamber 210 to be polished in step S100 are polished, the moving mechanism 110 drives the measuring mechanism 130 and the polishing mechanism 120 to move out of the grid chamber 210 along the third direction OZ. Then, the welding point polishing device 100 inside the grid chamber of the fuel basket is rotated 90° clockwise around the third direction OZ, and steps S100-S400 are repeated.

[0103] S600: After the side weld points 211 of the grid chamber 210 to be polished in step S500 are polished, the moving mechanism 110 drives the measuring mechanism 130 and the polishing mechanism 120 to move out of the grid chamber 210 along the third direction OZ. Then, the welding point polishing device 100 inside the grid chamber of the fuel basket is rotated 90° clockwise around the third direction OZ, and steps S100-S400 are repeated.

[0104] S700: After the side weld points 211 of the grid chamber 210 to be polished in step S600 are polished, the moving mechanism 110 drives the measuring mechanism 130 and the polishing mechanism 120 to move out of the grid chamber 210 along the third direction OZ. Then, the weld point polishing device 100 inside the grid chamber of the fuel basket is rotated 90° clockwise around the third direction OZ, and steps S100-S400 are repeated.

[0105] S800: After the side weld point 211 of the grid chamber 210 to be ground in step S700 is ground, the moving mechanism 110 drives the measuring mechanism 130 and the grinding mechanism 120 to move out of the grid chamber 210 along the third direction OZ.

[0106] When using the fuel basket grid chamber internal weld point grinding device 100 to grind the weld point 211 inside the grid chamber 210, the above-described method of using the fuel basket grid chamber internal weld point grinding device 100 is adopted: S100: The working surface 116 is oriented towards the side of the grid chamber 210 to be ground, and the fuel basket grid chamber internal weld point grinding device 100 is placed inside the grid chamber 210 from one end opening along the third direction OZ. S200: The moving mechanism 110 drives the measuring mechanism 130 and the grinding mechanism 120 to move along the third direction OZ inside the grid chamber 210. S300: The measuring mechanism 130 measures the height of the target weld point 211. When the height of the target weld point 211 is greater than 0.5mm, the moving mechanism 110 drives the grinding mechanism 120 to move along the third direction OZ to the position of the target weld point 211, and the grinding mechanism 120 grinds the target weld point 211. S400: The measuring mechanism 130 measures the height of the target solder joint 211 again. When the height of the target solder joint 211 is less than 0.5mm, the moving mechanism 110 drives the measuring mechanism 130 and the grinding mechanism 120 to move along the third direction OZ in the grid chamber 210 to the next solder joint 211. Repeat step S300. When the height of the target solder joint 211 is greater than 0.5mm, the moving mechanism 110 drives the measuring mechanism 130 and the grinding mechanism 120 to move along the third direction OZ in the grid chamber 210 to the target solder joint 211. Repeat step S300 to continue grinding the target solder joint 211. S500: After the side weld point 211 of the grid chamber 210 to be polished in step S100 is polished, the moving mechanism 110 drives the measuring mechanism 130 and the polishing mechanism 120 to move out of the grid chamber 210 along the third direction OZ. Then, the welding point polishing device 100 inside the grid chamber of the fuel basket is rotated 90° clockwise around the third direction OZ, and steps S100-S400 are repeated to complete the polishing of the welding point 211 on the other side of the adjacent grid chamber 210 after the side of the grid chamber 210 in step S100 has been rotated 90° clockwise. S600: After the side weld point 211 of the grid chamber 210 to be polished in step S500 is polished, the moving mechanism 110 drives the measuring mechanism 130 and the polishing mechanism 120 to move out of the grid chamber 210 along the third direction OZ. Then, the welding point polishing device 100 inside the grid chamber of the fuel basket is rotated 90° clockwise around the third direction OZ, and steps S100-S400 are repeated to complete the polishing of the welding point 211 on another side of the grid chamber 210 opposite to the side of the grid chamber 210 in step S100.S700: After the side weld point 211 of the grid chamber 210 to be polished in step S600 is polished, the moving mechanism 110 drives the measuring mechanism 130 and the polishing mechanism 120 to move out of the grid chamber 210 along the third direction OZ. Then, the welding point polishing device 100 inside the grid chamber of the fuel basket is rotated 90° clockwise around the third direction OZ, and steps S100-S400 are repeated to complete the polishing of the welding point 211 on the other side of the adjacent grid chamber 210 after the side of the grid chamber 210 in step S100 has been rotated 270° clockwise. S800: After the side weld points 211 of the grid chamber 210 to be ground in step S700 are ground, the moving mechanism 110 drives the measuring mechanism 130 and the grinding mechanism 120 to move out of the grid chamber 210 along the third direction OZ. In this way, the welding points 211 on the four sides of the grid chamber 210 are ground by the above-mentioned welding point grinding device 100 inside the grid chamber of the fuel basket. Under the measurement of the measuring mechanism 130, the height of the welding points 211 after grinding meets the set requirements to ensure that the protrusion height of the welding points 211 on the inner wall of the square grid chamber 210 is qualified.

[0107] The technical features of the above embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0108] The embodiments described above are merely illustrative of several implementation methods of this application, and while the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the patent application. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of this application, and these all fall within the protection scope of this application. Therefore, the protection scope of this patent application should be determined by the appended claims.

Claims

1. A device for grinding weld points inside the grid chamber of a fuel basket, characterized in that, The internal weld point grinding device of the fuel basket grid chamber includes: a moving mechanism, a grinding mechanism, and a measuring mechanism; The moving mechanism includes: a frame structure, an elastic structure, a driving component, a first traveling wheel assembly, and a second traveling wheel assembly. The frame structure has a cuboid outline, and the side lengths of the frame structure along the first direction and the second direction are equal. The first traveling wheel assembly and the second traveling wheel assembly are respectively connected to the two sides of the frame structure along the third direction through the elastic structure. The first traveling wheel assembly and the second traveling wheel assembly each include four sets of traveling wheels, and the four sets of traveling wheels of the first traveling wheel assembly and the second traveling wheel assembly elastically abut against the four sides of the lattice chamber around the third direction. The driving component is used to drive the traveling wheels to rotate. The grinding mechanism is mounted on the frame structure; any one of the faces of the frame structure around the third direction is the working surface, and the grinding mechanism extends out of the frame structure through the working surface to grind the weld points on the surface to be ground; the grinding mechanism includes a first grinding component and a second grinding component respectively connected to the frame structure, the first grinding component includes a first grinding head, the second grinding component includes a second grinding head, and the projections of the first grinding head and the second grinding head on the surface to be ground are staggered along the third direction and both cover the weld points; The measuring mechanism is mounted on the frame structure and extends out of the frame structure through the working surface to measure the height of the weld point on the surface to be polished. The projections of the measuring mechanism and the polishing mechanism on the working surface are arranged along the third direction. The elastic structure further includes a first movable component and a second movable component respectively disposed on both sides of the frame structure along a third direction. The first movable component includes four first movable blocks, four first movable rods and four first elastic elements, and the second movable component includes four second movable blocks, four second movable rods and four second elastic elements. Four first movable rods form a square, with two of the first movable rods having their length direction along the first direction and the other two having their length direction along the second direction; a first movable block is provided at the corner of any two adjacent first movable rods, and the two ends of each first movable rod are respectively inserted into the first movable block; four first elastic elements are correspondingly sleeved on the four first movable rods, and the two ends of the first elastic elements are connected to the two adjacent first movable blocks; any one of the four sets of first traveling wheel assemblies is provided on the two adjacent first movable blocks; Four second movable rods form a square, with two of the second movable rods extending along the first direction and the other two extending along the second direction. A second movable block is provided at the corner of any two adjacent second movable rods, and the two ends of each second movable rod are respectively inserted into the second movable block. Four second elastic members are correspondingly sleeved on the four second movable rods, and the two ends of the second elastic members are connected to the two adjacent second movable blocks. Any one of the four sets of second traveling wheel assemblies is provided on the two adjacent second movable blocks. A first limiting member is provided at both ends of the first movable rod, and the first limiting member is located inside the first movable block. A second limiting member is provided at both ends of the second movable rod, and the second limiting member is located inside the second movable block. The frame structure further includes a first fixing member and a second fixing member, which are respectively installed at the center of both ends of the frame structure along a third direction; the elastic structure includes a first telescopic component and a second telescopic component, the first telescopic component includes four first telescopic beams, the second telescopic component includes four second telescopic beams, the four first telescopic beams are evenly connected around the third direction to the circumferential direction connected by the first fixing member, and the four sets of walking wheels of the first walking wheel assembly are respectively connected to the end of the four first telescopic beams away from the first fixing member. Four second telescopic beams are uniformly connected to the second fixed member in the circumferential direction around a third direction. The four sets of walking wheels of the second walking wheel assembly are respectively connected to the ends of the four second telescopic beams away from the second fixed member. The first telescopic beam and the second telescopic beam are elastic telescopic beams. The third direction is the length direction of the grid cell, and the first direction, the second direction, and the third direction are perpendicular to each other.

2. The device for grinding weld points inside the grid chamber of the fuel basket according to claim 1, characterized in that, The first grinding assembly includes a first grinding mill connected to the first grinding head. The first grinding mill is fixed on the frame structure. The first grinding mill drives the first grinding head to rotate in order to grind the weld point. The second grinding assembly includes a second grinding mill connected to the second grinding head. The second grinding mill is fixed on the frame structure, and the second grinding mill drives the second grinding head to rotate to grind the weld point.

3. The fuel basket grid chamber internal weld point grinding device according to claim 2, characterized in that, The measuring mechanism includes a first measuring component and a second measuring component. The first measuring component is connected to the frame structure and is adjacent to the first grinding component. The second measuring component is connected to the frame structure and is adjacent to the second grinding component. The first measuring component includes a first trigger head, a first transmission mechanism, a first digital dial indicator, and a first digital display module connected in sequence. One end of the first trigger head is connected to the first transmission mechanism fixed on the frame structure, and the other end abuts against the surface to be polished and moves in a direction perpendicular to the surface to be polished, so that the first transmission mechanism generates a displacement perpendicular to the surface to be polished and transmits the displacement data to the first digital dial indicator. The first digital dial indicator transmits the measurement data to the first digital display module and displays it through the first digital display module. The second measuring component includes a second trigger head, a second transmission mechanism, a second digital dial indicator, and a second digital display module connected in sequence. One end of the second trigger head is connected to the second transmission mechanism fixed on the frame structure, and the other end abuts against the surface to be polished and moves in a direction perpendicular to the surface to be polished, so that the second transmission mechanism generates a displacement perpendicular to the surface to be polished and transmits the displacement data to the second digital dial indicator. The second digital dial indicator transmits the measurement data to the second digital display module and displays it through the second digital display module.

4. The device for grinding weld points inside the grid chamber of the fuel basket according to claim 3, characterized in that, The first trigger head includes a first rotating shaft, a first connecting member, a first connecting rod, and a first bearing assembly. One end of the first connecting rod is connected to the first transmission mechanism, and the other end is connected to the middle of the first connecting member. The two ends of the first connecting member are respectively connected to the two ends of the first rotating shaft. The first rotating shaft is parallel to the surface to be polished and perpendicular to the third direction. The first bearing assembly rotates around the first rotating shaft and abuts against the surface to be polished. The second trigger head includes a second rotating shaft, a second connecting member, a second connecting rod, and a second bearing assembly. One end of the second connecting rod is connected to the second transmission mechanism, and the other end is connected to the middle of the second connecting member. The two ends of the second connecting member are respectively connected to the two ends of the second rotating shaft. The second rotating shaft is parallel to the surface to be polished and perpendicular to the third direction. The second bearing assembly rotates around the second rotating shaft and abuts against the surface to be polished.

5. The device for grinding weld points inside the grid chamber of the fuel basket according to claim 3, characterized in that, The internal welding point grinding device of the fuel basket grid chamber also includes a monitoring mechanism, which is connected to the moving mechanism. The monitoring mechanism observes and positions the welding point on the surface to be ground through the working surface. The projections of the monitoring mechanism and the grinding mechanism on the working surface are along a third direction.

6. The device for grinding weld points inside the grid chamber of the fuel basket according to claim 5, characterized in that, The monitoring mechanism includes a first camera, a second camera, a host computer, and a human-computer interaction module. The first camera is adjacent to the first grinding component and connected to the frame structure. The first camera observes and locates the welding point corresponding to the second grinding component on the side of the grid chamber through the working surface. The second camera is adjacent to the second grinding component and connected to the frame structure. The second camera observes and positions the welding point corresponding to the first grinding component on the side of the grid chamber through the working surface. The first camera and the second camera are simultaneously connected to the host, the host is connected to the mobile mechanism, and the host is signal-connected to the human-computer interaction module.

7. The device for grinding weld points inside the grid chamber of the fuel basket according to claim 5, characterized in that, The monitoring mechanism includes a first camera, a second camera, a host computer, and a human-computer interaction module. The first camera is adjacent to the first grinding component and connected to the frame structure. The first camera observes and locates the welding point corresponding to the first grinding component on the side of the grid chamber through the working surface. The second camera is adjacent to the second grinding component and connected to the frame structure. The second camera observes and positions the welding point corresponding to the second grinding component on the side of the grid chamber through the working surface. The first camera and the second camera are simultaneously connected to the host, the host is connected to the mobile mechanism, and the host is signal-connected to the human-computer interaction module.

8. The device for grinding weld points inside the grid chamber of the fuel basket according to claim 1, characterized in that, The welding point grinding device inside the grid compartment of the fuel basket also includes a cleaning mechanism, which includes a vacuum cleaner and a vacuum pipe; The moving mechanism also includes multiple sealing plates, which seal all sides except the working surface, and the sealing plates are provided with dust suction holes. One end of the suction tube is connected to the vacuum cleaner, and the other end is connected to the suction hole.

9. The device for grinding weld points inside the grid chamber of the fuel basket according to claim 1, characterized in that, The fuel basket grid chamber internal weld point grinding device also includes a control module; The control module is connected to the moving mechanism and is used to control the moving mechanism to move along the third direction; The control module is connected to the grinding mechanism and is used to control the grinding mechanism to perform grinding.

10. The device for grinding weld points inside the grid chamber of the fuel basket according to claim 9, characterized in that, The moving mechanism further includes a control lever, which is connected to the first walking wheel assembly and the second walking wheel assembly, and is also connected to the control module. The control module is used to control the control lever, and the control lever is used to control the movement of the first walking wheel assembly and the second walking wheel assembly in a third direction.

11. A method of using a welding point grinding device for the internal weld points of a fuel basket's grid compartment, comprising grinding the welding points on the side of the grid compartment using the welding point grinding device for the internal weld points of the fuel basket's grid compartment as described in any one of claims 1-10, characterized in that... The method of using the welding point grinding device inside the grid chamber of the fuel basket includes the following steps: S100: The working surface is facing the side of the grid chamber to be polished, and the internal weld point polishing device of the fuel basket is placed in the grid chamber from one end of the grid chamber along a third direction. S200: The moving mechanism drives the measuring mechanism and the grinding mechanism to move along the third direction within the grid chamber; S300: The measuring mechanism measures the height of the target solder joint. When the height of the target solder joint is greater than 0.5mm, the moving mechanism drives the grinding mechanism to move along the third direction to the position of the target solder joint, and the grinding mechanism grinds the target solder joint. S400: The measuring mechanism measures the height of the target weld point again. When the height of the target weld point is less than 0.5mm, the moving mechanism drives the measuring mechanism and the grinding mechanism to move along the third direction in the grid chamber to the next weld point. Step S300 is repeated. When the height of the target weld point is greater than 0.5mm, the moving mechanism drives the measuring mechanism and the grinding mechanism to move along the third direction in the grid chamber to the target weld point. Step S300 is repeated to continue grinding the target weld point. S500: After the welding points on the side of the grid chamber to be polished in step S100 are polished, the moving mechanism drives the measuring mechanism and the polishing mechanism to move out of the grid chamber along the third direction. Then, the welding point polishing device inside the grid chamber of the fuel basket is rotated 90° clockwise around the third direction, and steps S100-S400 are repeated. S600: After the welding points on the side of the grid chamber to be polished in step S500 are polished, the moving mechanism drives the measuring mechanism and the polishing mechanism to move out of the grid chamber along the third direction. Then, the welding point polishing device inside the grid chamber of the fuel basket is rotated 90° clockwise around the third direction, and steps S100-S400 are repeated. S700: After the welding points on the side of the grid chamber to be polished in step S600 are polished, the moving mechanism drives the measuring mechanism and the polishing mechanism to move out of the grid chamber along the third direction. Then, the welding point polishing device inside the grid chamber of the fuel basket is rotated 90° clockwise around the third direction, and steps S100-S400 are repeated. S800: After the welding points on the side of the grid chamber to be ground in step S700 are ground, the moving mechanism drives the measuring mechanism and the grinding mechanism to move out of the grid chamber along the third direction.

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