Nuclear power plant refueling robot mechanical arm gripper assisted disassembly and storage and transportation device

Abstract

The present invention discloses an auxiliary disassembly, assembly, storage and transportation device for the gripper of the manipulator arm of a nuclear power plant refueling robot, which includes a cover, a lifting mechanism, a leveling mechanism, and a mounting base compatible with the gripper of the manipulator arm of the nuclear power plant refueling robot; the leveling mechanism includes a base, the cover is detachably connected to the base, and together with the base, a receiving chamber for receiving the gripper of the manipulator arm of the nuclear power plant refueling robot is enclosed; the lifting mechanism is located in the receiving chamber and is arranged on the base; the mounting base is arranged on the lifting mechanism and is lifted and lowered with the lifting mechanism. The present invention can place the gripper on the mounting base, and adjust the height of the gripper through the lifting mechanism to achieve docking with the manipulator arm, thereby avoiding mechanical extrusion damage that may be caused by poor communication when the manipulator arm moves. At the same time, the horizontality of the plane where the gripper is located is adjusted through the leveling mechanism, thereby avoiding repeated adjustment of the working position and improving work efficiency.

Description

Technical Field

[0001] The present invention relates to the technical field of nuclear fuel loading and unloading, and in particular to a nuclear power plant fuel replacement robot mechanical arm gripper auxiliary disassembly and storage and transportation device. Background Art

[0002] A refueling robot is a key piece of equipment used for nuclear fuel loading and unloading during nuclear power plant overhauls. The robot consists of a robotic arm and a gripper attached to the end of the arm. Before refueling operations begin, the gripper must be attached to the end of the arm and removed after the refueling operation is complete.

[0003] In the prior art, the docking between the refueling robot's robotic arm and the gripper during assembly and disassembly requires human operators to frequently raise and lower the robotic arm. The robotic arm is 13 meters long, weighs tons, and moves at a high speed. This creates difficulties communicating with underwater operators, resulting in poor controllability when manipulating the arm's movement. This poses challenges in aligning the robotic arm with the gripper, as well as the risk of hand injuries from the arm's movement. Furthermore, the gripper assembly and disassembly area is located at the bottom of the refueling tank, which is constructed from multiple stainless steel sheets. Due to the inherent structural characteristics of the stainless steel sheets and the welds at the joints, the tank floor is not flat, making it difficult for the gripper to maintain an upright position. Frequent adjustments are required to find a relatively flat working area. However, refueling tanks used for transporting nuclear fuel are subject to high radiation doses. This is time-consuming and labor-intensive, and increases the radiation dose to tank operators, which is detrimental to their health. Summary of the Invention

[0004] The technical problem to be solved by the present invention is to provide a nuclear power plant refueling robot mechanical arm gripper auxiliary disassembly and storage and transportation device in response to at least one defect of the above-mentioned prior art.

[0005] The technical solution adopted by the present invention to solve the technical problem is: to provide a nuclear power plant refueling robot mechanical arm gripper auxiliary disassembly and storage and transportation device, which includes a cover body, a lifting mechanism, a leveling mechanism, and a mounting base;

[0006] The leveling mechanism includes a base, the cover is detachably connected to the base, and together with the base, defines a cavity for accommodating a gripper of a nuclear power plant refueling robot; the lifting mechanism and the mounting base are both located in the cavity; the lifting mechanism is disposed on the base; the lifting mechanism is connected to the mounting base for driving the mounting base to rise and fall;

[0007] The mounting base is used to adapt to the bottom of the nuclear power plant refueling robot's robotic arm gripper, so that the bottom of the nuclear power plant refueling robot's robotic arm gripper is installed on the mounting base; the cover body is used to adapt to the top of the nuclear power plant refueling robot's robotic arm gripper, so as to accommodate the top of the nuclear power plant refueling robot's robotic arm gripper.

[0008] Preferably, the cover body comprises a top cover and side walls connected to each other; the side walls of the cover body are detachably connected to the base; the top cover and side walls of the cover body and the base together enclose the accommodating cavity;

[0009] The top cover includes a first limiting groove with an opening toward one side of the accommodating cavity, and the first limiting groove is used to adapt to the top of the mechanical arm gripper of the nuclear power plant material refueling robot.

[0010] Preferably, the mounting base includes a base plate and a plurality of guide cylinders connected to the upper surface of the base plate; the guide cylinders are used to adapt to the guide pins at the bottom of the gripper of the nuclear power plant refueling robot's mechanical arm.

[0011] Preferably, the number of the guide cylinders is four, and the four guide cylinders are symmetrically arranged on the bottom plate.

[0012] Preferably, the mounting base further includes first reinforcing ribs respectively connected to the outer peripheral surface of each guide cylinder and the surface of the bottom plate facing away from the lifting mechanism.

[0013] Preferably, the lifting mechanism includes a housing, a transmission screw, a worm gear mechanism, and a handwheel; the worm gear mechanism includes a turbine and a worm in transmission connection; the turbine is arranged in the housing; the worm is arranged through the housing and partially extends out of the housing, and the handwheel is in transmission connection with the portion of the worm extending out of the housing; the transmission screw is arranged through the housing and partially extends out of the housing, and the transmission screw is in transmission connection with the turbine in the housing;

[0014] The mounting base is connected to one end of the transmission screw.

[0015] Preferably, the worm includes a first end and a second end respectively extending out of the shell; a second limiting groove is provided on the handwheel, and the first end and the second end of the worm are both provided with limiting keys; the second limiting groove on the handwheel matches the limiting key on the worm.

[0016] Preferably, the leveling mechanism also includes at least three leveling bolts, at least three support members, and three fastening nuts; at least three of the support members are located on the side of the base facing away from the accommodating cavity; at least three of the support members correspond one-to-one to at least three of the leveling bolts, and at least three of the fastening nuts correspond one-to-one to at least three of the leveling bolts; each of the leveling bolts is connected between the base and the corresponding support member; each of the fastening nuts is connected between the leveling bolt and the surface of the accommodating cavity facing the base.

[0017] Preferably, the nuclear power plant refueling robot mechanical arm gripper auxiliary disassembly and storage and transportation device also includes a load-bearing structure; the load-bearing structure connects the lifting mechanism and the base.

[0018] Preferably, the load-bearing structure includes a supporting plate parallel to the base, a vertical plate perpendicular to the base and connected to the supporting plate, and a second reinforcing rib connected between the supporting plate and the vertical plate.

[0019] The present invention has the following beneficial effects: the present invention can place the gripper on the mounting base, and adjust the height of the gripper through the lifting mechanism to achieve docking with the robotic arm, that is, the main body that moves up and down is converted from the robotic arm to the gripper, avoiding mechanical squeezing damage that may be caused by poor communication when the robotic arm moves. At the same time, the leveling mechanism is used to adjust the horizontality of the plane where the gripper is located, so that during on-site work, the gripper can be adjusted to a suitable level at any position at the bottom of the refueling pool, avoiding repeated adjustment of the working position and improving work efficiency. In addition, when the gripper is in the accommodating cavity, its top and bottom can be respectively adapted to the cover body and the mounting base to be positioned, thereby meeting the storage and transportation requirements of the gripper and preventing it from tipping over during transportation and damaging precision components. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] The present invention will be further described below with reference to the accompanying drawings and embodiments, in which:

[0021] Figure 1 This is a schematic diagram of the overall structure of a gripper-assisted disassembly and storage and transportation device for a nuclear power plant refueling robot according to an embodiment of the present invention;

[0022] Figure 2 yes Figure 1 The cross-sectional view of the gripper-assisted disassembly and assembly and storage and transportation device of the refueling robot in the nuclear power plant in the AA direction is shown;

[0023] Figure 3 This is a structural diagram of a gripper-assisted disassembly and assembly and storage and transportation device of a nuclear power plant refueling robot mechanical arm when the gripper is installed thereon according to an embodiment of the present invention;

[0024] Figure 4 yes Figure 1 The schematic diagram of the structure of the nuclear power plant refueling robot mechanical arm gripper assisted disassembly and storage and transportation device after the cover is removed;

[0025] Figure 5 yes Figure 4 A magnified schematic diagram of part B in FIG.

[0026] Figure 6 yes Figure 4 Schematic diagram of the base structure from the C-direction perspective. DETAILED DESCRIPTION

[0027] In order to have a clearer understanding of the technical features, purposes and effects of the present invention, specific embodiments of the present invention are now described in detail with reference to the accompanying drawings.

[0028] See also Figures 1 to 3 ,in Figure 1 This is a schematic diagram of the overall structure of a nuclear power plant refueling robot mechanical arm gripper auxiliary disassembly and storage and transportation device (hereinafter referred to as the overall device) according to one embodiment of the present invention. Figure 2 FIG1 shows the whole device. Figure 3 The figure shows the state in which the gripper of the nuclear power plant refueling robot arm (hereinafter referred to as gripper 5 ) is integrally installed with the device.

[0029] like Figures 1 to 4 As shown, the nuclear power plant refueling robot mechanical arm gripper auxiliary disassembly and storage and transportation device (hereinafter referred to as the device as a whole) of one embodiment of the present invention includes a cover 1, a lifting mechanism 3, a leveling mechanism 2, and a mounting base 4. The leveling mechanism 2 includes a base 20. The cover 1 is detachably connected to the base 20 and, together with the base 20, encloses a receiving cavity 120 for accommodating the gripper 5 (see FIG. Figure 2 The lifting mechanism 3 and the mounting base 4 are both located in the accommodating cavity 120; the lifting mechanism 3 is disposed on the base 20. Furthermore, the lifting mechanism 3 is connected to the mounting base 4 to drive the mounting base 4 to move up and down.

[0030] The mounting base 4 fits over the bottom of the gripper 5 so that the bottom of the gripper 5 is mounted on the mounting base 4; the cover 1 fits over the top of the gripper 5 to accommodate the top of the gripper 5. Thus, when the gripper 5 is in the accommodating cavity, both the top and bottom of the gripper 5 are positioned properly, meeting the requirements for storage and transportation of the gripper 5 and preventing it from tipping over during transportation and damaging delicate components.

[0031] Specifically, the lifting mechanism 3 is used to adjust the height of the gripper 5, allowing the gripper 5 to move up and down relative to the robotic arm until the gripper 5 is installed at the end of the robotic arm. The leveling mechanism 2 is used to ensure the horizontality of the plane on which the gripper 5 is located, thereby adjusting the gripper 5 to a suitable installation angle. The gripper 5 is placed in the accommodating chamber 120, which allows for the storage and transportation of the gripper 5. Furthermore, the gripper 5 directly contacts the nuclear fuel assembly and is exposed to a high radiation dose. The accommodating chamber 120 enclosed by the cover 1 and the base 20 can be used to shield the gripper 5 from radiation.

[0032] Before nuclear fuel loading and unloading operations begin, the refueling robot's gripper 5 must be attached to the end of its robotic arm. This is done by arranging an operator on the shore above the refueling pool to operate the robotic arm. The operator only controls the robotic arm in a first preset position, keeping it stationary. The entire device is then placed at a second preset position at the bottom of the refueling pool. The first and second preset positions are approximately aligned on the same vertical axis. At this point, the cover 1 and base 20 are disassembled, exposing the lifting mechanism 3 and mounting base 4 on the base 20. At the bottom of the refueling pool, an operator is assigned to attach the gripper 5 to the mounting base 4. The leveling mechanism 2 is used to adjust the gripper 5's surface to a horizontal position. The lifting mechanism 3 moves up and down, driving the mounting base 4 and the gripper 5 thereon to a first preset height, where the gripper 5 precisely fits the end of the robotic arm. This completes the connection between the gripper 5 and the end of the robotic arm. During this process, since the robotic arm is stationary, it can effectively prevent the risk of personal injury caused by operational errors by the operator of the robotic arm and poor communication between operators on both sides of the bottom and shore of the refueling pool.

[0033] After the nuclear fuel loading and unloading operations are complete, the refueling robot's gripper 5 needs to be removed from the end of the robotic arm. Specifically, the entire device is placed at the bottom of the refueling pool, with the cover 1 and base 20 removed, exposing the lifting mechanism 3 and mounting base 4 on base 20. The robotic arm is moved directly above the mounting base 4. After adjusting the appropriate angle, the robotic arm moves downward or the lifting mechanism 3 moves upward, driving the mounting base 4 to a second preset height, which is the height at which the gripper 5 precisely engages the mounting base 4. The gripper 5 is then separated from the end of the robotic arm.

[0034] When the gripper 5 is mounted on the mounting base 4 , the cover 1 can be connected to the base 20 , so that the gripper 5 is placed in the accommodating cavity 120 , thereby enabling the gripper 5 to be stored or transported.

[0035] In summary, in response to the situation in the prior art where personnel are required to operate a robotic arm to achieve docking between the robotic arm and the gripper 5, the present invention can place the gripper 5 on the mounting base 4, and personnel operate the lifting mechanism 3 to adjust the height of the gripper 5 to achieve docking with the robotic arm. During this process, the robotic arm is stationary. That is, the main body that moves up and down is converted from the robotic arm to the gripper 5, avoiding mechanical squeezing injuries that may be caused by poor communication when the robotic arm moves. At the same time, personnel operate the leveling mechanism 2 to adjust the horizontality of the plane where the gripper 5 is located, so that during on-site work, the gripper 5 can be adjusted to a suitable horizontality at any position at the bottom of the refueling pool, avoiding repeated adjustment of the working position and improving work efficiency. In addition, when the gripper 5 is in the accommodating cavity, its top and bottom can be respectively adapted to the cover and the mounting base to be positioned, thereby meeting the storage and transportation requirements of the gripper 5 and preventing it from tipping over during transportation and damaging precision components.

[0036] like Figure 2 As shown, in this embodiment, the cover body 1 includes a top cover 10 and side walls 11 connected to each other. The side walls 11 of the cover body 1 are detachably connected to the base 20. The top cover 10 and the side walls 11 of the cover body 1, together with the base 20, enclose a receiving cavity 120. The top cover 10 includes a first retaining groove 101 that opens toward the receiving cavity 120. The first retaining groove 101 is adapted to fit the top of the gripper 5 of the nuclear power plant refueling robot.

[0037] Specifically, the top cover 10 and the side wall 11 can be welded together. The top cover 10 further includes a first base 10a and a second base 10b connected along the length of the side wall 11. The first base 10a of the top cover 10 is connected to the side wall 11 and can be made of the same material as the side wall 11. A first limiting groove 101 is formed on the second base 10b of the top cover 10. The material of the second base 10b of the top cover 10 can be polytetrafluoroethylene. The first base 10a and the second base 10b are fastened together by bolts and nuts.

[0038] The gripper 5 includes a top and a locking sleeve 54 located in the middle. The top of the gripper 5 is a U-shaped block 51, which is used to connect one end of the driving core rod of the robotic arm. The other end of the driving core rod of the robotic arm is connected to the cylinder drive to drive the finger-shaped hook 53 at the bottom of the gripper 5 to open and close. The first limiting groove 101 on the top cover 10 is just adapted to the shape and size of the U-shaped block 51 to fix the top of the gripper 5, thereby limiting the position of the gripper 5 in the accommodating chamber 120. Thus, the top of the gripper 5 is fixed by the first limiting groove 101 on the top cover 10, and the bottom of the gripper 5 is fixed by the mounting base 4, so that the position of the gripper 5 is relatively stable during storage and transportation, which can effectively prevent the gripper 5 from tipping over during transportation and causing damage to precision components.

[0039] Furthermore, if Figure 1 and Figure 2 As shown, the top cover 10 has a lifting hole 100 on its outer surface facing away from the accommodating cavity 120. After the cover 1 is mounted on the base 20, the lifting hole 100 can be used to lift the entire device. In addition, handrails (not shown) can be provided on opposite sides of the sidewalls 11 of the cover 1 to assist in the installation between the cover 1 and the base 20.

[0040] In addition, the locking sleeve 54 in the middle of the gripper 5 is connected to the outer sleeve of the robotic arm, which serves to achieve the mechanical interlocking function of the gripper 5. After the gripper 5 grasps the nuclear fuel assembly, the locking sleeve 54 and the robotic arm connecting bolts jointly bear the weight of the nuclear fuel assembly. In addition, the gripper 5 also includes a guide pin 52 and a finger hook 53 disposed at its bottom. Typically, the guide pin 52 at the bottom of the gripper 5 is used to cooperate with the connection of the nuclear fuel assembly. The nuclear fuel assembly includes an upper tube seat and a lower tube seat. The upper tube seat can be subjected to vertical forces. The upper tube seat is provided with a guide cylinder. The gripper 5 cooperates with the guide cylinder on the upper tube seat to achieve positioning between the gripper 5 and the upper tube seat. When the finger hook 53 on the gripper 5 opens, the nuclear fuel assembly can be lifted.

[0041] It should be noted that the specific structure and action mechanism of the gripper 5 and the robotic arm can be understood by referring to the robotic arm and gripper of the material changing robot in the prior art, and will not be described in detail herein.

[0042] like Figure 2 and Figure 4 As shown, in this embodiment, the mounting base 4 includes a base plate 40 and a plurality of guide cylinders 41 connected to the upper surface of the base plate 40. The upper surface of the base plate 40 refers to the surface thereof facing away from the base 20. The guide cylinders 41 mate with the guide pins 52 at the bottom of the gripper 5. Thus, the coordination between the guide cylinders 41 and the guide pins 52 ensures that the mounting base 4 and the gripper 5 are securely positioned on the mounting base 4.

[0043] like Figure 4As shown, further, in this embodiment, the number of guide cylinders 41 is four, and the four guide cylinders 41 are symmetrically arranged on the base plate 40. Correspondingly, there are also four guide pins 52 on the gripper 5. Therefore, as long as the four guide pins 52 on the gripper 5 are respectively aligned with the four guide cylinders 41 on the base plate 40 of the mounting base 4, the gripper 5 can still be connected to the four guide pins 52 after each 90° rotation in the horizontal direction, thereby facilitating the gripper 5 to change direction, especially the orientation of the U-shaped block 51 at its top, so as to facilitate the gripper 5 to match the orientation of the end of the robotic arm. Of course, in other embodiments, the guide pins 52 can also be other numbers and can also be asymmetrically arranged. Specifically, the four guide cylinders 41 can be located at the edge of the base plate 40. The base plate 40 can be roughly square, and the four guide cylinders 41 are respectively located at the four corners of the square base plate 40.

[0044] like Figure 4 As shown, further, in this embodiment, the mounting base 4 also includes a first reinforcing rib 42 respectively connected to the outer peripheral surface of each guide cylinder 41 and the surface of the bottom plate 40 facing away from the lifting mechanism. The first reinforcing rib 42 can increase the rigidity of the guide cylinder 41 to prevent the guide cylinder 41 from deforming and affecting the docking fit between it and the gripper 5. Specifically, two first reinforcing ribs 42 can be configured on each guide cylinder 41. The two first reinforcing ribs 42 are respectively connected to the guide cylinder 41 and are perpendicular to each other. Of course, the number of first reinforcing ribs 42 is not limited to two. The first reinforcing rib 42 can be welded to the guide cylinder 41. Of course, the connection method between the first reinforcing rib 42 and the guide cylinder 41 is not limited to welding. The first reinforcing rib 42 can also be a square plate. Of course, the shape of the first reinforcing rib 42 is not limited to a square.

[0045] like Figure 4 As shown, in this embodiment, the mounting base 4 is further provided with a lifting lug 43. The lifting mechanism 3, the mounting base 4, and the base 20 of the leveling mechanism 2 are connected together as a whole through welding, bolting, or other means. The lifting lug 43 on the mounting base 4 can be used to lift the entire structure formed by the lifting mechanism 3, the mounting base 4, and the base 20 of the leveling mechanism 2.

[0046] like Figure 4As shown, in this embodiment, the lifting mechanism 3 includes a housing 30, a transmission screw 31, a worm gear mechanism, and a handwheel 32. The worm gear mechanism includes a turbine (not shown) and a worm 33 that are transmission-connected. The turbine is arranged in the housing 30. The worm 33 passes through the housing 30 and partially extends out of the housing 30, and the handwheel 32 is transmission-connected to the portion of the worm 33 that extends out of the housing 30. The transmission screw 31 passes through the housing 30 and partially extends out of the housing 30, and the transmission screw 31 is transmission-connected to the turbine in the housing 30. The mounting base 4 is connected to one end of the transmission screw 31. Specifically, the handwheel 32 is a driving member of the lifting mechanism 3. The rotation of the handwheel 32 drives the worm 33 to rotate, the rotation of the worm 33 drives the turbine to rotate, the rotation of the turbine drives the transmission screw 31 to rotate, and the rotation of the transmission screw 31 drives the mounting base 4 at one end thereof to move up and down. As shown Figure 3 As shown, a connecting plate is connected between the mounting base 4 and one end of the transmission screw 31. The worm gear mechanism can be configured with reference to the worm gear transmission mechanism in the prior art.

[0047] As described in the background, electrically controlled robotic arms have higher speeds and poor controllability, posing a greater risk of injury. In contrast, after the gripper 5 is mounted on the mounting base 4, a person simply cranks the handwheel 32 to raise and lower the gripper 5 until it docks with the robotic arm. The robotic arm remains stationary during this process. Therefore, manually raising and lowering the gripper 5 results in a smoother and more controllable movement, minimizing the risk of injury.

[0048] like Figure 4 As shown, in this embodiment, the leveling mechanism 2 further includes three leveling bolts 21, three support members 22, and a fastening nut 23. The three support members 22 are located on the side of the base 20 facing away from the accommodating cavity 120. The three support members 22 correspond one-to-one to the three leveling bolts 21, and the three fastening nuts 23 correspond one-to-one to the three leveling bolts 21. Each leveling bolt 21 is connected between the base 20 and the corresponding support member 22. Each fastening nut 23 is connected between the leveling bolt 21 and the surface of the accommodating cavity 120 facing the base 20. Specifically, screwing each leveling bolt 21 can adjust the inclination between the base 20 and the support member 22. After the position of the leveling bolt 21 is determined, the fastening nut 23 is screwed in from the end of the leveling bolt 21 away from the support member 22 until the bottom end surface of the fastening nut 23 is in close contact with the surface of the base 20 facing the accommodating cavity 120, thereby fixing the position of the fastening bolt. Thus, by tightening the three leveling bolts 21 and controlling the levelness of the plane on which the base 20 lies, the levelness of the plane on which the gripper 5 lies can also be controlled. Because three points define a plane, the number of leveling bolts 21 is at least three, but the number of leveling bolts 21 can also be four, five, six, etc. When there are three leveling bolts 21, the levelness of the gripper 5 can be adjusted, making this the most preferred solution.

[0049] Further, if Figure 6 As shown, when there are three leveling bolts 21, the three leveling bolts 21 are evenly distributed on the base 20. Alternatively, the three leveling bolts 21 may be centrally symmetrically distributed with the central axis of the base 20 as the center.

[0050] Furthermore, the device as a whole also includes a spirit level (not shown) for reflecting the levelness of the plane it is located in. The spirit level can be set on the mounting base 4 or on the base 20 of the leveling mechanism 2, so that personnel can observe the levelness in real time.

[0051] like Figure 4 and Figure 5 As shown, further, in this embodiment, the worm 33 includes a first end and a second end respectively extending out of the housing 30. A second limiting groove is provided on the handwheel 32, and a limiting key 331 is provided at the first end and the second end of the worm 33. The limiting key 331 protrudes outward along the radial direction of the worm 33. The second limiting groove on the handwheel 32 and the limiting key 331 on the worm 33 match to achieve circumferential limitation between the handwheel 32 and the worm 33. Thus, as shown in FIG. Figure 4 As shown, the handwheel 32 can be mounted to either the first end or the second end of the worm 33. To achieve a more compact structure, the horizontal distance between the leveling bolts 21 on the base 20 and the lifting mechanism 3 is kept small. Because the flatness of the refueling tank bottom varies, in locations with poor flatness, one or two leveling bolts 21 may need to protrude significantly from the surface of the base 20 facing the accommodating chamber 120. This could potentially interfere with the position of the handwheel 32. In this case, the handwheel 32 can be mounted to the other end of the worm 33. Therefore, by changing the mounting position of the handwheel 32, the position of the handwheel 32 and the leveling bolts 21 can be coordinated while maintaining a compact overall structure.

[0052] like Figure 4 As shown, in this embodiment, the nuclear power plant refueling robot mechanical arm gripper auxiliary disassembly and storage and transportation device also includes a load-bearing structure. The load-bearing structure connects the lifting mechanism 3 and the base 20 to provide strong support for the lifting adjustment structure.

[0053] like Figure 4 As shown, in this embodiment, the load-bearing structure includes a support plate 71 parallel to the base 20, a vertical plate 72 perpendicular to the base 20 and connected to the support plate 71, and second reinforcing ribs 73 connected between the support plate 71 and the vertical plate 72. The second reinforcing ribs 73 enhance the deformation resistance of the vertical plate 72 under load. In addition, the support plate 71 is provided with a through hole for the transmission screw 31 of the lifting mechanism 3 to pass through.

[0054] Further, if Figure 4As shown, in this embodiment, a stopper 310 is connected to the end of the drive screw 31 away from the mounting base 4. The radial dimension of the stopper 310 is larger than the radial dimension of the through-hole of the support plate 71, thereby preventing the drive screw 31 from passing through the through-hole. The stopper 310 and the drive screw 31 can be welded together. When the drive screw 31 rotates and rises to a certain height, the stopper 310 abuts against the portion around the through-hole of the support plate 71, reaching the maximum lifting height, thereby preventing the drive screw 31 from rising too high and falling out.

[0055] like Figure 6 As shown, further, in this embodiment, the base 20 is provided with a plurality of first mounting holes 201, and the cover 1 is provided with a plurality of second mounting holes (not shown), and the plurality of first mounting holes 201 and the plurality of second mounting holes correspond to each other one by one. Figure 4 As shown, the device as a whole further includes a plurality of connectors 83, which may be bolts, etc. Each connector 83 passes through the second mounting hole on the cover 1 and the first mounting hole 201 on the base 20, respectively, to achieve a detachable connection between the base 20 and the cover 1.

[0056] like Figure 4 and Figure 6 As shown, further, in this embodiment, the base 20 is further provided with a guide pin 202, and the cover 1 is provided with a plurality of guide holes (not shown), and the guide pin 52 on the base 20 and the guide holes on the cover 1 are used to realize the alignment connection between the cover 1 and the base 20, so as to facilitate the positioning between the cover 1 and the base 20 and facilitate the one-to-one correspondence between the plurality of first mounting holes 201 and the plurality of second mounting holes. Figure 6 As shown, in this embodiment, there are two guide pins 202 , six first mounting holes 201 , and six second mounting holes, and the six first mounting holes 201 and the two guide pins 202 are evenly distributed on the base 20 .

[0057] It is understandable that the above embodiments only express the preferred implementation modes of the present invention, and the description thereof is relatively specific and detailed, but it cannot be understood as limiting the patent scope of the present invention. It should be pointed out that for ordinary technicians in this field, without departing from the concept of the present invention, the above technical features can be freely combined, and several deformations and improvements can be made, all of which fall within the scope of protection of the present invention. Therefore, all equivalent changes and modifications made to the scope of the claims of the present invention should fall within the scope of coverage of the claims of the present invention.

Claims

1. A nuclear power plant refueling robot mechanical arm gripper auxiliary disassembly and storage and transportation device, characterized in that: It comprises a cover body (1), a lifting mechanism (3), a leveling mechanism (2), and a mounting base (4); The leveling mechanism (2) includes a base (20), the cover (1) is detachably connected to the base (20), and together with the base (20), encloses a receiving cavity (120) for receiving a gripper (5) of a nuclear power plant refueling robot; the lifting mechanism (3) and the mounting base (4) are both located in the receiving cavity (120); the lifting mechanism (3) is arranged on the base (20); the lifting mechanism (3) is connected to the mounting base (4) and is used to drive the mounting base (4) to rise and fall; The mounting base (4) is used to match the bottom of the mechanical arm gripper (5) of the nuclear power plant refueling robot, so that the bottom of the mechanical arm gripper (5) of the nuclear power plant refueling robot is mounted on the mounting base (4); the cover (1) is used to match the top of the mechanical arm gripper (5) of the nuclear power plant refueling robot, so as to accommodate the top of the mechanical arm gripper (5) of the nuclear power plant refueling robot; The cover body (1) comprises a top cover (10) and a side wall (11) connected to each other; the side wall (11) of the cover body (1) is detachably connected to the base (20); the top cover (10) and the side wall (11) of the cover body (1) and the base (20) together enclose the accommodating cavity (120); The top cover (10) comprises a first limiting groove (101) with an opening toward one side of the accommodating cavity (120), and the first limiting groove (101) is used to adapt to the top of the mechanical arm gripper (5) of the nuclear power plant refueling robot.

2. The nuclear power plant refueling robot mechanical arm gripper auxiliary disassembly and storage and transportation device according to claim 1 is characterized in that: The mounting base (4) includes a base plate (40) and a plurality of guide cylinders (41) connected to the upper surface of the base plate (40); the guide cylinders (41) are used to match the guide pins (52) at the bottom of the mechanical arm gripper (5) of the nuclear power plant refueling robot.

3. The nuclear power plant refueling robot mechanical arm gripper auxiliary disassembly and storage and transportation device according to claim 2 is characterized in that: The number of the guide cylinders (41) is four, and the four guide cylinders (41) are symmetrically arranged on the bottom plate (40).

4. The nuclear power plant refueling robot mechanical arm gripper auxiliary disassembly and storage and transportation device according to claim 2 is characterized in that: The mounting base (4) further includes a first reinforcing rib (42) respectively connected to the outer peripheral surface of each guide cylinder (41) and the surface of the bottom plate (40) facing away from the lifting mechanism.

5. The nuclear power plant refueling robot mechanical arm gripper auxiliary disassembly and storage and transportation device according to any one of claims 1 to 4, characterized in that: The lifting mechanism (3) includes a housing (30), a transmission screw (31), a worm gear mechanism, and a handwheel (32); the worm gear mechanism includes a turbine and a worm (33) in transmission connection; the turbine is arranged in the housing (30); the worm (33) is arranged through the housing (30) and partially extends out of the housing (30), and the handwheel (32) is in transmission connection with the portion of the worm (33) extending out of the housing (30); the transmission screw (31) is arranged through the housing (30) and partially extends out of the housing (30), and the transmission screw (31) is in transmission connection with the turbine in the housing (30); The mounting base (4) is connected to one end of the transmission screw (31).

6. The nuclear power plant refueling robot mechanical arm gripper auxiliary disassembly and storage and transportation device according to claim 5, characterized in that: The worm (33) comprises a first end and a second end respectively extending out of the housing (30); a second limiting groove is provided on the hand wheel (32); and limiting keys (331) are provided on the first and second ends of the worm (33); the second limiting groove on the hand wheel (32) and the limiting key (331) on the worm (33) match.

7. The nuclear power plant refueling robot mechanical arm gripper auxiliary disassembly and storage and transportation device according to any one of claims 1 to 4, characterized in that: The leveling mechanism (2) further comprises at least three leveling bolts (21), at least three supporting members (22), and three fastening nuts (23); at least three supporting members (22) are located on a side of the base (20) facing away from the accommodating cavity (120); at least three supporting members (22) correspond to at least three leveling bolts (21) in a one-to-one manner, and at least three fastening nuts (23) correspond to at least three leveling bolts (21) in a one-to-one manner; each leveling bolt (21) is connected between the base (20) and the corresponding supporting member (22); and each fastening nut (23) is connected between the leveling bolt (21) and the surface of the accommodating cavity (120) facing the base (20).

8. The nuclear power plant refueling robot mechanical arm gripper-assisted disassembly and storage and transportation device according to any one of claims 1 to 4, characterized in that: The nuclear power plant refueling robot mechanical arm gripper auxiliary disassembly and storage and transportation device also includes a load-bearing structure; the load-bearing structure is connected to the lifting mechanism (3) and the base (20).

9. The nuclear power plant refueling robot mechanical arm gripper auxiliary disassembly and storage and transportation device according to claim 8, characterized in that: The load-bearing structure comprises a support plate (71) parallel to the base (20), a vertical plate (72) perpendicular to the base (20) and connected to the support plate (71), and a second reinforcing rib (73) connected between the support plate (71) and the vertical plate (72).

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