A nuclear reactor assembly extraction robot

Abstract

The application discloses a nuclear reactor component pulling robot, which comprises a moving chassis, a vertical lifting mechanism, two horizontal sliding mechanisms, two clamping jaw mechanisms, a pulling mechanism, a camera and a control system; the vertical lifting mechanism is installed on the top of the moving chassis; the two horizontal sliding mechanisms are symmetrically installed on the vertical lifting mechanism in the horizontal direction; one clamping jaw mechanism is fixedly installed on the top of each horizontal sliding mechanism; the clamping jaw mechanism is used for clamping a nuclear reactor component; the pulling mechanism is located between the two clamping jaw mechanisms; one camera is fixedly installed on each clamping jaw mechanism; the control system identifies the position of the nuclear reactor component according to the image captured by the camera, and controls the action of each component to complete the pulling of the nuclear reactor component. The robot can realize full-automatic operation, improves the operation efficiency, reduces the radiation risk, and enhances the stability and reliability of the nuclear reactor component pulling task.

Description

Technical Field

[0001] This invention relates to the field of nuclear reactor component removal technology, and more specifically to a nuclear reactor component removal robot. Background Technology

[0002] Numerous detectors are placed within nuclear reactor assemblies to detect neutron flux distribution and core power distortion within the reactor core. During a nuclear power plant overhaul, the reactor assemblies must be removed from the pressure vessel for testing, while simultaneously completing the overhaul of the pressure vessel itself.

[0003] Current nuclear reactor assembly testing procedures require workers to extract the reactor assembly from the reactor for testing, and then return the qualified assembly to the reactor. The extraction length of the reactor assembly is approximately 6 meters, and the process is cumbersome and laborious, significantly increasing the radiation risk for workers.

[0004] While tools exist for removing nuclear reactor components, these tools require manual operation by workers, which fails to effectively address the potential radiation hazards to workers during the process. Furthermore, existing specialized robots lack the structural capabilities required for nuclear reactor component removal, and general-purpose robots also lack the necessary precision and radiation resistance to perform this task. Summary of the Invention

[0005] To address the aforementioned problems, this invention provides a nuclear reactor component extraction robot that can perform fully automated operations, improving operational efficiency, reducing radiation risks, and enhancing the stability and reliability of nuclear reactor component extraction tasks.

[0006] The present invention adopts the following specific technical solution:

[0007] A nuclear reactor component extraction robot includes a mobile chassis, a vertical lifting mechanism, two horizontal sliding mechanisms, two gripper mechanisms, an extraction mechanism, a camera, and a control system.

[0008] The mobile chassis is used to achieve position movement;

[0009] The vertical lifting mechanism is installed on the top of the mobile chassis and is used to achieve vertical lifting.

[0010] The two horizontal sliding mechanisms are symmetrically installed on the vertical lifting mechanism in the horizontal direction to realize horizontal movement;

[0011] A gripper mechanism is fixedly installed on the top of each of the horizontal sliding mechanisms;

[0012] The gripper mechanism is used to grip the nuclear reactor assembly and to transport the gripped nuclear reactor assembly by moving the horizontal sliding mechanism.

[0013] The extraction mechanism is located between the two gripper mechanisms and supported by the vertical lifting mechanism, and is used to continuously extract nuclear reactor components.

[0014] A camera is fixedly mounted on each of the gripper mechanisms, and the camera is used to capture images;

[0015] The control system, together with the mobile chassis, the vertical lifting mechanism, the horizontal sliding mechanism, the gripper mechanism, the extraction mechanism, and the camera, is used to identify the position of the nuclear reactor assembly based on the image captured by the camera, and control the mobile chassis, the vertical lifting mechanism, the horizontal sliding mechanism, the gripper mechanism, and the extraction mechanism to complete the extraction of the nuclear reactor assembly.

[0016] Furthermore, the vertical lifting mechanism includes a vertical lifting bracket, a vertical connecting plate, a vertical slide rail, a vertical slider, a vertical motor, and a horizontal connecting plate;

[0017] The vertical lifting bracket, the vertical connecting plate, and the vertical slide rail are all arranged in the vertical direction;

[0018] The vertical lifting bracket is fixedly connected to the vertical connecting plate, and the bottom ends of both the vertical lifting bracket and the vertical connecting plate are fixedly connected to the mobile chassis.

[0019] The vertical slide rail is fixedly installed on the vertical connecting plate and is used to guide the vertical movement of the vertical slider.

[0020] The vertical motor is fixedly installed on the vertical lifting bracket and is connected to the control system signal to drive the vertical slider to reciprocate along the vertical slide rail;

[0021] The horizontal connecting plate extends horizontally and is fixedly connected to the vertical slider.

[0022] Furthermore, both the vertical lifting bracket and the vertical slide rail are provided in twos;

[0023] Four vertical sliders are provided;

[0024] The two vertical lifting supports are arranged in parallel;

[0025] The two vertical slide rails are arranged in parallel;

[0026] Each of the vertical slide rails has two vertical sliders that slide in conjunction with it.

[0027] The horizontal connecting plate is fixedly connected to the four vertical sliders.

[0028] Furthermore, the horizontal sliding mechanism includes a horizontal support, a horizontal slide rail, a horizontal slider, and a horizontal motor;

[0029] The horizontal support is arranged parallel to the horizontal connecting plate and is fixedly connected to the horizontal connecting plate;

[0030] The horizontal slide rail extends horizontally and is fixedly installed on the top of the horizontal bracket to guide the horizontal movement of the horizontal slider.

[0031] The horizontal motor is fixedly installed on the top surface of the horizontal connecting plate and is connected to the control system for driving the horizontal slider to reciprocate along the horizontal slide rail.

[0032] Furthermore, the gripper mechanism includes a gripper base and grippers;

[0033] The gripper base is fixedly connected to the top surface of the horizontal slider;

[0034] The gripper is fixedly installed on the top of the fixed base and is connected to the control system signal for gripping and pulling out the end of the nuclear reactor assembly;

[0035] The camera is fixedly mounted on the outside of the gripper base.

[0036] Furthermore, two horizontal sliders are slidably engaged on each of the horizontal slide rails.

[0037] The gripper base is fixedly connected to the two horizontal sliders.

[0038] Furthermore, the extraction mechanism includes a slide rail base, two roller sliders, two roller brackets, two electric rollers, and a drive motor;

[0039] The slide rail base is supported on the top of the horizontal bracket by a support column, and is used to guide the movement of the roller slider;

[0040] The two roller sliders are arranged opposite to each other and are slidably mounted on the slide rail base;

[0041] The arrangement direction of the two roller sliders is perpendicular to the arrangement direction of the two grippers;

[0042] The drive motor is used to drive the two roller sliders to move relative to or away from each other;

[0043] A roller bracket is fixedly installed on the top surface of each roller slider;

[0044] An electric roller is mounted on top of each roller bracket, and the roller bracket is used to support the electric roller;

[0045] The electric rollers are capable of rotating around a vertical axis to perform continuous extraction and removal of nuclear reactor components.

[0046] The control system is signal-connected to the drive motor and the electric roller.

[0047] Furthermore, the slide rail base is provided with a guide screw;

[0048] The guide screw extends along the arrangement direction of the two roller sliders;

[0049] The roller slider is provided with a threaded hole and is helically engaged with the guide screw through the threaded hole.

[0050] Furthermore, the mobile chassis is equipped with casters and a braking device.

[0051] Beneficial effects:

[0052] Compared with the traditional nuclear reactor assembly removal operations that are manually operated, cumbersome, and inefficient, the nuclear reactor assembly removal robot of this invention can automatically perform the nuclear reactor assembly removal process through a mobile chassis, vertical lifting mechanism, horizontal sliding mechanism, gripper mechanism, removal mechanism, camera, and control system. It does not require manual operation or remote control. The nuclear reactor assembly removal robot is placed outside the nuclear reactor assembly, and the robot performs autonomous nuclear reactor assembly removal operations based on visual positioning using the camera. It can also provide a stable and continuous removal force to complete the removal task, thereby improving work efficiency, reducing radiation risk, and enhancing the stability and reliability of the nuclear reactor assembly removal task. Attached Figure Description

[0053] Figure 1 This is a schematic diagram of the structure of the nuclear reactor assembly extraction robot of the present invention;

[0054] Figure 2 for Figure 1 Front view of the CNNC reactor component extraction robot;

[0055] Figure 3 for Figure 1 Side view of the CNNC reactor component extraction robot;

[0056] Figure 4 for Figure 1 A top view of the CNNC reactor component extraction robot;

[0057] Figure 5 for Figure 1 A schematic diagram of the extraction mechanism of the CNNC reactor component extraction robot. Detailed Implementation

[0058] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0059] like Figure 1 , Figure 2 , Figure 3 and Figure 4 As shown in the structure, this embodiment provides a nuclear reactor component extraction robot, which includes a mobile chassis 1, a vertical lifting mechanism, two horizontal sliding mechanisms, two gripper mechanisms, an extraction mechanism, a camera, and a control system.

[0060] The mobile chassis 1 is used to achieve position movement; the mobile chassis 1 is equipped with casters and a braking device; the mobile chassis 1 can be a general-purpose chassis with casters, used to enable the entire extraction robot to move on the ground; during the extraction of the nuclear reactor assembly (not shown in the figure), the braking device can prevent the extraction robot from moving due to force; the mobile chassis 1 can realize the movement of the vertical lifting mechanism, horizontal sliding mechanism, gripper mechanism, extraction mechanism and camera;

[0061] The vertical lifting mechanism is installed on the top of the mobile chassis 1 to achieve vertical lifting; the vertical lifting mechanism is installed on the mobile chassis 1 and can realize the vertical lifting of the horizontal sliding mechanism, the gripper mechanism, the extraction mechanism and the camera through the drive of the mobile chassis 1.

[0062] Two horizontal sliding mechanisms are symmetrically installed on the vertical lifting mechanism in the horizontal direction to achieve horizontal movement; a gripper mechanism is fixedly installed on the top of each horizontal sliding mechanism; the extraction mechanism is located between the two gripper mechanisms and supported by the vertical lifting mechanism, and is used to continuously extract the nuclear reactor assembly; the gripper mechanism is used to grip the nuclear reactor assembly and transport the gripped nuclear reactor assembly by the movement of the horizontal sliding mechanism; the gripper mechanism is driven to the nuclear reactor assembly by the moving chassis 1, the vertical lifting mechanism and the horizontal sliding mechanism to grip it, and the gripped nuclear reactor assembly is sent to the extraction mechanism by the movement of the horizontal sliding mechanism, and the extraction mechanism realizes the extraction of the nuclear reactor assembly;

[0063] A camera is fixedly mounted on each gripper mechanism; the camera is used to capture images.

[0064] The control system, along with the mobile chassis 1, vertical lifting mechanism, horizontal sliding mechanism, gripper mechanism, extraction mechanism, and camera, is used to identify the position of the nuclear reactor components based on images captured by the camera, and to control the actions of the mobile chassis 1, vertical lifting mechanism, horizontal sliding mechanism, gripper mechanism, and extraction mechanism to complete the extraction of the nuclear reactor components.

[0065] The aforementioned nuclear reactor assembly extraction robot, through its mobile chassis 1, vertical lifting mechanism, horizontal sliding mechanism, gripper mechanism, extraction mechanism, camera, and control system, can automatically perform the extraction process of nuclear reactor assemblies. It does not require manual operation or remote control. The robot is placed outside the nuclear reactor assembly and uses the camera for visual positioning to perform autonomous extraction. It can also provide a stable and continuous extraction force to complete the extraction task, thereby improving work efficiency, reducing radiation risk, and enhancing the stability and reliability of the nuclear reactor assembly extraction task.

[0066] Among the aforementioned nuclear reactor component removal robots, such as Figure 1 , Figure 2 and Figure 3 As shown, the vertical lifting mechanism includes a vertical lifting bracket, a vertical connecting plate 4, a vertical slide rail, a vertical slider, a vertical motor 11, and a horizontal connecting plate 12. In this embodiment, an example is provided with two vertical lifting brackets, two vertical slide rails, and four vertical sliders. The two vertical lifting brackets are respectively... Figure 1 and Figure 3 The left vertical lifting bracket 2 and the right vertical lifting bracket 3 are shown in the figure; the two vertical slide rails are respectively Figure 1 and Figure 2 The left vertical slide rail 5 and the right vertical slide rail 6 are in the middle; Figure 3 The diagram illustrates the first vertical slider 7 and the second vertical slider 8, which are simultaneously installed on the left vertical slide rail 5.

[0067] The vertical lifting bracket, vertical connecting plate 4, and vertical slide rail are all arranged in the vertical direction; the two vertical lifting brackets are arranged in parallel; the two vertical slide rails are arranged in parallel; the vertical lifting bracket and the vertical connecting plate 4 can be fixedly connected by bolts to provide support for the components above the mobile chassis 1; the bottom ends of the vertical lifting bracket and the vertical connecting plate 4 are fixedly connected to the mobile chassis 1 by bolts.

[0068] The vertical slide rail is fixedly installed on the vertical connecting plate 4 by bolts. The vertical slide rail is used to provide a vertical movement track to guide the vertical movement of the vertical slider. The vertical slider slides along the vertical slide rail in the vertical direction. There are two vertical sliders slidingly engaged on each vertical slide rail. There are two vertical sliders, one above and one below, installed on the left vertical slide rail 5 and the right vertical slide rail 6.

[0069] The vertical motor 11 is fixedly installed on the vertical lifting bracket and connected to the control system signal. It is used to drive the vertical slider to move back and forth along the vertical slide rail. The vertical motor 11 is used to provide the driving force for the vertical slider to move in the vertical direction.

[0070] The horizontal connecting plate 12 extends horizontally and is fixedly connected to four vertical sliders to support two horizontal sliding mechanisms.

[0071] like Figure 1 , Figure 2 and Figure 4 As shown, the horizontal sliding mechanism of the aforementioned nuclear reactor assembly extraction robot includes a horizontal support 13, a horizontal slide rail, a horizontal slider, and a horizontal motor; the two horizontal sliding mechanisms are symmetrically arranged and can share the same horizontal support 13, or each can have a separate horizontal support 13 fixedly connected to the horizontal connecting plate 12; as shown Figure 1 and Figure 2 As shown, the two horizontal sliding mechanisms include two horizontal slide rails, two horizontal sliders, and two horizontal motors; the horizontal slide rails include a left horizontal slide rail 14 and a right horizontal slide rail 15, the horizontal sliders include a left horizontal slider 16 that cooperates with the left horizontal slide rail 14 and a right horizontal slider 17 that cooperates with the right horizontal slide rail 15, and the horizontal motors include a left horizontal motor 20 and a right horizontal motor 21.

[0072] The horizontal support 13 is parallel to and fixedly connected to the horizontal connecting plate 12; the horizontal support 13 serves as the base of the horizontal sliding mechanism; the horizontal slide rail extends horizontally and is fixedly installed on the top of the horizontal support 13 to guide the horizontal movement of the horizontal slider; the horizontal slide rail is the track for horizontal movement; the horizontal slider slides along the horizontal slide rail; the horizontal motor is fixedly installed on the top surface of the horizontal connecting plate 12 and is connected to the control system signal to provide the driving force for horizontal movement to drive the horizontal slider to reciprocate along the horizontal slide rail. In this embodiment, two horizontal sliders slide on each horizontal slide rail.

[0073] like Figure 1 , Figure 2 and Figure 4As shown, the gripper mechanism of the aforementioned nuclear reactor assembly extraction robot includes a gripper base and grippers; a gripper mechanism is installed on each horizontal sliding mechanism, and the two gripper mechanisms are a left gripper mechanism and a right gripper mechanism; the left gripper mechanism includes a left gripper base 22 and a left gripper 24 installed on the left gripper base 22; the right gripper mechanism includes a right gripper base 23 and a right gripper 25 installed on the right gripper base 23; at the same time, a left camera 26 is installed on the outside of the left gripper base 22, and a right camera 27 is installed on the outside of the right gripper base 23; the left camera 26 and the right camera 27 can respectively capture environmental images on the left and right sides of the robot;

[0074] The gripper base is fixedly connected to the top surface of the horizontal slider for mounting the gripper. The gripper is fixedly mounted on the top of the fixed base and connected to the control system signal for gripping and extracting the end of the nuclear reactor assembly. A camera is fixedly mounted on the outside of the gripper base to capture environmental images for control and positioning by the control system. When two horizontal sliders slide on each horizontal slide rail, the gripper base is fixedly connected to the two horizontal sliders on the same horizontal slide rail. The gripper can clamp and release under the control of the control system to grip the nuclear reactor assembly, and the gripper and the horizontal sliding mechanism work together to extract and transfer the nuclear reactor assembly.

[0075] like Figure 1 and Figure 5 As shown, the extraction mechanism is used for continuous extraction of nuclear reactor components. In this embodiment, the extraction mechanism is described using roller mechanism 29 as an example, including slide rail base 30, two roller sliders, two roller supports, two electric rollers, and drive motor 37; Figure 5 As shown, the roller mechanism 29 includes a first roller slider 31, a second roller slider 32, a first roller bracket 33, a second roller bracket 34, a first electric roller 35, and a second electric roller 36.

[0076] The slide rail base 30 is supported on the top of the horizontal bracket 13 by the support column 28, and is used to guide the movement of the roller sliders; two roller sliders are arranged opposite each other and slidably mounted on the slide rail base 30; the arrangement direction of the two roller sliders is perpendicular to the arrangement direction of the two grippers; the drive motor is used to drive the two roller sliders to move relative to or away from each other, and the distance between the two electric rollers is adjusted by the movement of the two roller sliders so that the distance between the two electric rollers is exactly equal to the external dimension of the nuclear reactor assembly during extraction, thereby driving the nuclear reactor through the rotation of the two electric rollers. The assembly moves along the arrangement of the two grippers to achieve continuous extraction and removal of the nuclear reactor assembly. A roller bracket is fixedly installed on the top surface of each roller slider. An electric roller is rotatably installed on the top of each roller bracket, and the roller bracket supports the electric roller. The electric roller can rotate around a vertical axis to complete the continuous extraction and removal of the nuclear reactor assembly. The control system is connected to the drive motor and the electric roller. The control system controls the drive motor to move the two roller sliders and controls the rotation direction of the electric roller to achieve continuous extraction and removal of the nuclear reactor assembly.

[0077] like Figure 5 As shown, the slide rail base 30 is provided with a guide screw; the guide screw extends along the arrangement direction of the two roller sliders; the roller sliders are provided with threaded holes, and the threaded holes are screwed into the guide screw to realize the reciprocating movement of the two roller sliders; in order to realize the simultaneous relative or opposite movement of the two roller sliders, threaded holes with opposite directions of rotation can be provided in the two roller sliders, or threads with different directions of rotation can be provided at both ends of the guide screw. In short, it is sufficient to realize the simultaneous relative or opposite movement of the two roller sliders. It is not limited to the screw engagement structure, and other kinematic pairs can also be used to achieve this.

[0078] The specific process of using the aforementioned nuclear reactor component removal robot to perform the nuclear reactor component removal task is as follows:

[0079] The robot is placed near the nuclear reactor assembly. A camera captures images of the area around the assembly, and after image processing, the robot automatically identifies the reactor assembly's location. The control system moves the mobile chassis 1 to the appropriate position, then drives the vertical motor 11 to drive the vertical slider, which in turn moves the extraction mechanism to the appropriate height. A horizontal motor then drives the horizontal slider, moving the left-side gripper 24 to the location of the reactor assembly. The left-side gripper picks up the reactor assembly and moves along the horizontal slide rail with the horizontal slider, extracting the assembly and placing it into the extraction mechanism at the same height. Two electric rollers in the roller mechanism 29, which serves as the extraction mechanism, move along the roller slider on the slide rail base 30, clamping the reactor assembly. The assembly is continuously extracted by the continuous rotation of the two electric rollers. The right-side gripper 25 at the other end picks up the reactor assembly and places it on a support (not shown in the figure). After sufficient length has been extracted, a worker performs an inspection of the reactor assembly. After the inspection, the electric rollers rotate in the opposite direction, placing the nuclear reactor assembly back into the pressure vessel. The left gripper then picks up the assembly and returns its end to its original position. Finally, the control system moves the mobile chassis 1, propelling the entire robot to the next nuclear reactor assembly, repeating the process to complete the next round of extraction.

[0080] Obviously, those skilled in the art can make various modifications and variations to the embodiments of the present invention without departing from the spirit and scope of the invention. Therefore, if these modifications and variations fall within the scope of the claims of the present invention and their equivalents, the present invention also intends to include these modifications and variations.

Claims

1. A nuclear reactor component extraction robot, characterized in that, It includes a mobile chassis, a vertical lifting mechanism, two horizontal sliding mechanisms, two gripper mechanisms, a pulling mechanism, a camera, and a control system; The mobile chassis is used to achieve position movement; The vertical lifting mechanism is installed on the top of the mobile chassis and is used to achieve vertical lifting. The two horizontal sliding mechanisms are symmetrically installed on the vertical lifting mechanism in the horizontal direction to realize horizontal movement; A gripper mechanism is fixedly installed on the top of each of the horizontal sliding mechanisms; The gripper mechanism is used to grip the nuclear reactor assembly and to transport the gripped nuclear reactor assembly by moving the horizontal sliding mechanism. The extraction mechanism is located between the two gripper mechanisms and supported by the vertical lifting mechanism, and is used to continuously extract nuclear reactor components. A camera is fixedly mounted on each of the gripper mechanisms, and the camera is used to capture images; The control system, along with the mobile chassis, the vertical lifting mechanism, the horizontal sliding mechanism, the gripper mechanism, the extraction mechanism, and the camera, is used to identify the position of the nuclear reactor assembly based on the image captured by the camera, and control the mobile chassis, the vertical lifting mechanism, the horizontal sliding mechanism, the gripper mechanism, and the extraction mechanism to complete the extraction of the nuclear reactor assembly. The horizontal sliding mechanism includes a horizontal support, a horizontal slide rail, a horizontal slider, and a horizontal motor; The horizontal support is arranged parallel to the horizontal connecting plate and is fixedly connected to the horizontal connecting plate; The horizontal slide rail extends horizontally and is fixedly installed on the top of the horizontal bracket to guide the horizontal movement of the horizontal slider. The horizontal motor is fixedly installed on the top surface of the horizontal connecting plate and is connected to the control system signal to drive the horizontal slider to reciprocate along the horizontal slide rail. The gripper mechanism includes a gripper base and grippers; The gripper base is fixedly connected to the top surface of the horizontal slider; The gripper is fixedly installed on the top of the gripper base and is connected to the control system signal for gripping and pulling out the end of the nuclear reactor assembly; The camera is fixedly mounted on the outside of the gripper base; The extraction mechanism includes a slide rail base, two roller sliders, two roller brackets, two electric rollers, and a drive motor. The slide rail base is supported on the top of the horizontal bracket by a support column, and is used to guide the movement of the roller slider; The two roller sliders are arranged opposite to each other and are slidably mounted on the slide rail base; The arrangement direction of the two roller sliders is perpendicular to the arrangement direction of the two grippers; The drive motor is used to drive the two roller sliders to move relative to or away from each other; A roller bracket is fixedly installed on the top surface of each roller slider; An electric roller is mounted on top of each roller bracket, and the roller bracket is used to support the electric roller; The electric rollers are capable of rotating around a vertical axis to perform continuous extraction and removal of nuclear reactor components. The control system is signal-connected to the drive motor and the electric roller.

2. The nuclear reactor assembly extraction robot as described in claim 1, characterized in that, The vertical lifting mechanism includes a vertical lifting bracket, a vertical connecting plate, a vertical slide rail, a vertical slider, a vertical motor, and a horizontal connecting plate; The vertical lifting bracket, the vertical connecting plate, and the vertical slide rail are all arranged in the vertical direction; The vertical lifting bracket is fixedly connected to the vertical connecting plate, and the bottom ends of both the vertical lifting bracket and the vertical connecting plate are fixedly connected to the mobile chassis. The vertical slide rail is fixedly installed on the vertical connecting plate and is used to guide the vertical movement of the vertical slider. The vertical motor is fixedly installed on the vertical lifting bracket and is connected to the control system signal to drive the vertical slider to reciprocate along the vertical slide rail; The horizontal connecting plate extends horizontally and is fixedly connected to the vertical slider.

3. The nuclear reactor assembly extraction robot as described in claim 2, characterized in that, Both the vertical lifting bracket and the vertical slide rail are provided in twos; Four vertical sliders are provided; The two vertical lifting supports are arranged in parallel; The two vertical slide rails are arranged in parallel; Each of the vertical slide rails has two vertical sliders that slide in conjunction with it. The horizontal connecting plate is fixedly connected to the four vertical sliders.

4. The nuclear reactor assembly extraction robot as described in claim 3, characterized in that, Two horizontal sliders slide on each of the horizontal slide rails. The gripper base is fixedly connected to the two horizontal sliders.

5. The nuclear reactor assembly extraction robot as described in claim 4, characterized in that, The slide rail base is equipped with a guide screw; The guide screw extends along the arrangement direction of the two roller sliders; The roller slider is provided with a threaded hole and is helically engaged with the guide screw through the threaded hole.

6. The nuclear reactor assembly extraction robot as described in any one of claims 1-5, characterized in that, The mobile chassis is equipped with casters and a braking device.

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