A method and apparatus for quick replacement of electro-hydraulic tool head for nuclear facility decommissioning robot

Abstract

This invention discloses a method and apparatus for quick-change of electro-hydraulic tool heads for nuclear facility decommissioning robots, relating to the field of nuclear facility decommissioning technology. The apparatus includes a tool head connection assembly, a quick-change adapter assembly, a rotating assembly, and a robot connection assembly. The tool head connection assembly is used to mount the tool head. The quick-change adapter assembly is detachably connected to the tool head connection assembly and connects the tool head to the nuclear facility decommissioning robot's electrical and hydraulic circuits, and is connected to the robot connection assembly via the rotating assembly. The robot connection assembly is used to mount the nuclear facility decommissioning robot. This invention addresses the radioactive environment of nuclear facility decommissioning by providing a fast, safe, and efficient tool head replacement mechanism, reducing the working time of personnel in radioactive areas, lowering the radiation dose received by personnel, and significantly improving the operational performance and safety of nuclear facility decommissioning robots.

Description

Technical Field

[0001] This invention relates to the field of nuclear facility decommissioning technology, and more specifically, to a method and apparatus for quick replacement of electro-hydraulic tool heads for nuclear facility decommissioning robots. Background Technology

[0002] During the decommissioning of nuclear facilities, a type of nuclear facility decommissioning robot is frequently used. This robot carries various tool heads (buckets, grabs, cutting saws, milling heads, hydraulic shears, etc.) to perform operations. Currently, the most common method for changing tool heads is for the operator to first remove the pin connecting the tool head to the robot, and then install another tool head onto the robot body via the pin. This method requires the operator to be exposed to a radioactive environment for an extended period, resulting in a high level of radiation exposure. Furthermore, this method involves pin connections, which require precise alignment of the connecting hole and the connecting shaft, making the operation cumbersome and inconvenient for quick replacements. Summary of the Invention

[0003] In order to enable rapid replacement of tool heads of nuclear facility decommissioning robots in the radioactive environment of nuclear facility decommissioning, and to achieve automatic connection of the replaced tool head with the robot's circuitry and hydraulic system, this invention provides a method and apparatus for quick replacement of electro-hydraulic tool heads of nuclear facility decommissioning robots.

[0004] The technical solution adopted in this invention is as follows:

[0005] In a first aspect, the present invention provides a quick-change device for an electro-hydraulic tool head of a nuclear facility decommissioning robot, comprising a tool head connection assembly, a quick-change adapter assembly, a rotating assembly, and a robot connection assembly; the tool head connection assembly is used to install a tool head; the quick-change adapter assembly is used to detachably connect to the tool head connection assembly and to conduct electrical and hydraulic circuits between the tool head and the nuclear facility decommissioning robot, and is connected to the robot connection assembly through the rotating assembly; the robot connection assembly is used to install on the nuclear facility decommissioning robot.

[0006] As a further description of the above technical solution: the tool head connection assembly includes a tool head mounting plate, two first side panels fixed to the tool head mounting plate, two positioning shafts fixed between the two first side panels, a plug mounting plate fixed to one of the positioning shafts, and a hydraulic large plug, a hydraulic small plug, and an electrical plug fixed to the plug mounting plate.

[0007] As a further description of the above technical solution: the quick-change adapter assembly includes an adapter base, an H-type hydraulic cylinder, a large hydraulic socket, a small hydraulic socket, an electrical socket, a guide cover, a protective cover, and a contact switch; the cylinder body of the H-type hydraulic cylinder is fixed with an adapter pin; the adapter base includes a base plate, two side plates fixed to the base plate, a connecting rib plate that fixes the two side plates together, and a trunnion fixed to the side plates; the side plates are provided with U-shaped grooves for engaging with a positioning shaft that does not fix the plug mounting plate; the hydraulic rod of the H-type hydraulic cylinder is fixed to the adapter base, and when the hydraulic rod is extended under force, it causes the cylinder body of the H-type hydraulic cylinder to move, thereby moving the adapter pin and locking the positioning shaft, allowing the electrical plug and electrical socket to be plugged in. The hydraulic large plug and hydraulic large socket are connected, and the hydraulic small plug and hydraulic small socket are connected; the cables of the nuclear facility decommissioning robot and the tool head are used to connect through the electrical plug and electrical socket, and the oil pipes of the nuclear facility decommissioning robot and the tool head are used to connect through the hydraulic large plug, the hydraulic small plug, the hydraulic large socket matching the hydraulic large plug, and the hydraulic small socket matching the hydraulic small plug; the guide cover is used for positioning and guiding to match and connect the plug and socket; the protective cover is set on the guide cover to protect the socket when the quick-change adapter assembly and the tool head connection assembly are disengaged; the contact switch is used to detect whether the quick-change adapter assembly and the tool head connection assembly are in contact and is installed on the side plate.

[0008] As a further description of the above technical solution: the rotating assembly includes a hydraulic rotating component, a rotating support base, a rotating joint shaft, a hydraulic rotating mandrel, a hydraulic rotating outer ring, an inner ring of an electric slip ring, an outer ring of an electric slip ring, an electric slip ring positioning ring, a connecting component, and a rotating element installed inside the hydraulic rotating component; the hydraulic rotating component is used to drive the rotating element to rotate in both directions via hydraulic drive; the hydraulic rotating component is installed on the rotating support base, and the rotating support base is installed on the robot connection assembly; one end of the rotating joint shaft is connected to the rotating element, and the other end is connected to the hydraulic rotating outer ring; when the rotating element rotates, the rotating element rotates via the hydraulic rotating mandrel. The rotary joint shaft drives the hydraulic rotating outer ring to rotate; the hydraulic rotating spindle is installed on the robot connecting assembly, and its internal oil circuit is connected to the oil pipe; the hydraulic rotating outer ring is provided with the electric slip ring positioning ring, the electric slip ring inner ring is installed outside the hydraulic rotating outer ring, the electric slip ring inner ring is connected to the electrical socket, and the electric slip ring inner ring and the hydraulic rotating outer ring are connected by the connector to achieve synchronous rotation; the electric slip ring outer ring is installed outside the electric slip ring inner ring, and the electric slip ring outer ring is used to connect to the circuit of the nuclear facility decommissioning robot; the circuits of the electric slip ring outer ring and the electric slip ring inner ring are interconnected, and the electric slip ring inner ring is interconnected with the electrical socket circuit.

[0009] As a further description of the above technical solution: the robot connection assembly includes a rotating support mounting plate and a second side panel for connecting the nuclear facility decommissioning robot; the rotating support mounting plate mounts the rotating support and the hydraulic rotating mandrel; the second side panel is provided with a connection hole, and the robot connection assembly is fixed in position to the nuclear facility decommissioning robot by means of a pin through the connection hole; the oil circuit carried by the nuclear facility decommissioning robot is connected to the oil circuit inside the hydraulic rotating mandrel, the hydraulic rotating mandrel and the hydraulic rotating outer ring are provided with an oil circuit connection, the oil circuit of the hydraulic rotating outer ring is connected to the oil inlet of the H-type hydraulic cylinder, and the socket oil inlets of the hydraulic large socket and the hydraulic small socket.

[0010] Secondly, the present invention provides a quick-change method for the electro-hydraulic tool head of a nuclear facility decommissioning robot, which employs the aforementioned quick-change device for the electro-hydraulic tool head of a nuclear facility decommissioning robot.

[0011] Compared with the prior art, the beneficial effects of the present invention are:

[0012] 1) With the electro-hydraulic tool head quick-change device, operators can change tool heads outside of a radioactive environment, reducing the exposure time of personnel in a high-radiation environment, thereby reducing the radiation dose received by the operators.

[0013] 2) This device, through the quick-change adapter assembly, eliminates the need for tedious alignment of the connecting hole and the center of the connecting shaft when changing tool heads, simplifying the tool head replacement process.

[0014] 3) Due to the simplified replacement process, operators can change tool heads more quickly, which improves work efficiency and reduces work time.

[0015] 4) The quick-change device allows the robot to quickly switch between different tool heads, enabling the robot to adapt to more types of work requirements and enhancing the robot's adaptability and versatility.

[0016] 5) The quick-change adapter assembly not only enables quick tool head replacement, but also ensures the continuity of the circuit and oil circuit between the tool head and the robot body, guaranteeing that the tool head can be put into use immediately after replacement.

[0017] 6) As the frequency of tool head replacement increases, the robot's efficiency improves, which may reduce wear and tear on the robot body and thus lower maintenance costs.

[0018] 7) By quickly changing the tool head, the robot can be quickly switched to the most suitable tool in different working environments, thereby improving the quality and accuracy of the work.

[0019] To make the above-mentioned objects, features and advantages of the present invention more apparent and understandable, embodiments of the present invention are described below in detail with reference to the accompanying drawings. Attached Figure Description

[0020] To more clearly illustrate the technical solutions of the embodiments of the present invention, the accompanying drawings used in the embodiments will be briefly introduced below. It should be understood that the following drawings only show some embodiments of the present invention and should not be regarded as a limitation on the scope. For those skilled in the art, other related drawings can be obtained based on these drawings without creative effort.

[0021] Figure 1 This is a schematic diagram of the structure of the tool head connection assembly described in the embodiment;

[0022] Figure 2 This is a schematic diagram of the electro-hydraulic tool head quick-change device for the nuclear facility decommissioning robot described in the embodiment;

[0023] Figure 3 This is a schematic diagram of the structure of the quick-change adapter assembly and the rotating assembly described in the embodiment;

[0024] Figure 4 This is a cross-sectional view of the quick-change adapter assembly described in the embodiment;

[0025] Figure 5 This is a schematic diagram of the rear structure of the quick-change adapter assembly described in the embodiment;

[0026] Figure 6 This is a schematic diagram of the first assembly structure of the rotating component and the robot connection component described in the embodiment;

[0027] Figure 7 This is a schematic diagram of the second assembly structure of the rotating component and the robot connection component described in the embodiment;

[0028] Figure 8 This is a first structural schematic diagram of the rotating assembly described in the embodiment;

[0029] Figure 9 This is a cross-sectional view of the rotating component described in the embodiment;

[0030] Figure 10 This is a schematic diagram of the second structure of the rotating component described in the embodiment;

[0031] Explanation of the labels in the diagram:

[0032] 1. Tool head connection component;

[0033] 1-1. Positioning shaft; 1-2. Plug mounting plate; 1-3. First side panel; 1-4. Tool head mounting plate; 1-5. Tool head mounting hole; 1-6. Hydraulic small plug; 1-7. Hydraulic large plug; 1-8. Electrical plug;

[0034] 2. Quick-change adapter assembly;

[0035] 2-1. Adapter pin; 2-2. Protective cover plate; 2-3. Guide cover plate; 2-4. H-type hydraulic cylinder; 2-5. Large hydraulic socket; 2-6. Small hydraulic socket; 2-7. Adapter base; 2-7-1. Base plate; 2-7-2. Connecting rib; 2-7-3. Side plate; 2-7-4. Trunnion; 2-8. Hydraulic rod; 2-9. U-shaped groove; 2-10. L-shaped arc; 2-11. Contact switch; 2-12. Electrical socket; 2-13. H-type hydraulic cylinder oil inlet; 2-14. Socket oil inlet;

[0036] 3. Rotating component;

[0037] 3-1. Hydraulic rotating component; 3-1-1. Rotating element; 3-2. Rotary joint shaft; 3-3. Rotary support base; 3-4. Hydraulic rotating outer ring; 3-5. Electric slip ring inner ring; 3-6. Electric slip ring outer ring; 3-7. Connecting component; 3-8. Hydraulic rotating spindle; 3-9. Electric slip ring positioning ring; 3-10. Hydraulic rotating spindle positioning ring;

[0038] 4. Robot connection components;

[0039] 4-1. Rotary support mounting plate; 4-2. Second side panel; 4-3. Connecting holes;

[0040] 5. Cable; 6. Oil pipe; 7. Union; 8. Adapter. Detailed Implementation

[0041] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, 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 some embodiments of the present invention, but not all embodiments.

[0042] Please refer to Figures 1-10 This invention provides a quick-change device for the electro-hydraulic tool head of a nuclear facility decommissioning robot, including a tool head connection assembly 1, a quick-change adapter assembly 2, a rotating assembly 3, and a robot connection assembly 4.

[0043] Combination Figure 1 and Figure 2As shown, the tool head connection assembly 1 includes a tool head mounting plate 1-4, a first side panel 1-3, a positioning shaft 1-1, a plug mounting plate 1-2, a hydraulic large plug 1-7, a hydraulic small plug 1-6, and an electrical plug 1-8. The tool head mounting plate 1-4 has round holes for mounting various tool heads (such as hydraulic robotic arms, electric robotic arms, milling heads, etc.). Two first side panels 1-3 are welded and fixed to the tool head mounting plate 1-4. Two positioning shafts 1-1 are fixedly connected between the two first side panels 1-3. The two positioning shafts 1-1 are used for positioning when docking with the quick-change adapter assembly 2. The plug mounting plate 1-2 has four round holes for mounting the hydraulic large plug 1-7, the hydraulic small plug 1-6, and the electrical plug 1-8. The hydraulic plug is connected to an oil pipe 6, and the electrical plug is connected to a cable 5. When the tool head connection assembly 1 and the quick-change adapter assembly 2 are docked, the oil and electrical circuits from the robot to the tool head are automatically connected.

[0044] Combination Figure 2 , Figure 6 and Figure 7 As shown, the robot connection assembly 4 includes a rotating support mounting plate 4-1 and a second side panel 4-2 for connecting the robot. The rotating support mounting plate 4-1 is used to mount the rotating support 3-3 of the rotating assembly 3 and the hydraulic rotating spindle 3-8. The second side panel 4-2 is provided with a connection hole 4-3. The robot connection assembly 4 is fixed to the robot via the connection hole 4-3 on the second side panel 4-2 using a pin. The oil circuit carried by the robot is connected to the hydraulic rotating spindle 3-8. The hydraulic rotating spindle 3-8 and the hydraulic rotating outer ring 3-4 are connected by an oil circuit. The oil circuit of the hydraulic rotating outer ring 3-4 is connected to the socket inlet 2-14 and the H-type hydraulic cylinder inlet 2-13 of the quick-change adapter assembly 2. The circuit carried by the robot is connected to the outer ring 3-6 of the electric slip ring. The outer ring 3-6 and the inner ring 3-5 of the electric slip ring are interconnected. The inner ring 3-5 of the electric slip ring is interconnected with the electrical socket 1-8 of the quick-change adapter assembly 2.

[0045] Combination Figure 2 , Figures 6-10As shown, the rotating assembly 3 includes a hydraulic rotating component 3-1, a rotating support base 3-3, a rotary joint shaft 3-2, a hydraulic rotating spindle 3-8, a hydraulic rotating outer ring 3-4, an inner ring of an electric slip ring 3-5, an outer ring of an electric slip ring 3-6, and a connecting component 3-7. The hydraulic rotating component 3-1 drives its internal rotating element 3-1-1 to rotate in both directions via hydraulic drive. The hydraulic rotating component 3-1 is mounted on the rotating support base 3-3, which is mounted on the robot connection assembly 4. One end of the rotary joint shaft 3-2 is fixed to the rotating element 3-1-1, and the other end is mounted on the hydraulic rotating outer ring 3-4. When the rotating element 3-1-1 inside the hydraulic rotating component 3-1 rotates, the rotary joint shaft 3-2 drives the hydraulic rotating outer ring 3-4 to rotate. The hydraulic rotating spindle 3-8 is mounted on the robot connection assembly 4, and the oil circuit enters the hydraulic rotating spindle 3-8 through the robot connection oil pipe 6. An electric slip ring positioning ring 3-9 is provided on the hydraulic rotating outer ring 3-4. The electric slip ring inner ring 3-5 is installed outside the hydraulic rotating outer ring 3-4 and is connected to the electrical socket 2-12 on the quick-change adapter assembly 2. The electric slip ring inner ring 3-5 and the hydraulic rotating outer ring 3-4 are connected by a connector 3-7 to achieve synchronous rotation. The electric slip ring outer ring 3-6 is installed outside the electric slip ring inner ring 3-5 and is connected to the circuit on the robot connection assembly 4.

[0046] Combination Figures 2-5As shown, the quick-change adapter assembly includes an adapter base 2-7, an H-type hydraulic cylinder 2-4, hydraulic sockets (a large hydraulic socket 2-5 and a small hydraulic socket 2-6), an electrical socket 2-12, a guide cover 2-3, a protective cover 2-2, and a contact switch 2-11. The adapter base 2-7 includes a base plate 2-7-1, a side plate 2-7-3, a connecting rib plate 2-7-2, and a trunnion 2-7-4. One end of the side plate 2-7-3 is provided with a U-shaped groove 2-9 for docking with the positioning shaft 1-1 of the unfixed plug mounting plate 1-2 of the tool head connecting assembly 1. One end of the side plate 2-7-3 has a through hole for locking the positioning shaft 1-1 on the tool head connecting assembly 1 for fixing the plug when the adapter pin 2-1 of the H-type hydraulic cylinder 2-4 passes through the through hole. The hydraulic rod of the H-type hydraulic cylinder 2-4 is fixed on the adapter base 2-7. When hydraulic oil enters the rodless area of ​​the H-type hydraulic cylinder 2-4, the hydraulic rod is forced to extend. Since the hydraulic rod is fixed on the adapter base 2-7, the H-type hydraulic cylinder 2-4 moves within the adapter base 2-7. The H-type hydraulic cylinder 2-4 drives the adapter pin 2-1 fixed on it to pass through the through hole on the adapter base 2-7. Hydraulic large socket 2-5 and hydraulic small socket 2-6 are installed in the through holes on the H-type hydraulic cylinder 2-4, and electrical socket 2-12 is installed on the side of the H-type hydraulic cylinder 2-4. Guide cover 2-3 is installed on the side of the H-type hydraulic cylinder 2-4 with sockets and holes, serving as a positioning guide when the hydraulic plugs (hydraulic large plug 1-7 and hydraulic small plug 1-6) are inserted into the hydraulic sockets (hydraulic large socket 2-5 and hydraulic small socket 2-6). Protective cover 2-2 is installed on guide cover 2-3 to protect the socket when the quick-change adapter assembly 2 is disengaged from the tool head connection assembly 1. One end of the side plate 2-7-3 of the adapter base 2-7 is designed with an L-shaped arc structure for mating with the tool head connection assembly 1. A contact switch 2-11 for detecting whether the quick-change adapter assembly 2 and the tool head connection assembly 1 are in contact is installed on the side plate 2-7-3.

[0047] The hydraulic and electrical connections between the robot and the quick-change adapter assembly 2 are as follows: Six hydraulic lines at one end of the robot are connected via a hydraulic rotating spindle 3-8 mounted on the robot connection assembly 4. The hydraulic rotating spindle 3-8 is fixed and does not rotate. The hydraulic rotating outer ring 3-4 rotates under the influence of the rotating element 3-1-1 within the hydraulic rotating component 3-1 and the rotating joint shaft 3-2. The hydraulic lines of the hydraulic rotating spindle 3-8 and the hydraulic rotating outer ring 3-4 are connected. Four hydraulic lines of the hydraulic rotating outer ring 3-4 are connected to the hydraulic sockets on the H-type hydraulic cylinder 2-4, and the other two hydraulic lines of the hydraulic rotating outer ring 3-4 are connected to the oil inlet 2-13 of the H-type hydraulic cylinder. The electrical circuit at one end of the robot is connected via a pre-drilled hole on the rotating support mounting plate 4-1, through which a cable is passed and connected to the outer ring 3-6 of the electric slip ring. The outer ring 3-6 and the inner ring 3-5 of the electric slip ring form a circuit connection. The inner ring 3-5 of the electric slip ring is connected to the electrical socket 2-12 on the H-type hydraulic cylinder 2-4.

[0048] The docking process between quick-change adapter component 2 and tool head connection component 1 is as follows:

[0049] First, control the robot to move to the tool head placement rack. Operate the robot to make the side profile of the quick-change adapter assembly 2 parallel to the first side panel 1-3 of the tool head connection assembly 1. At the same time, adjust the U-shaped groove 2-9 of the quick-change adapter assembly 2 and the positioning axis 1-1 of the unfixed plug mounting plate 1-2 on the tool head connection assembly 1 by rotating the assembly 3. Figure 1 The uppermost of the two positioning axes is parallel. Then, the robot is operated to rotate the quick-change adapter assembly 2 around the positioning axis 1-1 and move it closer to the tool head connection assembly 1 until it is in place (i.e., the positioning axis 1-1 without the plug mounting plate 1-2 is matched and engaged with the U-shaped groove 2-9). At this time, the base plate 2-7-1 of the quick-change adapter assembly 2 and the tool head mounting plate 1-4 of the tool head connection assembly 1 are parallel. Then, the robot pumps hydraulic oil to the H-type hydraulic cylinder inlet 2-13. The hydraulic oil enters the area of ​​the H-type hydraulic cylinder 2-4 without the hydraulic rod, pushing the hydraulic rod to extend. Since one end of the hydraulic rod is fixed on the adapter base 2-7, the H-type hydraulic cylinder 2-4 moves. The H-type hydraulic cylinder 2-4, with the adapter pin 2-1 fixed on it, extends from the through hole of the side plate of the quick-change adapter assembly 2. The adapter pin 2-1 is engaged with the tool head mounting plate 1-4 and the positioning axis 1-1 with the plug mounting plate 1-2 fixed on it (i.e., the uppermost positioning axis 1-1 is matched and engaged with the tool head mounting plate 1-4 and the positioning axis 1-1 with the plug mounting plate 1-2 fixed on it). Figure 1 The gap between the lower positioning shaft of the two positioning shafts, and the positioning shaft 1-1 of the unfixed plug mounting plate 1-2 (i.e., Figure 1The uppermost of the two positioning shafts is held in the U-shaped groove 2-9, thus locking the two positioning shafts 1-1. At this time, the hydraulic sockets (hydraulic large socket 2-5 and hydraulic small socket 2-6) and electrical socket 2-12 installed on the H-type hydraulic cylinder 2-4 are connected with the hydraulic plugs (hydraulic large plug 1-7 and hydraulic small plug 1-6) and electrical plug 1-8 fixed on the tool head connecting assembly 1. At this time, the electrical circuit of the hydraulic oil circuit remains connected. By controlling the hydraulic system and the power system at the robot end, the tool head installed on the tool head connecting assembly 1 can be controlled.

[0050] The process of disconnecting quick-change adapter assembly 2 from tool head connection assembly 1 is as follows:

[0051] First, the robot is driven to the tool head placement rack. After determining the tool head's placement position, the robot adjusts the tool head's posture and places it stably on the rack. Then, the process of separating the tool head connection assembly 1 and the quick-change adapter assembly 2 begins. The robot pumps hydraulic oil to the H-type hydraulic cylinder inlet 2-13. The hydraulic oil enters the area of ​​the H-type hydraulic cylinder 2-4 with the hydraulic rod, pushing the hydraulic rod to retract, thus moving the H-type hydraulic cylinder 2-4. The H-type hydraulic cylinder 2-4 drives its adapter pin 2-1 to retract from the through hole in the side plate of the quick-change adapter assembly 2 back to its initial position. At this time, both positioning shafts 1-1 are in the unlocked state, and the hydraulic plug and socket, as well as the electrical plug and socket, are all disconnected. The robot is then gradually disengaged from the U-shaped groove and positioning shafts, completing the separation process between the robot and the tool head.

[0052] The above description is merely a preferred embodiment of the present invention and is not intended to limit the invention. Various modifications and variations can be made to the present invention by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the scope of protection of the present invention.

Claims

1. A quick-change device for the electro-hydraulic tool head of a nuclear facility decommissioning robot, characterized in that, The system includes a tool head connection assembly, a quick-change adapter assembly, a rotating assembly, and a robot connection assembly. The tool head connection assembly is used to mount a tool head. The quick-change adapter assembly is used for detachable connection to the tool head connection assembly and for connecting the tool head to the nuclear facility decommissioning robot via electrical and hydraulic circuits. The tool head is connected to the robot connection assembly via the rotating assembly. The robot connection assembly is used to mount the nuclear facility decommissioning robot. The tool head connection assembly includes a tool head mounting plate, two first side panels fixed to the tool head mounting plate, two positioning shafts fixed between the two first side panels, a plug mounting plate fixed to one of the positioning shafts, and a hydraulic large plug, a hydraulic small plug, and an electrical plug fixed to the plug mounting plate. The quick-change adapter assembly includes an adapter base, an H-type hydraulic cylinder, a large hydraulic socket, a small hydraulic socket, an electrical socket, a guide cover, a protective cover, and a contact switch. The cylinder body of the H-type hydraulic cylinder is fixed with an adapter pin. The adapter base includes a base plate, two side plates fixed to the base plate, a connecting rib connecting the two side plates, and a trunnion fixed to the side plates. Each side plate has a U-shaped groove for engaging with a positioning shaft that does not have the plug mounting plate fixed to it. The hydraulic rod of the H-type hydraulic cylinder is fixed to the adapter base. When the hydraulic rod is extended under force, it moves the cylinder body of the H-type hydraulic cylinder, causing the adapter pin to move and locking the positioning shaft, thus connecting the electrical plug and socket. The system includes a hydraulic large socket for connection, a hydraulic small plug and a hydraulic small socket for connection; the cables of the nuclear facility decommissioning robot and the tool head are connected via the electrical plug and the electrical socket; the oil pipes of the nuclear facility decommissioning robot and the tool head are connected via the hydraulic large plug, the hydraulic small plug, the hydraulic large socket matching the hydraulic large plug, and the hydraulic small socket matching the hydraulic small plug; a guide cover is used for positioning and guiding to match and connect the plug and socket; a protective cover is provided on the guide cover to protect the socket when the quick-change adapter assembly and the tool head connection assembly are disengaged; a contact switch is used to detect whether the quick-change adapter assembly and the tool head connection assembly are in contact and is installed on the side panel. The rotating assembly includes a hydraulic rotating component, a rotating support base, a rotary joint shaft, a hydraulic rotating mandrel, a hydraulic rotating outer ring, an inner ring of an electric slip ring, an outer ring of an electric slip ring, an electric slip ring positioning ring, a connector, and a rotating element installed inside the hydraulic rotating component. The hydraulic rotating component is used to drive the rotating element to rotate in both directions via hydraulic power. The hydraulic rotating component is mounted on the rotating support base, which is mounted on the robot connection assembly. One end of the rotary joint shaft is connected to the rotating element, and the other end is connected to the hydraulic rotating outer ring. When the rotating element rotates, the rotary joint shaft drives… The hydraulic rotating outer ring rotates; the hydraulic rotating spindle is installed on the robot connecting assembly, and its internal oil circuit is connected to the oil pipe; the hydraulic rotating outer ring is provided with the electric slip ring positioning ring, the electric slip ring inner ring is installed outside the hydraulic rotating outer ring, the electric slip ring inner ring is connected to the electrical socket, and the electric slip ring inner ring and the hydraulic rotating outer ring are connected by the connector to achieve synchronous rotation; the electric slip ring outer ring is installed outside the electric slip ring inner ring, and the electric slip ring outer ring is used to connect with the circuit of the nuclear facility decommissioning robot; the circuits of the electric slip ring outer ring and the electric slip ring inner ring are interconnected, and the electric slip ring inner ring is interconnected with the electrical socket circuit.

2. The quick-change device for the electro-hydraulic tool head of the nuclear facility decommissioning robot according to claim 1, characterized in that, The robot connection assembly includes a rotating support mounting plate and a second side panel for connecting the nuclear facility decommissioning robot; the rotating support mounting plate mounts the rotating support and the hydraulic rotating mandrel; the second side panel is provided with a connection hole, and the robot connection assembly is fixed in position to the nuclear facility decommissioning robot by means of the connection hole using a pin; the oil circuit carried by the nuclear facility decommissioning robot is connected to the oil circuit inside the hydraulic rotating mandrel, the hydraulic rotating mandrel and the hydraulic rotating outer ring are provided with an oil circuit connection, the oil circuit of the hydraulic rotating outer ring is connected to the oil inlet of the H-type hydraulic cylinder, and the socket oil inlets of the large hydraulic socket and the small hydraulic socket.

3. A method for quick replacement of electro-hydraulic tool heads for nuclear facility decommissioning robots, characterized in that, The quick-change device for the electro-hydraulic tool head of the nuclear facility decommissioning robot as described in claim 1 or 2 is adopted.

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