Split type sliding rail conveying device and method for conveying foreign matter grabbing equipment through split type sliding rail conveying device

Abstract

The invention provides a split type sliding rail conveying device and a method for conveying foreign matter grabbing equipment through the split type sliding rail conveying device. The split type sliding rail conveying device comprises a flange base assembly, a pitching and horizontal rotation driving assembly, a camera assembly and a foreign matter grabbing equipment conveying sliding rail assembly. The flange seat assembly comprises a guide wheel, a supporting seat, a flange seat mounting bolt, a first linear sliding rail, a first pull lug, a flange seat and a sliding frame. And the camera assembly is connected to a flange seat in the flange seat assembly. The sliding frame is fixedly connected to the first linear sliding rail and synchronously stretches out and draws back along with the first linear sliding rail. The foreign matter grabbing equipment conveying sliding rail assembly comprises a fine adjustment mechanism, a second linear sliding rail, a second pull lug, a mounting plate and a supporting plate. The foreign matter grabbing equipment conveying sliding rail assembly is connected to a flange base in the flange base assembly through a mounting plate bolt. The problems that an existing conveying device is heavy and not accurate enough in positioning are solved through the modular and split type installation mode, the design of the multi-stage linear telescopic sliding rail and the like.

Description

Technical Field

[0001] The present application belongs to the technical field of foreign body grabbing in nuclear power plants, and specifically relates to a split slide rail conveying device and a method for conveying foreign body grabbing equipment using the same. Background Art

[0002] The pressurizer is one of the main equipment in a nuclear power plant. It can control and protect the pressure of the reactor coolant system during reactor startup, shutdown, steady-state power operation, normal power changes and various accident conditions. It also has the functions of assisting startup, shutdown and degassing.

[0003] The pressurizer is a vertical cylindrical high pressure vessel, such as Figure 1 As shown, the pressurizer is composed of an upper head 110, a cylinder 120, an electric heating element support plate 130, an electric heating element 140 and a bottom head 150, wherein the upper head assembly is provided with a manhole structure, which is the entrance for personnel or equipment to enter the pressurizer. When the pressurizer is operating normally, the manhole sealing surface S is sealed by the sealing end cover, and 16 M48 bolts evenly distributed around the circumference are screwed into the main bolt hole a for fixing.

[0004] In recent years, a nuclear power plant in China has experienced an incident where foreign objects entered the internal support plate and bottom head area of ​​the pressurizer, which has brought certain safety hazards to the normal operation of the pressurizer. In order to remove the foreign objects, a special foreign object grabbing device needs to be lowered through the manhole of the upper head of the pressurizer to the inside of the pressurizer to grab the foreign objects. Considering that the working space of the manhole accessories of the nuclear power plant pressurizer plant is limited and there is a certain radiation dose at the manhole, in order to reduce the intensity of personnel operation, the use of robots and other intelligent equipment for foreign object grabbing is a feasible solution. Since there is a large inclination angle between the axis of the manhole and the axis of the pressurizer cylinder, and the location of the foreign objects is far away from the manhole, and the internal space environment of the pressurizer is dark, if the foreign object grabbing device is directly lowered, it is easy to cause collision damage to the internal components of the pressurizer (such as electric heating elements). In order to accurately lower the foreign object grabbing device to the target position without damaging the internal components, it is necessary to develop a corresponding conveying device for the foreign object grabbing device. Patent CN109273117A discloses a conveying device for a voltage stabilizer. The conveying device adopts an integrated installation structure, so the equipment is relatively heavy and difficult to install. At the same time, since the support structure adopts a large-stroke handle-shaking screw nut structure, the conveying device takes a long time to install. The conveying device can only achieve precise positioning in one direction (the central axis of the voltage stabilizer cylinder), and cannot meet other tasks with radial positioning requirements (such as precise video inspection and collection of tiny foreign objects near the flow holes of the voltage stabilizer support plate). In addition, the part of the device support structure inside the voltage stabilizer is not equipped with a video monitoring device, so it is impossible to monitor and judge the installation status of the equipment in real time. Patent CN110823189A discloses a conveying device for a stabilizer, which can only achieve precise positioning in one direction (the central axis of the stabilizer cylinder), and cannot meet the requirements for other tasks with radial positioning requirements (such as video precise inspection and collection of tiny foreign objects near the flow holes of the stabilizer support plate). At the same time, due to the use of a relatively slender support plate, the rigidity is poor and it is impossible to achieve precise positioning and guiding when lowering equipment weighing more than 10kg. Summary of the invention

[0005] In view of this, the embodiments of the present application are committed to providing a split slide rail conveying device and a method for conveying foreign object grasping equipment therewith, through the design of modularization, split installation method and multi-stage linear telescopic slide rails, etc., to solve the problems of heavy conveying devices and inaccurate positioning in the prior art.

[0006] The first aspect of the present application provides a split slide rail conveying device for a foreign body grasping device inside a voltage stabilizer, the split slide rail conveying device comprising a flange seat assembly, a pitch and horizontal rotation drive assembly, a camera assembly and a foreign body grasping device conveying slide rail assembly. The flange seat assembly comprises a guide wheel, a support seat, a flange seat mounting bolt, a first linear slide rail, a first pull ear, a flange seat and a slide frame. The camera assembly is connected to the flange seat in the flange seat assembly. The flange seat assembly is fixedly connected to the bolt threaded hole on the end face of the manhole flange of the voltage stabilizer through the flange seat mounting bolt. The slide frame is fixedly connected to the first linear slide rail and is synchronously extended and retracted with the first linear slide rail; the first pull ear is used to tie the first pull rope, and the first pull rope is used to lower or lift the first linear slide rail. The foreign body grasping device conveying slide rail assembly comprises a fine-tuning mechanism, a second linear slide rail, a second pull ear, a mounting plate and a support plate. The foreign body grasping device conveying slide rail assembly is connected to the flange seat in the flange seat assembly through the mounting plate bolts; the second pull ear is used to tie the second pull rope, and the second pull rope is used to lower or lift the second linear slide rail; the fine-adjustment mechanism is used to fine-tune the position when lowering the foreign body grasping device.

[0007] In a specific embodiment of the present application, the mounting portion of the camera assembly is fixedly connected to the screw threaded hole of the flange seat assembly by screws; the connecting screws of the foreign object grasping device conveying slide rail assembly are fixedly connected to the screw threaded hole of the flange seat assembly, and at the same time, the non-slip bolts of the foreign object grasping device conveying slide rail assembly are fixedly connected to the threaded hole on the end face of the manhole of the voltage stabilizer.

[0008] In a specific embodiment of the present application, the pitch and horizontal rotation drive assembly includes a pitch drive assembly, a first horizontal rotation drive joint assembly, an electric cylinder mounting seat, a first electric cylinder, a second electric cylinder, a second horizontal rotation drive joint assembly, an electromagnet and a guide wheel. The pitch drive assembly of the pitch and horizontal rotation drive group is installed on the slide frame in the flange seat assembly; the electromagnet is magnetically adsorbed on the slide frame, and the electromagnet is used to fasten the pitch and horizontal rotation drive assembly after it is installed on the slide frame in place; the ends of the first electric cylinder and the second electric cylinder are used to hang the foreign body grabbing monitoring camera equipment and the foreign body collection device respectively. The electric cylinder mounting seat is used to install the first electric cylinder and the second electric cylinder. The first horizontal rotation drive joint assembly is used to drive the first electric cylinder to rotate horizontally, and the second horizontal rotation drive joint assembly is used to drive the second electric cylinder to rotate horizontally; the pitch drive assembly is used to drive the first electric cylinder and the second electric cylinder to pitch. The pitch drive assembly of the pitch and horizontal drive assembly is arranged in the slide frame of the flange seat assembly, and slides down along the groove guide rail of the slide frame until it abuts against the bottom of the slide frame.

[0009] In a specific embodiment of the present application, the split slide rail conveying device further includes a manhole sealing surface protection pad. The manhole sealing surface protection pad is penetrated through the corresponding flange seat mounting bolts of the flange seat assembly through its four threaded through holes, and the manhole sealing surface protection pad is located between the flange of the flange seat assembly and the flange of the manhole end face with the flange of the flange seat assembly, and is gradually compressed during the process of the flange seat assembly being installed to the manhole end face of the stabilizer.

[0010] In a specific embodiment of the present application, the manhole sealing surface protection pad is made of polyoxymethylene material.

[0011] In a specific embodiment of the present application, the camera assembly includes a hand wheel, a mounting seat, a transmission assembly and a camera. The camera assembly is connected to the flange seat in the flange seat assembly through the mounting seat bolts; the camera is used for imaging monitoring during equipment transportation. In the working state, the hand wheel is operated to rotate to realize the swing of the camera through the transmission assembly, and the camera is swung to a position away from the axis direction of the flange seat, leaving enough space for placing the foreign body grasping device.

[0012] The second aspect of the present application provides a method for transporting a foreign object grasping device using a split slide rail conveying device, the method comprising: installing a flange seat assembly in a split slide rail conveying device for a foreign object grasping device inside a voltage stabilizer provided in the first aspect of the present application; installing a camera assembly; installing a pitch and horizontal rotation drive assembly; installing a foreign object grasping and conveying slide rail assembly, pulling the second pull ear down to the bottom by a lifting rope, and then lowering the second linear slide rail to a suitable stroke, and operating the fine-tuning mechanism to make the foreign object grasping device reach the target position.

[0013] The beneficial effect of the technical solution of the present application is that: a modular and split installation method is adopted, and the weight of a single installation module component is relatively light. Compared with the overall one-time installation method, there is a problem that the equipment is too heavy, resulting in high installation strength and time-consuming and laborious installation. In addition, the split slide rail conveying device is provided with a pitch and horizontal rotation drive assembly, so that multi-directional precise positioning can be achieved, so that the precise video inspection and collection of tiny foreign objects near the flow holes distributed on the stabilizer support plate at different radial lengths can be achieved. The slide rail of the split slide rail conveying device adopts an I-shaped slide structure with a high bending section coefficient, so it has a large rigidity, and at the same time cooperates with a fine-tuning mechanism, so that heavy equipment (such as foreign body grasping equipment exceeding 10kg) can also be accurately positioned when it is lowered. The embodiment of the present application also adopts a multi-stage linear telescopic slide rail (i.e., a first linear slide rail and a second linear slide rail), which has a large extension stroke, and the stroke range meets the requirements of the lowering distance of the foreign body grasping equipment. At the same time, a ball slide rail is used, and the weight of the equipment itself can be used to slide down to the position without additional thrust, so the conveying operation is convenient. In addition, a camera assembly is installed in the portion of the split-type slide rail conveying device located inside the voltage stabilizer, thereby enabling real-time monitoring of the installation and operating conditions of the split-type slide rail conveying device. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] Figure 1 The figure shows the structural diagram corresponding to the foreign matter inside the voltage stabilizer.

[0015] Figure 2 The figure shows a schematic structural diagram of a split slide rail conveying device for grabbing foreign matter inside a voltage stabilizer provided by an embodiment of the present application.

[0016] Figure 3 Shown is a schematic structural diagram of a manhole sealing surface protection pad in a split slide rail conveying device for a foreign body grabbing device inside a voltage stabilizer provided by an embodiment of the present application.

[0017] Figure 4 Shown is a schematic structural diagram of a flange seat assembly in a split slide rail conveying device for a foreign body grabbing device inside a voltage stabilizer provided by an embodiment of the present application.

[0018] Figure 5 The figure is a schematic structural diagram of a pitch and horizontal rotation drive assembly in a split slide rail conveying device for a foreign body grabbing device inside a voltage stabilizer provided by an embodiment of the present application.

[0019] Figure 6 Shown is a schematic structural diagram of a camera assembly in a split slide rail conveying device for a foreign body grabbing device inside a voltage stabilizer provided by an embodiment of the present application.

[0020] Figure 7The figure is a schematic structural diagram of a conveying slide rail assembly of a foreign object grasping device in a split slide rail conveying device for a foreign object grasping device inside a voltage stabilizer provided by an embodiment of the present application.

[0021] Figure 8 The figure is a flow chart of a method for conveying foreign body grasping equipment using a split slide rail conveying device provided in one embodiment of the present application.

[0022] Fig. 9 The figure shows a schematic diagram of the corresponding structure of the equipment state after a split-type slide rail conveying device provided by an embodiment of the present application completes the conveying of a foreign body grabbing device. DETAILED DESCRIPTION

[0023] The following will be combined with the drawings in the embodiments of the present application to clearly and completely describe the technical solutions in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0024] At least one embodiment of the present application provides a split slide rail conveying device for grabbing foreign matter inside a voltage stabilizer, referring to Figure 2 , Figure 4 and Figure 7 The split slide rail conveying device includes a flange seat assembly 2, a pitch and horizontal rotation drive assembly 3, a camera assembly 4 and a foreign body grasping device conveying slide rail assembly 5. The flange seat assembly 2 includes a guide wheel 2.1, a support seat 2.2, a flange seat mounting bolt 2.3, a first linear slide rail 2.4, a first pull ear 2.5, a flange seat 2.6 and a slide frame 2.7. The camera assembly 4 is connected to the flange seat 2.6 in the flange seat assembly 2. The flange seat assembly 2 is fixedly connected to the stabilizer manhole flange end face bolt threaded hole through the flange seat mounting bolt 2.3. The slide frame 2.7 is fixedly connected to the first linear slide rail 2.4 and is synchronously extended and retracted with the first linear slide rail 2.4; the first pull ear 2.5 is used to tie the first pull rope, and the first pull rope is used to lower or lift the first linear slide rail 2.4. The foreign body grasping device conveying slide rail assembly 5 includes a fine-tuning mechanism 5.1, a second linear slide rail 5.2, a second pull ear 5.3, a mounting plate 5.4 and a support plate 5.5. The foreign object grasping device conveying slide rail assembly 5 is bolted to the flange seat 2.6 in the flange seat assembly 2 through the mounting plate 5.4; the second pull ear 5.3 is used to tie the second pull rope, and the second pull rope is used to lower or lift the second linear slide rail 5.2; the fine-tuning mechanism 5.1 is used to fine-tune the position when lowering the foreign object grasping device.

[0025] It should be noted that the flange seat 2.6 in the flange seat assembly 2 serves as the main bearing component of the split slide rail conveying device. It is fixedly connected to the corresponding main bolt hole a of the voltage stabilizer through four M48 non-slip bolts 2.3, and also serves as the installation base for the pitch and horizontal rotation drive assembly 3, the camera assembly 4 and the foreign object grasping equipment conveying slide rail assembly 5.

[0026] According to the technical solution provided in the embodiment of the present application, a modular and split installation method is adopted. The weight of a single installation module component is relatively light. Compared with the overall one-time installation method, there is a problem that the equipment is too heavy, resulting in high installation strength and time-consuming and laborious installation. In addition, the split slide rail conveying device is provided with a pitch and horizontal rotation drive assembly 3, so that multi-directional precise positioning can be achieved, so that the precise video inspection and collection of tiny foreign objects near the flow holes distributed on the stabilizer support plate at different radial lengths can be achieved. The slide rail of the split slide rail conveying device adopts an I-shaped slide structure with a high bending section coefficient, so it has a large rigidity, and at the same time cooperates with a fine-tuning mechanism, so that heavy equipment (such as foreign body grasping equipment exceeding 10kg) can also be accurately positioned when it is lowered. The embodiment of the present application also adopts a multi-stage linear telescopic slide rail (i.e., the first linear slide rail 2.4 and the second linear slide rail 5.2), which has a large extension stroke. The stroke range meets the requirements of the lowering distance of the foreign body grasping equipment, and at the same time adopts a ball slide rail, which can slide down to the position with the help of the weight of the equipment itself, without additional thrust, so the conveying operation is convenient. In addition, a camera assembly 4 is installed in the portion of the split-type slide rail conveying device located inside the voltage stabilizer, so that the installation of the split-type slide rail conveying device and real-time monitoring of the operating conditions can be achieved.

[0027] In at least one embodiment of the present application, reference Figure 4 The mounting part of the camera assembly 4 is fixedly connected to the screw threaded hole B of the flange seat assembly 2 by screws; the connecting screws of the foreign object grasping device conveying slide rail assembly 5 are fixedly connected to the screw threaded hole A of the flange seat assembly 2, and at the same time, the non-slip bolts of the foreign object grasping device conveying slide rail assembly 5 are fixedly connected to the threaded hole on the end face of the manhole of the voltage stabilizer.

[0028] In at least one embodiment of the present application, reference Figure 5The pitch and horizontal rotation drive assembly 3 includes a pitch drive assembly 3.1, a first horizontal rotation drive joint assembly 3.2, an electric cylinder mounting seat 3.3, a first electric cylinder 3.4, a second electric cylinder 3.5, a second horizontal rotation drive joint assembly 3.6, an electromagnet 3.7 and a guide wheel 3.8. The pitch drive assembly 3.1 of the pitch and horizontal rotation drive assembly 3 is mounted on the slide frame 2.7 in the flange seat assembly 2; the electromagnet 3.7 is magnetically adsorbed on the slide frame 2.7, and the electromagnet 3.7 is used to fasten the pitch and horizontal rotation drive assembly 3 after it is mounted on the slide frame 2.7; the ends of the first electric cylinder 3.4 and the second electric cylinder 3.5 are used to hang a foreign object grabbing monitoring camera device and a foreign object collecting device respectively. The electric cylinder mounting seat 3.3 is used to install the first electric cylinder 3.4 and the second electric cylinder 3.5. The first horizontal rotation driving joint assembly 3.2 is used to drive the first electric cylinder 3.4 to rotate horizontally, and the second horizontal rotation driving joint assembly 3.6 is used to drive the second electric cylinder 3.5 to rotate horizontally; the pitch driving assembly 3.1 is used to drive the first electric cylinder 3.4 and the second electric cylinder 3.5 to pitch. The pitch driving assembly 3.1 of the pitch and horizontal driving assembly 3 is arranged in the slide frame 2.7 of the flange seat assembly 2, and slides down along the groove guide rail of the slide frame 2.7 until it abuts against the bottom of the slide frame 2.7. In this way, the split slide rail conveying device is provided with a radial displacement driving device (i.e., the first electric cylinder 3.4 and the second electric cylinder 3.5), so that it can realize radial multi-directional precise positioning, so as to realize precise video inspection and collection of tiny foreign objects near the flow holes of the stabilizer support plate distributed on different radial lengths.

[0029] In at least one embodiment of the present application, reference Figure 2 and Figure 3 The split-type slide rail conveying device also includes a manhole sealing surface protection pad 1. The manhole sealing surface protection pad 1 is penetrated by the corresponding flange seat mounting bolts 2.3 of the flange seat assembly 2 through its four threaded through holes. The manhole sealing surface protection pad 1 is located between the flange of the flange seat assembly 2 and the flange of the manhole end face with the flange of the flange seat assembly 2, and is gradually compressed during the process of the flange seat assembly 2 being installed to the manhole end face of the pressure regulator. In this way, the manhole sealing surface protection pad 1 is added to protect the manhole sealing end face of the pressure regulator from damage by the split-type slide rail conveying device.

[0030] In at least one embodiment of the present application, the manhole sealing surface protection pad 1 is made of polyformaldehyde (POM). Thus, by setting the manhole sealing surface protection pad 1 to be made of POM material, since POM is relatively softer than the manhole end surface material, the manhole sealing surface protection pad 1 can effectively protect the manhole sealing end surface of the stabilizer from being damaged by the split slide rail conveying device.

[0031] In at least one embodiment of the present application, reference Figure 6The camera assembly 4 includes a hand wheel 4.1, a mounting seat 4.2, a transmission assembly 4.3 and a camera 4.4. The camera assembly 4 is bolted to the flange seat 2.6 in the flange seat assembly 2 through the mounting seat 4.2; the camera 4.4 is used for imaging monitoring during equipment transportation. In the working state, the hand wheel 4.1 is rotated to realize the swing of the camera 4.4 through the transmission assembly 4.3, and the camera 4.4 is swung to a position away from the axis direction of the flange seat 2.6, leaving enough space for placing the foreign body grasping device.

[0032] At least one embodiment of the present application further provides a method for conveying a foreign body grabbing device using a split slide rail conveying device, Figure 8 , the method comprises the following steps.

[0033] S10: Install the flange seat assembly 2 in a split slide rail conveying device for a foreign body grabbing device inside a voltage stabilizer provided in any of the above embodiments of the present application.

[0034] In some embodiments, S1 is also included before S2.

[0035] S1: Install the manhole sealing surface protection pad 1.

[0036] S20: Install the camera assembly 4.

[0037] In some embodiments, the hand wheel 4.1 is operated to rotate so that the camera 4.4 is swung to a position in an axial direction away from the flange seat 2.6.

[0038] S30: Install the pitch and horizontal rotation drive assembly 3.

[0039] In some embodiments, the pitch and horizontal rotation drive assembly 3 is first placed in the slide frame 2.7, and lowered to the bottom by pulling the pull ear 2.5 with a lifting rope, and then the electromagnet 3.7 is powered off and attracted to fix the pitch and horizontal rotation drive assembly 3 at the front end of the slide frame 2.7, and then the first linear slide rail 2.4 is lowered until it is extended to the maximum stroke, and then the pitch drive assembly 3.1 is operated to drive the first electric cylinder 3.4 and the second electric cylinder 3.5 to move to a horizontal state.

[0040] S40: Install the foreign object grabbing and conveying slide rail assembly 5, pull the second pull ear 5.3 down to the bottom by the lifting rope, then lower the second linear slide rail 5.2 to a suitable stroke, and operate the fine adjustment mechanism 5.1 to make the foreign object grabbing device reach the target position.

[0041] After the above steps are completed in sequence, the entire conveying process is completed, and the foreign body grabbing device begins to perform subsequent grabbing tasks. The status of the device after the conveying is completed is as follows: Fig. 9 shown.

[0042] It should be noted that the combination of the various technical features in the embodiments of the present application is not limited to the combination described in the embodiments of the present application or the combination described in the specific embodiments, and all technical features described in the present application can be freely combined or combined in any way unless there is a contradiction between them.

[0043] As shown in this application and the claims, unless the context clearly indicates an exception, the words "a", "an", "a kind" and / or "the" do not specifically refer to the singular and may also include the plural. Generally speaking, the terms "comprises" and "includes" only indicate the inclusion of clearly identified steps and elements, and these steps and elements do not constitute an exclusive list. The method or device may also include other steps or elements. The terms "first" and "second" are used for descriptive purposes only and are not to be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Therefore, the features specified as "first" and "second" may explicitly or implicitly include one or more of the features.

[0044] The above description is only a preferred embodiment of the present application and is not intended to limit the present application. Any modifications, equivalent substitutions, etc. made within the spirit and principles of the present application shall be included in the protection scope of the present application.

Claims

1. A split slide rail conveying device for grabbing foreign matter inside a voltage stabilizer, characterized in that: It includes flange seat assembly, pitch and horizontal rotation drive assembly, camera assembly and foreign body grabbing equipment conveying slide rail assembly. The flange seat assembly includes a guide wheel, a support seat, a flange seat mounting bolt, a first linear slide rail, a first pull ear, a flange seat and a slide frame. The camera assembly is connected to the flange seat in the flange seat assembly. The flange seat assembly is fixedly connected to the bolt threaded hole of the manhole flange of the voltage stabilizer through the flange seat mounting bolt. The slide frame is fixedly connected to the first linear slide rail and is synchronously extended and retracted with the first linear slide rail. The first pull ear is used to tie the first pull rope, and the first pull rope is used to lower or lift the first linear slide rail. The foreign object grasping device conveying slide rail assembly includes a fine-adjustment mechanism, a second linear slide rail, a second pull ear, a mounting plate and a support plate. The foreign object grasping device conveying slide rail assembly is connected to the flange seat in the flange seat assembly through the mounting plate bolts; the second pull ear is used to tie the second pull rope, and the second pull rope is used to lower or lift the second linear slide rail; the fine-adjustment mechanism is used to fine-tune the position when lowering the foreign object grasping device.

2. The split slide rail conveying device according to claim 1, characterized in that: The mounting part of the camera assembly is fixedly connected to the screw threaded hole of the flange seat assembly by screws; the connecting screws of the foreign object grasping device conveying slide rail assembly are fixedly connected to the screw threaded hole of the flange seat assembly, and at the same time, the non-slip bolts of the foreign object grasping device conveying slide rail assembly are fixedly connected to the threaded hole on the end face of the manhole of the voltage stabilizer.

3. The split slide rail conveying device according to claim 1, characterized in that: The pitch and horizontal rotation drive assembly includes a pitch drive assembly, a first horizontal rotation drive joint assembly, an electric cylinder mounting seat, a first electric cylinder, a second electric cylinder, a second horizontal rotation drive joint assembly, an electromagnet and a guide wheel. The pitch driving assembly of the pitch and horizontal rotation driving group is installed on the slide frame in the flange seat assembly; the electromagnet is magnetically adsorbed on the slide frame, and the electromagnet is used to fasten the pitch and horizontal rotation driving assembly after it is installed on the slide frame in place; the ends of the first electric cylinder and the second electric cylinder are used to hang the foreign body grabbing monitoring camera equipment and the foreign body collecting device respectively; The electric cylinder mounting seat is used to mount the first electric cylinder and the second electric cylinder. The first horizontal rotation driving joint assembly is used to drive the first electric cylinder to rotate horizontally. The second horizontal rotation driving joint assembly is used to drive the second electric cylinder to rotate horizontally. The pitch driving assembly is used to drive the first electric cylinder and the second electric cylinder to pitch. The pitch driving assembly of the pitch and horizontal driving assembly is arranged in the sliding frame of the flange seat assembly, and slides down along the groove guide rail of the sliding frame until it abuts against the bottom of the sliding frame.

4. The split slide rail conveying device according to claim 1, characterized in that: Also includes manhole sealing surface protection pads, Among them, the manhole sealing surface protection pad is penetrated by its own four threaded through holes and is installed on the corresponding flange seat mounting bolts of the flange seat assembly. The manhole sealing surface protection gasket is located between the flange of the flange seat assembly and the flange of the manhole end face along with the flange of the flange seat assembly, and is gradually compressed during the process of installing the flange seat assembly to the manhole end face of the voltage stabilizer.

5. The split slide rail conveying device according to claim 4, characterized in that: The manhole sealing surface protection pad is made of polyoxymethylene material.

6. The split slide rail conveying device according to any one of claims 1 to 5, characterized in that: The camera assembly includes a hand wheel, a mounting seat, a transmission assembly and a camera. The camera assembly is connected to the flange seat in the flange seat assembly through the mounting seat bolts; the camera is used for imaging monitoring during equipment transportation; In the working state, the hand wheel is rotated to realize the swing of the camera through the transmission assembly, and the camera is swung to a position in the axial direction away from the flange seat, leaving enough space for placing the foreign object grasping device.

7. A method for conveying foreign matter grabbing equipment using a split slide rail conveying device, characterized in that: include: Installing a flange seat assembly in a split slide rail conveying device for a foreign body grabbing device inside a voltage stabilizer as claimed in any one of claims 1 to 6; Install the camera assembly; Install the pitch and horizontal rotation drive components; Install the foreign object grabbing and conveying slide rail assembly, pull the second pull ear down to the bottom by the lifting rope, then lower the second linear slide rail to the appropriate stroke, and operate the fine-tuning mechanism to make the foreign object grabbing equipment reach the target position.

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