Split-type slide rail conveying device and method for conveying foreign matter grabbing equipment using the same

Abstract

The application provides a split type sliding rail conveying device and a method for conveying a foreign matter grabbing equipment, which comprises a flange seat 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 support seat, a flange seat mounting bolt, a first linear sliding rail, a first pull ear, a flange seat and a sliding frame. The camera assembly is connected to the flange seat in the flange seat assembly. The sliding frame is fixedly connected to the first linear sliding rail and synchronously extends and retracts 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 ear, a mounting plate and a support plate. The foreign matter grabbing equipment conveying sliding rail assembly is bolted to the flange seat in the flange seat assembly through the mounting plate. The application solves the problems of heavy weight and inaccurate positioning of the existing conveying device through the modular, split type mounting mode and the multi-stage linear extension and retraction sliding rail design.

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 in reactor startup, shutdown and degassing.

[0003] The pressurizer is a vertical cylindrical high pressure vessel, such as Figure 1 As shown, the pressurizer consists 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. The upper head assembly includes a manhole structure, which serves as an entrance for personnel and equipment to enter the pressurizer. During normal operation, the manhole sealing surface S is sealed by a sealing end cap and secured by 16 M48 bolts evenly distributed around the circumference, screwed into the main bolt holes a.

[0004] An event of foreign matter entering the support plate and bottom head area of the stabilizer occurred in a certain nuclear power plant, which brought certain safety hazards to the normal operation of the stabilizer. In order to take out the foreign matter, a special foreign matter grabbing equipment is needed to be lowered into the stabilizer through the manhole of the stabilizer upper head for foreign matter grabbing. Considering the limited operation space of the manhole of the stabilizer plant and the certain radiation dose of the manhole, using intelligent equipment such as robot for foreign matter grabbing is a feasible scheme to reduce the intensity of personnel operation. Since there is a large inclination angle between the axis of the manhole and the axis of the stabilizer cylinder, and the position of the foreign matter is far away from the manhole, and the inside of the stabilizer is a dark space environment, if the foreign matter grabbing equipment is directly lowered, it is easy to cause collision damage to the internal components (such as electric heating components) of the stabilizer. In order to accurately lower the foreign matter grabbing equipment to the target position without damaging the internal components, a corresponding conveying device for the foreign matter grabbing equipment needs to be developed. Patent CN109273117A discloses a conveying device for stabilizer, which adopts an integrated mounting structure, so the equipment is relatively heavy and difficult to install. At the same time, since the support structure adopts a large-stroke handle rocking type screw nut structure, it takes a long time to install the conveying device to the right position. The conveying device can only realize accurate positioning in one direction (the central axis of the stabilizer cylinder), and cannot meet the requirements of other tasks that require radial positioning (such as video accurate investigation and collection of small foreign matters near the flow hole of the stabilizer support plate). In addition, the part of the device support structure inside the stabilizer does not have a video monitoring device, so it cannot monitor and judge the installation of the equipment to the right position in real time. Patent CN110823189A discloses a conveying device for stabilizer, which can also only realize accurate positioning in one direction (the central axis of the stabilizer cylinder), and cannot meet the requirements of other tasks that require radial positioning (such as video accurate investigation and collection of small foreign matters near the flow hole of the stabilizer support plate). At the same time, since a relatively slender support plate is adopted, the rigidity is poor, and accurate positioning and guidance cannot be realized when the equipment weighing more than 10 kg is lowered. SUMMARY

[0005] Therefore, the embodiments of the present application are committed to providing a split type sliding rail conveying device and a method for conveying foreign matter grabbing equipment, which solves the problems of heavy and inaccurate positioning of the conveying device in the prior art by modular, split type installation and multi-stage linear telescopic sliding rail design.

[0006] The first aspect of the application provides a split rail conveying device for foreign matter grabbing equipment inside a voltage stabilizer, which comprises a flange seat assembly, a pitch and horizontal rotation driving assembly, a camera assembly and a foreign matter grabbing equipment conveying rail assembly. The flange seat assembly comprises a guide wheel, a support seat, flange seat mounting bolts, a first linear rail, a first pull ear, a flange seat and a sliding frame. The camera assembly is connected to the flange seat in the flange seat assembly. The flange seat assembly is fixedly connected with the voltage stabilizer hole flange end face bolt threaded hole through the flange seat mounting bolts. The sliding frame is fixedly connected to the first linear rail and synchronously extends and retracts with the first linear rail; the first pull ear is used for hanging the first pull rope, and the first pull rope is used for lowering or lifting the first linear rail. The foreign matter grabbing equipment conveying rail assembly comprises a fine adjustment mechanism, a second linear rail, a second pull ear, a mounting plate and a support plate. The foreign matter grabbing equipment conveying rail assembly is bolted to the flange seat in the flange seat assembly through the mounting plate; the second pull ear is used for hanging the second pull rope, and the second pull rope is used for lowering or lifting the second linear rail; the fine adjustment mechanism is used for position fine adjustment when lowering the foreign matter grabbing equipment.

[0007] In one specific embodiment of the application, the mounting part of the camera assembly is fixedly connected with the screw threaded hole of the flange seat assembly through a screw; the connecting screw of the foreign matter grabbing equipment conveying rail assembly is fixedly connected with the screw threaded hole of the flange seat assembly, and at the same time, the non-withdrawal bolt of the foreign matter grabbing equipment conveying rail assembly is fixedly connected with the voltage stabilizer hole end face threaded hole.

[0008] In one specific embodiment of the application, the pitch and horizontal rotation driving assembly comprises a pitch driving assembly, a first horizontal rotation driving joint assembly, an electric cylinder mounting seat, a first electric cylinder, a second electric cylinder, a second horizontal rotation driving joint assembly, an electromagnet and a guide wheel. The pitch driving assembly of the pitch and horizontal rotation driving assembly is mounted on the sliding frame in the flange seat assembly; the electromagnet is magnetically attracted to the sliding frame, and the electromagnet is used for fastening after the pitch and horizontal rotation driving assembly is mounted in place on the sliding frame; the ends of the first electric cylinder and the second electric cylinder are respectively used for suspending a foreign matter grabbing monitoring photographing camera equipment and a foreign matter collecting device. The electric cylinder mounting seat is used for mounting the first electric cylinder and the second electric cylinder. The first horizontal rotation driving joint assembly is used for driving the first electric cylinder to horizontally rotate, and the second horizontal rotation driving joint assembly is used for driving the second electric cylinder to horizontally rotate; the pitch driving assembly is used for driving 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 abutting against the bottom of the sliding frame.

[0009] In an embodiment of the present application, the split sliding rail conveying device further comprises a manhole sealing surface protection pad. The manhole sealing surface protection pad is arranged on the corresponding flange seat mounting bolt of the flange seat assembly through its four threaded vias, and is gradually compressed during the installation of the flange seat assembly to the manhole end face of the stabilizer.

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

[0011] In an embodiment of the present application, the camera assembly comprises a hand wheel, a mounting seat, a transmission assembly and a camera. The camera assembly is bolted to the flange seat in the flange seat assembly through the mounting seat; the camera is used for imaging monitoring during device conveying. In the working state, the hand wheel is rotated to swing the camera through the transmission assembly, and the camera is swung to a position away from the axis direction of the flange seat to leave enough space for the foreign object grabbing device.

[0012] The second aspect of the present application provides a method for conveying a foreign object grabbing device by a split sliding rail conveying device. The method comprises: installing a flange seat assembly of a split sliding rail conveying device for a foreign object grabbing device in a stabilizer provided in the first aspect of the present application; installing a camera assembly; installing a pitch and horizontal rotation driving assembly; installing a foreign object grabbing conveying rail assembly, lowering the second pull ear to the bottom through the lifting rope, then lowering the second linear rail to the appropriate stroke, and then operating the fine adjustment mechanism to make the foreign object grabbing device reach the target position.

[0013] The beneficial effects of the technical scheme of the present application are that: the modular and split mounting mode is adopted, the weight of a single installation module component is lighter, compared with the whole one-time installation mode, the problem of heavy equipment leading to large installation strength and time-consuming and laborious installation is solved. In addition, the pitch and horizontal rotation driving assembly is arranged in the split type slide rail conveying device, so that multi-directional accurate positioning can be realized, thereby accurate video inspection and collection of small foreign matters near the through-flow holes distributed on different radial lengths of the stabilizer support plate can be realized. The slide rail of the split type slide rail conveying device adopts the I-shaped slide structure with high bending section coefficient, so that it has large rigidity, and cooperates with the fine adjustment mechanism, so that the heavy equipment (such as the foreign matter grabbing equipment exceeding 10 kg) can be accurately positioned when it is lowered. The embodiment of the present application also adopts the multi-stage straight line telescopic slide rail (i.e. the first straight line slide rail and the second straight line slide rail), which has large extension stroke, and the ball slide rail is adopted in the stroke range to meet the distance requirement of the foreign matter grabbing equipment lowering, so that the equipment itself can be lowered to the position by the weight, without additional thrust, so that the conveying operation is convenient. In addition, the part of the split type slide rail conveying device located in the stabilizer is provided with the camera assembly, so that real-time monitoring of the installation and operation condition of the split type slide rail conveying device can be realized. BRIEF DESCRIPTION OF DRAWINGS

[0014] Figure 1 Fig. 1 is a structural schematic diagram of a stabilizer.

[0015] Figure 2 Fig. 2 is a structural schematic diagram of a split type slide rail conveying device for a foreign matter grabbing equipment in a stabilizer provided by an embodiment of the present application.

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

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

[0018] Figure 5 Fig. 5 is a structural schematic diagram of a pitch and horizontal rotation driving assembly in a split type slide rail conveying device for a foreign matter grabbing equipment in a stabilizer provided by an embodiment of the present application.

[0019] Figure 6 Fig. 6 is a structural schematic diagram of a camera assembly in a split type slide rail conveying device for a foreign matter grabbing equipment in a stabilizer provided by an embodiment of the present application.

[0020] Figure 7A structure diagram of an object grabbing device conveying slide rail assembly in a split slide rail conveying device for an internal object grabbing device of a voltage stabilizer is shown.

[0021] Figure 8 A flowchart of a method for object grabbing device conveying by a split slide rail conveying device is shown.

[0022] Figure 9 A device state corresponding structure diagram after the object grabbing device conveying by the split slide rail conveying device is completed is shown. DETAILED DESCRIPTION

[0023] The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative labor fall within the scope of the present application.

[0024] At least one embodiment of the present application provides a split slide rail conveying device for an internal object grabbing device of 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 driving assembly 3, a camera assembly 4 and an object grabbing 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 sliding 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 with the voltage stabilizer manhole flange end face bolt threaded hole through the flange seat mounting bolt 2.3. The sliding frame 2.7 is fixedly connected to the first linear slide rail 2.4 and synchronously extends and retracts with the first linear slide rail 2.4; the first pull ear 2.5 is used for hanging a first pull rope, and the first pull rope is used for lowering or lifting the first linear slide rail 2.4. The object grabbing device conveying slide rail assembly 5 includes a fine adjustment 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 object grabbing 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 for hanging a second pull rope, and the second pull rope is used for lowering or lifting the second linear slide rail 5.2; the fine adjustment mechanism 5.1 is used for position fine adjustment when lowering the object grabbing device.

[0025] It should be noted that the flange seat 2.6 in the flange seat assembly 2 is the main load-bearing part of the split sliding rail conveying device, and is fixed to the corresponding main bolt hole a of the stabilizer through four M48 non-backout bolts 2.3, and simultaneously serves as the mounting base of the pitch and horizontal rotation driving assembly 3, the camera assembly 4 and the foreign matter grabbing device conveying sliding rail assembly 5.

[0026] According to the technical scheme provided in the embodiments of the present application, the modular and split mounting mode is adopted, the weight of a single mounting module assembly is relatively light, and compared with the integral one-time mounting mode, the problem of large installation strength and time-consuming and laborious installation caused by the heavy equipment is avoided. In addition, the pitch and horizontal rotation driving assembly 3 is arranged in the split sliding rail conveying device, so that multi-directional accurate positioning can be realized, thereby accurate video checking and collection of the tiny foreign matter near the through-flow hole on the stabilizer support plate distributed on different radial lengths can be realized. The sliding rail of the split sliding rail conveying device adopts the I-shaped sliding structure with high bending section coefficient, so that the rigidity is relatively large, and the fine adjustment mechanism is matched, so that the equipment with large weight (such as the foreign matter grabbing device exceeding 10 kg) can also be accurately positioned when it is lowered. The multi-stage straight-line telescopic sliding rail (i.e. the first straight-line sliding rail 2.4 and the second straight-line sliding rail 5.2) is also adopted in the embodiments of the present application, has a large extension stroke, and the stroke range meets the distance requirement of the foreign matter grabbing device lowering, and the ball sliding rail is adopted, so that the equipment itself can be lowered to the position by the weight, without the need of additional thrust, so that the conveying operation is convenient. In addition, the part of the split sliding rail conveying device located in the stabilizer is provided with the camera assembly 4, so that real-time monitoring of the installation and operation conditions of the split sliding rail conveying device can be realized.

[0027] In at least one embodiment of the present application, with reference to Figure 4 , the mounting part of the camera assembly 4 is fixed to the screw thread hole B of the flange seat assembly 2 through a screw; the connecting screw of the foreign matter grabbing device conveying sliding rail assembly 5 is fixed to the screw thread hole A of the flange seat assembly 2, and at the same time, the non-backout bolt of the foreign matter grabbing device conveying sliding rail assembly 5 is fixed to the threaded hole of the stabilizer manhole end face.

[0028] In at least one embodiment of the present application, with reference to Figure 5The pitch and horizontal rotation driving assembly 3 comprises a pitch driving assembly 3.1, a first horizontal rotation driving 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 driving joint assembly 3.6, an electromagnet 3.7 and a guide wheel 3.8. The pitch driving assembly 3.1 of the pitch and horizontal rotation driving assembly 3 is mounted on the skid 2.7 in the flange seat assembly 2; the electromagnet 3.7 is magnetically attached to the skid 2.7, and the electromagnet 3.7 is used for fastening after the pitch and horizontal rotation driving assembly 3 is installed in place on the skid 2.7; the ends of the first electric cylinder 3.4 and the second electric cylinder 3.5 are respectively used for suspending the foreign matter grabbing monitoring camera equipment and the foreign matter collecting device. The electric cylinder mounting seat 3.3 is used for mounting the first electric cylinder 3.4 and the second electric cylinder 3.5. The first horizontal rotation driving joint assembly 3.2 is used for driving the first electric cylinder 3.4 to rotate horizontally, and the second horizontal rotation driving joint assembly 3.6 is used for driving the second electric cylinder 3.5 to rotate horizontally; the pitch driving assembly 3.1 is used for driving 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 skid 2.7 of the flange seat assembly 2, and is lowered along the groove guide rail of the skid 2.7 until abutting against the bottom of the skid 2.7. In this way, the split sliding rail conveying device is provided with radial displacement driving devices (i.e., the first electric cylinder 3.4 and the second electric cylinder 3.5), so that accurate positioning in multiple radial directions can be realized, thereby realizing accurate video inspection and collection of micro foreign matters near the through-flow holes distributed on different radial lengths of the stabilizer support plate.

[0029] In at least one embodiment of the present application, with reference to Figure 2 and Figure 3 The split sliding rail conveying device further comprises a manhole sealing surface protection pad 1. The manhole sealing surface protection pad 1 is arranged in the corresponding flange seat mounting bolt 2.3 of the flange seat assembly 2 through four threaded vias of the manhole sealing surface protection pad 1, and is gradually compressed between the flange plate of the flange seat assembly 2 and the manhole end surface along with the flange plate of the flange seat assembly 2 during installation of the flange seat assembly 2 to the manhole end surface of the stabilizer. In this way, the manhole sealing surface protection pad 1 is added to protect the manhole sealing end surface of the stabilizer from being damaged by the split sliding 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) material. In this way, the manhole sealing surface protection pad 1 is made of POM material, which is relatively soft compared to the material of the manhole end surface, so that the manhole sealing surface protection pad 1 can effectively protect the manhole sealing end surface of the stabilizer from being damaged by the split sliding rail conveying device.

[0031] In at least one embodiment of the present application, with reference to Figure 6, the 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 device conveying. 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 swings to a position away from the axis direction of the flange seat 2.6, leaving enough space for the foreign matter grabbing device.

[0032] The application also provides a method for conveying a foreign matter grabbing device by using the split sliding rail conveying device. Figure 8 The method comprises the following steps.

[0033] S10: Install the flange seat assembly 2 of the split sliding rail conveying device for foreign matter grabbing device inside the stabilizer provided in any of the above embodiments.

[0034] In some embodiments, S1 is further 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 rotated to swing the camera 4.4 to a position away from the axis direction of the flange seat 2.6.

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

[0039] In some embodiments, first, the pitch and horizontal rotation driving assembly 3 is placed into the sliding frame 2.7, and then the second pull ear 5.3 is lowered to the bottom through the lifting rope traction, and then the first linear sliding rail 2.4 is lowered until it is stretched to the maximum stroke, and then the pitch driving assembly 3.1 is operated to drive the first electric cylinder 3.4 and the second electric cylinder 3.5 to move to the horizontal state.

[0040] S40: Install the foreign matter grabbing conveying sliding rail assembly 5, lower the second pull ear 5.3 to the bottom through the lifting rope traction, and then lower the second linear sliding rail 5.2 to the appropriate stroke, and then operate the fine adjustment mechanism 5.1 to make the foreign matter grabbing device reach the target position.

[0041] After the above steps are sequentially executed, the entire conveying process is completed, and the foreign matter grabbing device starts to perform the subsequent grabbing task. The device state after the conveying is completed is shown in Figure 9 .

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

[0043] As shown in the present application and claims, unless the context clearly indicates otherwise, the words "one", "an", "a", and / or "the" do not mean a single number, but can also include a plurality. Generally, the terms "comprising" and "including" only indicate the inclusion of the steps and elements explicitly identified, and these steps and elements do not constitute an exclusive list, and the method or device can also include other steps or elements. The terms "first", "second" are only for the purpose of description, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined with "first", "second" can explicitly or implicitly include one or more of the features.

[0044] The above only describes the preferred embodiments of the present application and is not intended to limit the present application. Any modification, equivalent replacement, etc. made within the spirit and principle 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: Including flange seat assembly, pitch and horizontal rotation drive assembly, camera assembly, foreign body grabbing equipment conveying slide rail assembly and manhole sealing surface protection pad, The flange seat assembly includes a guide wheel, a support seat, a flange seat mounting bolt, a first linear slide, 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 and extends and retracts synchronously with the first linear slide. 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. The foreign object grasping device conveying slide assembly includes a fine-adjustment mechanism, a second linear slide, a second pull ear, a mounting plate, and a support plate. The foreign object grasping device conveying slide assembly is connected to the flange seat of the flange seat assembly via mounting plate bolts; the second pull ear is used to tie the second pull rope, which is used to lower or raise the second linear slide; the fine-adjustment mechanism is used to fine-tune the position of the foreign object grasping device when lowering; 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 in the flange seat assembly; the electromagnet is magnetically adsorbed on the slide, and the electromagnet is used to fasten the pitch and horizontal rotation drive assembly after it is installed on the slide in place; the ends of the first electric cylinder and the second electric cylinder are used to hang foreign object grasping monitoring camera equipment and foreign object 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 of the flange seat assembly, and slides down along the groove guide rail of the slide until it abuts against the bottom of the slide; The manhole sealing surface protection gasket is passed through the corresponding flange seat mounting bolts of the flange seat assembly through its own four threaded through holes. The manhole sealing surface protection gasket is located between the flange plate of the flange seat assembly and the flange plate of the manhole end face along with the flange plate of the flange seat assembly. It is gradually tightened during the process of installing the flange seat assembly to the manhole end face of the stabilizer.

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 equipment conveying slide rail assembly are fixedly connected to the screw threaded hole of the flange seat assembly. At the same time, the non-removable bolts of the foreign object grasping equipment 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 manhole sealing surface protection pad is made of polyoxymethylene material.

4. The split slide rail conveying device according to any one of claims 1 to 3, characterized in that: The camera assembly includes a handwheel, a mounting base, a transmission assembly, and a camera. The camera assembly is connected to the flange seat in the flange seat assembly through the mounting base 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 component. 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.

5. A method for transporting foreign body 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 described in any one of claims 1 to 4; Install the camera assembly; Install the pitch and pan drive components; Install the foreign object grabbing and conveying slide rail assembly, pull the second pull ear down to the bottom with 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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