An actuator for replacing reactor siding bolts

Abstract

This invention belongs to the field of reactor cofferdam bolt replacement, specifically relating to an execution end for reactor cofferdam bolt replacement, comprising an EDM machining end and a rotary working end. The EDM machining end is used to replace the EDM electrode, which cuts the bolt locking pins at different angles. The rotary working end is used to replace the rotary working end tool head, which replaces the bolt. This invention achieves automatic underwater replacement of the EDM machining end electrode and the rotary working end tool head, improving replacement efficiency.

Description

Technical Field

[0001] This invention belongs to the field of reactor cofferdam bolt replacement, and specifically relates to an execution terminal for reactor cofferdam bolt replacement. Background Technology

[0002] The cladding bolts of the lower reactor internals in M310 and CPR1000 nuclear power units can deteriorate due to one or more of the following reasons: radiation-assisted stress corrosion cracking, preload loss, thermonuclear radiation embrittlement, high-cycle fatigue / locking / overload, and steady-state pressure gradients on the baffles. Bolt deterioration directly affects the safety of the nuclear power unit, therefore, deteriorated cladding bolts need to be replaced. Countersunk holes and threaded holes exist on the cladding and forming plates. For example, the countersunk holes in the cladding... Figure 7 As shown, the threaded hole is as follows Figure 8 As shown, the side panel and the molded plate are connected by side panel bolts, as shown in the diagram. Figure 9 As shown. After the bolt is screwed into the threaded hole, a locking key is welded into the upper groove to prevent loosening. Currently, the process for replacing the baffle bolts first involves using a special tool to remove the weld and locking key of the bolt to be replaced, then disassembling it, installing the new baffle bolt, and finally performing anti-loosening treatment. This repair process is complex, involving multiple action requirements and various tool heads; it is also characterized by long distances underwater and high radiation doses. Different bolt replacements require different tool heads, and manual tool head replacement underwater is difficult to achieve due to the long distance and high radiation levels.

[0003] Currently, the tool head is replaced by transporting it out of the water before replacement. This method involves many steps, is slow, and has high labor costs. When the failure rate of bolts in reactor equipment is high, this rate of removing baffle bolts will significantly increase time and labor costs. Summary of the Invention

[0004] The purpose of this invention is to provide an execution end for replacing reactor cofferdam bolts, which realizes the automatic replacement of EDM machining end electrode and rotary operation end tool head underwater, thereby improving replacement efficiency.

[0005] Technical solution to achieve the purpose of this invention:

[0006] An execution end for replacing reactor enclosure bolts includes an EDM machining end and a rotary working end. The EDM machining end is used to replace the EDM electrode and cut the bolt locking pins at different angles through the EDM electrode. The rotary working end is used to replace the rotary working end tool head and replace the bolt through the rotary working end tool head.

[0007] The EDM processing end includes: a linear drive module A, a rotary drive motor, a transmission gear A, an EDM electrode clamping mechanism, and an EDM electrode; the linear drive module A is connected to the EDM electrode clamping mechanism and is used to drive the EDM electrode clamping mechanism to move axially; the rotary drive motor is driven by the transmission gear A, the transmission gear A is connected to the EDM electrode clamping mechanism, the EDM electrode clamping mechanism is detachably connected to the EDM electrode, the rotary drive motor drives the transmission gear A to drive the EDM electrode clamping mechanism to rotate, so that the EDM processing end has different working angles after changing the EDM electrode, and can cut bolt locking pins at different angles.

[0008] The linear drive module A includes a drive motor and a linear track. The drive motor is connected to the EDM electrode clamping mechanism to provide driving force for the EDM electrode clamping mechanism. The linear track is slidably connected to the EDM electrode clamping mechanism, enabling the EDM electrode clamping mechanism to achieve axial movement during operation.

[0009] The EDM electrode clamping mechanism includes: cylinder A, base A, plastic connector, compression spring, and electrode chuck. Cylinder A is located at one end of base A. Cylinder A and electrode chuck are connected by plastic connector. The electrode chuck is opened by pulling the electrode chuck with cylinder A. When the cylinder is de-pressurized, the electrode chuck is clamped by the compression spring.

[0010] The EDM electrodes include: a locking pin cutting electrode, a broken wire center hole machining electrode, a threaded hole enlargement electrode, and a new countersunk hole machining electrode for the surrounding plate.

[0011] The rotary working end includes: a linear drive module B, a high-speed hydraulic torque wrench, a transmission gear B, a tool head clamping mechanism, and a tool head; the linear drive module B is connected to the tool head clamping mechanism and is used to drive the tool head clamping mechanism to move axially; the high-speed hydraulic torque wrench is driven by the transmission gear B, the transmission gear B is connected to the tool head clamping mechanism, the tool head clamping mechanism is detachably connected to the tool head, and the high-speed hydraulic torque wrench drives the transmission gear B, thereby causing the tool head clamping mechanism and the tool head to rotate together.

[0012] The tool head clamping mechanism includes: cylinder B and base B. Cylinder B is located at one end of base B and is connected to the tool head chuck. The tool head chuck is clamped or opened by pulling the tool head chuck through cylinder B.

[0013] The tool heads include: screw hole machining taps, prototype bolt disassembly and assembly tool heads, broken wire removal tool heads, new bolt assembly and disassembly tool heads, thread cleaning tool heads, and new bolt expansion and anti-loosening tool heads.

[0014] The prototype bolt disassembly and assembly tool head includes: a core rod, a spring, a slide rod, an outer sleeve, and an inner sleeve; the core rod is fixedly connected to the outer sleeve, the inner sleeve is connected to the core rod in a spline pattern, the inner sleeve can slide inside the outer sleeve, the slide rod passes through the elongated hole of the outer sleeve and connects to the inner sleeve to limit its travel range, and a spring is provided between the protruding end face of the core rod and the slide rod.

[0015] The beneficial technical effects of this invention are as follows:

[0016] 1. The present invention provides an execution end for replacing reactor cladding bolts, comprising an EDM machining end and a rotary operation end, which can replace different electrodes and tool heads to complete all actions in the maintenance process and emergency response, such as cutting, rotating and feeding actions, in bolt replacement and related repair operations; achieving automatic underwater replacement with a high degree of automation and high repair efficiency.

[0017] 2. The present invention provides an actuator for replacing reactor enclosure bolts that achieves mechanical expansion and anti-loosening after the new bolts are installed through axial movement, which is simple and reliable to operate.

[0018] 3. In the execution terminal for replacing reactor enclosure bolts provided by the present invention, the EDM processing terminal adopts EDM processing, which not only has a small processing reaction force and low requirements for the load-bearing capacity of the positioning platform, but also has strong processing capabilities and can flexibly handle emergency situations in the repair process.

[0019] 4. In the actuator for replacing reactor enclosure bolts provided by the present invention, the EDM machining end has axial feed and rotation functions. With the help of an encoder and a zero position switch, the cutting electrode angle of the locking pin can be controlled. The drive motors all adopt an air-filled underwater sealing structure design, which has good sealing performance. The tool materials are mainly aluminum alloy, stainless steel, etc., which meet the usage requirements of nuclear power plants.

[0020] 5. In the actuator for replacing reactor cofferdam bolts provided by this invention, the rotating end of the actuator controls the pressure through a pressure controller or hydraulic pump station to achieve precise control of the wrench torque; driven by a high-performance water-hydraulic motor, the wrench can operate continuously without impact, improving work efficiency, and the absence of electronic components at the front end provides better radiation resistance; the use of water-hydraulic power to drive the wrench avoids hydraulic oil contamination of the pool water; and the use of a precision planetary gear structure results in a small size and light weight. Attached Figure Description

[0021] Figure 1 This is a schematic diagram of the EDM processing end structure in the execution end of a reactor coaxial plate bolt replacement device provided by the present invention.

[0022] Figure 2This is a schematic diagram of the rotating end-of-line structure of an execution end for replacing reactor cladding bolts, provided by the present invention.

[0023] Figure 3 This is a schematic diagram of the EDM electrode clamping mechanism in the EDM processing end of the present invention;

[0024] Figure 4 This is a schematic diagram of the EDM electrode structure in the EDM processing end of the present invention;

[0025] Figure 5 This is a schematic diagram of the tool head structure in the rotary end of the present invention;

[0026] Figure 6 This is a schematic diagram of the prototype bolt disassembly and assembly tool head structure in the rotary operation end of the present invention;

[0027] Figure 7 This is a schematic diagram of the countersunk hole structure in the enclosure panel;

[0028] Figure 8 This is a schematic diagram of the threaded hole structure of the forming plate;

[0029] Figure 9 This is a schematic diagram of the bolt structure of the enclosure plate.

[0030] In the diagram: 1-1 Linear drive module A; 1-2 Rotary drive motor; 1-3 Cylinder A; 1-4 Base A; 1-5 Plastic connector; 1-6 Insulating sleeve; 1-7 EDM electrode clamping mechanism; 1-8 EDM electrode; 1-8-1 New countersunk hole machining electrode; 1-8-2 Threaded hole enlargement electrode; 1-8-3 Locking pin cutting electrode; 1-8-4 Wire breakage center hole machining electrode; 1-9 Transmission gear A; 1-10 Spring cover; 1-11 Sleeve; 1-12 Compression spring; 1-13 Electrode chuck; 1-14 Limiting sleeve; 1-15 Bearing; 1-16 Bearing end cover; 2-1 Linear drive module Block B; 2-2, High-speed hydraulic torque wrench; 2-3, Cylinder B; 2-4, Base B; 2-5, Tool head clamping mechanism; 2-6, Tool head; 2-6-1, Thread hole machining tap; 2-6-2, Prototype bolt disassembly and assembly tool head; 2-6-3, Broken thread removal tool head; 2-6-4, New type bolt assembly and disassembly tool head; 2-6-5, Thread cleaning tool head; 2-6-6, New type bolt expansion and anti-loosening tool head; 2-7, Transmission gear B; 3-1, Core rod; 3-2, Spring; 3-3, Slide rod; 3-4, Outer sleeve; 3-5, Inner sleeve; 4-1, M-type hole; 4-2, N-type hole; 4-3, L-type hole; 5-1, Prototype bolt; 5-2, New type bolt. Detailed Implementation

[0031] The present invention will now be described in further detail with reference to the accompanying drawings and embodiments.

[0032] The present invention provides an execution end for replacing reactor enclosure bolts, comprising an EDM processing end and a rotary operation end. The EDM processing end is used to replace the EDM electrode and cut the bolt locking pins at different angles through the EDM electrode; the rotary operation end is used to replace the rotary operation end tool head and replace the bolt through the rotary operation end tool head.

[0033] The flange bolts include the new type bolt 5-2 and the prototype bolt 5-1, such as... Figure 9 As shown. Threaded holes include three types: M, N, and L, such as... Figure 8 As shown, different bolt holes and different damage conditions require different tool heads. The EDM machining end effector and rotary end effector are transported to the tool head storage area via an end-mounted platform, and the tool head is selected according to the type of bolt to be replaced. First, the tool head is removed, then it moves to the location where the new tool head will be installed. With the assistance of the positioning system, the new tool head is installed, and finally, the bolt is replaced using the tool head. This achieves automatic tool head replacement and bolt replacement in underwater working environments.

[0034] like Figure 1 As shown, the EDM processing end includes: a linear drive module A1-1, a rotary drive motor 1-2, a transmission gear A1-9, an EDM electrode clamping mechanism 1-7, and an EDM electrode 1-8.

[0035] The linear drive module A1-1 is connected to the EDM electrode clamping mechanism 1-7 and is used to drive the EDM electrode clamping mechanism 1-7 to move axially.

[0036] The rotary drive motor 1-2 is connected to the transmission gear A1-9, which is connected to the EDM electrode clamping mechanism 1-7. The EDM electrode clamping mechanism 1-7 is detachably connected to the EDM electrode 1-8. The rotary drive motor 1-2 drives the transmission gear A1-9, thereby rotating the EDM electrode clamping mechanism 1-7. This allows the EDM processing end to have different working angles after changing the EDM electrode 1-8, enabling the cutting of bolt locking pins at different angles.

[0037] The linear drive module A1-1 includes a drive motor and a linear track. The drive motor is connected to the EDM electrode clamping mechanism 1-7 and provides driving force to the EDM electrode clamping mechanism 1-7. The linear track is slidably connected to the EDM electrode clamping mechanism 1-7, enabling the EDM electrode clamping mechanism 1-7 to achieve axial movement during operation.

[0038] like Figure 3As shown, the EDM electrode clamping mechanism 1-7 includes: cylinder A1-3, base A1-4, plastic connector 1-5, insulating sleeve 1-6, spring cover 1-10, sleeve 1-11, compression spring 1-12, electrode chuck 1-13, limiting sleeve 1-14, bearing 1-15, and bearing end cover 1-16.

[0039] Cylinder A1-3 is located at one end of base A1-4. Cylinder A1-3 is connected to electrode chuck 1-13 via plastic connector 1-5. Sleeve 1-11 and bearing 1-15 are arranged on the outer surface of limiting sleeve 1-14 to fix the position of limiting sleeve 1-14. Bearing end cap 1-16 and insulating sleeve 1-6 are arranged on the outside of bearing 1-15. Bearing end cap 1-16 is used to fix bearing 1-15, adjust the clearance of bearing 1-15 and bear axial force. Insulating sleeve 1-6 can prevent current from corroding bearing 1-15 and protect equipment safety. Compression spring 1-12 is arranged inside limiting sleeve 1-14, with both ends pressing against limiting sleeve 1-14 and electrode chuck 1-13 respectively. Spring cover 1-10 cooperates with limiting sleeve 1-14 to bear the force of compression spring 1-12.

[0040] The EDM electrode clamping mechanism 1-7 clamps the EDM electrode 1-8 through a telescopic expansion structure. Inside, a compression spring 1-12 keeps the electrode chuck 1-13 in a long-term clamped state, ensuring that the EDM electrode 1-8 will not fall off in the event of a power outage. When replacing the EDM electrode 1-8, the cylinder A1-3 pulls the electrode chuck 1-13 of the EDM electrode clamping mechanism 1-7 to open it.

[0041] Based on the functional requirements of the EDM processing end, EDM electrodes 1-8 mainly come in four styles, such as Figure 4 As shown, these are the locking pin cutting electrode 1-8-3, the wire breakage center hole machining electrode 1-8-4, the thread hole enlargement electrode 1-8-2, and the new countersunk hole machining electrode 1-8-1 for the surrounding plate. The locking pin cutting electrode 1-8-3 has a cutting edge on its head, which is responsible for cutting the locking pin and weld. The broken wire center hole machining electrode 1-8-4 has a slender cylindrical head with a length exceeding the machining depth to ensure stable fixation during machining. It is responsible for machining the broken wire center hole, which facilitates the subsequent removal of the broken wire. The thread hole enlargement electrode 1-8-2 has a stepped cylindrical head with a bottom diameter larger than the diameter of the thread hole to be enlarged, which ensures that the enlarged hole diameter reaches the target size. It is responsible for enlarging and lengthening the countersunk holes and smooth holes of the surrounding plate, as well as the smooth holes and bottom holes of the forming plate. It can simultaneously remove seized bolts, broken wires, and defective threads. The new countersunk hole machining electrode 1-8-1 has a special countersunk part on its head to meet the machining requirements of countersunk holes. It is responsible for machining the new countersunk holes of the surrounding plate, which facilitates the subsequent expansion and anti-loosening process.

[0042] like Figure 2As shown, the rotary working end includes: linear drive module B2-1, high-speed hydraulic torque wrench 2-2, transmission gear B1-9, tool head clamping mechanism 2-5, and tool head 2-6.

[0043] The linear drive module B2-1 is connected to the tool head clamping mechanism 2-5 and is used to drive the tool head clamping mechanism 2-5 to move axially.

[0044] The high-speed hydraulic torque wrench 2-2 is driven by the transmission gear B1-9, which is connected to the tool head clamping mechanism 2-5. The tool head clamping mechanism 2-5 is detachably connected to the tool head 2-6. The high-speed hydraulic torque wrench 2-2 drives the transmission gear B1-9, thereby causing the tool head clamping mechanism 2-5 and the tool head 2-6 to rotate together. Precise torque control of the high-speed hydraulic torque wrench 2-2 is achieved by controlling the pressure through a pressure controller or hydraulic pump station, enabling automatic torque adjustment after tool head replacement at the rotary end of the machine. The linear drive module B2-1 and the tool head clamping mechanism 2-5 operate on the same principle as the EDM machining end effector.

[0045] The tool head clamping mechanism 2-5 includes: a base B2-4 and a cylinder B2-3. The cylinder B2-3 is located at one end of the base B2-4 and is connected to the tool head chuck. The tool head chuck is clamped or opened by pulling the tool head chuck through the cylinder B2-3.

[0046] Based on the functional requirements of the rotary end effector, there are six main types of rotary end effector tool heads 2-6, such as... Figure 5As shown, the tool heads are: prototype bolt assembly / disassembly tool head 2-6-2, broken thread removal tool head 2-6-3, thread hole machining tap 2-6-1, thread cleaning tool head 2-6-5, new bolt assembly / disassembly tool head 2-6-4, and new bolt expansion joint anti-loosening tool head 2-6-6. The head of prototype bolt assembly / disassembly tool head 2-6-2 can be matched with the size of the prototype bolt. The spring in the middle enables the feed movement of the head, responsible for gripping one prototype bolt and completing the assembly / disassembly. When the prototype bolt removal tool head 2-6-2 grips a bolt, first align the inner sleeve with the hexagonal head of the bolt, then press the bolt head into the front claw of the outer sleeve through axial feed. Under the action of the spring, the bolt head is pressed tightly against the front claw of the outer sleeve to prevent it from falling, thus completing the bolt gripping. The head of the broken screw removal tool head 2-6-3 consists of a series of tightly arranged spiral metal plates, which can pass through the remaining part of the broken screw or bolt, and is responsible for removing broken screws. The head of the threaded tap 2-6-1 consists of a series of alternating sharp cutting teeth in a spiral shape, which can guide the chips away from the machining area and help the tap remain stable. Matching the standard of the thread, ensuring that the manufactured thread meets the specifications, it is responsible for completing the enlargement of the bottom hole of the forming plate thread processing; the head of the thread cleaning tool head 2-6-5 consists of tightly arranged circles of brushes, responsible for cleaning the threaded hole; the structural principle of the new bolt assembly / disassembly tool head 2-6-4 is the same as that of the prototype bolt assembly / disassembly tool head 2-6-2, only with some changes in size, responsible for picking up one new bolt and completing the assembly / disassembly; the head of the new bolt expansion anti-loosening tool head 2-6-6 has a special expansion structure. When tightening the bolt, the expansion structure expands and embeds into the inner wall of the bolt hole, thereby increasing the anti-loosening effect, responsible for completing the expansion of the new bolt and realizing mechanical anti-loosening.

[0047] like Figure 6As shown, the prototype bolt removal tool head 2-6-2 includes: a core rod 3-1, a spring 3-2, a sliding rod 3-3, an outer sleeve 3-4, and an inner sleeve 3-5. The core rod 3-1 is fixedly connected to the outer sleeve 3-4, and the inner sleeve 3-5 is connected to the core rod 3-1 via a spline pattern. The inner sleeve 3-5 can slide within the outer sleeve 3-4. The sliding rod 3-3 passes through the elongated hole in the outer sleeve 3-4 and connects to the inner sleeve 3-5, limiting its travel range. A spring 3-2 is provided between the protruding end face of the core rod 3-1 and the sliding rod 3-3. The structural principle of the new bolt removal tool head 2-6-4 is the same as that of the prototype bolt removal tool head 2-6-2, only the dimensions of the inner and outer sleeves 3-4 are adjusted for adaptation. When the prototype bolt removal tool head 2-6-2 picks up a bolt, first align the inner sleeve 3-5 with the hexagonal head of the bolt. Then, through axial feeding, press the bolt head into the front claw of the outer sleeve 3-4. Under the action of the spring 3-2, the bolt head and the front claw of the outer sleeve 3-4 are pressed tightly together to prevent it from falling, thus completing the bolt picking. When the prototype bolt removal tool head 2-6-2 discards a bolt, first move the tool head to the bolt inlet of the temporary waste storage container. The tool head enters the elongated hole at the inlet, and then retracts axially. The slide rod 3-3 contacts the inner wall of the inlet, restricting the movement of the inner sleeve 3-5. Through compression, the bolt is separated from the front claw of the outer sleeve 3-4, thus completing the bolt discarding operation.

[0048] Using the actuator provided by this invention for replacing reactor siding bolts, the replacement of EDM electrodes and tool heads specifically includes the following steps:

[0049] S1: Control the end-mounted platform to move the EDM processing end to above the existing EDM processing electrode 1-8 target storage positions on the EDM processing end;

[0050] S2: Using a vision-assisted positioning system, align the outer flanges of EDM processing electrodes 1-8 with the storage groove, and then lower the end-mounted platform to control the EDM processing electrodes 1-8 to enter the storage position;

[0051] S3: The EDM electrode clamping mechanism cylinder 2-3 retracts, the chuck 1-13 is released, the EDM processing end linear drive module 1-1 retracts, and disengages from the EDM processing electrode 1-8.

[0052] S4: Control the end-mounted platform to move the EDM processing end to the target EDM processing electrode position;

[0053] S5: Using the vision-assisted positioning system, the positioning pin at the end of the EDM processing is aligned with the positioning hole of the target EDM processing electrode. The cylinder A1-3 remains in the retracted state, the chuck 1-13 is opened, and then the linear drive module 1-1 feeds, the positioning pin enters the positioning hole, until the EDM processing electrode connector is fully entered into the chuck 1-13.

[0054] S6: Cylinder A1-3 extends, and chuck 1-13 clamps EDM machining electrode 1-8;

[0055] S7: Control the end-mounted platform to rise and then detach from the EDM processing electrode storage position to complete the replacement;

[0056] S8: Align the replaced EDM processing electrodes 1-8 with the bolts to be replaced and perform the corresponding processing;

[0057] S9: Repeat the above steps, changing different tool heads for processing, until the bolt replacement is completed;

[0058] S10: Because the rotary end-effector tool head and the EDM machining electrode interface are the same size, the automatic replacement of the rotary end-effector tool head is the same as that of the EDM machining end-effector.

[0059] The present invention has been described in detail above with reference to the accompanying drawings and embodiments. However, the present invention is not limited to the above embodiments, and various changes can be made within the scope of knowledge possessed by those skilled in the art without departing from the spirit of the present invention. All contents not described in detail in the present invention can be derived from existing technologies.

Claims

1. An execution tip for reactor head bolt replacement, characterized by, The EDM machining tip and the rotary operation tip are included, the EDM machining tip is used for replacing the EDM electrode, and different angle bolt locking pins are cut off through the EDM electrode; the rotary operation tip is used for replacing the rotary operation tip tool head, and the bolt is replaced through the rotary operation tip tool head; The EDM machining tip includes a linear drive module A (1-1), a rotary drive motor (1-2), a transmission gear A (1-9), an EDM electrode clamping mechanism (1-7) and an EDM electrode (1-8); the linear drive module A (1-1) is connected with the EDM electrode clamping mechanism (1-7) and is used for driving the EDM electrode clamping mechanism (1-7) to move along the axial direction; the rotary drive motor (1-2) is drivingly connected with the transmission gear A (1-9), the transmission gear A (1-9) is connected with the EDM electrode clamping mechanism (1-7), the EDM electrode clamping mechanism (1-7) is detachably connected with the EDM electrode (1-8), the rotary drive motor (1-2) drives the transmission gear A (1-9) to drive the EDM electrode clamping mechanism (1-7) to rotate, so that the EDM machining tip has different working angles after the EDM electrode (1-8) is replaced, and different angle bolt locking pins can be cut off; The EDM electrode clamping mechanism (1-7) includes a cylinder A (1-3), a base A (1-4), a plastic connecting piece (1-5), a compression spring (1-12) and an electrode chuck (1-13); the cylinder A (1-3) is arranged at one end of the base A (1-4), the cylinder A (1-3) is connected with the electrode chuck (1-13) through the plastic connecting piece (1-5), the opening state of the electrode chuck (1-13) is realized by pulling the electrode chuck (1-13) through the cylinder A (1-3), and the clamping state of the electrode chuck (1-13) is realized by pressing the electrode chuck (1-13) through the compression spring (1-12) when the cylinder A (1-3) is broken.

2. An end effector for reactor head plate bolt replacement according to claim 1, wherein, The linear drive module A (1-1) includes a drive motor and a linear track; the drive motor is connected with the EDM electrode clamping mechanism (1-7) and provides driving force for the EDM electrode clamping mechanism (1-7); and the linear track is slidingly connected with the EDM electrode clamping mechanism (1-7), so that the EDM electrode clamping mechanism (1-7) can realize axial movement in the working process.

3. An end effector for reactor head plate bolt replacement according to claim 1, wherein, The EDM electrode (1-8) includes a locking pin cutting electrode (1-8-3), a wire breaking center hole machining electrode (1-8-4), a thread hole expanding electrode (1-8-2) and a new type of coaming counterbore machining electrode (1-8-1).

4. An execution tip for reactor head bolt replacement according to claim 1, wherein, The rotating operation end comprises a linear drive module B (2-1), a high-speed hydraulic torque wrench (2-2), a transmission gear B (2-7), a tool head clamping mechanism (2-5), and a tool head (2-6). The linear drive module B (2-1) is connected with the tool head clamping mechanism (2-5) and used for driving the tool head clamping mechanism (2-5) to move along the axial direction. The high-speed hydraulic torque wrench (2-2) is drivingly connected with the transmission gear B (2-7), the transmission gear B (2-7) is connected with the tool head clamping mechanism (2-5), the tool head clamping mechanism (2-5) is detachably connected with the tool head (2-6), and the high-speed hydraulic torque wrench (2-2) drives the transmission gear B (2-7) to drive the tool head clamping mechanism (2-5) to rotate together with the tool head (2-6).

5. An execution tip for reactor head bolt replacement according to claim 4, wherein, The tool head clamping mechanism (2-5) comprises a cylinder B (2-3) and a base B (2-4). The cylinder B (2-3) is arranged at one end of the base B (2-4) and connected with a tool head chuck. The tool head chuck is pulled by the cylinder B (2-3) to realize a clamping state or an open state of the tool head chuck.

6. An execution tip for reactor head bolt replacement according to claim 4, wherein, The tool head (2-6) comprises a screw hole machining tap (2-6-1), a prototype bolt dismounting tool head (2-6-2), a broken wire taking-out tool head (2-6-3), a new bolt dismounting tool head (2-6-4), a thread cleaning tool head (2-6-5), and a new bolt expansion joint anti-loose tool head (2-6-6).

7. An execution tip for reactor head plate bolt replacement according to claim 6, wherein, The prototype bolt dismounting tool head (2-6-2) comprises a core rod (3-1), a spring (3-2), a sliding rod (3-3), an outer sleeve (3-4), and an inner sleeve (3-5). The core rod (3-1) is fixedly connected with the outer sleeve (3-4), the inner sleeve (3-5) is connected with the core rod (3-1) in a spline style, the inner sleeve (3-5) can slide in the outer sleeve (3-4), the sliding rod (3-3) passes through a long hole of the outer sleeve (3-4) and is connected with the inner sleeve (3-5) to limit the stroke range, and the spring (3-2) is arranged between a convex end surface of the core rod (3-1) and the sliding rod (3-3).

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