High-temperature gas cooled reactor fuel ball grabbing device and carrying robot

Abstract

The embodiment of the invention provides a high-temperature gas cooled reactor fuel ball grabbing device and a carrying robot, and relates to the technical field of fuel ball carrying. The high-temperature gas cooled reactor fuel ball grabbing device comprises a top plate, a suction cup, a guide rod and a first driving piece. Suction cavities are formed in the ends, away from the top plate, of the suckers. An air suction hole is formed in the side wall of the suction cavity, and an air pump communicated with the air suction hole is further included. A guide hole is further formed in the suction cup. One end of the guide rod is fixed to the top plate, and the other end penetrates through the guide hole to be in sliding fit with the sucker. The first driving piece is connected between the top plate and the sucker and used for driving the sucker to slide along the guide rod. The transfer robot comprises the high-temperature gas cooled reactor fuel ball grabbing device. According to the device, fuel balls can be quickly grabbed and carried, the fuel balls are prevented from sliding off and being damaged, the labor cost is reduced, and the working efficiency is improved.

Description

Technical Field

[0001] This invention relates to the field of fuel ball handling technology, and more specifically, to a high-temperature gas-cooled reactor fuel ball grabbing device and handling robot. Background Technology

[0002] Fuel spheres are a type of nuclear fuel used in high-temperature gas-cooled reactors. Each fuel sphere is 6 centimeters in diameter, covered with an outer layer of graphite, and contains more than 10,000 granular nuclear fuel particles inside. The main advantages of fuel spheres as nuclear fuel are high burnup, high heat transfer efficiency, high strength, good plasticity, and good corrosion resistance.

[0003] However, manually sorting and handling fuel balls is problematic because their smooth surfaces make them prone to slippage and damage. Furthermore, manual handling is labor-intensive and inefficient. Summary of the Invention

[0004] The present invention aims to provide a high-temperature gas-cooled reactor fuel ball grabbing device and a handling robot, which can quickly grab and handle fuel balls, prevent fuel balls from slipping, avoid damage to fuel balls, and improve work efficiency.

[0005] The embodiments of the present invention can be implemented as follows: In a first aspect, the present invention provides a high-temperature gas-cooled reactor fuel sphere grabbing device, comprising: roof; The suction cup has a suction cavity at one end away from the top plate, and the side wall of the suction cavity has an air suction hole. It also includes an air pump that communicates with the air suction hole, and the suction cup also has a guide hole. A guide rod, one end of which is fixed to the top plate, and the other end of which passes through the guide hole and slides with the suction cup; A first driving member is connected between the top plate and the suction cup, and is used to drive the suction cup to slide along the guide rod.

[0006] In an optional embodiment, the guide hole is a through hole, and at least two guide holes are arranged around the suction cavity. A claw is rotatably connected to the end of the guide rod away from the top plate. A second driving member is also provided on the side of the guide rod away from the top plate. The second driving member is used to drive the claw to rotate toward the suction cavity. The suction cup slides along the guide rod to allow the claw to enter or move out of the guide hole. When the claw moves out of the guide hole, the second driving member drives the claw to rotate toward the suction cavity. When the claw enters the guide hole, the second driving member drives the claw to abut against the side wall of the guide hole.

[0007] In an optional embodiment, the second driving element is a torsion spring, which is disposed at the hinge of the pawl and the guide rod.

[0008] In an optional embodiment, an elastic buffer block is provided at the end of the claw away from the guide rod.

[0009] In an optional embodiment, the end of the guide hole away from the top plate is further provided with a chamfer or rounded corner.

[0010] In an optional embodiment, an elastic element is further provided between the top plate and the suction cup.

[0011] In an optional embodiment, the elastic element is a spring, which is sleeved on the guide rod, and the two ends of the spring are respectively engaged with the top plate and the suction cup.

[0012] In an optional embodiment, the suction cavity is a hemispherical concave cavity, and the sidewall of the suction cavity is embedded with a flexible pad.

[0013] In an optional embodiment, the suction cup is further provided with a vacuum chamber, the suction hole is connected to the vacuum chamber, and the vacuum chamber is connected to the air pump.

[0014] In a second aspect, the present invention provides a handling robot, including a high-temperature gas-cooled reactor fuel ball grasping device as described in any of the foregoing embodiments.

[0015] The beneficial effects of the high-temperature gas-cooled reactor fuel sphere grabbing device and handling robot provided in this embodiment of the invention include: The high-temperature gas-cooled reactor fuel ball grasping device of the present invention includes a top plate, a suction cup, a guide rod, and a first driving component. A suction chamber is provided at the end of the suction cup away from the top plate. An air suction hole is provided on the side wall of the suction chamber, and an air pump communicating with the air suction hole is also included. A guide hole is also provided on the suction cup. One end of the guide rod is fixed to the top plate, and the other end of the guide rod passes through the guide hole and slides with the suction cup. The first driving component is connected between the top plate and the suction cup, and is used to drive the suction cup to slide along the guide rod. The handling robot of the present invention includes the above-mentioned high-temperature gas-cooled reactor fuel ball grasping device, and is used to move the high-temperature gas-cooled reactor fuel ball grasping device to achieve precise handling of fuel balls. The present invention can achieve rapid grasping and handling of fuel balls, prevent fuel balls from slipping, avoid damage to fuel balls, reduce labor costs, and improve work efficiency. Attached Figure Description

[0016] To more clearly illustrate the technical solutions of the embodiments of the present invention, the accompanying drawings used in the embodiments will be briefly introduced below. It should be understood that the following drawings only show some embodiments of the present invention and should not be regarded as a limitation on the scope. For those skilled in the art, other related drawings can be obtained based on these drawings without creative effort.

[0017] Figure 1 A schematic diagram of the first state of the high-temperature gas-cooled reactor fuel ball grabbing device provided in this embodiment; Figure 2 A schematic diagram of the second state of the high-temperature gas-cooled reactor fuel ball grabbing device provided in this embodiment; Figure 3 for Figure 2 Cross-sectional view of surface AA.

[0018] Icons: 100-High-temperature gas-cooled reactor fuel ball grabbing device; 10-Top plate; 12-Spring; 20-Suction cup; 21-Suction chamber; 22-Suction hole; 23-Vacuum chamber; 24-Guide hole; 30-Guide rod; 31-Claw; 311-Elastic buffer block; 40-First driving component; 200-Fuel ball. Detailed Implementation

[0019] In related technologies, fuel balls 200 are manually selected and handled. The surface of fuel balls 200 is relatively smooth, and manual handling is prone to operational errors, causing fuel balls 200 to slip and be damaged.

[0020] To address the aforementioned problems, this invention provides a high-temperature gas-cooled reactor fuel ball grabbing device 100 and a handling robot, which uses a suction cup 20 to replace manual grabbing and a robot to achieve precise handling, thereby preventing the fuel balls 200 from slipping and causing damage, and improving work efficiency.

[0021] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. The components of the embodiments of the present invention described and shown in the accompanying drawings can generally be arranged and designed in various different configurations.

[0022] Therefore, the following detailed description of the embodiments of the invention provided in the accompanying drawings is not intended to limit the scope of the claimed invention, but merely to illustrate selected embodiments of the invention. All other embodiments obtained by those skilled in the art based on the embodiments of the invention without inventive effort are within the scope of protection of the invention.

[0023] It should be noted that similar labels and letters in the following figures indicate similar items. Therefore, once an item is defined in one figure, it does not need to be further defined and explained in subsequent figures.

[0024] In the description of this invention, it should be noted that if terms such as "upper," "lower," "inner," or "outer" are used to indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, or the orientation or positional relationship in which the product of this invention is usually placed, they are only for the convenience of describing this invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this invention.

[0025] Furthermore, the terms "first" and "second" are used only to distinguish descriptions and should not be interpreted as indicating or implying relative importance.

[0026] It should be noted that, where there is no conflict, the features in the embodiments of the present invention can be combined with each other.

[0027] The following describes in detail the overall structure, working principle, and technical effects of the high-temperature gas-cooled reactor fuel ball grabbing device 100 provided by the present invention through embodiments and in conjunction with the accompanying drawings.

[0028] Please refer to Figures 1-3 The high-temperature gas-cooled reactor fuel ball grabbing device 100 provided by the present invention is used for screening, grabbing and transporting fuel balls 200 in a high-temperature gas-cooled reactor.

[0029] The high-temperature gas-cooled reactor fuel ball grabbing device 100 includes a top plate 10, a suction cup 20, a guide rod 30, and a first driving member 40. A suction cavity 21 is provided at the end of the suction cup 20 away from the top plate 10. An air intake hole 22 is provided on the side wall of the suction cavity 21. The suction cup 20 also includes an air pump communicating with the air intake hole 22. A guide hole 24 is also provided on the suction cup 20. One end of the guide rod 30 is fixed to the top plate 10, and the other end of the guide rod 30 passes through the guide hole 24 and slides with the suction cup 20. The first driving member 40 is connected between the top plate 10 and the suction cup 20, and is used to drive the suction cup 20 to slide along the guide rod 30.

[0030] By setting up the suction cup 20 structure, the suction cup 20 can be used to replace manual handling of the fuel ball 200, thereby preventing the fuel ball 200 from falling during the transfer process.

[0031] Specifically, a suction cavity 21 is provided on the suction cup 20, and an air suction hole 22 is provided on the suction cavity 21, with an air pump connected to the air suction hole 22. When it is necessary to grasp the fuel ball 200, the air pump is started to continuously draw air, creating a pressure difference between the inside and outside of the air suction hole 22, moving the suction cavity 21 onto the fuel ball 200, so that the fuel ball 200 is attached to the side wall of the suction cavity 21, and the fuel ball 200 is adsorbed and fixed in the suction cavity 21.

[0032] The first driving component 40 is used to drive the suction cup 20 to move toward or away from the top plate 10. It can be understood that when it is necessary to grasp the fuel ball 200, moving the top plate 10 causes the suction cup 20 to move above the fuel ball 200. The first driving component 40 then drives the suction cup 20 to descend, allowing the suction cavity 21 to engage with the fuel ball 200, thus adsorbing the fuel ball 200. After adsorption is complete, the first driving component 40 drives the suction cup 20 to rise, thereby lifting the fuel ball 200 for easy handling.

[0033] Specifically, in this embodiment, the first driving element 40 is a cylinder. In other embodiments, the first driving element 40 can be configured as needed, such as a hydraulic cylinder or other linear motion driving structure. This invention does not limit this.

[0034] The guide rod 30 is used to guide the suction cup 20. In this embodiment, the guide rod 30 is fixedly connected to the top plate 10. By passing the guide rod 30 through the guide hole 24, the suction cup 20 slides along the guide rod 30, thereby moving closer to or away from the top plate 10.

[0035] Specifically, in this embodiment, the guide hole 24 is a through hole. At least two guide holes 24 are arranged around the suction cavity 21. A claw 31 is rotatably connected to the end of the guide rod away from the top plate 10. A second driving member is also provided on the side of the guide rod 30 away from the top plate 10. The second driving member is used to drive the claw 31 to rotate toward the suction cavity 21. The suction cup 20 slides along the guide rod 30 to allow the claw 31 to enter or exit the guide hole 24. When the claw 31 exits the guide hole 24, the second driving member drives the claw 31 to rotate toward the suction cavity 21. When the claw 31 enters the guide hole 24, the second driving member drives the claw 31 to abut against the side wall of the guide hole 24.

[0036] It is understandable that the guide hole 24 is set as a through hole, so that the claw 31 can be exposed from the side of the guide hole 24 away from the top plate 10. In this embodiment, at least two guide holes 24 are arranged around the suction cavity 21, that is, at least two claws 31 are arranged around the suction cavity 21, so as to realize that the claws 31 grip and fix the fuel ball 200 in the suction cavity 21.

[0037] Specifically, in this embodiment, the number of guide holes 24, guide rods 30, and claws 31 is set to four. The suction cavity 21 is located in the middle of the suction cup 20. The guide holes 24, guide rods 30, and claws 31 are arranged at intervals around the suction cavity 21, with equal distances between the guide holes 24, guide rods 30, and claws 31. In this embodiment, the guide holes 24, guide rods 30, and claws 31 are arranged in a circular array around the suction cavity 21.

[0038] Optionally, the number of guide holes 24, guide rods 30, and claws 31 can be set as needed, for example, two, three, or more. This invention does not limit this.

[0039] It should be noted that when two guide holes 24 and guide rods 30 are provided, the guide holes 24 are located on opposite sides of the suction cavity 21 so that the claws 31 can clamp the fuel ball 200 from both sides of the suction cavity 21.

[0040] Understandably, by setting the claw 31 to rotate relative to the guide rod 30, the second driving member drives the claw 31 to rotate toward the suction cavity 21. When it is necessary to remove the fuel ball 200, the moving top plate 10 moves the suction cup 20 above the fuel ball 200. The first driving member 40 drives the suction cup 20 to descend. As the suction cup 20 descends, the end of the suction cup 20 away from the top plate 10 abuts against the claw 31. As the suction cup 20 continues to move downward, the pushing force of the first driving member 40 presses the claw 31 into the guide hole 24. At this time, there is no claw 31 blocking the suction cavity 21 and the fuel ball 200, thus allowing the suction cavity 21 to cooperate with the fuel ball 200 to achieve the adsorption of the fuel ball 200. Then, the first driving member 40 drives the suction cup 20 to rise, and the suction cup 20 rises to expose the claw 31 below the guide rod 30. At this time, the second driving member drives the claw 31 to rotate toward the suction cavity 21, so that the claw 31 abuts against the lower part of the fuel ball 200 and supports the fuel ball 200.

[0041] By incorporating the claw 31, the fuel ball 200 is prevented from detaching from the suction cavity 21 after being gripped, thus avoiding its fall and damage. The claw 31 is connected to the guide rod 30. When the suction cup 20 rises, the claw 31 retracts under the abutment of the suction cup 20. When the suction cup 20 descends, the claw 31 is exposed and rotates towards the suction cavity 21 under the action of the second driving component, clamping the fuel ball 200 within the suction cavity 21.

[0042] To enable the claw 31 to automatically grip the fuel ball 200, in this embodiment, the second driving component is a torsion spring, which is located at the hinge between the claw 31 and the guide rod 30. It is understood that the torsion spring always provides the claw 31 with a spring force that rotates towards the suction cavity 21. That is, without external constraints, the claw 31 always rotates towards the suction cavity 21. Specifically, when it is necessary to retrieve the fuel ball 200, the moving top plate 10 moves the suction cup 20 above the fuel ball 200. The first driving component 40 drives the suction cup 20 to descend. As the suction cup 20 descends, the end of the suction cup 20 away from the top plate 10 abuts against the claw 31. As the suction cup 20 continues to descend, the thrust of the first driving component 40 overcomes the spring force of the torsion spring, causing the suction cup 20 to press the claw 31 into the guide hole 24. At this time, the claw 31 abuts against the side wall of the guide hole 24 under the action of the torsion spring. At this point, there is no clamping claw 31 obstructing the suction cavity 21 and the fuel ball 200, allowing the suction cavity 21 to engage with the fuel ball 200 and adsorb it. Then, the first driving member 40 drives the suction cup 20 to rise, gradually exposing the clamping claw 31 below the guide rod 30. At this time, the clamping claw 31 is released from the constraint of the inner wall of the guide hole 24. Under the action of the torsion spring, the clamping claw 31 rotates toward the suction cavity 21 in the middle until the end of the clamping claw 31 abuts against the bottom of the fuel ball 200, clamping, supporting and fixing the fuel ball 200.

[0043] To prevent the end of the chuck 31 from impacting and damaging the fuel ball 200, in this embodiment, an elastic buffer block 311 is provided at the end of the chuck 31 away from the guide rod 30. Under the action of the torsion spring, the chuck 31 rotates towards the central suction cavity 21 until the elastic buffer block 311 at the end of the chuck 31 abuts against the bottom of the fuel ball 200. The elastic buffer block 311 can deform during contact with the fuel ball 200. The elastic deformation of the buffer block 311 buffers the impact of the chuck 31 on the fuel ball 200, preventing rigid contact between the chuck 31 and the fuel ball 200 and thus avoiding damage.

[0044] Furthermore, in this embodiment, the end of the guide hole 24 away from the top plate 10 is also provided with a chamfer or rounded corner. It can be understood that during the process of driving the suction cup 20 to rise by the first driving member 40, the suction cup 20 rises and gradually exposes the claw 31 below the guide rod 30. One side of the claw 31 abuts against the opening position of the guide hole 24 and slides relative to it. By providing a chamfer or rounded corner, it is convenient for the claw 31 to slide out of the guide hole 24.

[0045] In this embodiment, an elastic element is also provided between the top plate 10 and the suction cup 20. By providing the elastic element, the vibration of the suction cup 20 is reduced during the relative movement of the top plate 10 and the suction cup 20, and the suction cup 20 is prevented from vibrating violently, which could cause the fuel ball 200 below to fall off.

[0046] Specifically, in this embodiment, the elastic element is a spring 12. The spring 12 is sleeved on the guide rod 30. The two ends of the spring 12 are respectively engaged with the top plate 10 and the suction cup 20. By sleeved on the guide rod 30, the relative position of the spring 12 is fixed.

[0047] Furthermore, in this embodiment, the suction cavity 21 is a hemispherical concave cavity, so that the spherical fuel ball 200 completely fits against the side wall of the suction cavity 21, reducing the gap between the fuel ball 200 and the side wall of the suction cavity 21, and improving the adsorption effect of the suction cavity 21 on the fuel ball 200. A flexible pad is also embedded in the side wall of the suction cavity 21. It is understood that the descent of the suction cup 20 allows the fuel ball 200 to enter the suction cavity 21. During the process of the fuel ball 200 entering the suction cavity 21, the fuel ball 200 first contacts the flexible pad, causing the flexible pad to undergo slight deformation, which can reduce frictional damage to the fuel ball 200 during adsorption.

[0048] Specifically, in this embodiment, the flexible pad has a breathable structure. For example, the flexible pad is set as a vacuum sponge. Optionally, in other embodiments, the flexible pad can be set as other flexible porous structures, which is not limited by the present invention.

[0049] Please refer to Figure 3 In this embodiment, to improve the adsorption force of the suction cup 20, a vacuum chamber 23 is also provided inside the suction cup 20. The suction port 22 is connected to the vacuum chamber 23, and the vacuum chamber 23 is connected to the air pump. When it is necessary to remove the fuel ball 200, the air pump first evacuates the vacuum chamber 23, reducing the air pressure inside the vacuum chamber 23. The air pressure in the vacuum chamber 23 is lower than the external air pressure, thereby adsorbing the fuel ball 200 into the suction chamber 21. It should be noted that in this embodiment, evacuating the vacuum chamber 23 means making the air pressure in the vacuum chamber 23 much lower than atmospheric pressure.

[0050] The present invention also provides a handling robot, which includes the high-temperature gas-cooled reactor fuel ball grasping device 100 of the above embodiments. Specifically, the handling robot further includes a robotic arm and a controller. A top plate 10 is fixed to the end of the robotic arm. The controller is electrically connected to the robotic arm and the first drive member 40. The controller is used to control the robotic arm to move the top plate 10 and the suction cup 20, and to control the suction cup 20 to rise and fall to pick up and release the fuel balls 200.

[0051] The working principle and process of the high-temperature gas-cooled reactor fuel pellet grabbing device 100 and the handling robot provided by this invention are as follows: When it is necessary to retrieve the fuel ball 200, the robotic arm moves the top plate 10, thereby moving the suction cup 20 above the fuel ball 200. The first driving member 40 then drives the suction cup 20 to descend. As the suction cup 20 descends, the end of the suction cup 20 away from the top plate 10 abuts against the claw 31. As the suction cup 20 continues to descend, the thrust of the first driving member 40 overcomes the spring force of the torsion spring, causing the suction cup 20 to press the claw 31 into the guide hole 24. At this point, the claw 31 abuts against the side wall of the guide hole 24 under the action of the torsion spring. At this time, there is no claw 31 obstructing the suction cavity 21 and the fuel ball 200, allowing the suction cavity 21 to cooperate with the fuel ball 200 and achieve adsorption of the fuel ball 200. Then, the suction cup 20 is driven to rise by the first driving member 40. As the suction cup 20 rises, the claw 31 below the guide rod 30 is gradually exposed. At this time, the claw 31 is freed from the constraint of the inner wall of the guide hole 24. Under the action of the torsion spring, the claw 31 rotates toward the suction cavity 21 in the middle until the end of the claw 31 abuts against the bottom of the fuel ball 200, clamping, supporting and fixing the fuel ball 200.

[0052] The robotic arm then moves the fuel ball 200 to a preset position. When it is necessary to lower the fuel ball 200, the first drive component 40 drives the suction cup 20 to descend. As the suction cup 20 descends, the end of the suction cup 20 away from the top plate 10 abuts against the claw 31. As the suction cup 20 continues to descend, the thrust of the first drive component 40 overcomes the elasticity of the torsion spring, causing the suction cup 20 to press the claw 31 into the guide hole 24. At this time, the claw 31 abuts against the side wall of the guide hole 24 under the action of the torsion spring. At this point, the claw 31 disengages from the fuel ball 200, and the suction cup 20 descends until the fuel ball 200 abuts against the work platform, which supports the fuel ball 200. Then, the air pump is turned off, and the robotic arm lifts the suction cup 20, causing the fuel ball 200 to disengage from the suction chamber 21.

[0053] It is understood that the present invention drives the suction cup 20 to rise and fall through the first driving member 40, and can simultaneously drive the claw 31 to expose or enter the guide hole 24, so that when the suction cup 20 rises, the claw 31 clamps the fuel ball 200, and when the suction cup 20 falls, the claw 31 disengages from the clamp.

[0054] The beneficial effects of the high-temperature gas-cooled reactor fuel pellet grabbing device 100 and the handling robot provided in this embodiment of the invention include: The high-temperature gas-cooled reactor fuel ball grasping device 100 of the present invention includes a top plate 10, a suction cup 20, a guide rod 30, and a first driving member 40. A suction cavity 21 is provided at the end of the suction cup 20 away from the top plate 10. An air suction hole 22 is provided on the side wall of the suction cavity 21, and an air pump communicating with the air suction hole 22 is also included. A guide hole 24 is also provided on the suction cup 20. One end of the guide rod 30 is fixed to the top plate 10, and the other end of the guide rod 30 passes through the guide hole 24 and slides with the suction cup 20. The first driving member 40 is connected between the top plate 10 and the suction cup 20, and is used to drive the suction cup 20 to slide along the guide rod 30. The handling robot of the present invention includes the above-mentioned high-temperature gas-cooled reactor fuel ball grasping device 100, and is used to move the high-temperature gas-cooled reactor fuel ball grasping device 100 to achieve precise handling of fuel balls 200. The present invention can achieve rapid grasping and handling of fuel balls 200, prevent fuel balls 200 from slipping, avoid damage to fuel balls 200, reduce labor costs, and improve work efficiency.

[0055] The above description is merely a specific embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the scope of the technology disclosed in the present invention should be included within the scope of protection of the present invention.

Claims

1. A fuel sphere grabbing device for a high-temperature gas-cooled reactor, characterized in that, include: roof; The suction cup has a suction cavity at one end away from the top plate, and the side wall of the suction cavity has an air suction hole. It also includes an air pump that communicates with the air suction hole, and the suction cup also has a guide hole. A guide rod, one end of which is fixed to the top plate, and the other end of which passes through the guide hole and slides with the suction cup; A first driving member is connected between the top plate and the suction cup, and is used to drive the suction cup to slide along the guide rod.

2. The high-temperature gas-cooled reactor fuel pellet grabbing device according to claim 1, characterized in that, The guide hole is a through hole, and at least two guide holes are arranged around the suction cavity. The end of the guide rod away from the top plate is rotatably connected to a claw. A second driving member is also provided on the side of the guide rod away from the top plate. The second driving member is used to drive the claw to rotate toward the suction cavity. The suction cup slides along the guide rod to allow the claw to enter or move out of the guide hole. When the claw moves out of the guide hole, the second driving member drives the claw to rotate toward the suction cavity. When the claw enters the guide hole, the second driving member drives the claw to abut against the side wall of the guide hole.

3. The high-temperature gas-cooled reactor fuel sphere grabbing device according to claim 2, characterized in that, The second driving component is a torsion spring, which is located at the hinge between the pawl and the guide rod.

4. The high-temperature gas-cooled reactor fuel pellet grabbing device according to claim 2, characterized in that, An elastic buffer block is provided at the end of the chuck away from the guide rod.

5. The high-temperature gas-cooled reactor fuel pellet grabbing device according to claim 2, characterized in that, The end of the guide hole away from the top plate is also provided with a chamfer or rounded corner.

6. The high-temperature gas-cooled reactor fuel pellet grabbing device according to claim 1, characterized in that, An elastic element is also provided between the top plate and the suction cup.

7. The high-temperature gas-cooled reactor fuel pellet grabbing device according to claim 6, characterized in that, The elastic element is a spring, which is sleeved on the guide rod, and the two ends of the spring are respectively engaged with the top plate and the suction cup.

8. The high-temperature gas-cooled reactor fuel pellet grabbing device according to claim 1, characterized in that, The suction cavity is a hemispherical concave cavity, and a flexible pad is embedded in the side wall of the suction cavity.

9. The high-temperature gas-cooled reactor fuel pellet grabbing device according to claim 1, characterized in that, The suction cup is also provided with a vacuum chamber, the suction hole is connected to the vacuum chamber, and the vacuum chamber is connected to the air pump.

10. A transport robot, characterized in that, Includes the high-temperature gas-cooled reactor fuel ball grabbing device as described in any one of claims 1-9.

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