Nuclear power station valve element deburring equipment based on floating force control

Abstract

The invention relates to the technical field of part deburring, in particular to nuclear power station valve element deburring equipment based on floating force control, which comprises a sheet metal room base, a machining mechanism is arranged on the sheet metal room base and is used for deburring a valve element, and the machining mechanism comprises a picking and placing assembly, a lifting assembly, a lifting assembly and a control assembly, and the picking and placing assembly comprises a six-axis mechanical arm mounted on the left side of the top of the sheet metal room base; a three-jaw pneumatic clamping jaw is installed at the execution tail end of the six-axis mechanical arm. The loading and unloading assembly is arranged on the sheet metal room base and is used for loading and unloading the valve core; the grinding assembly comprises a stand column fixed to the left side of the rear end of the top of the sheet metal room base, a first radial floating telescopic file is installed on the left side of the upper end of the stand column, and a second radial floating telescopic file is installed on the right side of the upper end of the stand column. Full-automatic work of deburring of the valve element of the nuclear power station is achieved, the machining precision and consistency are improved, the work efficiency is improved, manual intervention is reduced, and the sealing performance and operation safety of the valve element are guaranteed.

Description

Technical Field

[0001] This invention relates to the field of deburring technology for parts, specifically a deburring device for nuclear power plant valve cores based on floating force control. Background Technology

[0002] As the core component of nuclear-grade valves, the surface precision and sealing performance of the valve core directly affect the operational safety of nuclear facilities. During the valve core manufacturing process, casting, cutting, and welding processes can generate burrs on the valve seat sealing surface, valve core rod connecting groove, and valve core internal flow channel. These burrs have a hardness ≥45HRC and a length exceeding 0.5mm. If these burrs are not thoroughly removed, they can lead to valve core sealing failure, jamming, or even media leakage, posing serious safety hazards. According to CN214489142U, a deburring device for producing regulating valve cores for rocket engines is disclosed. This technology includes a gripping mechanism comprising a clamping support plate, a clamping hydraulic rod, a clamping fixing plate, a clamping fixing seat, a gripping mechanism base, a gripping mechanism power supply, a four-legged support frame, a limiting plate, a turntable, a turntable servo motor, a boom servo motor, a boom, a telescopic rod servo motor, a telescopic rod, a forearm, a connecting rod, a bow-shaped arm, a clamping servo motor, and a cam; the rear end of the clamping support plate is connected to the clamping hydraulic rod. This technology offers the following advantages: "The gripping mechanism enables automatic workpiece conveying and output, improving work efficiency; the distance between the cathode plate and the workpiece can be adjusted, resulting in a rapid electrolytic reaction and improved work efficiency." Currently, deburring of nuclear power plant valve cores is mostly done manually with handheld grinding tools or with ordinary automated grinding equipment. Manual operation suffers from low efficiency, poor deburring consistency, and is prone to scratches on the valve core surface due to human error. The cutting tools of ordinary automated equipment are mostly in a fixed posture, which cannot be adapted to the complex curved surface and narrow cavity of the valve core. The effect of removing burrs in hidden parts is not good. At the same time, there are technical bottlenecks such as incomplete debris collection and the need for manual intervention to flip the workpiece, which makes it difficult to meet the high-precision machining requirements of nuclear-grade valve cores. Summary of the Invention

[0003] To address the shortcomings of existing technologies, this invention provides a deburring device for nuclear power plant valve cores based on floating force control. This device achieves fully automated deburring of nuclear power plant valve cores, improves processing accuracy and consistency, increases operational efficiency, reduces manual intervention, and ensures valve core sealing performance and operational safety.

[0004] To achieve the above objectives, the present invention provides the following technical solution: a nuclear power plant valve core deburring device based on floating force control, comprising a sheet metal housing base, wherein a processing mechanism is provided on the sheet metal housing base for deburring the valve core, and the processing mechanism includes: The pick-and-place assembly includes a six-axis robotic arm mounted on the top left side of the sheet metal room base, with a three-jaw pneumatic chuck installed at the end of the six-axis robotic arm. The loading and unloading assembly is mounted on the base of the sheet metal room and is used for loading and unloading valve cores. The grinding assembly includes a column fixed to the left side of the rear end of the top of the sheet metal chamber base, a first radial floating telescopic file is installed on the left side of the upper end of the column, and a second radial floating telescopic file is installed on the right side of the upper end of the column. The reversing assembly includes a stand fixed to the right side of the rear end of the top of the sheet metal chamber base. A slide block arranged in front and behind is fixed to the upper end of the stand block. The slide block is slidably installed inside the balance bar. A rotary cylinder is installed on the upper end of the slide block. A two-jaw pneumatic chuck is installed on the output end above the rotary cylinder.

[0005] Preferably, the loading and unloading assembly includes a frame fixed to the top right side of the sheet metal room base, with a loading rack and a unloading rack slidably mounted on the upper end of the frame. Both the loading rack and the unloading rack have a tray mounted on top, and the tray has several positioning slots arranged in an array inside.

[0006] Preferably, the loading and unloading assembly further includes pulleys rotatably installed at the front and rear ends inside the frame, a belt is installed between the two pulleys, and the loading frame and unloading frame are respectively fixed to the two ends of the belt. A servo motor is installed inside the frame to drive the pulleys to rotate.

[0007] Preferably, the loading and unloading assembly further includes a positioning pin fixed inside the positioning groove.

[0008] Preferably, the polishing assembly further includes a tool holder fixed to the top of the column, on which a non-powered fine file is mounted.

[0009] Preferably, the reversing assembly further includes springs installed at both ends inside the stabilizer bar.

[0010] Preferably, the processing mechanism further includes a dust collection box fixed to the top of the sheet metal room base, and the dust collection box is located directly in front of the column, with a drawer installed inside the dust collection box.

[0011] Preferably, the processing mechanism further includes an electrical control cabinet located on the left side of the front end of the top of the sheet metal room base.

[0012] This invention provides a deburring device for nuclear power plant valve cores based on floating force control. Compared with the prior art, it has the following advantages: 1. Automated deburring of nuclear power plant valve cores is achieved through a machining mechanism mounted on the sheet metal booth base. Specifically, differentiated grinding is performed on the valve core's structural features, where the upper half has narrower guide groove spacing and the lower half has wider spacing. During operation, a six-axis robotic arm uses its three-jaw pneumatic chuck at the end of its actuator to grip the valve core workpiece and first transfer it to the grinding assembly. The first radial floating telescopic file on the upper left side of the column is equipped with a narrower file to accommodate the narrower spacing of the guide grooves in the upper half of the valve core, while the second radial floating telescopic file on the upper right side is equipped with a wider file to meet the grinding requirements of the lower half of the valve core. To meet the high efficiency requirements of grinding the widely spaced guide channels, both components automatically adjust their grinding posture based on the curved surface characteristics of different parts of the valve core, performing adaptive floating grinding on the upper and lower halves of the valve core respectively. After grinding on one side is completed, the six-axis robotic arm moves the workpiece to the reversing component, where a rotary cylinder drives two pneumatic jaws to clamp the workpiece and complete a 30° rotation, so that grinding can continue on the other side. Through the coordinated work of the pick-and-place component, the grinding component, and the reversing component, the automated clamping, adaptive grinding, and automatic flipping of the valve core are achieved, improving the accuracy and consistency of deburring operations and reducing manual intervention.

[0013] 2. The servo motor drives the pulley to rotate, causing the belt to circulate between the front and rear ends inside the frame. Since the loading and unloading racks are fixedly connected to both ends of the belt, when the belt rotates, the loading and unloading racks slide synchronously in opposite directions on the upper part of the frame, thereby realizing the alternating switching between the loading and unloading positions. The operator places the valve core workpiece to be processed on the tray of the loading rack. The positioning groove inside the tray pre-positions the workpiece, ensuring the positional accuracy when the six-axis robotic arm grips it. At the same time, the tray of the unloading rack is used to receive the workpieces that have been processed. After the workpieces on the loading rack are removed one by one, the servo motor drives the belt to move the loading and unloading racks, so that the unloading rack full of workpieces to be processed switches to the loading position, while the loading rack full of processed workpieces switches to the unloading position for the operator to unload. Through the alternating cycle of the loading and unloading racks, the equipment can operate continuously without stopping, improving loading and unloading efficiency and equipment utilization.

[0014] 3. After the valve core held by the three-jaw pneumatic chuck on the six-axis robotic arm completes radial floating grinding, the workpiece is moved to the position of the non-powered fine file, and the workpiece is controlled to contact the blade of the non-powered fine file at an appropriate angle and force. The relative friction generated between the workpiece and the file surface during the movement of the workpiece is used to remove the secondary burrs or minor flaking that may be generated after radial floating grinding. Attached Figure Description

[0015] Figure 1 This is a three-dimensional structural diagram of the present invention; Figure 2 This is a schematic diagram of the frame structure in this invention; Figure 3 This is a schematic diagram of the tray structure in this invention; Figure 4 For the present invention Figure 3 A schematic diagram of the structure of part A in the middle; Figure 5 This is a schematic diagram of the grinding component in this invention; Figure 6 This is a schematic diagram of the inversion component in this invention; Figure 7 This is a schematic diagram of the dust collection box in this invention.

[0016] In the diagram: 1. Sheet metal room base; 2. Machining mechanism; 21. Picking and placing assembly; 211. Six-axis robotic arm; 212. Three-jaw pneumatic chuck; 22. Loading and unloading assembly; 221. Frame; 222. Loading rack; 223. Unloading rack; 224. Pallet; 225. Positioning groove; 226. Positioning pin; 227. Pulley; 228. Belt; 229. Servo motor; 23. Grinding assembly; 231. Column; 232. First radial floating telescopic file; 233. Second radial floating telescopic file; 234. Tool holder; 235. Non-powered precision file; 24. Reversing assembly; 241. Stand; 242. Balance bar; 243. Slide; 244. Rotary cylinder; 245. Two-jaw pneumatic chuck; 246. Spring; 25. Dust collection box; 26. Drawer; 27. Electrical control cabinet. Detailed Implementation

[0017] 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. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the scope of protection of the present invention.

[0018] Please see Figure 1 - Figure 7 This invention provides a technical solution: a nuclear power plant valve core deburring device based on floating force control, comprising a sheet metal housing base 1, a processing mechanism 2 disposed on the sheet metal housing base 1 for deburring the valve core, the processing mechanism 2 comprising: The pick-and-place assembly 21 includes a six-axis robotic arm 211 mounted on the top left side of the sheet metal room base 1, and a three-jaw pneumatic chuck 212 is mounted at the end of the six-axis robotic arm 211. The loading and unloading assembly 22 is set on the sheet metal room base 1 and is used for loading and unloading valve cores; The grinding assembly 23 includes a column 231 fixed to the left side of the rear end of the top of the sheet metal chamber base 1. A first radial floating telescopic file 232 is installed on the left side of the upper end of the column 231, and a second radial floating telescopic file 233 is installed on the right side of the upper end of the column 231. The reversing assembly 24 includes a stand 241 fixed to the right side of the rear end of the top of the sheet metal base 1. A sliding block arranged in front and behind is fixed to the upper end of the stand 241. A sliding block 243 is slidably installed inside the balance bar 242. A rotary cylinder 244 is installed on the upper end of the sliding block 243. A two-jaw pneumatic chuck 245 is installed on the output end above the rotary cylinder 244.

[0019] In this implementation scheme, the processing mechanism 2, mounted on the sheet metal cabinet base 1, enables automated deburring of the nuclear power plant valve core. Specifically, it performs differentiated grinding on the structural features of the valve core, where the upper half has narrower guide groove spacing and the lower half has wider guide groove spacing. During operation, the six-axis robotic arm 211 uses its three-jaw pneumatic chuck 212 at its end effector to grip the valve core workpiece and first transfer it to the grinding assembly 23. The first radial floating telescopic file 232 on the upper left side of the column 231 is equipped with a narrower file to meet the grinding requirements of the narrower guide groove spacing in the upper half of the valve core, while the second radial floating telescopic file 233 on the upper right side is equipped with a wider file to meet the grinding requirements of the lower half of the valve core. For the high-efficiency grinding of the guide channels with larger spacing, both components automatically adjust their grinding posture according to the curved surface characteristics of different parts of the valve core, and perform adaptive floating grinding on the upper and lower halves of the valve core respectively. After grinding on one side is completed, the six-axis robotic arm 211 moves the workpiece to the reversing component 24. The rotary cylinder 244 drives the two-jaw pneumatic chuck 245 to clamp the workpiece and complete a 180° rotation so that the grinding operation on the other side can continue. Through the coordinated work of the pick-and-place component 21, the grinding component 23 and the reversing component 24, the automatic clamping, adaptive grinding and automatic flipping of the valve core are realized, which improves the accuracy and consistency of deburring operation and reduces manual intervention.

[0020] Specifically, the loading and unloading assembly 22 includes a frame 221 fixed on the top right side of the sheet metal room base 1. The upper end of the frame 221 is slidably equipped with a loading rack 222 and a unloading rack 223. The top of the loading rack 222 and the unloading rack 223 are both equipped with a tray 224. The tray 224 has several positioning slots 225 arranged in an array inside.

[0021] Specifically, the loading and unloading assembly 22 also includes pulleys 227 rotatably installed at the front and rear ends inside the frame 221. A belt 228 is installed between the two pulleys 227, and the loading frame 222 and the unloading frame 223 are respectively fixed to the two ends of the belt 228. A servo motor 229 is installed inside the frame 221 and is used to drive the pulleys 227 to rotate.

[0022] In this embodiment, the servo motor 229 drives the pulley 227 to rotate, causing the belt 228 to circulate between the front and rear ends inside the frame 221. Since the loading rack 222 and unloading rack 223 are fixedly connected to both ends of the belt 228, when the belt 228 rotates, the loading rack 222 and unloading rack 223 slide synchronously in opposite directions on the upper end of the frame 221, thereby realizing the alternating switching between the loading and unloading stations. The operator places the valve core workpiece to be processed on the tray 224 of the loading rack 222. The positioning groove 225 opened inside the tray 224 pre-positions the workpiece to ensure... The six-axis robotic arm 211 achieves precise positioning when gripping, while the tray 224 of the unloading rack 223 is used to receive the processed workpieces. After the workpieces on the loading rack 222 are removed one by one, the servo motor 229 drives the belt 228 to move the loading rack 222 and the unloading rack 223, so that the unloading rack 223, which is fully loaded with workpieces to be processed, switches to the loading position, while the loading rack 222, which is fully loaded with processed workpieces, switches to the unloading position for the operator to unload. Through the alternating cycle of the loading rack 222 and the unloading rack 223, the equipment can operate continuously without stopping, improving loading and unloading efficiency and equipment utilization.

[0023] Specifically, the loading and unloading assembly 22 also includes a positioning pin 226 fixed inside the positioning groove 225.

[0024] In this embodiment, when the valve core workpiece is placed in the positioning groove 225, the positioning pin 226 cooperates with the positioning hole or specific structure at the bottom of the valve core workpiece to restrict the displacement and rotational freedom of the workpiece in the horizontal direction, ensuring that each workpiece has a consistent position and posture on the tray 224.

[0025] Specifically, the polishing assembly 23 also includes a tool holder 234 fixed to the top of the column 231, on which a non-powered fine file 235 is mounted.

[0026] In this embodiment, after the valve core held by the three-jaw pneumatic chuck 212 on the six-axis robotic arm 211 completes radial floating grinding, the workpiece is moved to the position of the non-powered fine file 235, and the workpiece is controlled to contact the blade surface of the non-powered fine file 235 at an appropriate angle and force. The relative friction generated between the workpiece and the file surface during the movement of the workpiece is used to remove the secondary burrs or minor flanging that may be generated after radial floating grinding.

[0027] Specifically, the reversing assembly 24 also includes springs 246 installed at both ends inside the stabilizer bar 242.

[0028] In this embodiment, when the valve core held by the three-jaw pneumatic chuck 212 on the six-axis robotic arm 211 is moved to the reversing component 24, the two-jaw pneumatic chuck 245 closes to clamp the workpiece. Then, the three-jaw pneumatic chuck 212 releases the workpiece and exits. During this process, if there is a slight positional deviation or the lowering speed is too fast when the six-axis robotic arm 211 releases the material, the slide 243 can slide slightly in the front-back direction inside the balance bar 242. By compressing or stretching the springs 246 at both ends, the impact energy is absorbed, and rigid collision between the workpiece and the two-jaw pneumatic chuck 245 is avoided.

[0029] Specifically, the processing mechanism 2 also includes a dust collection box 25 fixed to the top of the sheet metal room base 1, and the dust collection box 25 is located directly in front of the column 231. A drawer 26 is installed inside the dust collection box 25.

[0030] In this embodiment, when the first radial floating telescopic file 232 and the second radial floating telescopic file 233 grind the valve core workpiece, the generated debris falls naturally under the action of gravity. Since the dust collection box 25 is directly located below the grinding operation area, the debris falls directly into the dust collection box 25 and is received by the drawer 26, preventing the debris from scattering to other areas of the equipment or remaining on the surface of the workpiece. When the debris accumulates to a certain amount, the operator can directly pull out the drawer 26 to empty and clean it. After cleaning, the drawer 26 can be pushed back to its original position for continued use without stopping the machine to disassemble other parts, which is convenient for daily maintenance operations.

[0031] Specifically, the processing mechanism 2 also includes an electrical control cabinet 27 located on the left side of the top front end of the sheet metal room base 1.

[0032] In this embodiment, the electrical control cabinet 27 integrates a programmable logic controller (PLC) and a precision pressure regulating valve for centralized control and process parameter adjustment of various actuators. During the preparation phase, the operator sets parameters based on the material and structural characteristics of the valve core to be processed. Because the spacing between the guide grooves in the upper part of the valve body is narrow, the grinding force of the first radial floating telescopic file 232 needs to be adjusted on the precision pressure regulating valve in the electrical control cabinet 27 to adapt it to the telescopic grinding of the narrow file within the small-spacing guide grooves. After completing the grinding process settings for the upper part, the second radial floating telescopic file 232 is similarly adjusted in the electrical control cabinet 27. The grinding process parameters of the radial floating telescopic file 233 are designed to be compatible with a wider file for efficient grinding of the larger spacing guide grooves in the lower half of the valve body. The control cabinet 27 screen is equipped with a control button to return to the grinding origin. When the operator presses the button, the six-axis robotic arm 211 moves to the preset grinding origin position by articulation. After reaching the position, the six-axis robotic arm 211 transmits the arrival signal to the programmable logic controller inside the control cabinet 27. After receiving the signal, the programmable logic controller displays on the screen that the grinding conditions are ready and prompts the operator to proceed to the next start operation.

[0033] The working principle and usage process of this invention: When using this equipment, the operator first sets the process parameters in the electrical control cabinet 27 according to the material and structural characteristics of the valve core to be processed. Because the spacing of the guide grooves in the upper half of the valve body is narrow and the spacing of the guide grooves in the lower half is large, the grinding force of the first radial floating telescopic file 232 and the second radial floating telescopic file 233 on the precision pressure regulating valve in the electrical control cabinet 27 needs to be adjusted respectively. This allows the first radial floating telescopic file 232 to adapt to the narrower file for telescopic grinding in the small-spacing guide groove, and the second radial floating telescopic file 233 to adapt to the wider file for efficient grinding of the larger-spacing guide grooves in the lower half of the valve body. After the parameters are set, the operator presses the "Return to Grinding Origin" button on the screen of the electrical control cabinet 27. The six-axis robotic arm 211 moves to the preset grinding origin position in a joint motion manner. After reaching the position, the six-axis robotic arm 211 transmits the arrival signal to the programmable logic controller inside the electrical control cabinet 27. After receiving the signal, the programmable logic controller displays on the screen that the grinding conditions are ready to be completed. Upon entering the operation phase, the operator places the valve core workpiece to be processed on the tray 224 of the loading rack 222. The positioning groove 225 inside the tray 224 pre-positions the workpiece. The positioning pin 226 inside the positioning groove 225 cooperates with the positioning hole at the bottom of the valve core workpiece to restrict the displacement and rotational freedom of the workpiece in the horizontal direction, ensuring that each workpiece has a consistent position and posture on the tray 224. After loading is completed, the servo motor 229 drives the pulley 227 to rotate, driving the belt 228 to circulate between the front and rear ends inside the frame 221. Since the loading rack 222 and the unloading rack 223 are fixedly connected to the two ends of the belt 228 respectively, when the belt 228 is running, the loading rack 222 and the unloading rack 223 slide synchronously in opposite directions on the upper end of the frame 221, moving the loading rack 222, which is fully loaded with workpieces to be processed, to the picking area of ​​the six-axis robotic arm 211. The six-axis robotic arm 211 grips the valve core workpiece via its three-jaw pneumatic chuck 212 at its end effector. It first moves the workpiece to the grinding assembly 23. The first radially floating telescopic file 232 on the upper left side of the column 231 is equipped with a narrower file to accommodate the grinding requirements of the narrowly spaced guide grooves in the upper half of the valve core, performing adaptive floating grinding on the upper half. After the upper half is ground, the six-axis robotic arm 211 moves the workpiece to the reversing assembly 24. At this point, the two-jaw pneumatic chuck 245 closes to grip the workpiece, and then the three-jaw pneumatic chuck 212 releases the workpiece and retracts. During this process, if there is a slight positional deviation or excessively fast lowering speed when the six-axis robotic arm 211 releases the workpiece, the slide 243 can slide slightly along the front-back direction inside the balance bar 242, absorbing impact energy by compressing or stretching the springs 246 at both ends, preventing the workpiece from colliding with the two... Rigid collision occurs between the pneumatic jaws 245; then the rotary cylinder 244 drives the two pneumatic jaws 245 to clamp the workpiece and complete a 180° rotation. After the rotation is completed, the six-axis robotic arm 211 clamps the workpiece again and returns it to the grinding assembly 23. The second radial floating telescopic file 233 on the upper right side of the column 231 is equipped with a wider file to perform adaptive floating grinding on the larger spacing guide groove of the lower half of the valve core. During the grinding process, after the valve core clamped by the three pneumatic jaws 212 on the six-axis robotic arm 211 completes the radial floating grinding, the workpiece can be moved to the position of the non-powered fine file 235 as needed. The workpiece is controlled to contact the blade surface of the non-powered fine file 235 at an appropriate angle and force. The relative friction generated between the workpiece and the file surface during the movement of the workpiece is used to remove the secondary burrs or minor flanging that may be generated after the radial floating grinding. Throughout the grinding process, the debris generated by the first radial floating telescopic file 232 and the second radial floating telescopic file 233 when grinding the valve core workpiece falls naturally under the action of gravity. Since the dust collection box 25 is directly below the grinding operation area and in front of the column 231, the debris falls directly into the dust collection box 25 and is received by the drawer 26, thus preventing the debris from scattering to other areas of the equipment or remaining on the surface of the workpiece. After the deburring of the valve core is completed, the six-axis robotic arm 211 transfers the workpiece to the tray 224 of the unloading rack 223. The positioning groove 225 and positioning pin 226 inside the tray 224 precisely position the workpiece. When the workpieces on the loading rack 222 are removed one by one and the workpieces on the unloading rack 223 are full, the servo motor 229 drives the belt 228 to move the loading rack 222 and the unloading rack 223. This allows the unloading rack 223, which is full of workpieces to be processed, to switch to the loading position, while the loading rack 222, which is full of processed workpieces, switches to the unloading position for the operator to unload, thus enabling continuous operation of the equipment without stopping. When the debris accumulates to a certain amount, the operator can directly pull out the drawer 26 to empty and clean it. After cleaning, the drawer 26 can be pushed back to its original position for continued use.

[0034] It should be noted that, in this document, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such process, method, article, or apparatus.

[0035] Although embodiments of the invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the appended claims and their equivalents.

Claims

1. A deburring device for nuclear power plant valve cores based on floating force control, comprising a sheet metal base (1), characterized in that: The sheet metal base (1) is provided with a processing mechanism (2) for deburring the valve core. The processing mechanism (2) includes: The pick-and-place assembly (21) includes a six-axis robotic arm (211) mounted on the top left side of the sheet metal room base (1), and a three-jaw pneumatic chuck (212) is installed at the end of the six-axis robotic arm (211). The loading and unloading assembly (22) is set on the sheet metal room base (1) and used for loading and unloading valve cores; The grinding assembly (23) includes a column (231) fixed to the left side of the top rear end of the sheet metal base (1), a first radial floating telescopic file (232) is installed on the left side of the upper end of the column (231), and a second radial floating telescopic file (233) is installed on the right side of the upper end of the column (231). The reversing assembly (24) includes a stand (241) fixed to the right side of the rear end of the top of the sheet metal base (1). The upper end of the stand (241) is fixed with a sliding block arranged in front and behind. The balance bar (242) has a sliding block (243) slidably installed inside. A rotary cylinder (244) is installed on the upper end of the sliding block (243). A two-jaw pneumatic chuck (245) is installed on the output end above the rotary cylinder (244).

2. The nuclear power plant valve core deburring device based on floating force control according to claim 1, characterized in that: The loading and unloading assembly (22) includes a frame (221) fixed on the top right side of the sheet metal room base (1). The upper end of the frame (221) is slidably equipped with a loading rack (222) and a unloading rack (223). The top of the loading rack (222) and the unloading rack (223) are both equipped with a tray (224). The tray (224) has several positioning slots (225) arranged in an array inside.

3. The nuclear power plant valve core deburring device based on floating force control according to claim 2, characterized in that: The loading and unloading assembly (22) also includes pulleys (227) rotatably installed at the front and rear ends inside the frame (221), a belt (228) is installed between the two pulleys (227), and the loading frame (222) and unloading frame (223) are respectively fixed to the two ends of the belt (228). A servo motor (229) is installed inside the frame (221) and is used to drive the pulleys (227) to rotate.

4. A deburring device for nuclear power plant valve cores based on floating force control according to claim 2, characterized in that: The loading and unloading assembly (22) also includes a positioning pin (226) fixed inside the positioning groove (225).

5. A deburring device for nuclear power plant valve cores based on floating force control according to claim 1, characterized in that: The polishing assembly (23) also includes a tool holder (234) fixed to the top of the column (231), on which a non-powered fine file (235) is mounted.

6. A deburring device for nuclear power plant valve cores based on floating force control according to claim 1, characterized in that: The reversing assembly (24) also includes springs (246) installed at the front and rear ends inside the balance bar (242).

7. A deburring device for nuclear power plant valve cores based on floating force control according to claim 1, characterized in that: The processing mechanism (2) also includes a dust collection box (25) fixed on the top of the sheet metal room base (1), and the dust collection box (25) is located directly in front of the column (231). A drawer (26) is installed inside the dust collection box (25).

8. A deburring device for nuclear power plant valve cores based on floating force control according to claim 1, characterized in that: The processing mechanism (2) also includes an electrical control cabinet (27) located on the left side of the top front end of the sheet metal room base (1).

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