A heavy water reactor pressure tube replacement robot end shield plug installation device

Abstract

The present application relates to the technical field of nuclear power plant full core pressure tube replacement process, and particularly discloses a heavy water reactor pressure tube replacement robot end shielding plug installation device, which comprises a guide pipe, the end of the guide pipe is connected with a positioning bracket, a safety bolt push pipe is coaxially arranged in the guide pipe, the outer surface of the safety bolt push pipe is fixedly connected with a connecting block, and the side, away from the safety bolt push pipe, of the connecting block is connected with a detection rod; the heavy water reactor pressure tube replacement robot end shielding plug installation device can automatically compensate the radial and angular centering errors between the guide pipe, the shielding plug structure and the fuel channel inner lining pipe, and further avoid the damage of the shielding plug itself or the fuel channel end face and the internal damage caused by rigid contact, so as to ensure the operation safety of the reactor.

Description

Technical Field

[0001] This invention relates to the field of nuclear power plant core pressure tube replacement technology, specifically to a heavy water reactor pressure tube replacement robot end shielding plug installation device. Background Technology

[0002] In heavy water reactor nuclear power plants, the shielding plugs at both ends of the fuel passage are key shielding and sealing components, which are directly related to the safety of reactor operation and the effectiveness of radiation protection. Their installation and removal are necessary operations during the replacement of the entire core pressure tube. Since the work environment is in a strong radiation environment, tools are needed to complete the grabbing, alignment, installation and removal of the shielding plugs.

[0003] The conventional shielding plug installation tool is a mechanical integrated structure, mainly integrating a drive unit, a rigid clamping mechanism and a simple positioning structure. Its basic working principle is that the drive mechanism is operated manually to push the clamping mechanism forward, backward and rotate to lock and unlock the shielding plug, complete the gripping or release, and then send the shielding plug into or out of the fuel channel through linear motion.

[0004] In the aforementioned work process, the gripper grasping and channel alignment are all in a rigid contact and rigid transmission mode. In actual remote control operations, due to the alignment error between the tool and the channel opening, the rigid working structure cannot adaptively compensate for the alignment error. Rigid contact can easily cause damage to the shielding plug itself or the end face and interior of the fuel channel, threatening the safe operation of the reactor. At the same time, traditional manual operation is difficult for operators due to the weight of the device, the high labor intensity, and the risk of nuclear radiation to the operator's body, affecting the health and safety of the operator.

[0005] Therefore, a shielding plug installation device is needed at the end of a heavy water reactor pressure pipe replacement robot to solve the above-mentioned technical problems. Summary of the Invention

[0006] This invention provides a shielding plug installation device for the end of a heavy water reactor pressure pipe replacement robot, which aims to solve the technical problem that manual operation and rigid contact of traditional mechanical mechanisms can easily cause damage to the shielding plug itself or the end face and interior of the fuel channel, threatening the safe operation of the reactor.

[0007] The present invention provides an end-effector installation device for a heavy water reactor pressure pipe replacement robot, comprising a conduit, wherein a positioning bracket is connected to the end of the conduit, and further comprising: The shielding plug structure includes a shielding plug body, one end of which is connected to a transition slide tube, and the other end of which is connected to a shielding plug shell. A shielding plug star-shaped frame is slidably arranged inside the shielding plug shell. A locking connection component two is arranged between the shielding plug shell and the shielding plug star-shaped frame. An action generating component is arranged between the shielding plug body and the shielding plug star-shaped frame. The action generating component is used to connect the locking connection component two to the shielding plug shell and the fuel passage liner tube. The safety bolster push tube is coaxially installed inside the conduit. A connecting block is fixedly connected to the outer surface of the safety bolster push tube. A detection rod is connected to the side of the connecting block away from the safety bolster push tube. A tailstock connecting tube is coaxially installed inside the safety bolster push tube. The outer diameter of the tailstock connecting tube is smaller than the inner diameter of the safety bolster push tube. A pushing structure is connected to the safety bolster push tube. One end of the tailstock connecting tube is connected to a star-shaped pusher tailstock. Locking connection component one is disposed between the safety bolt push tube and the star-shaped pusher tail seat. The pushing structure is used to activate locking component one so as to separate locking connection component one and lock the shield plug structure.

[0008] Preferably, it also includes a slide base, a guide tube is installed on the slide base, a slide is slidably disposed on one side of the slide base, a drive guide assembly is disposed between the slide base and the slide, the drive guide assembly is used to drive the slide to move along the length direction of the slide base, and a floating device assembly is connected to the slide base, the floating device assembly is used to perform positioning compensation for the slide base.

[0009] Preferably, the floating device assembly includes a floating base, a buffer, a contact ball, a guide sleeve, a floating shaft, a universal ball, a floating bottom plate, a floating sleeve, a pressure cap, and a blocking and limiting assembly. Multiple buffers are evenly installed inside the floating base, with each buffer's output end connected to a contact ball. The guide sleeve is coaxially installed inside the floating base, and the floating shaft is coaxially located inside the guide sleeve. The universal ball is connected to the outer surface of the floating shaft. The floating bottom plate is located below the floating base, and the floating sleeve is located between the floating bottom plate and the floating base, connected to the floating bottom plate. The inner wall of the floating sleeve has a ball hole, and the universal ball is located inside the ball hole and rolls through it to the floating sleeve. The pressure cap is installed on the top side of the floating sleeve, limiting the position of the universal ball. The blocking and limiting assembly is located between the floating shaft and the guide sleeve, preventing separation of the floating shaft and the guide sleeve. The entire floating device assembly achieves small-amplitude universal deflection and positional offset, automatically compensating for alignment errors.

[0010] Preferably, the pushing structure includes a support base, an electric cylinder one, an inner connecting tube push-pull component, an electric cylinder two, a pressure head connecting rod, and a shielding plug guide rod push head. One end of the support base is connected to the outer surface of the safety bolt push tube, and the other end of the support base is connected to the slide table. The electric cylinder one is mounted on the support base. One end of the inner connecting tube push-pull component is connected to the output end of the electric cylinder one, and the other end of the inner connecting tube push-pull component is connected to the tailstock connecting tube. The electric cylinder two is mounted at the end of the tailstock connecting tube, and the output end of the electric cylinder two is connected to the pressure head. The connecting rods are connected, and the pressure head connecting rod and the tailstock connecting tube are coaxially arranged. The diameter of the pressure head connecting rod is smaller than the inner diameter of the tailstock connecting tube. The shielding plug guide rod push head is connected to the tailstock connecting tube. The shielding plug guide rod push head is located inside the star-shaped push frame tailstock and is slidably connected to the star-shaped push frame tailstock. The pressure head connecting rod passes through the star-shaped push frame tailstock and is slidably connected to the star-shaped push frame tailstock. The graded linear push-pull action is realized through electric cylinder one and electric cylinder two. There is no movement interference between the components, so that the subsequent locking action can be completed.

[0011] Preferably, the locking connection assembly includes a star-shaped push rod, an inner locking rod, and an inner locking head. There are multiple star-shaped push rods, evenly installed at the end of the star-shaped push frame tailstock away from the tailstock connecting tube. The star-shaped push rods are inclined, with their ends facing the axis of the star-shaped push frame tailstock. The angle between the star-shaped push rod and the axis of the star-shaped push frame tailstock is acute. A receiving groove is formed on the outer surface of the safety bolt push tube. There are multiple inner locking rods, each penetrating the side wall of the safety bolt push tube and slidably connected to it. Each inner locking rod has an inner locking head connected to its end. The width of the inner locking head matches the width of the receiving groove, and the thickness of the inner locking head is less than the depth of the receiving groove. Each inner locking rod has a through hole on its outer surface, which is inclined and parallel to the star-shaped push rod. The star-shaped push rod is located inside the through hole and slidably connected to it. Each star-shaped push rod corresponds to one through hole.

[0012] Preferably, the actuating component includes a first return spring, a second return spring, a shielding plug guide rod, a shielding plug safety pin, a retaining ring, a guide rod nut, and a limiting ring. Multiple mounting holes are evenly distributed at one end of the shielding plug body. Multiple first return springs are present, with one end connected to each mounting hole in a one-to-one correspondence, and the other end connected to the shielding plug star-shaped frame. One end of the second return spring is connected to the shielding plug star-shaped frame, and the other end is connected to the shielding plug safety pin. The shielding plug guide rod is connected to the side of the shielding plug star-shaped frame away from the first return spring. The shielding plug safety pin is slidably disposed on the outside of the shielding plug guide rod. On the surface, a limiting ring is connected to the outer surface of the shielding plug safety pin. A retaining ring is installed on the inner wall of the shielding plug shell. The retaining ring is coaxially arranged with the shielding plug star frame. The shielding plug guide rod is coaxially arranged with the retaining ring. The shielding plug safety pin passes through the retaining ring and is coaxially arranged with the retaining ring. The diameter of the shielding plug safety pin is smaller than the inner diameter of the retaining ring. The outer diameter of the limiting ring is larger than the inner diameter of the retaining ring but smaller than the outer diameter of the retaining ring. The outer diameter of the limiting ring is larger than the inner diameter of the safety pin push tube. Multiple clearance holes are opened on one side of the retaining ring. An annular connecting groove is opened on the inner wall of the shielding plug shell. The width of the inner clamp is adapted to the width of the annular connecting groove. The end of the shielding plug guide rod is fixedly connected with a guide rod nut.

[0013] Preferably, the locking connection component two includes through holes, locking posts, and shielding plug claws. There are multiple through holes arranged in a circumferential array on the outer surface of the shielding plug shell. There are also multiple locking posts, evenly installed at one end of the shielding plug star-shaped frame. The locking posts are inclined, with their ends facing the center of the shielding plug star-shaped frame, and the angle between the locking posts and the axis of the shielding plug star-shaped frame is acute. There are also multiple shielding plug claws, located inside the through holes and slidably connected to them. Each shielding plug claw corresponds to one through hole. Each shielding plug claw has a second through hole on one side, which is inclined. A locking post is located inside the second through hole and slidably connected to it. Each locking post also corresponds to a clearance hole.

[0014] Preferably, an annular groove is formed on the outer surface of the end of the safety plug push tube, and a wear-resistant ring is connected to the outer surface of the annular groove. The outer diameter of the wear-resistant ring is adapted to the outer diameter of the safety plug push tube. The outer diameter of the shielding plug shell is adapted to the outer diameter of the wear-resistant ring, and the inner diameter of the shielding plug shell is adapted to the outer diameter of the safety plug push tube.

[0015] Preferably, the drive guide assembly includes a guide rail, a rack, a slide block, a drive component, and a gear. The guide rail and the rack are both mounted on the slide table, and the length directions of the guide rail and the rack are parallel to the length direction of the slide table base. The slide block is slidably disposed on the outer surface of the guide rail and is connected to the slide table. The drive component is mounted on the slide table, and the output end of the drive component is connected to the gear, and the gear meshes with the rack.

[0016] Preferably, a protective cover is provided on the slide base, the protective cover is connected to the floating base plate, a visual recognition module is connected to the end of the protective cover near the positioning bracket, a pressure sensor is installed on the slide, and the pressure sensor is connected to the detection rod.

[0017] The beneficial effects of this invention are: 1. By setting up floating device components, small-amplitude omnidirectional deflection and positional offset can be achieved by relying on floating shafts, universal balls, buffers and other structures. This can automatically compensate for radial and angular alignment errors between the conduit, shielding plug structure and fuel channel liner, thereby avoiding damage to the shielding plug itself or the end face and interior of the fuel channel caused by rigid contact, and ensuring the operational safety of the reactor.

[0018] 2. Pressure sensors can collect operational pressure data in real time and feed it back to the control system, enabling real-time monitoring of force values. This allows for timely identification and shutdown of abnormal operating conditions such as jamming and pressure overload, preventing tooling overload from damaging key reactor components. It can also promptly avoid abnormal operating conditions such as excessive docking pressure, further ensuring the service life of the equipment. Moreover, during operation, personnel do not need to enter the strong radiation area at close range, significantly reducing the risk of nuclear radiation exposure for workers and protecting the health of maintenance personnel.

[0019] 3. The device is assembled from independent functional modules such as sliding base, guide tube, and clamping components. The overall layout is compact and can be quickly mounted on the end of the disassembly and assembly robot for use. It can be installed and used on-site without modifying the existing facilities of the nuclear power plant. Attached Figure Description

[0020] Figure 1 This is a schematic diagram of the structure of the present invention.

[0021] Figure 2 This is a cross-sectional structural diagram of the present invention.

[0022] Figure 3 This is the present invention. Figure 2 A magnified structural diagram of point A in the middle.

[0023] Figure 4 This is the present invention. Figure 2 A magnified structural diagram at point B in the middle.

[0024] Figure 5 This is a structural schematic diagram of the slide base and its connecting components of the present invention.

[0025] Figure 6 This is a first-view structural schematic diagram of the slide table and its connecting components of the present invention.

[0026] Figure 7 This is a second-view structural schematic diagram of the slide and its connecting components of the present invention.

[0027] Figure 8 This is a schematic diagram of the internal structure of the slide table and its connecting components of the present invention.

[0028] Figure 9 This is the present invention. Figure 8 A magnified structural diagram at point C.

[0029] Figure 10 This is a schematic diagram of the shielding plug structure of the present invention.

[0030] Figure 11 This is the present invention. Figure 10 A schematic diagram of a partial cross-sectional structure.

[0031] Figure 12 This is a first-view structural schematic diagram of the floating device component of the present invention.

[0032] Figure 13 This is a second-view structural schematic diagram of the floating device component of the present invention.

[0033] Figure 14 This is a cross-sectional structural diagram of the floating device component of the present invention.

[0034] Figure 15 This is the present invention. Figure 14 A magnified structural diagram at point D.

[0035] Figure label: 10. Linear slide assembly; 101. Slide base; 102. Slide; 10201. Detector rod slot; 103. Guide rail; 104. Rack; 105. Slide block; 106. Drive unit; 107. Gear; 108. Protective cover; 109. Vision recognition module; 20. Guide tube; 2001. Clearance groove; 201. Positioning bracket; 203. Connecting block; 204. Detector rod; 205. Pressure sensor; 30. Clamping assembly Components; 301, Safety bolt push tube; 30101, Guide slide groove; 30102, Storage groove; 302, Tail seat connecting tube; 303, Support base; 304, Electric cylinder one; 305, Inner connecting tube push-pull component; 306, Electric cylinder two; 307, Pressure head connecting rod; 308, Shielding plug guide rod push pressure head; 309, Star-shaped push frame tail seat; 310, Star-shaped push rod; 311, Inner clamp rod; 31101, Through hole one; 312, Inner clamp head; 313. Wear-resistant ring; 40. Shielding plug structure; 401. Shielding plug body; 402. Transition slide tube; 403. Shielding plug shell; 40301. Annular connecting groove; 40302. Through hole; 404. Shielding plug star frame; 405. Return spring one; 406. Return spring two; 407. Shielding plug guide rod; 408. Shielding plug safety bolt; 409. Retaining ring; 40901. Displacement hole; 410. Guide rod nut; 411. Locking clip Column; 412, shielding plug claw; 41201, perforation two; 413, limiting ring; 50, floating device assembly; 501, floating base; 50101, limiting hole; 502, buffer; 503, contact ball; 504, guide sleeve; 505, floating shaft; 506, universal ball; 507, floating base plate; 508, floating sleeve; 509, pressure cap; 510, limiting ring seat; 511, limiting blocking ring; 512, limiting rod. Detailed Implementation

[0036] Embodiments of the present invention are described in detail below, examples of which are illustrated in the accompanying drawings. The embodiments described below with reference to the accompanying drawings are exemplary and intended to explain the present invention, and should not be construed as limiting the present invention.

[0037] like Figures 1 to 15As shown, the present invention discloses an end-effector shielding plug installation device for a heavy water reactor pressure pipe replacement robot, comprising a linear slide assembly 10 and a shielding plug structure 40. The linear slide assembly 10 includes a slide base 101, a slide 102 slidably disposed on one side of the slide base 101, and a drive guide assembly disposed between the slide base 101 and the slide 102. The drive guide assembly is used to drive the slide 102 to move along the length direction of the slide base 101. A guide tube 20 and a positioning bracket 201 are installed at the middle position on one side of the slide base 101. The length direction of the guide tube 20 is perpendicular to the slide. The base 101 is parallel in length, the positioning bracket 201 is circular, and the end of the positioning bracket 201 is provided with a guide slope, which facilitates the shielding plug structure 40 to enter the interior of the positioning bracket 201. The end of the positioning bracket 201 is connected to and communicates with the end of the conduit 20, and the positioning bracket 201 and the conduit 20 are coaxially arranged. The inner diameter of the positioning bracket 201 is adapted to the inner diameter of the conduit 20. A clamping assembly 30 is provided between the conduit 20 and the slide table 102. The clamping assembly 30 is used to grip and install the shielding plug structure 40.

[0038] Under normal circumstances, multiple shielding plug structures 40 are evenly placed inside the packaging box. When installing the shielding plug structure 40 into the fuel passage liner, the linear slide assembly 10 is moved to a position corresponding to the center of the shielding plug structure 40. Then, the clamping assembly 30 transfers one shielding plug structure 40 located inside the packaging box into the conduit 20. The linear slide assembly then moves the conduit 20 and the shielding plug structure 40 to a position opposite to the fuel passage liner. Finally, the clamping assembly 30 transfers the shielding plug structure 40 into the fuel passage liner, thus completing the installation operation of the entire shielding plug structure 40.

[0039] like Figures 12 to 15A floating device assembly 50 is connected to the slide base 101. The floating device assembly 50 is used to position and compensate the slide base 101 so that the shielding plug structure 40 is coaxial with the conduit 20 and the fuel passage liner. The floating device assembly 50 includes a floating base 501, which is cylindrical in shape. Multiple buffers 502 are installed inside the floating base 501. Each buffer 502 has a contact ball 503 connected to its output end. A guide sleeve 504 is connected to the center of the floating base 501. A floating shaft 505 is coaxially arranged inside the guide sleeve 504. A universal ball 506 is connected to the outer surface of the floating shaft 505. The diameter of the universal ball 506 is larger than the outer diameter of the guide sleeve 504. Below the floating base 501... A floating base plate 507 is provided, with multiple recesses on one side of the floating base plate 507. Contact balls 503 are located inside the recesses and correspond to each recess. A floating sleeve 508 is installed on one side of the floating base plate 507. The floating sleeve 508 is coaxially arranged with the floating shaft 505. A ball hole is provided on the inner wall of the floating sleeve 508. A universal ball 506 is located inside the ball hole and is rolledly connected to the floating sleeve 508 through the ball hole. A pressure cap 509 is fixedly installed on the top side of the floating sleeve 508. The pressure cap 509 is used to limit the universal ball 506 to prevent the universal ball 506 from moving out of the interior of the floating sleeve 508. A blocking and limiting component is provided between the floating shaft 505 and the guide sleeve 504 to prevent the floating shaft 505 from separating from the guide sleeve 504.

[0040] When the shielding plug structure 40 is inserted into the conduit 20 and when the shielding plug structure 40 is docked with the fuel channel liner, if there are radial or angular alignment errors, the floating shaft 505 and the universal ball 506 can make a small universal deflection and offset within the ball hole of the floating sleeve 508, thereby driving the slide base 101 and the conduit 20 to synchronously fine-tune their attitudes and achieve flexible alignment. Furthermore, the buffer 502 can reset the floating base plate 507 after the docking work is completed. The buffer 502 includes structures such as a telescopic rod and a spring. The spring is elastically deformed by the movement of the output end of the telescopic rod, thereby performing buffering and reset operations. Since the structure of the buffer 502 is an existing mature technology, its specific structure will not be described.

[0041] The blocking and limiting assembly includes a limiting ring seat 510 installed on the outer surface of the floating shaft 505 and a limiting blocking ring 511 disposed on the inner wall of the guide sleeve 504. The limiting ring seat 510 has a T-shaped cross-section and is located inside the guide sleeve 504 and is slidably connected to the guide sleeve 504. The limiting blocking ring 511 is coaxially arranged with the guide sleeve 504, and the inner diameter of the limiting blocking ring 511 is larger than the diameter of the floating shaft 505 to ensure that the floating shaft 505 moves smoothly. The inner diameter of the limiting blocking ring 511 is adapted to the minimum diameter of the limiting ring seat 510.

[0042] The limiting stop ring 511 and the limiting ring seat 510 can prevent the floating shaft 505 from separating from the guide sleeve 504 and ensure that the floating shaft 505 can move.

[0043] The floating base 501 has at least two limiting holes 50101 inside. At least two limiting rods 512 are fixedly connected to one side of the floating base plate 507. The limiting rods 512 are coaxially arranged with the limiting holes 50101 and pass through the inside of the limiting holes 50101. The limiting rods 512 and the limiting holes 50101 correspond one-to-one, and the diameter of the limiting rods 512 is smaller than the diameter of the limiting holes 50101. The rotation angle of the floating base plate 507 can be limited by the limiting rods 512 and the limiting holes 50101.

[0044] It should be noted that under normal circumstances, the limiting stop ring 511 overlaps the limiting ring seat 510, and the contact ball 503 is located inside the concave hole. When the floating base plate 507 is displaced, the limiting stop ring 511 will move away from the limiting ring seat 510. At this time, the floating base plate 507 will squeeze the output end of the buffer 502 and cause the spring inside the buffer 502 to deform. After the entire installation work is completed, the floating base plate 507 can be reset through the buffer 502.

[0045] The linear slide assembly 10 is mounted on the ground rail gantry robot via the floating device assembly 50. The ground rail gantry robot is placed on the internal hanging frame assembly of the power plant via the limiting mechanism. The entire equipment can be installed through a highly modular design without modifying the internal facilities of the power plant. This saves a lot of manpower and resources and minimizes the risk to personnel.

[0046] like Figures 2 to 9The clamping assembly 30 includes a safety plug push tube 301 coaxially disposed inside the conduit 20. A clearance groove 2001 is formed on the outer surface of the safety plug push tube conduit 20, and a connecting block 203 is fixedly connected to the outer surface of the safety plug push tube 301. The connecting block 203 passes through the interior of the clearance groove 2001 and is slidably connected to the clearance groove 2001, ensuring smooth movement of the safety plug push tube 301. A detection rod 204 is connected to the side of the connecting block 203 away from the safety plug push tube 301. A detection rod through groove 10201 is formed on the slide table 102, and the detection rod 204 passes through the interior of the detection rod through groove 10201. The width of the detection rod through groove 10201 is adapted to the diameter of the detection rod 204. A pressure sensor 205 is installed on the upper part of the connecting block 203. The pressure sensor 205 is connected to the detection rod 204 and is used to detect the pressure received by the connecting block 203. A tailstock connecting tube 302 is coaxially arranged inside the safety bolster push tube 301. The outer diameter of the tailstock connecting tube 302 is smaller than the inner diameter of the safety bolster push tube 301. A pushing structure is connected to the safety bolster push tube 301. The pushing structure includes a support seat 303 connected to the outer surface of the safety bolster push tube 301. The support seat 303 is connected to the slide table 102. An electric cylinder 304 is installed on the support seat 303. The output end of the electric cylinder 304 is connected to an inner connecting tube push-pull component 305. The end of the inner connecting tube push-pull component 305 is connected to the tailstock connecting tube 302. The inner connecting tube push-pull component 305 and the support seat 303 are connected together. All components pass through the interior of the clearance groove 2001, and a guide groove 30101 is provided on the outer surface of the safety bolt push tube 301. The guide groove 30101 corresponds to and is connected to the clearance groove 2001. The inner connecting tube push-pull component 305 passes through the interior of the clearance groove 2001 and is slidably connected to the clearance groove 2001. The length of the guide groove 30101 is less than the length of the clearance groove 2001. An electric cylinder 2 306 is installed at the end of the tailstock connecting tube 302. The length of the cross-sectional dimension of the electric cylinder 2 306 is less than the inner diameter of the safety bolt push tube 301 to avoid interference between the electric cylinder 2 306 and the safety bolt push tube 301 during movement, ensuring that the electric cylinder 2 306 moves smoothly with the tailstock connecting tube 302. The output end of the electric cylinder 306 is connected to a pressure head connecting rod 307. The pressure head connecting rod 307 is coaxially arranged with the tailstock connecting tube 302, and the diameter of the pressure head connecting rod 307 is smaller than the inner diameter of the tailstock connecting tube 302. The end of the pressure head connecting rod 307 is connected to a shielding plug guide rod push head 308. One end of the tailstock connecting tube 302 is connected to a star-shaped pusher tailstock 309. The shielding plug guide rod push head 308 is located inside the star-shaped pusher tailstock 309 and is slidably connected to the star-shaped pusher tailstock 309. The pressure head connecting rod 307 passes through the star-shaped pusher tailstock 309 and is slidably connected to the star-shaped pusher tailstock 309. A locking connection assembly 1 is provided between the safety bolt push tube 301 and the star-shaped pusher tailstock 309. The pushing structure is used to activate the locking assembly 1.To separate and lock the locking connection assembly and the shielding plug structure 40.

[0047] The locking connection assembly includes multiple star-shaped push rods 310, which are evenly installed on the end of the star-shaped pusher tail seat 309 away from the tail seat connecting tube 302. The star-shaped push rods 310 are inclined, with their ends facing the axis of the star-shaped pusher tail seat 309. The angle between the star-shaped push rods 310 and the axis of the star-shaped pusher tail seat 309 is an acute angle. The outer surface of the safety bolt push tube 301 has multiple storage slots 30102, and the inner wall of each storage slot 30102 is slidably provided with multiple inner locking rods 311. The inner locking rods 311 penetrate the side wall of the safety bolt push tube 301. It extends into the interior of the safety bolt push tube 301. Each inner locking rod 311 has an inner locking head 312 connected to its end. The inner locking head 312 is adapted to the size of the storage groove 30102. The thickness of the inner locking head 312 is less than the depth of the storage groove 30102. Each inner locking rod 311 has a through hole 31101 on its outer surface. The through hole 31101 is inclined and parallel to the star-shaped push rod 310. The star-shaped push rod 310 is located inside the through hole 31101 and is slidably connected to the through hole 31101. The star-shaped push rod 310 corresponds to the through hole 31101 one by one.

[0048] When the shielding plug structure 40 is not connected, the end of the star-shaped push rod 310 is located at the entrance position of the perforation 31101, and the inner locking head 312 is located inside the receiving groove 30102. When it is necessary to move the shielding plug structure 40 into the conduit 20, the drive guide assembly drives the slide 102 to move. At this time, the connecting block 203 moves along the direction of the clearance groove 2001. At this time, the safety bolt push tube 301 moves synchronously and a part of the safety bolt push tube 301 enters into the shielding plug structure 40. Since the inner locking head 312 is located inside the receiving groove 30102, there will be no interference with the shielding plug structure 40. Then, the shielding plug structure 40 can be transferred into the conduit 20 through the cooperation of the electric cylinder 304, the electric cylinder 306, the locking connection assembly and the shielding plug structure 40.

[0049] like Figures 2 to 4 , Figure 10 and Figure 11The shielding plug structure 40 includes a shielding plug body 401. One end of the shielding plug body 401 is connected to a transition slide tube 402, and the other end of the shielding plug body 401 is connected to a shielding plug housing 403. The outer diameter of the shielding plug housing 403 is adapted to the outer diameter of the safety bolt push tube 301. A shielding plug star-shaped frame 404 is slidably arranged inside the shielding plug housing 403. An action generating component is arranged between the shielding plug body 401 and the shielding plug star-shaped frame 404. The action generating component includes multiple return springs 405. Multiple mounting holes are evenly opened at one end of the shielding plug body 401. The inner diameter of each mounting hole is... Each wall is equipped with a return spring 405. The end of the return spring 405 is connected to the shielding plug star frame 404. A return spring 406 and a shielding plug guide rod 407 are fixedly installed on the side of the shielding plug star frame 404 away from the return spring 405. The return spring 406 is sleeved on the outer surface of the shielding plug guide rod 407. A shielding plug safety bolt 408 is slidably disposed on the outer surface of the shielding plug guide rod 407. The end of the return spring 406 away from the shielding plug star frame 404 is connected to the shielding plug safety bolt 408. A limit ring 413 is fixedly connected to the outer surface of the shielding plug safety bolt 408. A retaining ring 409 is fixedly connected to the inner wall of the shielding plug housing 403. The retaining ring 409 is coaxially arranged with the shielding plug star frame 404. The shielding plug guide rod 407 is coaxially arranged with the retaining ring 409, and the shielding plug safety plug 408 passes through the retaining ring 409 and is coaxially arranged with the retaining ring 409. The diameter of the shielding plug safety plug 408 is smaller than the inner diameter of the retaining ring 409. The outer diameter of the limiting ring 413 is larger than the inner diameter of the retaining ring 409 but smaller than the outer diameter of the retaining ring 409. The outer diameter of the limiting ring 413 is larger than the inner diameter of the safety plug push tube 301, so that after the safety plug push tube 301 enters the interior of the shielding plug housing 403, The limiting ring can only move between the end of the retaining ring 409 and the end of the safety plug push tube 301. The retaining ring 409 has multiple clearance holes 40901 on one side. The inner wall of the shield plug housing 403 has an annular connecting groove 40301. The width of the inner clamp 312 is adapted to the width of the annular connecting groove 40301. The end of the shield plug guide rod 407 is fixedly connected to the guide rod nut 410. A locking connection component two is provided between the shield plug housing 403 and the shield plug star frame 404. The action generating component is used to connect the locking connection component two to the shield plug housing 403 and the fuel passage liner tube.

[0050] The locking connection assembly two includes multiple through holes 40302 evenly opened on the outer surface of the shielding plug housing 403 and multiple locking posts 411 connected to the end of the shielding plug star frame 404. The locking posts 411 are inclined, with the end of the locking post 411 facing the middle of the shielding plug star frame 404, and the included angle between the locking post 411 and the axis of the shielding plug star frame 404 is an acute angle. Each through hole 40302 has a shielding plug claw 412 slidably arranged inside it. A second through hole 41201 is opened on one side of the shielding plug claw 412. The second through hole 41201 is inclined. The locking post 411 is located inside the second through hole 41201 and slidably connected to the second through hole 41201. The locking post 411 corresponds one-to-one with the second through hole 41201 and one-to-one with the clearance hole 40901 to avoid the locking post 411 being blocked by the retaining ring 409 during movement, and to ensure that the locking post 411 moves smoothly.

[0051] Under normal circumstances, a portion of the shielding plug claw 412 is located outside the shielding plug housing 403, and the portion of the shielding plug claw 412 exposed in the shielding plug housing 403 is stepped in shape. The elastic force of the first reset spring 405 is greater than that of the second reset spring 406.

[0052] An annular groove is formed on the outer surface of the end of the safety bolster push tube 301. A wear-resistant ring 313 is connected to the outer surface of the annular groove. The outer diameter of the wear-resistant ring 313 is adapted to the outer diameter of the safety bolster push tube 301. The outer diameter of the shielding plug shell 403 is adapted to the outer diameter of the wear-resistant ring 313. The inner diameter of the shielding plug shell 403 is adapted to the outer diameter of the safety bolster push tube 301.

[0053] It should be noted that both ends of the annular connecting groove 40301 and the storage groove 30102 are provided with bevels to facilitate the connection of the inner card head 312 with the annular connecting groove 40301 and the storage groove 30102.

[0054] The specific steps for introducing the shielding plug body 401 into the conduit 20 are as follows: S1. The drive guide assembly moves the slide 102 toward the shield plug housing 403. At this time, the safety bolt push tube 301 moves synchronously and its end enters the interior of the shield plug housing 403. When the wear ring 313 contacts the shield plug housing 403, the drive guide assembly stops moving. At this time, the inner clamp head 312 corresponds to the position of the annular connecting groove 40301. Before the wear ring 313 contacts the shield plug housing 403, the end of the safety bolt push tube 301 first contacts the limiting ring 413. As the safety bolt push tube 301 moves, the shield plug safety bolt 408 will move and squeeze the reset spring 406. At this time, the position of the shield plug star frame 404 will not move. S2. The electric cylinder 304 is started, extending its output end. This causes the inner connecting tube push-pull component 305 to move the tail connecting tube 302 toward the shielding plug housing 403. At this time, the star-shaped pusher tail seat 309 drives multiple star-shaped push rods 310 to move toward the shielding plug housing 403. Since the star-shaped push rods 310 and the through hole 31101 are both inclined and their cooperation relationship is a sliding connection, as the star push rods 310 move, the inner clamp rod 311 drives the inner clamp head 312 to move away from the center of the safety bolt push tube 301, thereby causing the inner clamp head 312 to move out of the inside of the storage groove 30102 and into the inside of the annular connecting groove 40301. S3. When the electric cylinder 306 is started, its output end extends. The pressure head connecting rod 307 drives the shielding plug guide rod push head 308 to move towards the shielding plug housing 403. The shielding plug guide rod push head 308 first contacts the guide rod nut 410 and drives the shielding plug guide rod 407 to move. As the shielding plug guide rod 407 moves, the shielding plug star frame 404 will compress the return spring 405, putting the return spring 405 in a compressed state. When the guide rod nut 410 contacts the shielding plug safety bolt 408... This will cause the shielding plug safety pin 408 to move synchronously. At this time, the return spring 405 is still compressed. During this process, as the shielding plug star frame 404 moves, the locking pin 411 moves away from the guide tube 20. Since both the second through hole 41201 and the locking pin 411 are inclined, as the locking pin 411 moves, the shielding plug claw 412 moves towards the center of the shielding plug outer shell 403 under the action of the second through hole 41201, thereby causing the shielding plug claw 412 to retract into the interior of the through hole 40302. S4. The drive guide assembly drives the slide 102 to move in the opposite direction. At this time, the connection between the inner clamp head 312 and the annular connecting groove 40301 will drive the shielding plug shell 403 to move. Since the shielding plug claw 412 has been retracted into the through hole 40302, the shielding plug shell 403 can smoothly pass through the positioning bracket 201 and enter the inside of the guide tube 20.

[0055] It should be noted that the travel of the slide 102 is greater than the length of the shielding plug structure 40, and the length of the conduit 20 is greater than the length of the shielding plug structure 40, so that the shielding plug structure 40 can be fully inserted into the conduit 20. The inner wall of the fuel passage liner is provided with a groove that matches the size of the shielding plug claw 412, so that the shielding plug claw 412 can be inserted into the groove.

[0056] The workflow for transferring the shielding plug housing 403 to the fuel passage liner is as follows: S1. Align the position of the conduit 20 with the inner liner of the fuel passage; S2. The drive guide assembly drives the slide table 102 to move towards the fuel passage liner tube, so that the safety plug push tube 301 enters the interior of the fuel passage liner tube. At this time, the shield plug structure 40 moves and enters the interior of the fuel passage liner tube. S3, the electric cylinder 2 306 is started, causing its output end to retract. The pressure head connecting rod 307 drives the shielding plug guide rod to push the pressure head 308 away from the shielding plug housing 403. At this time, no pressure is applied to the shielding plug safety bolt 408 and the shielding plug guide rod 407. Under the reaction force of the return spring 1 405 and the return spring 2 406, the shielding plug safety bolt 408 and the shielding plug star frame 404 are reset. During the reset of the shielding plug star frame 404, the locking pin 411 moves towards the guide tube 20. Under the action of the perforation 2 41201, the shielding plug claw 412 moves away from the center of the shielding plug housing 403. The shielding plug claw 412 moves out from the inside of the through hole 40302 and into the groove opened inside the fuel passage liner tube, thereby connecting the shielding plug housing 403 and the fuel passage liner tube. S4. The electric cylinder 304 is started, causing its output end to retract, which causes the inner connecting tube push-pull component 305 to drive the tail seat connecting tube 302 to move away from the shield plug shell 403. At this time, the inner locking rod 311 moves synchronously. Under the action of the through hole 31101, the inner locking rod 311 drives the inner locking head 312 to move towards the center of the safety bolt push tube 301, so that the inner locking head 312 moves out from the inside of the annular connecting groove 40301 and into the inside of the receiving groove 30102. At this time, the connection between the safety bolt push tube 301 and the shield plug shell 403 is released. S5. The drive guide assembly drives the slide 102 to move in the opposite direction, thereby moving the safety plug push tube 301 out from inside the fuel passage liner and back to its initial position, thus completing the installation of the shield plug structure 40.

[0057] like Figures 5 to 8 The drive guide assembly includes a guide rail 103 and a rack 104 mounted on the slide table 102. Both the rack 104 and the guide rail 103 are located below the slide table 102. The length directions of the guide rail 103 and the rack 104 are parallel to the length direction of the slide table base 101. A slide block 105 is slidably connected to the outer surface of the guide rail 103. The slide block 105 is connected to the slide table 102. The slide block 105 and the guide rail 103 are used to ensure the stability of the slide table 102 during movement. A drive member 106 is fixedly mounted on one side of the slide table 102. A gear 107 is connected to the output end of the drive member 106. The gear 107 meshes with the rack 104. The drive member 106 is used to drive the gear 107 to rotate, thereby causing the slide table 102 to move under the meshing action of the rack 104 and the gear 107.

[0058] During the process of the drive guide assembly moving the slide 102, the drive unit 106 is activated to rotate the gear 107. Under the meshing action of the gear 107 and the rack 104, the slide 102 moves along the length direction of the guide rail 103, thereby driving the safety bolt push tube 301 to move. By controlling the drive unit 106 to rotate the gear 107 in the forward and reverse directions, the slide 102 can move forward and backward.

[0059] When the wear-resistant ring 313 comes into contact with the shield plug housing 403, the safety plug push tube 301 will be simultaneously subjected to pressure. Since the connecting block 203 is connected to the safety plug push tube 301, the connecting block 203 and the detection rod 204 are subjected to pressure. Since the pressure sensor 205 is connected to the detection rod 204, the pressure sensor 205 detects the pressure it receives and transmits a signal to the external controller. The external controller then shuts down the drive component 106, thereby enabling real-time monitoring and feedback of the force and torque during the installation process, and preventing excessive pressure between the wear-resistant ring 313 and the shield plug housing 403.

[0060] It should be noted that the working time of electric cylinder 304, electric cylinder 306, and drive unit 106 are all controlled by an external controller, thereby precisely controlling the travel of the output ends of electric cylinder 304 and electric cylinder 306 and the travel distance of slide 102. Since the control technology is a mature existing technology, it is not described in detail. The drive unit is a motor with radiation-resistant shielding reinforcement design. The front end of the motor is designed with a shielding block to form a multi-layer composite shielding protection system, which can block the damage caused by radiation to the motor parts, reduce the risk of electronic device failure caused by radiation, and meet the long-term stable operation requirements of the motor under radiation conditions.

[0061] like Figure 1 A protective cover 108 is connected to the slide base 101. A floating base plate 507 is connected to the protective cover 108. A protective space is formed between the protective cover 108 and the slide base 101 to protect the conduit 20, clamping assembly and other components, and ensure their service life. A vision recognition module 109 is connected to the end of the protective cover 108 near the positioning bracket 201. The vision recognition module 109 is used to identify the relative positions of the linear slide assembly 10 and the shielding plug structure 40, as well as the linear slide assembly 10 and the fuel channel liner.

[0062] After recognizing the position of the linear slide assembly 10, the visual recognition module 109 uses a vision system and coordinate algorithm to move the linear slide assembly 10 to the appropriate position. When the shielding plug structure 40 is retracted into the conduit 20, the vision system and coordinate algorithm are used to align the conduit 20 with the shielding plug shell 403, facilitating the entry of the shielding plug structure 40 into the conduit 20. After the shielding plug structure 40 is retracted into the conduit 20, the vision system and coordinate algorithm are used to align the conduit 20 with the fuel channel liner, facilitating the delivery of the shielding plug structure 40 into the fuel channel liner. Since the vision system and coordinate algorithm are existing mature technologies, they are not described in detail. The vision system and visual recognition module realize the pre-positioning and recognition of the operation, upgrading the traditional "blind operation" to "visualized and intelligent" operation, greatly reducing the dependence on the operator's experience and improving the alignment accuracy and first-time success rate.

[0063] In the description of this invention, it should be understood that the terms "center," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," "counterclockwise," "axial," "radial," and "circumferential" indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are used only for the convenience of describing this invention and simplifying the description, and are not intended to indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this invention.

[0064] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of that feature. In the description of this invention, "a plurality of" means at least two, such as two, three, etc., unless otherwise explicitly specified.

[0065] Although embodiments of the present invention have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present invention. Those skilled in the art can make changes, modifications, substitutions and variations to the above embodiments within the scope of the present invention.

Claims

1. A device for installing an end-effector shielding plug on a heavy water reactor pressure pipe replacement robot, comprising a conduit (20), characterized in that, The end of the catheter (20) is connected to a positioning bracket (201), and also includes: The shielding plug structure (40) includes a shielding plug body (401), one end of which is connected to a transition slide tube (402), and the other end of which is connected to a shielding plug shell (403). A shielding plug star frame (404) is slidably arranged inside the shielding plug shell (403). A locking connection component two is provided between the shielding plug shell (403) and the shielding plug star frame (404). An action generating component is provided between the shielding plug body (401) and the shielding plug star frame (404). The action generating component is used to connect the locking connection component two to the shielding plug shell (403) and the fuel passage liner tube. A safety bolster push tube (301) is coaxially disposed inside the conduit (20). A connecting block (203) is fixedly connected to the outer surface of the safety bolster push tube (301). A detection rod (204) is connected to the side of the connecting block (203) away from the safety bolster push tube (301). A tail seat connecting tube (302) is coaxially disposed inside the safety bolster push tube (301). The outer diameter of the tail seat connecting tube (302) is smaller than the inner diameter of the safety bolster push tube (301). A pushing structure is connected to the safety bolster push tube (301). A star-shaped push frame tail seat (309) is connected to one end of the tail seat connecting tube (302). Locking connection assembly 1 is disposed between the safety bolt push tube (301) and the star-shaped pusher tail seat (309). The pushing structure is used to activate locking connection assembly 1 so as to separate locking connection assembly 1 and lock the shield plug structure (40). A slide base (101) and a guide tube (20) are installed on the slide base (101). A slide (102) is slidably provided on one side of the slide base (101). A drive guide assembly is provided between the slide base (101) and the slide (102). The drive guide assembly is used to drive the slide (102) to move along the length direction of the slide base (101). A floating device assembly (50) is connected to the slide base (101). The floating device assembly (50) is used to perform positioning compensation on the slide base (101).

2. The end-effector shielding plug installation device for a heavy water reactor pressure pipe replacement robot according to claim 1, characterized in that, The floating device assembly includes a floating base (501), a buffer (502), a contact ball (503), a guide sleeve (504), a floating shaft (505), a universal ball (506), a floating base plate (507), a floating sleeve (508), a pressure cap (509), and a blocking and limiting assembly. There are multiple buffers (502), which are evenly installed inside the floating base (501). Each buffer (502) has a contact ball (503) connected to its output end. The guide sleeve (504) is coaxially installed inside the floating base (501). The floating shaft (505) is coaxially located inside the guide sleeve (504), and the universal ball (506) is connected to the outside of the floating shaft (505). On the surface, a floating base plate (507) is located below the floating base (501), a floating sleeve (508) is located between the floating base plate (507) and the floating base (501), and the floating sleeve (508) is connected to the floating base plate (507). The inner wall of the floating sleeve (508) is provided with a ball hole, and the universal ball (506) is located inside the ball hole and is rolledly connected to the floating sleeve (508) through the ball hole. A pressure cap (509) is installed on the top side of the floating sleeve (508). The pressure cap (509) is used to limit the universal ball (506). A blocking and limiting component is located between the floating shaft (505) and the guide sleeve (504). The blocking and limiting component is used to prevent the floating shaft (505) and the guide sleeve (504) from separating.

3. The end-effector shielding plug installation device for a heavy water reactor pressure pipe replacement robot according to claim 2, characterized in that, The pushing structure includes a support base (303), an electric cylinder one (304), an inner connecting tube push-pull component (305), an electric cylinder two (306), a pressure head connecting rod (307), and a shielding plug guide rod push-pressure head (308). One end of the support base (303) is connected to the outer surface of the safety bolt push tube (301), and the other end of the support base (303) is connected to the slide table (102). The electric cylinder one (304) is mounted on the support base (303). One end of the inner connecting tube push-pull component (305) is connected to the output end of the electric cylinder one (304), and the other end of the inner connecting tube push-pull component (305) is connected to the tailstock connecting tube (302). The electric cylinder two... (306) is installed at the end of the tailstock connecting pipe (302). The output end of the electric cylinder two (306) is connected to the pressure head connecting rod (307). The pressure head connecting rod (307) is coaxially arranged with the tailstock connecting pipe (302), and the diameter of the pressure head connecting rod (307) is smaller than the inner diameter of the tailstock connecting pipe (302). The shielding plug guide rod push head (308) is connected to the tailstock connecting pipe (302). The shielding plug guide rod push head (308) is located inside the star-shaped push frame tailstock (309) and is slidably connected to the star-shaped push frame tailstock (309). The pressure head connecting rod (307) passes through the star-shaped push frame tailstock (309) and is slidably connected to the star-shaped push frame tailstock (309).

4. The end-effector shielding plug installation device for a heavy water reactor pressure pipe changing robot according to claim 3, characterized in that, The locking connection assembly includes a star-shaped push rod (310), an inner locking rod (311), and an inner locking head (312). There are multiple star-shaped push rods (310), which are evenly installed at the end of the star-shaped push frame tailstock (309) away from the tailstock connecting tube (302). The star-shaped push rods (310) are inclined, with their ends facing the axis of the star-shaped push frame tailstock (309). The angle between the star-shaped push rod (310) and the axis of the star-shaped push frame tailstock (309) is acute. A storage groove (30102) is provided on the outer surface of the safety bolt push tube (301). There are multiple inner locking rods (311), all of which penetrate the safety bolt push tube (302). The side wall of 01) is slidably connected to the safety bolt push tube (301). Each inner clamp rod (311) has an inner clamp head (312) connected to its end. The width of the inner clamp head (312) is adapted to the width of the storage groove (30102). The thickness of the inner clamp head (312) is less than the depth of the storage groove (30102). Each inner clamp rod (311) has a through hole (31101) on its outer surface. The through hole (31101) is inclined and parallel to the star push rod (310). The star push rod (310) is located inside the through hole (31101) and is slidably connected to the through hole (31101). The star push rod (310) corresponds to the through hole (31101) one by one.

5. The end-effector shielding plug installation device for a heavy water reactor pressure pipe changing robot according to claim 4, characterized in that, The actuating assembly includes a first reset spring (405), a second reset spring (406), a shielding plug guide rod (407), a shielding plug safety bolt (408), a retaining ring (409), a guide rod nut (410), and a limiting ring (413). One end of the shielding plug body (401) has multiple evenly spaced mounting holes. There are multiple first reset springs (405), each with one end connected to a mounting hole in a corresponding manner. The other end of the first reset spring (405)... One end is connected to the shielding plug star frame (404), one end of the return spring two (406) is connected to the shielding plug star frame (404), the other end of the return spring two (406) is connected to the shielding plug safety bolt (408), the shielding plug guide rod (407) is connected to the side of the shielding plug star frame (404) away from the return spring one (405), the shielding plug safety bolt (408) is slidably disposed on the outer surface of the shielding plug guide rod (407), and the limiting ring (413) is connected to the shielding plug. The outer surface of the safety plug (408) is covered by a retaining ring (409) mounted on the inner wall of the shielding plug housing (403). The retaining ring (409) is coaxially arranged with the shielding plug star frame (404). The shielding plug guide rod (407) is coaxially arranged with the retaining ring (409). The shielding plug safety plug (408) passes through the retaining ring (409) and is coaxially arranged with the retaining ring (409). The diameter of the shielding plug safety plug (408) is smaller than the inner diameter of the retaining ring (409), and the outer diameter of the limiting ring (413) is larger than that of the retaining ring (409). The inner diameter of the retaining ring (409) is smaller than the outer diameter of the retaining ring (409), the outer diameter of the limiting ring (413) is larger than the inner diameter of the safety plug push tube (301), a plurality of clearance holes (40901) are provided on one side of the retaining ring (409), an annular connecting groove (40301) is provided on the inner wall of the shielding plug shell (403), the width of the inner clamp (312) is adapted to the width of the annular connecting groove (40301), and the end of the shielding plug guide rod (407) is fixedly connected with a guide rod nut (410).

6. The end-effector shielding plug installation device for a heavy water reactor pressure pipe changing robot according to claim 5, characterized in that, The second locking connection assembly includes through holes (40302), locking posts (411), and shielding plug claws (412). Multiple through holes (40302) are arranged in a circumferential array on the outer surface of the shielding plug housing (403). Multiple locking posts (411) are evenly installed at one end of the shielding plug star frame (404). The locking posts (411) are inclined, with their ends facing the center of the shielding plug star frame (404), and the angle between the locking posts (411) and the axis of the shielding plug star frame (404) is acute. There are multiple shielding plug claws (412). The shielding plug claws (412) are located inside the through hole (40302) and are slidably connected to the through hole (40302). The shielding plug claws (412) correspond one-to-one with the through hole (40302). Each shielding plug claw (412) has a through hole (41201) on one side. The through hole (41201) is inclined. The locking post (411) is located inside the through hole (41201) and is slidably connected to the through hole (41201). The locking post (411) corresponds one-to-one with the through hole (41201). The locking post (411) corresponds one-to-one with the clearance hole (40901).

7. The end-effector shielding plug installation device for a heavy water reactor pressure pipe changing robot according to claim 1, characterized in that, The outer surface of the end of the safety plug push tube (301) is provided with an annular groove, and a wear-resistant ring (313) is connected to the outer surface of the annular groove. The outer diameter of the wear-resistant ring (313) is adapted to the outer diameter of the safety plug push tube (301). The outer diameter of the shielding plug shell (403) is adapted to the outer diameter of the wear-resistant ring (313), and the inner diameter of the shielding plug shell (403) is adapted to the outer diameter of the safety plug push tube (301).

8. The end-effector shielding plug installation device for a heavy water reactor pressure pipe changing robot according to claim 1, characterized in that, The drive guide assembly includes a guide rail (103), a rack (104), a slide (105), a drive member (106), and a gear (107). The guide rail (103) and the rack (104) are both mounted on the slide table (102). The length directions of the guide rail (103) and the rack (104) are parallel to the length direction of the slide table base (101). The slide (105) is slidably disposed on the outer surface of the guide rail (103) and is connected to the slide table (102). The drive member (106) is mounted on the slide table (102). The output end of the drive member (106) is connected to the gear (107), and the gear (107) meshes with the rack (104).

9. The end-effector shielding plug installation device for a heavy water reactor pressure pipe changing robot according to claim 2, characterized in that, A protective cover (108) is provided on the slide base (101). The protective cover (108) is connected to the floating base plate (507). A visual recognition module (109) is connected to one end of the protective cover (108) near the positioning bracket (201). A pressure sensor (205) is installed on the slide (102). The pressure sensor (205) is connected to the detection rod (204).

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