CN113689965A - Nuclear reactor loading and unloading machine precision test device and method - Google Patents

Abstract

The disclosure belongs to the technical field of nuclear power, and particularly relates to a precision test device and method for a loading and unloading machine of a nuclear reactor. The nuclear reactor material loading and unloading machine precision test device is small and exquisite in size, the whole device of the nuclear reactor material loading and unloading machine precision test device is fixed with the gripping apparatus by connecting the U-shaped groove of the connecting block with the positioning pin of the gripping apparatus, interference on the action of the gripping apparatus is avoided, and the action of the full stroke of the gripping apparatus is not influenced. The two long guide pins of the gripper body are used as connection points, so that the test device can be conveniently and rapidly installed in the gripper, the central line of the needle-shaped component can be aligned to the central point of the circular section of the gripper cylinder, and in addition, the structural matching among the adjusting block, the connecting block and the needle-shaped component can ensure that the needle point bottom end of the needle-shaped component is concentric with the gripper cylinder by a tester according to the position of the needle-shaped component adjusted by the tester according to the actual situation on site. The puncture data obtained by the test is accurate, and the debugging efficiency and the debugging quality are greatly improved.

Description

Nuclear reactor loading and unloading machine precision test device and method

Technical Field

The invention belongs to the technical field of nuclear power, and particularly relates to a precision test device and method for a loading and unloading machine of a nuclear reactor.

Background

The loading and unloading machine is a key device of a nuclear fuel operation system of a nuclear power station, is arranged above a refueling water pool in a containment vessel of the reactor, consists of parts such as lifting, grabbing, rotating, running and positioning, and can run in the X/Y/Z three coordinate axis directions so as to realize the transportation and operation of nuclear fuel assemblies in the reactor core. The mechanical structure and electrical control of the material loading and unloading machine are complex, a strict test program needs to be executed in the installation and debugging stage or after equipment maintenance, the actual operation working condition and the accident working condition are simulated, the safety reliability, the flexibility, the stability and the accuracy of the nuclear fuel assembly operation of the equipment are verified, and whether various performance indexes of the material loading and unloading machine meet the design requirements or not is detected.

Generally, the test procedure comprises 71 tests according to the requirements of a field acceptance test procedure of a loading and unloading machine, wherein the most critical test items are a complete machine positioning precision test, a gripping apparatus rotation precision test and a gripping apparatus centering precision test. The results of these three tests are used to judge whether the loader/unloader can perform a gripping operation, a movement to a specified position operation, a releasing operation, etc. on the nuclear fuel assembly according to the design requirements.

According to the acceptance criteria of 'loading and unloading machine on-site acceptance test procedure', the acceptance standards of the whole machine positioning precision test, the gripping apparatus rotation precision test and the gripping apparatus centering precision test are all in millimeter level, however, only by measuring the parts of the gripping apparatus body, millimeter-level positioning precision data cannot be obtained through measurement. Therefore, how to obtain accurate test data becomes an urgent problem to be solved.

Disclosure of Invention

In order to overcome the problems in the related art, the device and the method for testing the precision of the loading and unloading machine of the nuclear reactor are provided.

According to an aspect of the disclosed embodiments, there is provided a nuclear reactor handler accuracy testing apparatus including: the device comprises an adjusting block, a connecting block, a plurality of adjusting bolts, a needle-shaped component and a target paper mechanism;

the connecting block is of a cuboid structure, a sliding groove is formed in the first side surface of the connecting block along the radial direction, and a through hole penetrating through the upper surface, the lower surface and the sliding groove of the connecting block is formed in the upper surface of the connecting block along the axial direction;

the second side face and the third side face of the connecting block are respectively provided with an axial U-shaped groove, the second side face and the third side face are perpendicular to the first side face, a gripper of a material handling machine to be detected is provided with two positioning pins, and each positioning pin is fixedly connected in one U-shaped groove, so that the nuclear reactor material handling machine precision test device is fixedly connected with the gripper of the material handling machine;

the adjusting block is arranged in the sliding groove, one side of the adjusting block, facing to the groove opening of the sliding groove, is in threaded connection with the adjusting bolts, and one end of each adjusting bolt is pressed against the side wall of the sliding groove to fix the adjusting block in the sliding groove;

the needle-shaped component is axially fixed on the adjusting block, the lower end of the needle-shaped component extends out of the bottom end of the through hole, and the lower end of the needle-shaped component is positioned below the two positioning pins and is opposite to the middle point of the axis connecting line of the two positioning pins;

under the condition that one end of each adjusting bolt is not pressed against the side wall of the sliding chute, the adjusting block can move in the sliding chute in the radial direction, and the bottom end of the needle-shaped component is driven to move along the axis connecting line of the two positioning pins in the process of moving in the sliding chute in the radial direction;

the target paper mechanism is arranged below the gripper of the loading and unloading machine, target paper fixed by the target paper mechanism is over against the needle-shaped component, the gripper of the loading and unloading machine is operated to descend, and the lower end of the needle-shaped component can prick the target paper to form a pricking hole on the target paper.

In one possible implementation, the nuclear reactor stoker precision testing apparatus further includes: pressing a plate;

one side of the adjusting block is provided with an axial connecting groove, and the pressing plate is fixedly connected in the connecting groove;

one side of the pressing plate, facing the connecting groove, is provided with an axial first fixing groove, the connecting groove is provided with an axial second fixing groove at a position opposite to the first fixing groove, and the needle-shaped component is extruded by the first fixing groove and the second fixing groove, so that the needle-shaped component is fixedly connected to the adjusting block.

In one possible implementation manner, the first fixing groove and the second fixing groove are V-shaped grooves, and the groove widths of the first fixing groove and the second fixing groove are gradually narrowed from the groove opening to the groove bottom.

In one possible implementation, the nuclear reactor stoker precision testing apparatus further includes: a plurality of platen bolts;

the plurality of pressing plate bolts penetrate through the pressing plate and are in threaded connection with the adjusting block, so that the pressing plate is fixedly connected with the adjusting block.

In one possible implementation, the nuclear reactor stoker precision testing apparatus further includes: a plurality of connecting bolts;

one or more connecting bolts are in threaded connection with the side wall of each U-shaped groove, and one end of each connecting bolt is pressed against the positioning pin in the U-shaped groove, so that the U-shaped groove and the positioning pin are fixedly connected.

In one possible implementation, the target paper mechanism comprises a base plate, a plurality of support bolts, a target paper support structure and target paper;

the bottom plate is provided with a plurality of threaded through holes along the axial direction, each supporting bolt is in threaded connection with one threaded through hole, and the levelness of the bottom plate can be adjusted by rotating each supporting bolt;

the target paper supporting structure is fixedly connected to the bottom plate and is a hollow cylinder, the hollow position of the target paper supporting structure is opposite to the bottom end of the needle-shaped component, and the target paper is fixedly connected to the top end of the target paper supporting structure.

According to another aspect of the embodiments of the present disclosure, there is provided a nuclear reactor handler accuracy testing method, which is applied to the nuclear reactor handler accuracy testing apparatus described above, and includes:

under the condition that a gripping apparatus of a loading and unloading machine to be detected is controlled to be positioned at a target position, the gripping apparatus is controlled to descend, so that a needle-shaped component of a nuclear reactor loading and unloading machine precision test device connected to the gripping apparatus stabs target paper opposite to the gripping apparatus to form a reference stabbing hole;

selecting a plurality of manual test positions different from the target position, the plurality of manual test positions being different from each other, and for each manual test position:

moving the gripper to the manual testing position;

after the gripping apparatus is moved from the manual testing position to the target position in a manual control mode, the gripping apparatus is controlled to descend, so that the target paper which is opposite to the needle-shaped component in a stabbed mode forms a manual positioning testing stabbing hole;

selecting a plurality of semi-automatic test positions different from the target position, the plurality of semi-automatic test positions, the plurality of manual test positions being different from each other, and for each semi-automatic test position:

moving the gripper to the semi-automatic test position;

after the gripping apparatus is moved from the semi-automatic testing position to the target position in a semi-automatic control mode, the gripping apparatus is controlled to descend, so that the needle-shaped component stabs the target paper opposite to the target paper to form a semi-automatic positioning testing stabbing hole;

measuring the distance between each manual positioning test puncture hole and the reference puncture hole, and measuring the distance between each semi-automatic positioning test puncture hole and the reference puncture hole;

if all the obtained distances are smaller than a preset positioning error threshold value, the whole machine positioning precision of the loading and unloading machine is qualified;

and if the obtained distances are larger than or equal to the preset positioning error threshold value, the positioning precision of the whole machine of the loading and unloading machine is unqualified.

In one possible implementation, the method further includes:

under the condition that the gripping apparatus is in the target posture, controlling the gripping apparatus to descend to enable the target paper which is just pricked by the needle-shaped component to form a rotary positioning test pricking hole corresponding to the target posture;

selecting a plurality of different angles, controlling a gripper of a loading and unloading machine to rotate by a target posture for each angle, and then controlling the gripper to descend to enable the needle-shaped component to stab the opposite target paper to form a rotary positioning test puncture hole corresponding to the angle;

if the obtained multiple rotary positioning test puncture holes are simultaneously located in the first area, the rotary positioning precision of the gripping apparatus of the material loading and unloading machine is qualified;

and if the obtained multiple rotary positioning test puncture holes are not positioned in the first area at the same time, the rotary positioning precision of the gripping apparatus of the material loading and unloading machine is unqualified.

In one possible implementation, the method further includes:

controlling the gripping apparatus to descend to a lower position close to the target paper, and controlling the gripping apparatus to descend from the lower position, so that the needle-shaped component stabs the target paper which is opposite to the target paper to form a centering test stabbing hole;

controlling the gripping apparatus to descend from the highest position where the gripping apparatus can ascend for multiple times, so that the needle-shaped component stabs the opposite target paper to form a plurality of centering test stabs;

if the obtained centering test puncture holes are simultaneously located in the second area, the centering precision of the gripping apparatus of the material loading and unloading machine is qualified;

and if the obtained plurality of centering test puncture holes are not simultaneously positioned in the second area, the centering precision of the gripping apparatus of the material loading and unloading machine is unqualified.

The beneficial effect of this disclosure lies in: the nuclear reactor material loading and unloading machine precision test device is small and exquisite in size, the whole device of the nuclear reactor material loading and unloading machine precision test device is fixed with the gripping apparatus by connecting the U-shaped groove of the connecting block with the positioning pin of the gripping apparatus, interference on the action of the gripping apparatus is avoided, and the action of the full stroke of the gripping apparatus is not influenced. The operation requirement that the gripper is lifted to the highest position in the gripper centering precision test is met. The two long guide pins of the gripper body are used as connection points, so that the test device can be conveniently and rapidly installed in the gripper, the central line of the needle-shaped component can be aligned to the central point of the circular section of the gripper cylinder, and in addition, the structural matching among the adjusting block, the connecting block and the needle-shaped component can ensure that the needle point bottom end of the needle-shaped component is concentric with the gripper cylinder by a tester according to the position of the needle-shaped component adjusted by the site actual condition, namely, the distance from the needle point to the two long guide pins of the gripper is equal. The nuclear reactor material loading and unloading machine precision test device is beneficial to development of on-site acceptance tests of the material loading and unloading machine, installation and operation of the test device are convenient and fast, puncture data obtained through tests are accurate, millimeter-scale numerical values of test requirements are met, and debugging efficiency and debugging quality are greatly improved.

Drawings

FIG. 1 is a side view of a portion of components of a nuclear reactor handler accuracy testing apparatus according to an exemplary embodiment.

FIG. 2 is a bottom view of a portion of components of a nuclear reactor handler accuracy testing apparatus according to an exemplary embodiment.

FIG. 3 is a side view of a paper target mechanism of a nuclear reactor stoker witness testing apparatus according to an exemplary embodiment.

Fig. 4 is a top view of a paper target mechanism of a nuclear reactor stoker witness testing apparatus according to an example embodiment.

In the figure: 1. pressing a plate; 2. an adjusting block; 3. connecting blocks; 31. a chute; 32. a through hole;

33. a U-shaped groove; 4. a platen bolt; 5. adjusting the bolt; 6. a connecting bolt; 7. a needle-like member;

8. a base plate; 9. a support bolt; 10. target paper support structure.

Detailed Description

The invention is described in further detail below with reference to the figures and the embodiments.

FIG. 1 is a side view of a portion of components of a nuclear reactor handler accuracy testing apparatus according to an exemplary embodiment. FIG. 2 is a bottom view of a portion of components of a nuclear reactor handler accuracy testing apparatus according to an exemplary embodiment. FIG. 3 is a side view of a paper target mechanism of a nuclear reactor stoker witness testing apparatus according to an exemplary embodiment. Fig. 4 is a top view of a paper target mechanism of a nuclear reactor stoker witness testing apparatus according to an example embodiment. As shown in fig. 1 to 4, the nuclear reactor stoker accuracy testing apparatus includes: the device comprises an adjusting block 2, a connecting block 3, a plurality of adjusting bolts 5, a needle-shaped component 7 and a target paper mechanism;

the connecting block 3 is of a cuboid structure, a sliding groove 31 is formed in the first side surface of the connecting block 3 along the radial direction, and a through hole 32 penetrating through the upper surface, the lower surface and the sliding groove 31 of the connecting block 3 is formed in the upper surface of the connecting block 3 along the axial direction;

the second side face and the third side face of the connecting block 3 are respectively provided with an axial U-shaped groove 33, the second side face and the third side face are perpendicular to the first side face, a gripper of a material handling machine to be detected is provided with two positioning pins, the inner diameter of the U-shaped groove 33 is matched with the outer diameter of the positioning pin, and the relative position between the two U-shaped grooves 33 is matched with the relative position between the two positioning pins, so that each positioning pin can be fixedly connected in one U-shaped groove 33, and thus, the nuclear reactor material handling machine precision test device is fixedly connected with the gripper of the material handling machine;

for example, the accuracy test device for the reactor loader-unloader further comprises: a plurality of connecting bolts 6; one or more connecting bolts 6 are screwed on the side wall of each U-shaped groove 33, and one end of each connecting bolt 6 presses against the positioning pin in the U-shaped groove 33, so that the U-shaped groove 33 and the positioning pin are fixedly connected.

For another example, each U-shaped groove may be fixedly connected with a spring, and each positioning pin may be clamped into the U-shaped groove by pressing the spring. The connection mode between the positioning pin and the U-shaped groove is not limited in the disclosure.

The adjusting block 2 is arranged in the sliding chute 31, a plurality of threaded through holes (not shown in the figure) are radially formed in the area, facing the notch of the sliding chute 31, of one side of the adjusting block 2, each adjusting bolt 5 is connected into one threaded through hole, each adjusting bolt 5 is rotated to enable the adjusting bolt 5 to penetrate through the adjusting block 2, one end of each adjusting bolt 5 is pressed against the side wall of the sliding chute 31, and the adjusting block 2 can be fixed in the sliding chute 31;

as shown in fig. 1 and 2, the needle member 7 is axially fixed to the adjustment block 2.

For example, the nuclear reactor handler accuracy testing apparatus further includes: a pressing plate 1; one side of the adjusting block 2 is provided with an axial connecting groove, and the pressing plate 1 can be fixedly connected in the connecting groove (for example, the nuclear reactor loading and unloading machine precision test device also comprises a plurality of pressing plate bolts 4, the pressing plate bolts 4 penetrate through the pressing plate 1 and are in threaded connection in the adjusting block 2, so that the pressing plate 1 and the adjusting block 2 are fixedly connected)

An axial first fixing groove is formed in one side, facing the connecting groove, of the pressing plate 1, an axial second fixing groove is formed in the position, facing the first fixing groove, of the connecting groove, and the needle-shaped component 7 is extruded by the first fixing groove and the second fixing groove, so that the needle-shaped component 7 is fixedly connected to the adjusting block 2.

In a possible implementation manner, the first fixing groove and the second fixing groove are V-shaped grooves, and the groove widths of the first fixing groove and the second fixing groove are gradually narrowed from the groove opening to the groove bottom. Thus, the needle-like member can be more effectively fixed

For another example, the needle-shaped component may have a thread above it, the bottom end of the adjusting block is provided with an axial threaded hole, the needle-shaped component may be screwed into the threaded hole above it, and for another example, the top end of the needle-shaped component may also be connected to the bottom end of the adjusting block by welding.

The lower end of the needle-shaped component is positioned below the two positioning pins, and the lower end of the needle-shaped component is over against the middle point of the axis connecting line of the two positioning pins; under the condition that one end of each adjusting bolt is not pressed against the side wall of the sliding chute, the adjusting block can move in the sliding chute in the radial direction, and the bottom end of the needle-shaped component is driven to move along the axis connecting line of the two positioning pins in the process of moving in the sliding chute in the radial direction;

in an application example, after the positioning pins are connected in the opposite U-shaped grooves in a specified mode, the vertical distance between each positioning pin and the needle-shaped component can be measured, if the vertical distances between the two positioning pins and the needle-shaped component are different, each positioning bolt can be screwed, one end of each positioning bolt is separated from the side wall of the corresponding chute, the adjusting block is slid until the vertical distances between the two positioning pins and the needle-shaped component are the same, then each positioning bolt is screwed, one end of each positioning bolt is pressed against the side wall of the corresponding chute to fix the adjusting block in the corresponding chute again, therefore, the position of the needle-shaped component can be adjusted according to the actual distance between the needle-shaped component and the positioning pins, the lower end of the needle-shaped component can be ensured to be opposite to the middle point of the axis connecting line of the two positioning pins, and different test scenes can be flexibly adapted.

The target paper mechanism is arranged below the gripper of the loading and unloading machine, the target paper fixed by the target paper mechanism is opposite to the needle-shaped component, the gripper of the loading and unloading machine is operated to descend, and the lower end of the needle-shaped component can prick the target paper to form a pricking hole on the target paper.

In one possible implementation, the target paper mechanism comprises a base plate 8, a plurality of support bolts 9, a target paper support structure 10 and target paper;

a plurality of threaded through holes are formed in the bottom plate 8 along the axial direction, each supporting bolt 9 is in threaded connection with one threaded through hole, and the levelness of the bottom plate 8 can be adjusted by rotating each supporting bolt 9;

target paper bearing structure 10 is fixed connection on bottom plate 8, and target paper bearing structure 10 is hollow cylinder (for example, hollow cylinder), and the hollow position of target paper bearing structure 10 is just to the bottom of needle-like part 7, and target paper fixed connection is on target paper bearing structure 10 top (for example, target paper can be through mode fixed connection who pastes on target paper bearing structure 10 top).

After the target paper is installed, the levelness of the target paper can be adjusted through the adjusting bolt, and the stability of the pricking process can be effectively improved.

In an application scenario, there is provided a nuclear reactor handler accuracy testing method, which is applied to the nuclear reactor handler accuracy testing apparatus, and the method may include:

step 100, controlling a gripper to descend under the condition that the gripper of a loading and unloading machine to be detected is positioned at a target position, so that a needle-shaped component of a nuclear reactor loading and unloading machine precision test device connected to the gripper stabs target paper opposite to the target paper to form a reference stabbing hole;

step 101, selecting a plurality of manual test positions different from the target position, wherein the manual test positions are different from each other, and performing the following operations for each manual test position:

moving a gripper to the manual testing position;

after the gripper is moved to the target position from the manual testing position in a manual control mode, the gripper is controlled to descend, and the target paper which is opposite to the needle-shaped component in a stabbed mode is made to form a manual positioning testing stabbing hole;

102, selecting a plurality of semi-automatic test positions different from the target position, wherein the plurality of semi-automatic test positions and the plurality of manual test positions are different from each other, and performing the following operations for each semi-automatic test position:

moving the gripper to the semi-automatic test position;

after the gripper is moved from the semi-automatic testing position to the target position in a semi-automatic control mode, the gripper is controlled to descend, and the target paper which is just pricked by the needle-shaped component forms a semi-automatic positioning testing prick hole;

103, measuring the distance between each manual positioning test puncture hole and each reference puncture hole, and measuring the distance between each semi-automatic positioning test puncture hole and each reference puncture hole;

104, if all the obtained distances are smaller than a preset positioning error threshold (for example, the preset positioning error threshold can be +/-3 mm), the overall positioning precision of the loading and unloading machine is qualified; and if the obtained distances are larger than or equal to the preset positioning error threshold value, the positioning precision of the whole machine of the loading and unloading machine is unqualified.

In one possible implementation, the method may further include:

200, controlling the gripper to descend under the condition that the gripper is in the target posture, so that the target paper which is just pricked by the needle-shaped component forms a rotary positioning test prick hole corresponding to the target posture;

step 201, selecting a plurality of different angles (for example, the plurality of different angles may be 0 °, 90 °, 180 °, 270 °), controlling the gripper of the handler to rotate by the target posture for each angle, and then controlling the gripper to descend, so that the target paper pricked by the needle-shaped component forms a rotary positioning test prick hole corresponding to the angle;

step 202, if the obtained multiple rotary positioning test puncture holes are simultaneously located in a first area (for example, the first area may be a square with 2mm × 2 mm), the rotary positioning accuracy of the gripper of the material handling machine is qualified; and if the obtained plurality of rotary positioning test puncture holes are not simultaneously positioned in the first area, the rotary positioning precision of the gripping apparatus of the loading and unloading machine is unqualified.

In one possible implementation, the method may further include:

step 300, controlling the gripper to descend to a position close to the lower part of the target paper, and controlling the gripper to descend from the lower part to enable the needle-shaped component to stab the target paper opposite to the target paper to form a centering test puncture hole;

step 301, controlling the gripper to descend from the highest position to which the gripper can ascend for multiple times, so that the target paper which is just pricked by the needle-shaped component forms a plurality of centering test pricks;

step 302, if the obtained plurality of centering test puncture holes are simultaneously located in a second area (for example, the second area may be 1mm by 1mm square), the centering precision of the gripper of the handler is qualified; and if the obtained plurality of centering test puncture holes are not simultaneously positioned in the second area, the centering precision of the gripping apparatus of the loading and unloading machine is unqualified.

Having described embodiments of the present disclosure, the foregoing description is intended to be exemplary, not exhaustive, and not limited to the disclosed embodiments. Many modifications and variations will be apparent to those of ordinary skill in the art without departing from the scope and spirit of the described embodiments. The terms used herein were chosen in order to best explain the principles of the embodiments, the practical application, or technical improvements to the techniques in the marketplace, or to enable others of ordinary skill in the art to understand the embodiments disclosed herein.

Claims (9)

1. A nuclear reactor stoker accuracy test apparatus, comprising: the device comprises an adjusting block, a connecting block, a plurality of adjusting bolts, a needle-shaped component and a target paper mechanism;

the connecting block is of a cuboid structure, a sliding groove is formed in the first side surface of the connecting block along the radial direction, and a through hole penetrating through the upper surface, the lower surface and the sliding groove of the connecting block is formed in the upper surface of the connecting block along the axial direction;

the second side face and the third side face of the connecting block are respectively provided with an axial U-shaped groove, the second side face and the third side face are perpendicular to the first side face, a gripper of a material handling machine to be detected is provided with two positioning pins, and each positioning pin is fixedly connected in one U-shaped groove, so that the nuclear reactor material handling machine precision test device is fixedly connected with the gripper of the material handling machine;

the adjusting block is arranged in the sliding groove, one side of the adjusting block, facing to the groove opening of the sliding groove, is in threaded connection with the adjusting bolts, and one end of each adjusting bolt is pressed against the side wall of the sliding groove to fix the adjusting block in the sliding groove;

the needle-shaped component is axially fixed on the adjusting block, the lower end of the needle-shaped component extends out of the bottom end of the through hole, and the lower end of the needle-shaped component is positioned below the two positioning pins and is opposite to the middle point of the axis connecting line of the two positioning pins;

under the condition that one end of each adjusting bolt is not pressed against the side wall of the sliding chute, the adjusting block can move in the sliding chute in the radial direction, and the bottom end of the needle-shaped component is driven to move along the axis connecting line of the two positioning pins in the process of moving in the sliding chute in the radial direction;

the target paper mechanism is arranged below the gripper of the loading and unloading machine, target paper fixed by the target paper mechanism is over against the needle-shaped component, the gripper of the loading and unloading machine is operated to descend, and the lower end of the needle-shaped component can prick the target paper to form a pricking hole on the target paper.

2. The nuclear reactor handler accuracy testing device of claim 1, further comprising: pressing a plate;

one side of the adjusting block is provided with an axial connecting groove, and the pressing plate is fixedly connected in the connecting groove;

one side of the pressing plate, facing the connecting groove, is provided with an axial first fixing groove, the connecting groove is provided with an axial second fixing groove at a position opposite to the first fixing groove, and the needle-shaped component is extruded by the first fixing groove and the second fixing groove, so that the needle-shaped component is fixedly connected to the adjusting block.

3. The nuclear reactor handler accuracy testing apparatus according to claim 2, wherein the first fixing groove and the second fixing groove are V-shaped grooves, and a groove width of the first fixing groove and the second fixing groove is narrowed from a groove opening to a groove bottom.

4. The nuclear reactor handler accuracy testing device of claim 2, further comprising: a plurality of platen bolts;

the plurality of pressing plate bolts penetrate through the pressing plate and are in threaded connection with the adjusting block, so that the pressing plate is fixedly connected with the adjusting block.

5. The nuclear reactor handler accuracy testing device of claim 1, further comprising: a plurality of connecting bolts;

one or more connecting bolts are in threaded connection with the side wall of each U-shaped groove, and one end of each connecting bolt is pressed against the positioning pin in the U-shaped groove, so that the U-shaped groove and the positioning pin are fixedly connected.

6. The nuclear reactor handler accuracy testing apparatus of claim 1, wherein the target paper mechanism comprises a base plate, a plurality of support bolts, a target paper support structure, and target paper;

the bottom plate is provided with a plurality of threaded through holes along the axial direction, each supporting bolt is in threaded connection with one threaded through hole, and the levelness of the bottom plate can be adjusted by rotating each supporting bolt;

the target paper supporting structure is fixedly connected to the bottom plate and is a hollow cylinder, the hollow position of the target paper supporting structure is opposite to the bottom end of the needle-shaped component, and the target paper is fixedly connected to the top end of the target paper supporting structure.

7. A nuclear reactor handler accuracy testing method applied to the nuclear reactor handler accuracy testing apparatus according to any one of claims 1 to 6, the method comprising:

under the condition that a gripping apparatus of a loading and unloading machine to be detected is controlled to be positioned at a target position, the gripping apparatus is controlled to descend, so that a needle-shaped component of a nuclear reactor loading and unloading machine precision test device connected to the gripping apparatus stabs target paper opposite to the gripping apparatus to form a reference stabbing hole;

selecting a plurality of manual test positions different from the target position, the plurality of manual test positions being different from each other, and for each manual test position:

moving the gripper to the manual testing position;

after the gripping apparatus is moved from the manual testing position to the target position in a manual control mode, the gripping apparatus is controlled to descend, so that the target paper which is opposite to the needle-shaped component in a stabbed mode forms a manual positioning testing stabbing hole;

selecting a plurality of semi-automatic test positions different from the target position, the plurality of semi-automatic test positions, the plurality of manual test positions being different from each other, and for each semi-automatic test position:

moving the gripper to the semi-automatic test position;

after the gripping apparatus is moved from the semi-automatic testing position to the target position in a semi-automatic control mode, the gripping apparatus is controlled to descend, so that the needle-shaped component stabs the target paper opposite to the target paper to form a semi-automatic positioning testing stabbing hole;

measuring the distance between each manual positioning test puncture hole and the reference puncture hole, and measuring the distance between each semi-automatic positioning test puncture hole and the reference puncture hole;

if all the obtained distances are smaller than a preset positioning error threshold value, the whole machine positioning precision of the loading and unloading machine is qualified;

and if the obtained distances are larger than or equal to the preset positioning error threshold value, the positioning precision of the whole machine of the loading and unloading machine is unqualified.

8. The method of claim 7, further comprising:

under the condition that the gripping apparatus is in the target posture, controlling the gripping apparatus to descend to enable the target paper which is just pricked by the needle-shaped component to form a rotary positioning test pricking hole corresponding to the target posture;

selecting a plurality of different angles, controlling a gripper of a loading and unloading machine to rotate by a target posture for each angle, and then controlling the gripper to descend to enable the needle-shaped component to stab the opposite target paper to form a rotary positioning test puncture hole corresponding to the angle;

if the obtained multiple rotary positioning test puncture holes are simultaneously located in the first area, the rotary positioning precision of the gripping apparatus of the material loading and unloading machine is qualified;

and if the obtained multiple rotary positioning test puncture holes are not positioned in the first area at the same time, the rotary positioning precision of the gripping apparatus of the material loading and unloading machine is unqualified.

9. The method according to claim 7 or 8, characterized in that the method further comprises:

controlling the gripping apparatus to descend to a lower position close to the target paper, and controlling the gripping apparatus to descend from the lower position, so that the needle-shaped component stabs the target paper which is opposite to the target paper to form a centering test stabbing hole;

controlling the gripping apparatus to descend from the highest position where the gripping apparatus can ascend for multiple times, so that the needle-shaped component stabs the opposite target paper to form a plurality of centering test stabs;

if the obtained centering test puncture holes are simultaneously located in the second area, the centering precision of the gripping apparatus of the material loading and unloading machine is qualified;

and if the obtained plurality of centering test puncture holes are not simultaneously positioned in the second area, the centering precision of the gripping apparatus of the material loading and unloading machine is unqualified.

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