CN114888555B

CN114888555B - Fastener replacement and repair device

Info

Publication number: CN114888555B
Application number: CN202210468429.8A
Authority: CN
Inventors: 刘治; 吴梦莹; 张红
Original assignee: China General Nuclear Power Corp; China Nuclear Power Technology Research Institute Co Ltd; CGN Power Co Ltd
Current assignee: China General Nuclear Power Corp; China Nuclear Power Technology Research Institute Co Ltd; CGN Power Co Ltd
Priority date: 2022-04-29
Filing date: 2022-04-29
Publication date: 2023-04-11
Anticipated expiration: 2042-04-29
Also published as: CN114888555A

Abstract

The invention relates to a fastener replacing and overhauling device, which comprises a first bracket, a first driving assembly, a second bracket, a second driving assembly and an actuating mechanism, wherein the first bracket is arranged on the first bracket; the first driving assembly is arranged on the first support, is connected with the second support and is used for driving the second support to rotate; the second bracket and the first bracket can be rotatably arranged; but actuating mechanism reciprocating motion sets up on the second support, is connected with second drive assembly, rotates along with the second support through first drive assembly drive, and thereby fixes a position to the fastener position of changing in advance and/or overhauing through the axial reciprocating motion of second drive assembly drive at the second support to be used for changing and/or overhauing the fastener. The fastener replacing and overhauling device has the advantages of simplicity and convenience in operation, high operation efficiency, strong reliability and wide application range.

Description

Fastener replacement and repair device

Technical Field

The invention relates to the field of underwater remote overhaul, in particular to a fastener replacing and overhauling device.

Background

The fastener replacing device in the related art is generally used for removing fasteners (such as bolts), and when a plurality of fasteners are required to be removed, the fastener replacing device is generally required to be disassembled and assembled for many times, so that the defects of poor operation reliability, low operation efficiency and small application range exist.

Disclosure of Invention

The invention aims to provide an improved fastener replacing and repairing device.

The technical scheme adopted by the invention for solving the technical problems is as follows: constructing a fastener replacement and overhaul device comprising a first bracket, a first drive assembly, a second bracket, a second drive assembly, and an actuator;

the first driving assembly is arranged on the first support, is connected with the second support and is used for driving the second support to rotate;

the second bracket and the first bracket can be rotatably arranged; the second driving assembly is arranged on the second bracket;

the actuating mechanism can be arranged on the second support in a reciprocating mode and is connected with the second driving assembly, the actuating mechanism is driven by the first driving assembly to rotate along with the second support, and the actuating mechanism is driven by the second driving assembly to axially reciprocate on the second support so as to be positioned to the position where a fastener to be replaced and/or overhauled is located and used for replacing and/or overhauling the fastener.

In some embodiments, the first drive assembly includes a first drive motor, a drive shaft, and a connector; the first driving motor is connected with the transmission shaft and used for driving the transmission shaft to rotate;

the connecting piece is arranged at one end, far away from the first driving motor, of the transmission shaft and used for being connected with the second support.

In some embodiments, the second bracket includes a post coupled to the first drive assembly.

In some embodiments, the actuator includes a support platform, and an actuator assembly;

the supporting platform is provided with a hoisting component which is used for being connected with the second driving assembly;

the actuating assembly comprises a robotic arm; the mechanical arm is arranged on the supporting platform;

the execution assembly further comprises an actuator and/or a detection probe; the actuator and/or the detection probe are detachably mounted at the tail end of the mechanical arm.

In some embodiments, a top-tight assembly is arranged on the supporting platform and used for being in top-tight fit with the second bracket.

In some embodiments, the second drive assembly includes a second drive motor, and a spool;

a hoisting rigging is arranged on the winding drum and connected with the executing mechanism;

the second driving motor is connected with the winding drum and used for driving the winding drum to rotate, so that hoisting rigging on the winding drum is driven to be wound and unwound, and the actuating mechanism is driven to reciprocate along the axial direction of the second support.

In some embodiments, further comprising a shielding table disposed on the first support;

the shielding workbench comprises a frame, a working platform and a shielding component; the frame is sleeved on the first support, and the working platform is arranged on the frame; the shielding member is disposed between the work platform and the frame.

In some embodiments, the first support comprises a first frame body, a first support seat body and a second support seat body;

the first frame body is provided with a through hole for the second frame to penetrate through;

the first support seat body is arranged on the first frame body, extends towards the inner side of the through hole and is used for supporting the second support;

the second support pedestal is arranged on the first frame body and extends towards the outer side of the through hole, and is used for supporting the shielding workbench.

In some embodiments, the second support seat is provided with a positioning member.

In some embodiments, the second bracket comprises a second shelf, and a post;

the second frame body comprises an annular plate, a plurality of supporting rods and a connecting plate; the support rods are arranged at intervals along the circumferential direction of the upright post, one end of each support rod is connected with the annular plate, and the other end of each support rod is connected with the connecting plate;

the upright post and the annular plate are coaxially arranged;

the connecting plate is provided with a through hole for the upright post to penetrate through.

In some embodiments, a guide mechanism is further included;

the guide mechanism comprises a guide rail and a sliding block; the guide rail is arranged on the upright post and/or the support rod; the sliding block is arranged on the executing mechanism and corresponds to the guide rail.

In some embodiments, a centering mechanism is further included; the centering and positioning mechanism is arranged at one end, penetrating out of the through hole, of the upright column and is used for being positioned and installed with the reactor core plate.

The second bracket also comprises a mounting plate and a bearing; the mounting panel cover is located on the second support body, and be located the annular plate lower part, the bearing sets up the mounting panel with between the annular plate, be used for supporting the second support body, and make the second support body can smoothly rotate at the circumferencial direction.

The fastener replacing and overhauling device has the following beneficial effects: the second support and the reactor core plate are positioned and installed through the centering and positioning mechanism, the second support is driven to rotate through the first driving assembly arranged on the first support, the actuating mechanism is driven to rotate, the actuating mechanism is driven to axially reciprocate on the second support through the second driving assembly, the actuating mechanism is positioned to the position where the fastener is replaced and/or overhauled in advance, and the fastener is replaced and/or overhauled. The fastener replacing and overhauling device can be mounted at one time to disassemble and assemble all fasteners, is not only suitable for replacing the fasteners, but also suitable for overhauling the fasteners, and has the advantages of simplicity and convenience in operation, high operation efficiency, strong reliability and wide application range.

Drawings

The invention will be further described with reference to the following drawings and examples, in which:

FIG. 1 is a schematic illustration of a fastener replacement and service device installed into a internals package according to some embodiments of the present invention;

FIG. 2 is a schematic view of the fastener changing and servicing apparatus of FIG. 1;

FIG. 3 is a schematic view of the first carriage and first drive assembly installation of the fastener replacement and service apparatus of FIG. 2;

FIG. 4 is an electrical schematic diagram of a second bracket and a second drive assembly of the fastener changing and servicing apparatus of FIG. 2;

FIG. 5 is a schematic illustration of the shielding table of the fastener changing and servicing apparatus of FIG. 2;

FIG. 6 is a schematic illustration of the actuator of the fastener changing and servicing apparatus of FIG. 2;

FIG. 7 is a schematic view of the centering and positioning mechanism of the fastener changing and servicing device of FIG. 1 positioned to the core plate;

FIG. 8 is an enlarged partial structural view of the centering and locating mechanism of the fastener changing and servicing device of FIG. 7 positioned to the core plate;

FIG. 9 is a schematic cross-sectional view of the centering and locating mechanism of the fastener changing and servicing device of FIG. 7 positioned to the core plate.

Detailed Description

For a more clear understanding of the technical features, objects and effects of the present invention, embodiments of the present invention will now be described in detail with reference to the accompanying drawings.

Figures 1 and 2 show some preferred embodiments of the fastener changing and servicing apparatus of the present invention. The fastener replacing and overhauling device can realize underwater remote quick replacement and overhauling of all fasteners 2022 on the coaming assembly 202 of the lower reactor internals 200 after one-time installation when the fasteners 2022 on the coaming assembly 202 of the lower reactor internals 200 of the nuclear power generating unit are loosened, broken, damaged and the like, and improves the automation level, the replacing efficiency and the reliability of the operation.

As shown in fig. 1 and 2, in some embodiments, the fastener replacement and service apparatus includes a first bracket 10, a first drive assembly 20, a second bracket 30, a second drive assembly 40, a shield table 50, an actuator 60, and a centering mechanism 70. The first bracket 10 may be used for mounting the first driving assembly 20, the second bracket 30, and the shielding work table 50. The first driving assembly 20 is disposed on the first bracket 10, and is connected to the second bracket 30 for driving the second bracket 30 to rotate. The second driving assembly 40 is disposed on the second bracket 30, and connected to the actuator 60, for driving the actuator 60 to reciprocate along the axial direction of the second bracket and disposed on the second bracket 30, so as to be positioned at a height corresponding to a position of the fastener 2022 to be replaced and/or repaired. The shielding work station 50 is mountable to the first support 10 for serving as a work platform for an operator and providing radiation shielding to reduce the dose of radiation to the operator. The centering and positioning mechanism 70 is movably disposed at a lower portion of the second support 30 for positioning and mounting with the core plate.

As shown in fig. 3, further, in some embodiments, the first bracket 10 includes a first frame body 11, a first support seat 12 and a second support seat body 13. In some embodiments, the first frame 11 may be a frame structure. The first frame 11 may include a ring frame 111, four longitudinal beams 112, and two cross beams 113. The four longitudinal beams 112 may be disposed at intervals along the circumferential direction of the annular frame 111, and are respectively connected to the annular frame 111, and each longitudinal beam 112 may be perpendicular to the annular surface where the annular frame 111 is located. It is understood that in other embodiments, the number of longitudinal beams 112 may not be limited to four. The two cross beams 113 may be arranged in a cross shape, and two ends of each cross beam 113 may be connected to the two longitudinal beams 112 arranged oppositely. It is understood that the cross beam 113 may not be limited to two in some embodiments. In some embodiments, the first frame 11 is provided with a through hole 114, and the through hole 114 may be formed by surrounding the four longitudinal beams 112 for the second bracket 30 to pass through. In some embodiments, the first supporting seat 12 is disposed on the first frame 11 and extends toward the inner side of the through hole 114 for supporting the second frame 30. Specifically, a first supporting seat 12 may be disposed on an inner side of each longitudinal beam 112, and the first supporting seat 12 may be located on an upper portion of the first longitudinal beam 112 and extend in a direction perpendicular to the first longitudinal beam 112. In some embodiments, the first supporting seat 12 is provided with a positioning boss 121 for supporting and positioning the second bracket 30. In some embodiments, the second supporting base 13 may be disposed on the first frame 11 and extend toward the outside of the through hole 114 for supporting the shielding worktable 50. Specifically, in some embodiments, the second supporting seat 13 may be disposed at a lower portion of each longitudinal beam 112, and is located at an outer side of each longitudinal beam 112, and extends outward in a direction perpendicular to the first longitudinal beam 112. In some embodiments, a diagonal rod 14 may be disposed between the first support seat 12 and the longitudinal beam 112, and between the second support seat 13 and the longitudinal beam 112 for connection and reinforcement, and specifically, may be welded and fixed with the first support seat 12, the second support seat 13 and the longitudinal beam 112. In other embodiments, the first bracket 10 may not be limited in structure.

In some embodiments, the second support seat 13 is provided with a positioning member 131, and the positioning member 131 is located on the bottom surface of the second support seat 13 and extends downward. In some embodiments, the positioning member 131 may be a positioning pin for cooperating with the basket assembly 201 of the lower internals 200 to position the first support 10 to the upper flange of the basket assembly 201.

Further, in some embodiments, the first drive assembly 20 includes a first drive motor 21, a drive shaft 22, and a coupling 23. The transmission shaft 22 is installed at the intersection of the two beams 113 and extends toward the annular frame 111. The first driving motor 21 is connected to one end of the transmission shaft 22 for driving the transmission shaft 22 to rotate. The connecting member 23 is connected to an end of the transmission shaft 22 away from the first driving motor 21 for connecting with the second bracket 30. In some embodiments, the connector 23 may be a connecting flange.

Further, as shown in fig. 4, in some embodiments, the second bracket 30 includes a second frame 31 and a pillar 32. In some embodiments, the second frame 31 may be a frame structure, which can partially penetrate into the first frame 10 through the through hole 114 and be supported by the first support base 12. The upright 32 can be disposed in the second frame 31 and connected to the first driving assembly 20, and more particularly, connected to the connecting member 23, so that the driving shaft 22 can drive the second frame 31 to rotate together under the driving of the first driving motor 21. In some embodiments, the second frame 31 may include an annular plate 311, a plurality of struts 312, and a connecting plate 313. The second frame 31 is partially inserted into the through hole 114. The plurality of supporting rods 312 may be disposed along the circumferential direction of the upright 32 at intervals, and may be disposed along the circumferential direction of the second frame 31 at intervals. One end of each strut 312 may be connected to the annular plate 311 and the other end may be connected to the connecting plate 313. In some embodiments, the number of struts 312 may be four, and it is understood that in other embodiments, the number of struts 312 may not be limited to four. The connection plate 313 may include an annular portion 3131 and a connection portion 3132. The ring portion 3131 may have a through hole 3133, and the through hole 3133 may allow the post 32 to pass through. The connecting portions 3132 may be four, the four connecting portions 3132 may be disposed at intervals along the circumferential direction of the annular portion 3131, and each connecting portion 3132 may be connected to the annular portion 3131. Each connecting portion 3132 may be disposed corresponding to the supporting rod 312, and may be connected to the supporting rod 312.

In some embodiments, the length of the post 32 can be less than the length of the strut 312, and one end can protrude from the through hole 3133. In some embodiments, the upright 32 is coaxially disposed with the annular plate 311, and is connectable with the connecting member 23, and thus the transmission shaft 22.

As shown in fig. 4, the second bracket 30 further includes a mounting plate 34 and a bearing 35. The mounting plate 34 is sleeved on the second frame 31 and located at the lower portion of the annular plate 311 for being connected and fixed with the first supporting seat 12, the bearing 35 is disposed between the mounting plate 34 and the annular plate 311 for supporting the second frame 31 and enabling the second frame 31 to rotate smoothly in the circumferential direction, and the bearing 35 may be a thrust bearing, an angular contact bearing, an annular slide rail, a slider, or the like.

In some embodiments, the second driving assembly 40 may be disposed on the annular plate 311. In some embodiments, the second drive assembly 40 may include a second drive motor 41 and a spool 42. The second driving motor 41 can be connected to the winding drum 42 for driving the winding drum 42 to rotate. The winding drum 42 is provided with a hoisting rigging 421, and the hoisting rigging 421 can be wound on the winding drum 42 and can be connected with the actuating mechanism 60. When the second driving motor 41 is started, the winding drum 42 is driven to rotate, so as to drive the hoisting rigging 421 of the winding drum 42 to wind and unwind, and further drive the actuating mechanism 60 to reciprocate along the axial direction of the second bracket 30, that is, drive the actuating mechanism 60 to reciprocate along the axial direction of the upright post 32, so that the actuating mechanism 60 can be conveniently positioned to the height of the fastener 2022 to be replaced and/or repaired. In some embodiments, the hoist rigging 421 can be a wire rope, and it is understood that in other embodiments, the hoist rigging 421 can not be limited to being a wire rope.

As shown in fig. 5, in some embodiments, the shielding stage 50 may be disposed on the first support 10. The shielding work table 50 may include a frame 51, a work platform 52, and a shielding member 53. In some embodiments, the frame 51 may be disposed on the first frame 10 and the second supporting base 13. The working platform 52 may be disposed on the frame 51, and the cross-sectional size of the working platform 52 may be larger than that of the frame 51, so that a platform for an operator to perform equipment inspection, temporary operation, and the like may be provided. The shielding member 53 may be disposed between the working platform 52 and the frame 51, and is a shielding body filled with radiation shielding material, so as to provide radiation shielding for personnel and reduce the radiation dose of personnel.

In some embodiments, the actuator 60 may be disposed on the mast 32 for axial reciprocation along the mast 32, and may be used for replacement and/or servicing of the fasteners 2022. In some embodiments, the actuator 60 may include a support platform 61 and an actuator assembly 62. The supporting platform 61 can be disposed between the upright column 32 and the supporting rod 312 and connected to the second driving assembly 40, specifically, a hoisting member 611 can be disposed on the supporting platform 61, and the hoisting member 611 can be connected to the hoisting rigging 421 of the second driving assembly 40. The second driving motor 41 can drive the drum 42 to rotate, and further drive the supporting platform 61 to reciprocate along the axial direction of the upright column 32, so as to lift or lower the executing assembly 62 to a set height (a height adapted to the installation height of the pre-replaced and/or repaired fastener 2022). The actuator assembly 62 may be disposed on the support platform 61 for replacing and/or servicing the fasteners 2022.

Further, in some embodiments, the performance assembly 62 may include a robotic arm 621; the robotic arm 621 may be bolted to the support platform 61 or may be welded to the support platform 61 to facilitate rotational and vertical movement with the support platform 61. The robotic arm 621 may be a multi-axis robotic arm. Of course, it is understood that in other embodiments, the robotic arm 621 may not be limited to being a multi-axis robotic arm.

Further, as shown in fig. 6, in some embodiments, the actuator assembly 62 further comprises an actuator 622, and the actuator 622 may be disposed at an end of the robot 621 and may be detachably connected to the robot 621. In some embodiments, the actuator 622 may be multiple and replaceable; specifically, the method can comprise various different end effectors such as welding seam cutting, bolt loosening, drilling, tapping, reaming, screw hole cleaning, new screw installation, bolt locking bulging and the like, and can be used for various operations, so that the removal of the anti-loosening welding seam of the bolt, the dismantling of an original bolt, the repair and cleaning of the screw hole, the installation and anti-loosening locking of the new bolt and the like are realized.

In some embodiments, the performance assembly 62 further includes a test probe that is disposable on the robotic arm 621 and removably attachable to the robotic arm 621, which is replaceable with the implement 622 for non-destructive testing of the fence fastener 2022. It will be appreciated that in some embodiments, the detection probe may be omitted.

In some embodiments, the support platform 61 is provided with a tightening assembly 63; the tightening assembly 63 can be tightly engaged with the second bracket 30. Specifically, in some embodiments, the jacking assembly 63 may include a cylinder 631, and a suction cup 632; the cylinder 631 can extend toward the supporting rod 312 of the second bracket 30, and the suction cup 632 can be connected to the cylinder 631 and can be driven by the cylinder 631 to adhere to the supporting rod 312, so as to tightly press the whole supporting platform 61 against the supporting rod 312, thereby preventing the supporting platform 61 and the executing component 62 from shifting or accidentally falling during operation. It will be appreciated that in some embodiments, the jacking assembly 63 may be omitted.

In some embodiments, the actuators 622 and the inspection probes of the actuator assembly 62 may be of a modular design, each of the actuators and the inspection probes may be compatible with the interface of the robot arm 621, and the robot arm 621 may be lifted and moved to the water surface automatically when the actuators 622 are replaced, without the need to lift the equipment to the guide bank for replacement, and the actuators 622 and the inspection probes may be replaced quickly and conveniently.

In some embodiments, the fastener replacing and repairing device further comprises a guiding mechanism, the guiding mechanism may comprise two guiding rails 33 and a sliding block 64, the two guiding rails 33 may be respectively arranged on the upright 32 and one of the struts 312, or both the two guiding rails 33 may be arranged on the two struts 312, and the two guiding rails 33 may be respectively arranged along the axial extension of the upright 32. It is understood that in some embodiments, the guide rail 33 may not be limited to two, and may be a single guide rail, which may be disposed only on the upright 32 or only on the strut 312. In some embodiments, the two sliding blocks 64 may be disposed on the supporting platform 61, and the two sliding blocks 64 may be disposed corresponding to the two guide rails 33, and may cooperate with the guide rails 33 to provide guidance for the axial reciprocating motion of the actuator 60.

As shown in fig. 7-9, in some embodiments, the centering mechanism 70 may include a first pin 71, a mounting plate 72, a second pin 73, a shaft 74, and a bearing 75. The first pin 71 can be disposed on the mounting plate 72 and can extend upward in a direction perpendicular to the mounting plate 72, and can be inserted into the upright post 32 to be rotatably connected with the upright post 32. The first pin 71 may have a hollow structure, and a mounting through hole 711 may be formed inside the hollow structure. The second pin 73 can be disposed on a side of the mounting plate 72 opposite to the first pin 71, and can extend downward in a direction perpendicular to the mounting plate 72 for cooperating with the through-flow hole 2031 of the core plate 203. In some embodiments, the rotating shaft 74 may be disposed on the mounting plate 72, and may be inserted into the mounting hole 711 of the first pin 71, and may be rotatably connected to the first pin 71 through a sleeved bearing 75, so as to facilitate the rotation of the upright column 32, and further facilitate the first driving component 20 to drive the second bracket 30 to rotate 360 degrees, so as to drive the executing component 62 to be positioned on the fastening component 2022 with a set orientation.

As further shown in fig. 1 and 2, the fastener replacement and repair apparatus is installed and operated on the lower internals 200 as follows:

during installation, the centering and positioning mechanism 70 is firstly hoisted and placed on the core plate 203, and is inserted into the corresponding overflowing hole 2031 of the core plate 203 through the second pin shaft 73; then the fastener replacing and overhauling device is integrally hoisted and placed, the upper part of the fastener replacing and overhauling device is supported on the flange of the hanging basket assembly 201 through the first bracket 10, and the plurality of positioning components 131 can be inserted into the holes of the flange to realize the upper part positioning of the fastener replacing and overhauling device; the opening at the lower end of the upright 32 is inserted into the first pin 71 to effect lower positioning of the fastener changing and servicing apparatus.

In operation, the actuating mechanism 60 is driven by the second driving assembly 40 to move up and down along the axial direction of the upright 32, and after being positioned at a certain height, the supporting platform 61 is tightly pressed on the second bracket 30 by the tightening assembly 63, so as to prevent the actuating assembly 62 from moving or accidentally falling during operation. The first driving assembly 20 realizes that the second bracket 30, the second driving assembly 40 and the actuating mechanism 60 rotate within a range of 360 degrees; together, they provide for initial positioning of the robotic arm 621 and implement 622 at different orientations and heights. Then, the mechanical arm 621 is used for driving different actuators 622 to be accurately positioned to the positions of the bolts to be operated, and operations such as removing of anti-loosening welding seams of the bolts, dismantling of original bolts, repairing and cleaning of screw holes, installation and anti-loosening locking of new bolts are completed.

The fastener replacing and overhauling device can realize the dismounting and remounting of all the fasteners 2022 on the enclosing plate assembly 202 after one-time installation and repair defective screw holes, and can also replace the actuator 622 with a nondestructive testing probe to realize the nondestructive testing of the fasteners 2022 on the enclosing plate assembly 202.

The fastener replacement and service device is rigidly supported and connected, and by mounting the actuator 622 on the robotic arm 621 and inserting the lower portion of the fastener replacement and service device into the core plate 203 of the internals 200, sufficient reaction force can be provided for safe and reliable operation when replacing the fasteners 2022 on the shroud assembly 202.

This fastener is changed and is overhauld executor 622 of device can adopt the modularized design, and each executor 622 and test probe are unanimous with this arm 621's interface, and for the quick assembly disassembly design, when changing executor 622, but this arm 621 automatic lifting, move to the surface of water, and need not to lead equipment hoist and mount to change ashore, and this executor 622 and test probe change swiftly, convenient.

The fastener replacing and overhauling device can memorize the coordinate position of the fastener 2022 after the fastener 2022 is positioned once, can quickly and automatically accurately position the fastener 2022 again according to the previous coordinate position after different actuators 622 are replaced, can quickly and automatically calculate the coordinate positions of other fasteners 2022 according to the coordinate position of the first replaced fastener 2022, and can realize the quick and accurate positioning of the fastener 2022 with the coaming.

The fastener replacing and overhauling device has high automation level, simple operation and high replacing efficiency of the coaming fastener 2022.

The fastener changing and servicing apparatus is provided with a shield table 50 which can reduce or even prevent personnel from changing the actuator 622 and the irradiation during operation.

It should be understood that the above examples only represent the preferred embodiments of the present invention, and the description is specific and detailed, but not construed as limiting the scope of the present invention; it should be noted that, for those skilled in the art, the above technical features can be freely combined, and several changes and modifications can be made without departing from the concept of the present invention, which all belong to the protection scope of the present invention; therefore, all equivalent changes and modifications made within the scope of the claims of the present invention should be covered by the claims of the present invention.

Claims

1. A fastener replacement and service apparatus, comprising a first support (10), a first drive assembly (20), a second support (30), a second drive assembly (40), and an actuator (60);

the first driving assembly (20) is arranged on the first bracket (10), is connected with the second bracket (30) and is used for driving the second bracket (30) to rotate;

the second bracket (30) and the first bracket (10) are rotatably arranged;

the second driving assembly (40) is arranged on the second bracket (30);

the actuating mechanism (60) can be arranged on the second bracket (30) in a reciprocating mode and is connected with the second driving assembly (40), the actuating mechanism is driven by the first driving assembly (20) to rotate along with the second bracket (30), and the actuating mechanism is driven by the second driving assembly (40) to axially reciprocate on the second bracket (30) so as to be positioned to the position of a fastener (2022) to be replaced and/or overhauled and used for replacing and/or overhauling the fastener (2022).

2. Fastener replacement and service device according to claim 1, wherein the first drive assembly (20) comprises a first drive motor (21), a drive shaft (22) and a connection (23); the first driving motor (21) is connected with the transmission shaft (22) and is used for driving the transmission shaft (22) to rotate;

the connecting piece (23) is arranged at one end, far away from the first driving motor (21), of the transmission shaft (22) and is used for being connected with the second support (30).

3. Fastener changing and servicing device according to claim 1, characterized in that the second bracket (30) comprises a stand (32), the stand (32) being connected with the first drive assembly (20).

4. Fastener changing and servicing device according to claim 1, characterized in that the actuator (60) comprises a support platform (61), and an actuator assembly (62);

the supporting platform (61) is provided with a hoisting component (611) which is used for being connected with the second driving assembly (40);

the actuation assembly (62) includes a robotic arm (621); the mechanical arm (621) is arranged on the supporting platform (61);

the actuation assembly (62) further comprises an actuator (622) and/or a detection probe; the actuator (622) and/or the detection probe are detachably mounted at the tail end of the mechanical arm (621).

5. Fastener changing and servicing device according to claim 4, characterized in that a jacking assembly (63) is arranged on the supporting platform (61) for a jacking fit with the second bracket (30).

6. Fastener replacement and service device according to claim 1, characterized in that the second drive assembly (40) comprises a second drive motor (41), and a reel (42);

a hoisting rigging (421) is arranged on the winding drum (42), and the hoisting rigging (421) is connected with the executing mechanism (60);

the second driving motor (41) is connected with the winding drum (42) and used for driving the winding drum (42) to rotate, so that the hoisting rigging (421) on the winding drum (42) is driven to be wound and unwound, and the actuating mechanism (60) is driven to reciprocate along the axial direction of the second support (30).

7. Fastener replacement and service device according to claim 1, further comprising a shielding work table (50), said shielding work table (50) being arranged on said first bracket (10);

the shielding work table (50) comprises a frame (51), a work platform (52) and a shielding member (53); the frame (51) is sleeved on the first support (10), and the working platform (52) is arranged on the frame (51); the shielding member (53) is disposed between the work platform (52) and the frame (51).

8. Fastener changing and servicing device according to claim 7, characterized in that the first bracket (10) comprises a first frame body (11), a first support seat (12) and a second support seat (13);

the first frame body (11) is provided with a through hole (114) for the second support (30) to penetrate through;

the first support seat body (12) is arranged on the first frame body (11) and extends towards the inner side of the through hole (114) for supporting the second bracket (30);

the second support base body (13) is arranged on the first frame body (11) and extends towards the outer side of the through hole (114) and is used for supporting the shielding workbench (50).

9. Fastener changing and servicing device according to claim 8, characterized in that the second support seat (13) is provided with positioning means (131).

10. Fastener changing and servicing device according to claim 1, characterized in that the second bracket (30) comprises a second shelf (31), and a stand (32);

the second frame body (31) comprises an annular plate (311), a plurality of supporting rods (312) and a connecting plate (313); the support rods (312) are arranged at intervals along the circumferential direction of the upright post (32), one end of each support rod is connected with the annular plate (311), and the other end of each support rod is connected with the connecting plate (313);

the upright column (32) is coaxially arranged with the annular plate (311);

the connecting plate (313) is provided with a through hole (3133) for the upright post (32) to penetrate through.

11. The fastener replacement and service apparatus of claim 10, further comprising a guide mechanism;

the guide mechanism comprises a guide rail (33) and a sliding block (64); the guide rail (33) is arranged on the upright post (32) and/or the support rod (312); the sliding block (64) is arranged on the actuating mechanism (60) and corresponds to the guide rail (33).

12. The fastener replacement and service device of claim 10, further comprising a centering mechanism (70); the centering and positioning mechanism (70) is arranged at one end, penetrating out of the through hole (3133), of the upright post (32) and is used for positioning and mounting with a reactor core plate.

13. Fastener changing and servicing device according to claim 10, characterized in that the second bracket (30) comprises a mounting plate (34), and a bearing (35); the mounting plate (34) is sleeved on the second frame body (31) and is positioned at the lower part of the annular plate (311); the bearing (35) is disposed between the mounting plate (34) and the annular plate (311) to support the second frame body (31) and allow the second frame body (31) to smoothly rotate in a circumferential direction.