CN213874174U - Device for automatically measuring thickness of nuclear fuel plate - Google Patents

Abstract

The utility model discloses an automatic change device of measuring nuclear fuel plate thickness, it includes robot grasping system (1) and robot track (2), the side all is provided with thick detection device (3) around robot track (2), robot grasping system (1) sets up on robot track (2) and can follow robot track (2) and remove, be provided with grabbing device on the output shaft of robot grasping system (1), thick detection device (3) of board includes chassis (4) and platform (5), platform (5) have set firmly supporting seat (57) on the top surface of chassis (4), set firmly on supporting seat (57) and take open-ended support (6), be provided with laser displacement sensor (7) and lower laser displacement sensor (8) on support (6). The utility model has the advantages that: compact structure, improvement nuclear fuel board detection efficiency, improvement nuclear fuel board thickness detection accuracy, alleviate the nuclear fuel board material loading degree of difficulty.

Description

Device for automatically measuring thickness of nuclear fuel plate

Technical Field

The utility model relates to a technical field that nuclear fuel plate thickness detected, especially an automatic change device of measuring nuclear fuel plate thickness.

Background

The nuclear fuel plate is a long strip plate with a certain thickness, the thickness of the nuclear fuel plate needs to be detected after the nuclear fuel plate is produced and molded, and the nuclear fuel plate with the thickness not meeting the requirement is removed. The existing detection mode is that a nuclear fuel plate to be detected is horizontally hung, and then two laser displacement sensors are used for respectively irradiating the upper surface and the lower surface of the nuclear fuel plate so as to measure the thickness of the nuclear fuel plate. However, although this measurement method can measure the thickness of the nuclear fuel plate, the following drawbacks still exist: 1. the laser displacement sensor needs to be moved before measurement, vibration is inevitably generated during movement, and then data measured by the laser displacement sensor is inaccurate, and the accuracy of thickness measurement is reduced. 2. The nuclear fuel plate is transported to the detection station through robotic arm, before robotic arm snatchs the nuclear fuel plate, need the workman to pile up the nuclear fuel plate in the appointed region of material loading frame, in order to ensure that robotic arm can accurately snatch the nuclear fuel plate in the appointed region, but when the manual work piles up the nuclear fuel plate on the material loading frame, be difficult to guarantee the accurate location of nuclear fuel plate on the material loading frame, thereby the material loading degree of difficulty of nuclear fuel plate has been increased, and need the workman to pile up the nuclear fuel plate on the material loading frame one by one, the material loading time has been increased, and then the detection efficiency of nuclear fuel plate thickness has been reduced. 3. The plate thickness detection standard is a single-point plate thickness, does not meet the detection standard, and has low detection precision. Therefore, there is a need for an apparatus for automatically measuring the thickness of a nuclear fuel plate, which can improve the detection efficiency of the nuclear fuel plate, improve the detection accuracy of the thickness of the nuclear fuel plate, and reduce the loading difficulty of the nuclear fuel plate.

SUMMERY OF THE UTILITY MODEL

An object of the utility model is to overcome prior art's shortcoming, provide a compact structure, improve nuclear fuel board detection efficiency, improve nuclear fuel board thickness and detect the device of the automatic nuclear fuel board thickness of measuring of the accuracy, alleviate the nuclear fuel board material loading degree of difficulty.

The purpose of the utility model is realized through the following technical scheme: a device for automatically measuring the thickness of a nuclear fuel plate comprises a robot grabbing system and a robot track, wherein plate thickness detection devices are arranged on the front side and the rear side of the robot track, the robot grabbing system is arranged on the robot track and can move along the robot track, a grabbing device is arranged on an output shaft of the robot grabbing system, the plate thickness detection devices comprise an underframe and a platform, the platform is fixedly arranged on the top surface of the underframe and is fixedly provided with a supporting seat, the supporting seat is fixedly provided with a bracket with an opening, the bracket is provided with an upper laser displacement sensor and a lower laser displacement sensor, the upper laser displacement sensor and the lower laser displacement sensor are respectively arranged at the upper end and the lower end of the opening of the bracket, the platform is provided with a screw nut pair positioned behind the supporting seat, the top surface of a nut of the screw nut pair is fixedly provided with a supporting plate X, and the top surface of the supporting plate X is fixedly provided with a longitudinally arranged electric cylinder, the output shaft of electric jar has set firmly backup pad Y, and the step groove has been seted up at backup pad Y's top, and driving motor has set firmly at backup pad Y's top, is connected with the pivot that is on a parallel with backup pad Y on driving motor's the output shaft, and the interval is provided with closing device in the pivot, and closing device includes rotor plate and pressure head, and the one end of rotor plate sets firmly in the pivot, and the pressure head sets firmly on the basal surface of the rotor plate other end.

The robot track comprises a guide rail and a rack, wherein the guide rail and the rack are arranged in parallel and are fixedly arranged on the ground.

The robot grabbing system comprises a robot arm, a moving platform, a sliding block and a driving unit, wherein the sliding block is slidably mounted on a guide rail, the moving platform is fixedly arranged on the top surface of the sliding block, the driving unit is fixedly arranged on the top surface of the moving platform, an output shaft of the driving unit downwards penetrates through the moving platform, a gear is mounted on the output shaft and meshed with a rack, and the robot arm is fixedly arranged on the moving platform.

Grabbing device is including snatching the frame, the middle part of snatching the frame sets firmly on the output shaft of robot arm, it is provided with a plurality of sucking discs just along its length direction interval on the basal surface of frame to snatch, the mechanism that snatchs that is provided with two symmetries on the top surface of frame, it includes the revolving cylinder who sets firmly in snatching a top to snatch the mechanism, there is the axis of rotation through the coupling joint on revolving cylinder's the output shaft, the axis of rotation is on a parallel with the long limit setting of snatching the frame, just set firmly a plurality of swinging booms along its length direction interval in the axis of rotation, flexible safeties has set firmly on the lower tip of swinging boom, flexible safeties sets up in the below of snatching the frame.

The platform is a marble platform.

The screw-nut pair comprises a servo motor, a screw rod, a nut, a sliding rail and a machine base, the machine base is fixedly arranged on the top surface of the platform, the screw rod is rotatably arranged in the machine base, the nut is connected to the screw rod in a threaded mode, the servo motor is fixedly arranged on the platform, an output shaft of the servo motor is connected with one end of the screw rod through a coupler, and a supporting plate X is slidably arranged on the sliding rail.

The device comprises a loading transfer trolley, a loading frame and a vehicle body guide mechanism, wherein the top of the loading frame is fixedly provided with two guide plates I, the top of the loading frame is fixedly provided with a guide track I positioned between the two guide plates I, the top surface of the loading frame is provided with a plurality of universal bearings I, one edge of the top of the loading frame is fixedly provided with a locking seat I, the other edge is fixedly provided with two wedge blocks I, the wedge surfaces of the two wedge blocks I are oppositely arranged, the front side and the rear side of the loading frame are respectively provided with the vehicle body guide mechanism, the vehicle body guide mechanism comprises a frame fixedly arranged on the ground, and a plurality of bearings are rotatably arranged on the frame; the feeding transfer trolley comprises a trolley body and a bracket, wherein two guide plates II are fixedly arranged on the top surface of the trolley body, a guide track II positioned between the two guide plates II is fixedly arranged at the top of the trolley body, a plurality of universal bearings II are arranged on the top surface of the trolley body, a locking seat II and a wedge block II are fixedly arranged on one edge of the top of the trolley body, the wedge surfaces of the two wedge blocks II are oppositely arranged, the bracket is limited between the two guide plates II and is supported on the top surface of the universal bearings II, a positioning structure is fixedly arranged on the bottom surface of the bracket and is positioned at the two ends of the bracket, the positioning structure comprises two wedge blocks III, the wedge surfaces of the two wedge blocks III of the positioning structure positioned at the rear end are respectively matched with the wedge surfaces of the two wedge blocks II, a locking positioning threaded rod is arranged on the bracket, the threaded section of the locking positioning threaded rod penetrates through the bracket, and the threaded section of the threaded hole of the locking seat II is in threaded connection, the top of locking positioning threaded rod has set firmly the knob, and the knob sets up in the bracket top, the bottom of bracket is still rotatory to be installed a plurality of leading wheels, and the leading wheel sets up in direction track II, be provided with a plurality of nuclear fuel board limit structure on the bracket, nuclear fuel board limit structure includes a plurality of limiting plates, and the holding tank is enclosed into to the limiting plate, and the holding tank is the same with the outline of nuclear fuel board.

A plurality of wheels are mounted at the bottom of the vehicle body.

The bracket is provided with a handle.

The robot arm, the driving motor, the servo motor, the driving unit, the rotating cylinder, the upper laser displacement sensor and the lower laser displacement sensor are electrically connected with the measuring computer.

The utility model has the advantages of it is following: the utility model discloses compact structure, improvement nuclear fuel board detection efficiency, improvement nuclear fuel board thickness detection accuracy, alleviate the nuclear fuel board material loading degree of difficulty.

Drawings

Fig. 1 is a schematic structural view of the present invention;

FIG. 2 is a schematic structural view of a plate thickness detecting apparatus;

FIG. 3 is a top view of FIG. 2;

FIG. 4 is an enlarged view of part I of FIG. 2;

FIG. 5 is a schematic structural view of the support plate Y;

FIG. 6 is a schematic view of the mounting of the robotic gripper system to the robotic track;

FIG. 7 is an enlarged partial view of section II of FIG. 6;

fig. 8 is a schematic structural view of the feeding frame;

FIG. 9 is a schematic structural view of a feeding transfer trolley;

FIG. 10 is a schematic structural diagram of a vehicle body of the feeding transfer trolley;

FIG. 11 is a schematic view of the structure of the bracket;

FIG. 12 is a schematic view of the loading transfer trolley after being butted with a loading frame;

FIG. 13 is a schematic view of a carriage on a loading transfer trolley transferring to a loading rack;

in the figure, 1-robot gripping system, 2-robot track, 3-plate thickness detection device, 4-underframe, 5-platform, 6-bracket, 7-upper laser displacement sensor, 8-lower laser displacement sensor, 9-support plate X, 10-electric cylinder, 11-support plate Y, 12-step groove, 13-driving motor, 14-rotating shaft, 15-rotating plate, 16-pressure head, 17-guide rail, 18-rack, 19-robot arm, 20-moving table, 21-slide block, 22-driving unit, 23-gripping frame, 24-motor, 25-rotating shaft, 26-rotating arm, 27-flexible safety device, 28-servo motor, 29-screw rod, 30-slide rail, 31-a machine base, 32-a loading transfer trolley, 33-a loading frame, 34-a vehicle body guide mechanism, 35-guide plates I, 36-guide rails I, 37-universal bearings I, 38-locking seats I, 39-wedge blocks I, 40-a rack, 41-bearings, 42-a vehicle body, 43-a bracket, 44-guide plates II, 45-guide rails II, 46-universal bearings II, 47-locking seats II, 48-wedge blocks II, 49-wedge blocks III, 50-locking positioning threaded rods, 51-guide wheels, 52-limiting plates, 53-wheels, 54-handles, 55-nuclear fuel plates, 56-a nuclear fuel plate A and 57-a supporting seat.

Detailed Description

The invention will be further described with reference to the accompanying drawings, without limiting the scope of the invention to the following:

as shown in fig. 1 to 13, an apparatus for automatically measuring the thickness of a nuclear fuel plate comprises a robot grasping system 1 and a robot track 2, wherein plate thickness detecting devices 3 are respectively arranged at the front side and the rear side of the robot track 2, the robot grasping system 1 is arranged on the robot track 2 and can move along the robot track 2, a grasping device is arranged on an output shaft of the robot grasping system 1, the plate thickness detecting device 3 comprises an underframe 4 and a platform 5, the platform 5 is a marble platform, the platform 5 is fixedly arranged on the top surface of the underframe 4 and is fixedly provided with a supporting seat 57, a bracket 6 with an opening is fixedly arranged on the supporting seat 57, an upper laser displacement sensor 7 and a lower laser displacement sensor 8 are arranged on the bracket 6, the upper laser displacement sensor 7 and the lower laser displacement sensor 8 are respectively arranged at the upper end and the lower end of the opening of the bracket 6, a screw nut pair positioned behind the supporting seat 57 is arranged on the platform 5, the top surface of the nut of the screw-nut pair is fixedly provided with a support plate X9, the top surface of the support plate X9 is fixedly provided with a longitudinally arranged electric cylinder 10, the output shaft of the electric cylinder 10 is fixedly provided with a support plate Y11, the top of the support plate Y11 is provided with a step groove 12, the top of the support plate Y11 is fixedly provided with a driving motor 13, the output shaft of the driving motor 13 is connected with a rotating shaft 14 parallel to the support plate Y11, the rotating shaft 14 is provided with a pressing device at intervals, the pressing device comprises a rotating plate 15 and a pressing head 16, one end of the rotating plate 15 is fixedly arranged on the rotating shaft 14, and the pressing head 16 is fixedly arranged on the bottom surface of the other end of the rotating plate 15.

The robot track 2 comprises a guide rail 17 and a rack 18, wherein the guide rail 17 and the rack 18 are arranged in parallel and are fixedly arranged on the ground. The robot grabbing system 1 comprises a robot arm 19, a moving table 20, a sliding block 21 and a driving unit 22, wherein the sliding block 21 is slidably mounted on the guide rail 17, the moving table 20 is fixedly arranged on the top surface of the sliding block 21, the driving unit 22 is fixedly arranged on the top surface of the moving table 20, an output shaft of the driving unit 22 penetrates through the moving table 20 downwards, a gear is mounted on the output shaft and meshed with a rack 18, and the robot arm 19 is fixedly arranged on the moving table 20.

Grabbing device is including grabbing frame 23, the middle part of grabbing frame 23 sets firmly on robot arm 19's output shaft, it is provided with a plurality of sucking discs just along its length direction interval on the basal surface of grabbing frame 23, the mechanism of grabbing that is provided with two symmetries on the top surface of grabbing frame 23, it includes the revolving cylinder 24 who sets firmly in grabbing frame 23 top to snatch the mechanism, there is axis of rotation 25 through the coupling joint on the output shaft of revolving cylinder 24, axis of rotation 25 is on a parallel with the long limit setting of grabbing frame 23, axis of rotation 25 is last and has set firmly a plurality of swinging booms 26 along its length direction interval, flexible safeties 27 have set firmly on the lower tip of swinging boom 26, flexible safeties 27 sets up in the below of grabbing frame 23.

The screw-nut pair comprises a servo motor 28, a screw 29, a nut, a sliding rail 30 and a base 31, wherein the base 31 is fixedly arranged on the top surface of the platform 5, the screw 29 is rotatably arranged in the base 31, the nut is in threaded connection with the screw 29, the servo motor 28 is fixedly arranged on the platform 5, an output shaft of the servo motor 28 is connected with one end of the screw 29 through a coupler, and a supporting plate X9 is slidably arranged on the sliding rail 30.

The automatic loading and unloading device further comprises a loading and transferring trolley 32, a loading frame 33 and a vehicle body guide mechanism 34, wherein the top of the loading frame 33 is fixedly provided with two guide plates I35, the top of the loading frame 33 is fixedly provided with a guide track I36 positioned between the two guide plates I35, the top surface of the loading frame 33 is provided with a plurality of universal bearings I37, one edge of the top of the loading frame 33 is fixedly provided with a locking seat I38, the other edge of the top of the loading frame 33 is fixedly provided with two wedge blocks I39, wedge surfaces of the two wedge blocks I39 are oppositely arranged, the front side and the rear side of the loading frame 33 are provided with the vehicle body guide mechanism 34, the vehicle body guide mechanism 34 comprises a frame 40 fixedly arranged on the ground, and a plurality of bearings 41 are rotatably arranged on the frame 40; the feeding transfer trolley 32 comprises a trolley body 42 and a bracket 43, two guide plates II44 are fixedly arranged on the top surface of the trolley body 42, a guide track II45 positioned between the two guide plates II44 is fixedly arranged on the top of the trolley body 42, a plurality of universal bearings II46 are arranged on the top surface of the trolley body 42, a locking seat II47 and a wedge block II48 are fixedly arranged on one edge of the top of the trolley body 42, wedge faces of two wedge blocks II48 are oppositely arranged, the bracket 43 is limited between the two guide plates II44 and supported on the top surface of the universal bearings II46, a positioning structure is fixedly arranged on the bottom surface of the bracket 43 and positioned at two ends of the bracket 43, the positioning structure comprises two wedge blocks III49, the wedge faces of the two wedge blocks III49 of the positioning structure positioned at the rear end are respectively matched with the wedge faces of the two wedge blocks II48, a locking positioning threaded rod 50 is arranged on the bracket 43, and a locking threaded rod section of the locking positioning threaded rod penetrates through, and screw thread section and locking seat II 47's screw hole threaded connection, the top of locking positioning threaded rod 50 has set firmly the knob, and the knob sets up in the bracket 43 top, a plurality of leading wheels 51 are still installed in the rotation in the bottom of bracket 43, and leading wheels 51 set up in direction track II45, be provided with a plurality of nuclear fuel board limit structure on the bracket 43, nuclear fuel board limit structure includes a plurality of limiting plates 52, and the holding tank is enclosed into by limiting plates 52, and the holding tank is the same with the outline of nuclear fuel board.

A plurality of wheels 53 are mounted to the bottom of the body 42. The bracket 43 is provided with a handle 54.

The robot further comprises a measuring computer, and the measuring computer is electrically connected with the robot arm 19, the driving motor 13, the servo motor 28, the driving unit 22, the rotating cylinder 24, the upper laser displacement sensor 7 and the lower laser displacement sensor 8.

The working process of the utility model is as follows:

s1, feeding the nuclear fuel plate, wherein the specific operation steps are as follows:

s11, stacking the nuclear fuel plates 55 with the thickness to be measured in the accommodating grooves of the nuclear fuel plate limiting structures in advance by workers;

s12, moving the loading transfer trolley 32 to enable the trolley body 42 to enter the two trolley body guide mechanisms 34, guiding the trolley body 42 by the bearings 41 of the trolley body guide mechanisms 34, and butting the top surface of the trolley body 42 with the top surface of the loading frame 33 after the trolley body 42 is in place as shown in FIG. 12;

s13, positioning, the knob is turned upwards to unscrew the locking positioning threaded rod 50 from the locking seat II47, then the handle 54 is pulled, the carriage 43 moves along the guide plate II44, at the same time, the guide wheel 51 moves along the length direction of the guide track II45, the two wedge blocks III49 of the positioning structure at the rear end are separated from the wedge block II48, when moved a distance, the guide wheel 51 enters the guide track I36, the carriage 43 is supported on the universal bearing I37, and the carriage 43 moves along the guide plate I35, after the two wedge-shaped surfaces of the two wedge-shaped blocks III49 of the positioning structure positioned at the front end are matched with the two wedge-shaped surfaces of the two wedge-shaped blocks I39, the bracket 43 can be quickly positioned on the loading frame 33, and after the positioning, the locking and positioning threaded rod 50 is screwed down, so that the threaded section of the locking and positioning threaded rod 50 is screwed into the threaded hole of the locking seat I38, and the loading of the nuclear fuel plate is finally realized; therefore, all the nuclear fuel plates on the vehicle body 42 are positioned on the loading frame 33 at one time as shown in fig. 13, the loading time is greatly shortened, and the detection efficiency of the thickness of the nuclear fuel plates is improved; in addition, workers do not need to adjust the positions of the nuclear fuel plates for many times to position the nuclear fuel plates, one-time positioning is realized, the positioning difficulty of the workers is reduced, and the robot arms 19 can accurately grab the nuclear fuel plates;

s2, transferring the nuclear fuel plate, wherein the specific operation steps are as follows:

s21, controlling the action of the robot arm 19 to enable the suction cup to be in contact with the top surface of any one of the nuclear fuel plates 55, vacuumizing the suction cup, enabling the suction cup to suck the nuclear fuel plate A, enabling the robot arm 19 to drive the sucked nuclear fuel plate A56 to be lifted upwards, controlling the rotary cylinder 24 to drive the rotary shaft 25 to rotate after the suction cup is lifted, enabling the rotary shaft 25 to drive the rotary arm 26 to rotate, enabling the rotary arm 26 to drive the flexible safety device 27 to rotate, enabling the flexible safety device 27 to be supported on the bottom surface of the nuclear fuel plate A56, and therefore preventing the nuclear fuel plate from falling off due to pneumatic failure in the transferring process of the nuclear fuel plate A;

s22, controlling the robot arm 19 to continue to act, controlling the rotary cylinder 24 to reversely rotate when the nuclear fuel plate A56 reaches the step groove 12, separating the flexible safety device 27 from the nuclear fuel plate A56, stopping vacuumizing the suction cup after the nuclear fuel plate A56 grabs the step groove, and limiting the nuclear fuel plate A56 in the step groove 12;

s23, controlling the robot arm 19 to reset, then controlling the driving motor 13 to rotate, driving the rotating shaft 14 to rotate by the driving motor 13, driving the rotating plate 15 to rotate by the rotating shaft 14, driving the pressure head 16 to rotate by the rotating plate 15, pressing the pressure head 16 on the top surface of the nuclear fuel plate A56 to avoid the nuclear fuel plate A56 from shaking in the step groove 12, thereby realizing the transfer and fixation of the nuclear fuel plate A;

s3, measuring the thickness of the nuclear fuel plate, wherein the specific operation steps are as follows:

s31, the servo motor 28 is turned on, the servo motor 28 drives the screw rod 29 to rotate, the screw rod 29 drives the nut to move along the length direction of the screw rod 29, the nut drives the support plate X9 to move along the horizontal direction, the support plate X9 drives the electric cylinder 10 and the support plate Y11 to move along the horizontal direction, after the head end of the nuclear fuel plate A56 enters the opening of the bracket 6, the servo motor 28 is turned off, the upper laser displacement sensor 7 and the lower laser displacement sensor 8 respectively irradiate the upper surface and the lower surface of the nuclear fuel plate at the moment, the two laser displacement sensors transmit collected signals to the measuring computer, and the measuring computer calculates the thickness of the nuclear fuel plate A56 at the measuring point according to the fed back signals; therefore, in the measuring process, the two laser displacement sensors are fixed, and in the detecting process, vibration cannot be generated, so that the precision of the data measured by the laser displacement sensors is improved, and the precision of the thickness measurement of the nuclear fuel plate is greatly improved.

S32, repeating S31 continuously for a plurality of times, namely measuring the thickness of the nuclear fuel plate A56 at different points along the length direction;

s33, opening the electric cylinder 10, driving the support plate Y11 to move forwards or backwards by the piston rod of the electric cylinder 10, further driving the nuclear fuel plate A56 to move forwards or backwards, and controlling the servo motor 28 to rotate reversely after the nuclear fuel plate A56 is in place, so that measurement can be continuously carried out at different point positions of the nuclear fuel plate A56;

s34, calculating the average thickness of the nuclear fuel plate A56 by the measuring computer, controlling the robot arm 19 to move by the measuring computer if the average thickness is not within the qualified thickness range, sucking the nuclear fuel plate A in the step groove 12 by the sucking disc of the robot arm 19 and conveying the nuclear fuel plate A into a removing area, controlling the robot arm 19 to move by the measuring computer if the average thickness is within the qualified thickness range, and transferring the nuclear fuel plate 55 in the step groove 12 into the qualified area by the sucking disc of the robot arm 19;

s4, repeating the steps S2-S3 to continuously measure the thickness of the nuclear fuel plates to be detected.

Finally, it should be noted that: although the present invention has been described in detail with reference to the foregoing embodiments, it will be apparent to those skilled in the art that modifications may be made to the embodiments described in the foregoing embodiments, or equivalents may be substituted for elements thereof. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims (10)

1. An automatic change device of measuring nuclear fuel plate thickness which characterized in that: the plate thickness detection device comprises a robot grabbing system (1) and a robot track (2), plate thickness detection devices (3) are arranged on the front side and the rear side of the robot track (2), the robot grabbing system (1) is arranged on the robot track (2) and can move along the robot track (2), a grabbing device is arranged on an output shaft of the robot grabbing system (1), the plate thickness detection device (3) comprises an underframe (4) and a platform (5), the platform (5) is fixedly arranged on the top surface of the underframe (4) and fixedly provided with a supporting seat (57), a bracket (6) with an opening is fixedly arranged on the supporting seat (57), an upper laser displacement sensor (7) and a lower laser displacement sensor (8) are arranged on the bracket (6), the upper laser displacement sensor (7) and the lower laser displacement sensor (8) are respectively arranged at the upper end and the lower end of the opening of the bracket (6), and a screw rod nut pair positioned behind the supporting seat (57) is arranged on the platform (5), the screw-nut pair is characterized in that a supporting plate X (9) is fixedly arranged on the top surface of a nut of the screw-nut pair, a longitudinally-arranged electric cylinder (10) is fixedly arranged on the top surface of the supporting plate X (9), a supporting plate Y (11) is fixedly arranged on an output shaft of the electric cylinder (10), a step groove (12) is formed in the top of the supporting plate Y (11), a driving motor (13) is fixedly arranged at the top of the supporting plate Y (11), a rotating shaft (14) parallel to the supporting plate Y (11) is connected onto the output shaft of the driving motor (13), pressing devices are arranged on the rotating shaft (14) at intervals, each pressing device comprises a rotating plate (15) and a pressing head (16), one end of the rotating plate (15) is fixedly arranged on the rotating shaft (14), and the pressing head (16) is fixedly arranged on the bottom surface of the other end of the rotating plate (15).

2. The apparatus of claim 1, wherein: the robot track (2) comprises a guide rail (17) and a rack (18), wherein the guide rail (17) and the rack (18) are arranged in parallel and are fixedly arranged on the ground.

3. The apparatus of claim 1, wherein: the robot grabbing system (1) comprises a robot arm (19), a moving table (20), a sliding block (21) and a driving unit (22), wherein the sliding block (21) is installed on a guide rail (17) in a sliding mode, the moving table (20) is fixedly arranged on the top surface of the sliding block (21), the driving unit (22) is fixedly arranged on the top surface of the moving table (20), an output shaft of the driving unit (22) penetrates through the moving table (20) downwards, a gear is installed on the output shaft and meshed with a rack (18), and the robot arm (19) is fixedly arranged on the moving table (20).

4. The apparatus of claim 1, wherein: grabbing device is including grabbing frame (23), the middle part of grabbing frame (23) sets firmly on the output shaft of robot arm (19), it is provided with a plurality of sucking discs just along its length direction interval on the basal surface of grabbing frame (23), the mechanism of grabbing that is provided with two symmetries on the top surface of grabbing frame (23), it includes revolving cylinder (24) who sets firmly in grabbing frame (23) top to snatch the mechanism, there is axis of rotation (25) through coupling joint on the output shaft of revolving cylinder (24), axis of rotation (25) are on a parallel with the long limit setting of grabbing frame (23), on axis of rotation (25) and along its length direction interval set firmly a plurality of swinging arms (26), flexible safeties (27) have set firmly on the lower tip of swinging arms (26), flexible safeties (27) set up in the below of grabbing frame (23).

5. The apparatus of claim 1, wherein: the platform (5) is a marble platform.

6. The apparatus of claim 1, wherein: screw-nut is vice to include servo motor (28), lead screw (29), nut, slide rail (30) and frame (31), frame (31) set firmly on the top surface of platform (5), and lead screw (29) rotary installation is in frame (31), and nut threaded connection is on lead screw (29), servo motor (28) set firmly on platform (5), and the output shaft of servo motor (28) and the one end of lead screw (29) are through the coupling joint, backup pad X (9) slidable mounting on slide rail (30).

7. The apparatus of claim 1, wherein: the automatic loading and unloading device is characterized by further comprising a loading transfer trolley (32), a loading frame (33) and a vehicle body guide mechanism (34), wherein the top of the loading frame (33) is fixedly provided with two guide plates I (35), the top of the loading frame (33) is fixedly provided with a guide track I (36) positioned between the two guide plates I (35), the top surface of the loading frame (33) is provided with a plurality of universal bearings I (37), one edge of the top of the loading frame (33) is fixedly provided with a locking seat I (38), the other edge is fixedly provided with two wedge blocks I (39), the wedge surfaces of the two wedge blocks I (39) are oppositely arranged, the front side and the rear side of the loading frame (33) are respectively provided with the vehicle body guide mechanism (34), the vehicle body guide mechanism (34) comprises a machine frame (40) fixedly arranged on the ground, and a plurality of bearings (41) are rotatably arranged on the machine frame (40); the feeding transfer trolley (32) comprises a trolley body (42) and a bracket (43), two guide plates II (44) are fixedly arranged on the top surface of the trolley body (42), a guide track II (45) positioned between the two guide plates II (44) is fixedly arranged at the top of the trolley body (42), a plurality of universal bearings II (46) are arranged on the top surface of the trolley body (42), a locking seat II (47) and a wedge block II (48) are fixedly arranged on one edge of the top of the trolley body (42), wedge faces of the two wedge blocks II (48) are oppositely arranged, the bracket (43) is limited between the two guide plates II (44) and supported on the top surface of the universal bearings II (46), a positioning structure is fixedly arranged on the bottom surface of the bracket (43) and positioned at two ends of the bracket, the positioning structure comprises two wedge blocks III (49), the wedge faces of the two wedge blocks III (49) of the positioning structure positioned at the rear end are respectively matched with the wedge faces of the two wedge blocks II (48), be provided with locking positioning threaded rod (50) on bracket (43), the screw thread section of locking positioning threaded rod (50) runs through bracket (43) and sets up, and the screw hole threaded connection of screw thread section and locking seat II (47), and the top of locking positioning threaded rod (50) has set firmly the knob, and the knob sets up in bracket (43) top, a plurality of leading wheels (51) are still installed in the rotation of bottom of bracket (43), and leading wheel (51) set up in direction track II (45), be provided with a plurality of nuclear fuel board limit structure on bracket (43), nuclear fuel board limit structure includes a plurality of limiting plates (52), and the holding tank is enclosed into by limiting plate (52), and the holding tank is the same with the outline of nuclear fuel board.

8. The apparatus of claim 7, wherein: a plurality of wheels (53) are mounted at the bottom of the vehicle body (42).

9. The apparatus of claim 7, wherein: the bracket (43) is provided with a handle (54).

10. The apparatus of claim 1, wherein: the robot further comprises a measuring computer, and the measuring computer is electrically connected with the robot arm (19), the driving motor (13), the servo motor (28), the driving unit (22), the rotating cylinder (24), the upper laser displacement sensor (7) and the lower laser displacement sensor (8).

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