CN115148390A

CN115148390A - Nuclear waste storage tank decommissioning device

Info

Publication number: CN115148390A
Application number: CN202210781649.6A
Authority: CN
Inventors: 王石磊; 申梦岭; 刘海洋; 张仁静; 常海军; 杨远松; 曹冬巍; 冯栋彦; 刘怀民; 孙铭威
Original assignee: Nuclear Industry Research And Engineering Co ltd; China Nuclear Industry 23 Construction Co Ltd; University of South China
Current assignee: Nuclear Industry Research And Engineering Co ltd; China Nuclear Industry 23 Construction Co Ltd; University of South China
Priority date: 2022-07-04
Filing date: 2022-07-04
Publication date: 2022-10-04

Abstract

The invention relates to the technical field of nuclear facility decommissioning treatment, in particular to a decommissioning device for a nuclear waste storage tank. Comprises a bottom plate, a pose adjusting device, a retirement executing device and a reloading tool table; the bottom plate is provided with a working hole. Compared with the prior art, the method has the advantages that: the invention provides necessary structural support for realizing unmanned decommissioning treatment of the nuclear waste storage tank. On one hand, the storage tank body can be broken and disassembled, the pipeline inside the storage tank can be disassembled, and the content in the storage tank can be transferred by replacing different execution tools; on the other hand, an automatic consumable replacement structure is designed for the electric circular saw and the electric drilling machine with easily-worn consumables; on the other hand, a two-stage lifting structure is designed in consideration of the embedding depth of the nuclear waste storage tank so as to fully meet the operation requirement; on the other hand, considering the operation height of the industrial mechanical arm above the ground, the top plate is provided with an avoiding hole for the screw rod to pass through so as to improve the maximum lifting height of the industrial mechanical arm.

Description

Nuclear waste storage tank decommissioning device

Technical Field

The invention relates to the technical field of nuclear facility decommissioning treatment, in particular to a decommissioning device for a nuclear waste storage tank.

Background

In nuclear industry related enterprises, it is required to store nuclear waste produced by production activities properly. Enterprises usually build basements in storage places, set entrances to the basements on the ground, install storage tanks in the basements, and arrange cooling pipes, instrument pipes and process pipes in the storage tanks for cooling, monitoring and diluting nuclear waste in the tanks, respectively.

The storage tank is not always installed, and nuclear waste and nuclear radiation leakage risks exist when the storage tank is close to or reaches the service life, so that the storage tank needs to be decommissioned, wherein the decommissioning comprises the steps of breaking open the storage tank body, removing the internal pipeline of the storage tank and transferring the content of the storage tank. The risk of manual field operation is extremely high, since the process of decommissioning disposal is exposed to the risk of high intensity nuclear radiation.

In summary, it is necessary to design a remote storage tank decommissioning system.

Disclosure of Invention

The invention aims to solve the technical problem of overcoming the technical defects and provides a decommissioning device for a nuclear waste storage tank. The nuclear waste recycling system is used for decommissioning the storage tank filled with the nuclear waste so as to prevent the nuclear radiation from being applied to manual field operation.

In order to solve the technical problems, the technical scheme provided by the invention is as follows: comprises a bottom plate, a pose adjusting device, a decommissioning executing device and a reloading tool table; the bottom plate is provided with a working hole. The method is characterized in that:

the pose adjusting device comprises a supporting frame, a first lifting mechanism, a second lifting mechanism and an industrial mechanical arm; the supporting frame comprises guide rods and a top plate, the guide rods are vertically arranged, the lower ends of the guide rods are fixedly connected to the bottom plate, and the top plate is fixedly arranged at the upper ends of the guide rods and is positioned right above the working hole of the bottom plate; first elevating system, second elevating system and industrial mechanical arm connect gradually from last to down, first elevating system installs on the roof, second elevating system is driven by first elevating system and is vertical direction lift removal, industrial mechanical arm is driven by second elevating system and is vertical direction lift removal, and then dive to the bottom plate below or shift up to the bottom plate top through the work hole, the both ends of industrial mechanical arm are stiff end and free end respectively, the stiff end of industrial mechanical arm and the direct or indirect fixed connection of second elevating system.

The retired execution device comprises a fast swap disc and an execution tool; the quick-change plate comprises a first split body and a second split body which can be connected or separated, wherein the two ends of the first split body are respectively a connecting end and a butt joint end, the connecting end of the first split body is connected with the rear end of the industrial mechanical arm, the two ends of the second split body are respectively a connecting end and a butt joint end, the connecting end of the second split body is connected with an executing tool, and the second split body is connected or separated with the butt joint end of the first split body through the butt joint end.

The reloading tool table comprises a rotary driving motor A, a rotary table, a nut tightening and loosening mechanism, a disc type consumable material feeding mechanism and a bar type consumable material feeding mechanism; the rotary driving motor A is directly or indirectly fixedly arranged on the bottom plate, and a machine shaft of the rotary driving motor A vertically extends upwards and is fixedly connected with the central area of the lower surface of the rotary disc; the annular equipartition in carousel edge has a plurality of notches, and the notch is used for hanging the second components of quick-change disk, and when the second components hung in the notch, the butt joint end of second components was vertical gesture up, and nut take-up mechanism fixed mounting is on the carousel, and disc class consumptive material feed mechanism fixed mounting is on the carousel, and bar class consumptive material feed mechanism fixed mounting is on the carousel.

As an improvement, the first lifting mechanism comprises a lifting plate A and a hydraulic cylinder A; the lifting plate A is slidably arranged on the guide rod and is positioned between the top plate and the bottom plate; the cylinder body of the hydraulic cylinder A is fixedly installed on the top plate, a piston rod of the hydraulic cylinder A vertically extends downwards and is fixedly connected with the lifting plate A, and the piston rod of the hydraulic cylinder A stretches out and draws back to drive the lifting plate A to vertically lift and move along the guide rod.

As an improvement, the second lifting mechanism comprises a double-shaft motor, a power steering box A, a power steering box B and a lifting plate B; the double-shaft motor is fixedly arranged on the lifting plate A; the number of the power direction changing boxes A is two; the power turning box A comprises a box shell A, a screw rod, a worm and a worm wheel; the box shell A is fixedly arranged on the lifting plate A, a screw rod mounting hole, a worm mounting hole and a worm wheel mounting cavity are arranged in the box shell A, the screw rod mounting hole is vertically arranged and penetrates through the upper end and the lower end of the box shell A, the worm mounting hole is horizontally arranged and penetrates through the horizontal two ends of the box shell A, and the worm wheel mounting cavity is respectively communicated with the screw rod mounting hole and the worm mounting hole; the screw rod is rotatably arranged in a screw rod mounting hole of the box shell A, and two ends of the screw rod respectively extend out of two ends of the screw rod mounting hole; the worm is rotatably arranged in a worm mounting hole of the box shell A; an inner thread is arranged in an inner hole of the worm wheel, teeth are arranged on the outer circular surface of the worm wheel, the worm wheel is matched with the screw rod in a rotating mode through the inner thread in the inner hole of the worm wheel and is positioned in a worm wheel mounting cavity of the box shell A, and the worm wheel is meshed with the worm through the teeth on the outer circular surface; the number of the power direction changing boxes B is two; the two power direction changing boxes B are respectively arranged between two shafts of the double-shaft motor and the two sets of power direction changing boxes A and are used for transmitting power output by the two shafts of the double-shaft motor to the two sets of power direction changing boxes A in a direction changing manner; the power steering box B comprises a box shell B, an input shaft, an output shaft, a bevel gear A and a bevel gear B; the box shell B is fixedly arranged on the lifting plate A; the input shaft and the output shaft are respectively rotatably arranged on the box shell B and are arranged vertically to each other, the input shaft is connected with a shaft of the double-shaft motor, and the output shaft is connected with one end of the worm; the bevel gear A and the bevel gear B are respectively fixedly arranged on the input shaft and the output shaft and are meshed with each other; the lifting plate B is arranged at the lower end of the screw rod and is fixedly connected with all the screw rods in the two sets of power turning boxes A.

As an improvement, the second lifting mechanism further comprises a lifting plate C and an extension rod; the extension rod is vertically arranged, the upper end of the extension rod is fixedly connected to the lower end of the lifting plate B, and the lower end of the extension rod is fixedly connected with the lifting plate C; the fixed end of the industrial mechanical arm is fixedly connected with the lower surface of the lifting plate C.

As an improvement, one set of power diversion box A comprises two power diversion boxes A, and two worms contained in one set of power diversion box A are fixedly connected into a whole at the end part, so that the two power diversion boxes A in one set of power diversion box A synchronously move.

The implementation tool comprises a petal type grab bucket for grabbing sludge, a hydraulic bucket for shoveling fragments, a high-pressure washing and pumping tool head for pumping the sludge, an electric circular saw for cutting plates and pipes, an electric reciprocating saw for cutting the plates and the pipes, hydraulic scissors for shearing and clamping pipelines, an electric gripper for grabbing the fragments, a hydraulic clamping jaw for clamping the fragments, an electric pick for stripping a steel cladding and an electric drilling machine for breaking and disassembling a steel structural part; the electric circular saw comprises a power output shaft, a circular saw blade and a nut A, wherein the power output shaft is used for outputting rotating power, the circular saw blade is arranged on the power output shaft and is driven by the power output shaft to rotate, and the nut A is in threaded connection with the power output shaft, abuts against the circular saw blade and provides axial positioning for the circular saw blade; wherein, the electric drilling machine comprises a drill chuck and a drill rod; the drill chuck is internally provided with a jack, the outer part of the drill chuck is provided with a nut B for adjusting the aperture of the jack, and one end of the drill rod is inserted in the jack of the drill chuck.

As an improvement, the nut tightening and loosening mechanism comprises a base A, a rotating sleeve and a rotating driving motor B; the base A is fixedly arranged on the turntable; the rotary sleeve is rotatably arranged on the base A, one end of the rotary sleeve is closed, the other end of the rotary sleeve is provided with an opening, a drill rod accommodating hole and a nut limiting hole are sequentially arranged in the rotary sleeve from the closed end to the opening end, the drill rod accommodating hole and the nut limiting hole are communicated with each other, the nut limiting hole is communicated with the opening at one end far away from the drill rod accommodating hole, and the central line of the drill rod accommodating hole and the central line of the nut limiting hole are horizontally arranged and are overlapped with each other; the rotary driving motor B is fixedly arranged on the rotary table, and a machine shaft of the rotary driving motor B is connected with the closed end of the rotary sleeve so as to drive the rotary sleeve to rotate around the center line of the drill rod accommodating hole.

As an improvement, the feeding mechanism for the disc type consumables comprises a base B, a hanging rod, a push plate and a linear motor A; the base B is fixedly arranged on the turntable and is provided with a supporting hole; the hanging rods are welded on the side wall surface of the base and are horizontally arranged; the linear motor A is fixedly arranged on the turntable, and the crankshaft of the linear motor A is horizontally arranged and supported through a supporting hole of the base B; the push plate is an open annular plate, the middle of the push plate is provided with a central hole, and the push plate is welded and fixed at the tail end of a crankshaft of the linear motor A and penetrates through the hanging rod through the central hole.

As an improvement, the bar type consumable material feeding mechanism comprises a base C and a linear motor B; the base C is fixedly arranged on the turntable, a drill rod accommodating channel which is horizontally arranged and has two open ends is arranged on the base C, and the two ends of the drill rod accommodating channel are respectively set as a channel opening A and a channel opening B; the linear motor B is fixedly arranged on the upper surface of the rotary table, the crankshaft of the linear motor B is arranged in parallel to the drill rod accommodating channel and is opposite to the channel opening B of the drill rod accommodating channel, and the crankshaft of the linear motor B stretches and retracts to extend into or withdraw from the channel opening B of the drill rod accommodating channel.

As the improvement, the top plate is provided with an avoiding hole for the screw rod to pass through, and the upper end of the screw rod can extend out of the upper end of the top plate through the avoiding hole without contacting with the top plate.

As an improvement, the system also comprises an image device and a PC; the imaging device comprises a camera A and a camera B, wherein the camera A is installed on the bottom plate through a support, and the camera B is installed on the industrial mechanical arm; the camera A is used for acquiring the visual field of the tool changing table and the pose adjusting device, and the camera B is used for acquiring the visual field of the industrial mechanical arm and the visual field below the industrial mechanical arm; the PC is respectively in communication connection with the camera A, the camera B and each power-requiring component through a network; the display device is used for displaying pictures shot by the camera A and the camera B and sending instructions to control the action of each power-requiring component.

A nuclear waste storage tank decommissioning device comprises the following steps of:

s01, unloading the current execution tool:

a. starting the hydraulic cylinder A122 and the double-shaft motor 31 to respectively drive the lifting plate A121 and the lifting plate B139 to ascend, and lifting the industrial mechanical arm 14 above the bottom plate 100;

b. starting the rotary driving motor A31 to drive the rotary disc 32 to rotate, so that the notch 321 for unloading the execution tool rotates to the overlapping area;

c. and adjusting the position and the posture of the industrial mechanical arm 14, enabling the second split body 22 connected to the rear end part of the industrial mechanical arm 14 to extend into the notch 321, and controlling the first split body 21 at the rear end part of the industrial mechanical arm 14 to be separated from the second split body 22, so that the second split body 22 and the execution tool to be unloaded are hung in the notch 321.

S02, loading a target execution tool:

a. starting a rotary driving motor A31, driving a turntable 32 to rotate, and enabling a notch 321 with a suspended target execution tool to rotate into the overlapping area;

b. adjusting the position and the posture of the industrial mechanical arm 14, enabling a second split body 22 connected to the rear end part of the industrial mechanical arm 14 to be in butt joint with a first split body 21 connected with a target execution tool, and after the butt joint is completed, connecting the industrial mechanical arm 14 and the target execution tool through a quick-change disc to form a whole;

in the step S01 of the method, the overlapping area is an overlapping area between a path swept by the notch along with the rotation of the turntable and a movable range of the free end of the industrial robot arm.

The method for replacing the consumable parts of the electric circular saw comprises the following steps:

before the method is executed, a new circular saw blade 232 is hung on the hanging rod 342 of the circular consumable feeding mechanism 34; a disposal area for the circular saw blade 232 is provided within the range of motion of the free end of the industrial robot arm 14 above the floor 100.

S01, unlocking a disc saw blade on the electric disc saw:

b. starting the rotary driving motor A31 to drive the rotary disc 32 to rotate, so that the nut tightening and loosening mechanism 33 rotates to the overlapping area;

c. adjusting the position and the posture of the industrial mechanical arm 14 to enable the electric circular saw 23 connected to the rear end part of the industrial mechanical arm 14 to move to be opposite to the nut loosening and tightening mechanism 33, and after the movement is finished, inserting the nut A233 of the electric circular saw 23 into the nut limiting hole 3322 of the nut loosening and tightening mechanism 33;

d. the rotary driving motor B333 is started to drive the rotary sleeve 332 to rotate, the nut A233 is driven to rotate through the rotary sleeve 332, the nut A233 is unscrewed from the power output shaft 231, at the moment, the nut A233 stays in the nut limiting hole 3322 of the rotary sleeve 332, and the axial positioning of the disc saw blade 232 on the electric disc saw 23 is released;

s02, discarding the disc saw blade on the electric disc saw:

a. the position and the posture of the industrial mechanical arm 14 are adjusted, the electric circular saw 23 is moved to a discarding area, and in the moving process, the power output shaft 231 of the electric circular saw 23 is ensured to be in a horizontal state or a state that the tail end is upward, and the circular saw blade 232 is prevented from falling in the moving process.

b. After the electric circular saw 23 moves to the discarding area, the position and posture of the industrial robot arm 14 are adjusted to rotate the power output shaft 231 of the electric circular saw 23 to a state that the tail end is downward, and the circular saw blade 232 immediately slides down from the power output shaft 231. S03, loading a new circular saw blade:

a. adjusting the position and the posture of the industrial mechanical arm 14, moving the electric circular saw 23 connected to the rear end part of the industrial mechanical arm 14 to be opposite to the disc type consumable material feeding mechanism 34, and after the movement is finished, the tail end of a power output shaft 231 of the electric circular saw 23 is opposite to and close to the tail end of a hanging rod 342 of the disc type consumable material feeding mechanism 34;

b. the linear motor a344 is started, and the crankshaft of the linear motor a344 makes a linear motion in the horizontal direction, so as to drive the push plate 343 to make a horizontal linear motion along the hanging rod 342, push the disc saw blade 232 hung on the hanging rod 342 out from the tail end of the hanging rod 342, and push the disc saw blade 232 onto the power output shaft 231 of the electric disc saw 23.

S04, locking a disc saw blade on the electric disc saw:

a. the position and the posture of the industrial mechanical arm 14 are adjusted, the electric circular saw 23 is moved to the position opposite to the nut tightening mechanism 33, in the moving process, the power output shaft 231 of the electric circular saw 23 is ensured to be in a horizontal state or in a state that the tail end of the power output shaft is upward, the circular saw blade 232 is prevented from falling in the moving process, after the movement is completed, the axial lead of the power input shaft 231 is superposed with the central line of the nut limiting hole 3322, and the tail end of the power input shaft 231 is tightly propped against the hole opening of the nut A233 retained in the nut limiting hole 3322;

b. and starting the rotary driving motor B333, driving the rotary sleeve 332 to rotate, driving the nut A233 to rotate through the rotary sleeve 332, and connecting the nut A233 to the power input shaft 231 of the electric circular saw 23 in a threaded manner until the axial positioning of the circular saw blade 232 is completed, and stopping the operation of the rotary driving motor B333.

Preferably, an industrial robot for carrying a plurality of circular saw blades 232 is provided in the field, and when a new circular saw blade 232 needs to be hung on the disk-type consumable material feeding mechanism 34, the industrial robot holds a new circular saw blade 232 to be hung on the hanging rod 342 of the disk-type consumable material feeding mechanism 34.

The method for replacing the consumable parts of the electric drilling machine comprises the following steps:

before the method starts, a new drill rod is inserted into the drill rod accommodating channel 3511 of the rod consumable material feeding mechanism 35; a discard area for drill pipe is provided within the range of motion of the free end of the industrial robot arm 14 above the floor 100.

S01, unlocking a drill rod on the electric drilling machine:

c. adjusting the position and the posture of the industrial mechanical arm 14, butting the electric drilling machine 24 connected to the rear end part of the industrial mechanical arm 14 with the nut loosening and tightening mechanism 33, after the butting is finished, extending the drill rod 242 of the electric drilling machine 24 into the drill rod accommodating hole 3321 of the nut loosening and tightening mechanism 33, extending the nut B243 of the electric drilling machine 24 into the nut limiting hole 3322 of the nut loosening and tightening mechanism 33, and enabling the axial lead of the drill rod 242 to coincide with the central line of the drill rod accommodating hole 3321;

d. starting a rotary driving motor B333 to drive a rotary sleeve 332 to rotate, and driving a nut B243 to rotate through the rotary sleeve 332 so as to enable the drill chuck 241 to loosen the drill rod 242, wherein at the moment, the nut B243 is still in threaded connection with the drill chuck 241;

s02, discarding a drill rod on the electric drilling machine:

a. and adjusting the position and the posture of the industrial mechanical arm 14, moving the electric drilling machine 24 to a discarding area, and ensuring that the drill rod 242 of the electric drilling machine 24 is in a horizontal state or in a tail end-up state during moving so as to prevent the drill rod 242 from falling off during moving.

b. After the electric drill 24 moves to the disposal area, the position and posture of the industrial robot 14 are adjusted so that the drill rod 242 of the electric drill 24 is rotated to a tip-down state, and the drill rod 242 is detached from the drill chuck 241 and dropped.

S03, loading a new drill rod:

a. adjusting the position and the posture of the industrial mechanical arm 14, moving the electric drilling machine 24 connected to the rear end part of the industrial mechanical arm 14 to be opposite to the bar-type consumable material feeding mechanism 35, and after the movement is finished, enabling the jack of the drill chuck 241 of the electric drilling machine 24 to be opposite to and closely adjacent to the channel opening A of the drill rod accommodating channel 3511 of the bar-type consumable material feeding mechanism 35;

b. the linear motor B352 is started, and the drill rod 242 placed in the drill rod accommodating channel 3511 is pushed out from the channel opening a of the drill rod accommodating channel 3511 and pushed into the insertion hole of the drill chuck 241 of the electric drill 24 by the linear motion of the crankshaft of the linear motor B352 in the horizontal direction.

S04, locking a drill rod on the electric drilling machine:

a. adjusting the position and the posture of the industrial mechanical arm 14, moving the electric drilling machine 24 to a position right facing the nut loosening and tightening mechanism 33, ensuring that the jack of the drill chuck 241 is in a horizontal state or a state that the tail end of the drill rod 242 faces upwards in the moving process, and preventing the drill rod 242 from falling off in the moving process, wherein after the moving is finished, the nut B243 of the electric drilling machine 24 is inserted into the nut limiting hole 3322 of the nut loosening and tightening mechanism 33;

b. and starting the rotary driving motor B333 to drive the rotary sleeve 332 to rotate, and driving the nut B243 to rotate through the rotary sleeve 332 so that the drill chuck 241 clamps the drill rod 242.

Preferably, an industrial robot carrying a plurality of drill rods 242 is provided in the field, and when a new drill rod 242 needs to be inserted into the rod consumable feeding mechanism 35, the industrial robot holds a new drill rod 242 and inserts the new drill rod into the drill rod accommodating channel 3511 of the rod consumable feeding mechanism.

The invention has the advantages compared with the prior art that: the invention provides necessary structural support for realizing unmanned retirement treatment of the nuclear waste storage tank. On one hand, the storage tank body can be broken and disassembled, the pipeline inside the storage tank can be disassembled, and the content in the storage tank can be transferred by replacing different execution tools; on the other hand, an automatic consumable replacement structure is designed for the electric circular saw and the electric drilling machine with easily-worn consumables; on the other hand, a two-stage lifting structure is designed in consideration of the embedding depth of the nuclear waste storage tank so as to fully meet the operation requirement; on the other hand, considering the operation height of the industrial mechanical arm above the ground, the top plate is provided with an avoiding hole for the screw rod to pass through so as to improve the maximum lifting height of the industrial mechanical arm.

Drawings

Figure 1 is a schematic diagram of the configuration of the decommissioning system of the nuclear waste storage tank of the present invention with the industrial robot above the floor.

Figure 2 is a schematic structural view of a nuclear waste storage tank decommissioning system with an industrial robot below a floor.

Fig. 3 is a schematic diagram of the structure of the second lifting mechanism.

Fig. 4 is an enlarged view of the quick-change disk of the retired executive device A.

Fig. 5 is a schematic structural view of the electric circular saw.

Fig. 6 is a schematic structural view of an electric drill.

Fig. 7 is a schematic structural view of the nut loosening and tightening mechanism.

FIG. 8 is a schematic structural diagram of a feeding mechanism for disc-type consumables.

FIG. 9 is a schematic structural view of a feeding mechanism for rod-type consumables.

Detailed Description

The invention is further described below with reference to the accompanying drawings.

The nuclear waste storage tank decommissioning system comprises a bottom plate 100, a pose adjusting device, a decommissioning executing device and a reloading tool table. The bottom plate 100 is provided with a working hole 101.

Specifically referring to fig. 1 to 2, the pose adjusting apparatus includes a support frame, a first lifting mechanism, a second lifting mechanism, and an industrial robot 14. The support frame comprises guide rods 111 and a top plate 112, wherein the guide rods 111 are vertically arranged and are fixedly connected to the bottom plate 100 at the lower ends, and the top plate 112 is fixedly arranged at the upper ends of the guide rods 111 and is positioned right above the working holes 101 of the bottom plate 100. The first lifting mechanism, the second lifting mechanism and the industrial mechanical arm 14 are sequentially connected from top to bottom, the first lifting mechanism is installed on the top plate 112, the second lifting mechanism is driven by the first lifting mechanism to move in a vertical direction in a lifting mode, the industrial mechanical arm 14 is driven by the second lifting mechanism to move in a lifting mode in a vertical direction, and then the industrial mechanical arm is submerged below the bottom plate 100 or moved upwards to the top of the bottom plate 100 through the working hole 101.

The first elevating mechanism includes an elevating plate a121 and a hydraulic cylinder a122. The lifting plate a121 is slidably mounted on the guide bar 111 and is located between the top plate 112 and the bottom plate 100. The cylinder body of the hydraulic cylinder A122 is fixedly installed on the top plate 112, the piston rod of the hydraulic cylinder A122 vertically extends downwards and is fixedly connected with the lifting plate A121, and the piston rod of the hydraulic cylinder A122 extends and retracts to drive the lifting plate A121 to vertically lift and move along the guide rod 111.

Referring to fig. 3, the second lifting mechanism includes a dual-shaft motor 131, a power direction changing box a, a power direction changing box B, and a lifting plate B139. The double-shaft motor 131 is fixedly installed on the lifting plate a 121. The number of the power direction changing boxes A is two, and each power direction changing box A comprises a box shell A132, a screw rod 133, a worm 134 and a worm wheel 135. Case shell A132 fixed mounting is equipped with lead screw mounting hole, worm mounting hole and worm wheel installation cavity in the case shell A132 on lifter plate A121, and the lead screw mounting hole is vertical arranging to link up the last lower extreme of case shell A132, the worm mounting hole is the level and arranges, and link up the horizontal both ends of case shell A132, the worm wheel installation cavity communicates with lead screw mounting hole and worm mounting hole respectively. The screw 133 is rotatably installed in a screw installation hole of the cabinet a132, and both ends thereof respectively protrude from both ends of the screw installation hole. The worm 134 is rotatably mounted in a worm mounting hole of the cabinet a. The worm wheel 135 is provided with internal threads in an inner hole, teeth are arranged on an outer circular surface, the worm wheel 135 is in threaded fit with the screw rod 133 through the internal threads in the inner hole and is positioned in the worm wheel installation cavity of the box shell A132, and the worm wheel 135 is meshed with the worm 134 through the teeth on the outer circular surface. The number of the power direction changing boxes B is two, the two power direction changing boxes B are respectively arranged between two shafts of the double-shaft motor 131 and the two sets of power direction changing boxes A and are used for changing the power output by the two shafts of the double-shaft motor 131 and transmitting the power to the two sets of power direction changing boxes A, and each power direction changing box B comprises a box shell B136, an input shaft 137, an output shaft 138, a bevel gear A and a bevel gear B. The housing B136 is fixedly mounted to the lifter plate a 121. An input shaft 137 and an output shaft 138 are respectively rotatably mounted on the housing B136 and are arranged perpendicularly to each other, the input shaft 137 is connected (by a coupling) to a shaft of the biaxial motor 131, and the output shaft 138 is connected (by a coupling) to one end of the worm 134. Bevel gear a and bevel gear B are fixedly mounted on the input shaft 137 and output shaft 138, respectively, and are meshed with each other. The lifting plate B139 is arranged at the lower end of the screw rod 133 and is fixedly connected with all the screw rods 133 in the two sets of power direction changing boxes A. When the dual-shaft motor 131 is started, the rotational power output by the crankshaft sequentially passes through the input shaft 137, the bevel gear a, the bevel gear B, the output shaft 138, the worm 134, the teeth on the outer circular surface of the worm wheel 135 and the internal threads in the inner hole of the worm wheel 135, and is transmitted to the screw rod 133 to drive the screw rod 133 to vertically move up and down. Because the power output by the two shafts of the double-shaft motor 131 has synchronism, all the screw rods 133 in the two sets of power direction changing boxes A can synchronously move vertically.

The two ends of the industrial mechanical arm 14 are respectively a fixed end and a free end, and the fixed end of the industrial mechanical arm 14 is directly or indirectly fixedly connected with the lifting plate B139 of the second lifting mechanism.

As detailed in connection with FIG. 4, the retirement executive includes a fast swap disk and an execution tool. The quick-change plate comprises a first split body 21 and a second split body 22 which can be connected or separated with each other, wherein the two ends of the first split body 21 are respectively a connecting end and a butt-joint end, the connecting end of the first split body 21 is connected with the rear end of the industrial mechanical arm 14, the two ends of the second split body 22 are respectively a connecting end and a butt-joint end, the connecting end of the second split body 22 is connected with an execution tool, and the second split body 22 is connected or separated with the butt-joint end of the first split body 21 through the butt-joint end.

The execution tool comprises a petal type grab bucket for grabbing the sludge, a hydraulic bucket for shoveling and taking fragments, a high-pressure washing and pumping tool head for extracting the sludge, an electric circular saw for cutting the plate and the pipe, an electric reciprocating saw for cutting the plate and the pipe, hydraulic scissors for shearing and clamping a pipeline, an electric gripper for grabbing the fragments, a hydraulic clamping jaw for clamping the fragments, an electric pick for stripping the steel clad surface and an electric drilling machine for breaking and dismantling the steel structural part. The electric circular saw 23 comprises a power output shaft 231, a circular saw blade 232 and a nut A233, the power output shaft 231 is used for outputting rotating power, the circular saw blade 232 is installed on the power output shaft 231 and driven to rotate by the power output shaft 231, and the nut A233 is in threaded connection with the power output shaft 231 and abuts against the circular saw blade 232 and provides axial positioning for the circular saw blade 232. The electric drilling machine 24 includes a drill chuck 241 and a drill rod 242, a jack is provided in the drill chuck 241, a nut B243 for adjusting the aperture of the jack is connected to the outer portion of the drill chuck 241 through a thread, one end of the drill rod 242 is inserted into the jack of the drill chuck 241, and the aperture of the jack is adjusted by screwing the nut B243, so that the drill rod 242 is clamped or loosened.

The reloading tool table comprises a rotary driving motor A31, a rotary table 32, a nut tightening mechanism 33, a disc type consumable material feeding mechanism 34 and a bar type consumable material feeding mechanism 35. The rotary driving motor a31 is fixedly installed on the base plate 100, and its shaft vertically extends upward and is fixedly connected to the central region of the lower surface of the turntable 32. The turntable 32 is disc-shaped, a plurality of notches 321 are uniformly distributed in an annular manner at the edge of the turntable, the notches 321 are used for hanging the second sub-body 22 of the quick-change disc, when the second sub-body 22 is hung in the notches 321, the butt joint end of the second sub-body 22 is in a vertically upward posture, when the turntable 32 is driven by the rotary driving motor A31 to rotate, paths swept by all the notches 321 are annular and are overlapped with each other, and an overlapped area exists between the paths swept by the notches 321 and the moving range of the free end of the industrial mechanical arm 14. A nut loosening mechanism 33 is fixedly mounted on the turntable 32 and is used to tighten or loosen a fixed size nut. Disc type consumptive material feed mechanism 34 fixed mounting is on carousel 32, and it is used for hanging disc type consumptive material to push out the disc type consumptive material level that hangs when needs material loading. Bar class consumptive material feed mechanism 35 fixed mounting is on carousel 32, and it is used for placing bar class consumptive material to release bar class consumptive material level when needs material loading.

As described in detail with reference to fig. 7, the nut loosening mechanism 33 includes a base a331, a rotary sleeve 332, and a rotary drive motor B333. The base a331 is fixedly mounted on the turntable 32. The rotary sleeve 332 is rotatably mounted on the base A331, one end of the rotary sleeve is closed, the other end of the rotary sleeve is provided with an opening, a drill rod accommodating hole 3321 and a nut limiting hole 3322 are sequentially formed in the rotary sleeve from the closed end to the direction of the open end, the drill rod accommodating hole 3321 is communicated with the nut limiting hole 3322, the nut limiting hole 3322 is communicated with the opening at one end far away from the drill rod accommodating hole 3321, and the central line of the drill rod accommodating hole 3321 and the central line of the nut limiting hole 3322 are horizontally arranged and coincide with each other. The rotary driving motor B333 is fixedly mounted on the rotary table 32, and a crankshaft thereof is connected to a closed end of the rotary sleeve 332, so as to drive the rotary sleeve 332 to rotate around a center line of the drill rod accommodating hole 3321, thereby loosening or tightening a nut placed in the nut limiting hole 3322.

Referring to fig. 8, the disc-type consumable feeding mechanism 34 includes a base B341, a hanging rod 342, a pushing plate 343, and a linear motor a344. The base B341 is fixedly mounted on the turntable 32 and has a support hole. The hanging rod 342 is welded to the side wall surface of the base 341 and is horizontally disposed. The linear motor a344 is fixedly installed on the turntable 32, and its shaft is horizontally arranged and supported by a support hole of the base B341. The push plate 343 is an open ring-shaped plate, a central hole is formed in the middle of the push plate 343, and the push plate 343 is welded to the end of the shaft of the linear motor A344 and penetrates through the hanging rod 342 through the central hole. After the linear motor a344 is started, the shaft of the linear motor a makes a horizontal linear motion, so as to drive the push plate 343 to make a horizontal linear motion along the hanging rod 342, and push the circular saw blade 232 hung on the hanging rod 342 out of the end of the hanging rod 342.

As detailed in connection with fig. 9, the bar-type consumable feeding mechanism 35 comprises a base C351 and a linear motor B352. The base C351 is fixedly installed on the turntable 32, and is provided with a drill rod accommodating passage 3511 which is horizontally arranged and opened at both ends, and both ends of the drill rod accommodating passage 3511 are respectively set as a passage port a and a passage port B. The linear motor B352 is fixedly installed on the upper surface of the rotary table 32 with its shaft disposed parallel to the drill rod receiving passage 3511 and facing the passage opening B of the drill rod receiving passage 3511, and the shaft of the linear motor B352 is extended and retracted to be inserted into or withdrawn from the passage opening B of the drill rod receiving passage 3511.

Preferably, the second elevating mechanism further includes an elevating plate C130 and an extension rod. The extension rod is vertically arranged, the upper end of the extension rod is fixedly connected with the lower end of the lifting plate B, and the lower end of the extension rod is fixedly connected with the lifting plate C130

Preferably, one set of power diversion box A contains two power diversion boxes A, and two worms 134 contained in one set of power diversion box A are fixedly connected into a whole (or integrated into one piece) at the end part, thereby realizing the synchronous action of the two power diversion boxes A in one set of power diversion box A.

Preferably, it further comprises an image device (not shown) and a PC (not shown). The imaging device includes a camera a mounted on the base plate 100 via a bracket and a camera B mounted on the industrial robot 14. The camera A is used for acquiring the visual field of the reloading tool table and the pose adjusting device and providing visual support for remotely controlling the replacing and executing tool. The camera B is used for acquiring the industrial mechanical arm and the view below the industrial mechanical arm, and provides visual support for posture adjustment of the industrial mechanical arm and retirement disposal of the nuclear waste storage tank. The PC is respectively in communication connection with the camera A, the camera B and each power-requiring component through a network; based on the pictures shot by the camera A and the camera B, the PC sends instructions to control the action of each power-requiring component.

Preferably, one notch 321 is provided for unloading the actuating tool among all the notches 321 on the rotary disk 32, and the remaining notches 321 are used for hanging the actuating tool to be replaced. The outer wall of the second section 22 is provided with a step surface, and the second section 22 is suspended on the notch 321 through the step surface, and the actuating tool (connected with the second section 22) is located right below the notch 321.

The nuclear waste storage tank is used for decommissioning the nuclear waste storage tank, the nuclear waste storage tank is arranged in the basement, an inlet communicated to the basement is formed in the ground, and a cover plate is arranged on the inlet. The invention is arranged on the ground above the basement, and the working hole 101 on the bottom plate 100 is positioned right above the entrance.

Before the retirement treatment, the corresponding execution tools on the tool changing and installing table are selected for connection according to the operation types. In the decommissioning treatment, the industrial robot arm 14 extends into the underground chamber through the working hole 101 in the bottom plate 100 and the entrance of the basement, and the nuclear waste storage tank is operated through the execution tool. In this process, the industrial robot 14 must travel to and from above the ground and in the basement in three situations: 1. replacing the execution tool; 2. replacing consumables of the electric circular saw 23; 3. the consumable of the electric drill 24 is replaced.

The method for replacing the execution tool comprises the following steps:

s01, unloading the current execution tool:

c. adjusting the position and the posture of the industrial mechanical arm 14, enabling the second split body 22 connected to the rear end part of the industrial mechanical arm 14 to extend into the notch 321, and controlling the first split body 21 at the rear end part of the industrial mechanical arm 14 to be separated from the second split body 22, so that the second split body 22 and the execution tool to be unloaded are hung in the notch 321.

S02, loading a target execution tool:

a. starting a rotary driving motor A31, driving a turntable 32 to rotate, and enabling a notch 321 with a target execution tool hung to rotate to the overlapping area;

S01, unlocking a disc saw blade on the electric disc saw:

d. the rotary driving motor B333 is started to drive the rotary sleeve 332 to rotate, the nut A233 is driven to rotate through the rotary sleeve 332, the nut A233 is unscrewed from the power output shaft 231, at the moment, the nut A233 stays in the nut limiting hole 3322 of the rotary sleeve 332, and the disc saw blade 232 on the electric disc saw 23 is axially positioned;

s02, discarding the disc saw blade on the electric disc saw:

b. After the electric circular saw 23 moves to the discarding area, the position and posture of the industrial robot arm 14 are adjusted to rotate the power output shaft 231 of the electric circular saw 23 to a state that the tail end is downward, and the circular saw blade 232 immediately slides down from the power output shaft 231.

S03, loading a new circular saw blade:

b. the linear motor a344 is started, and the shaft of the linear motor a344 makes a horizontal linear motion to drive the push plate 343 to make a horizontal linear motion along the hanging rod 342, so as to push the circular saw blade 232 hung on the hanging rod 342 out of the tail end of the hanging rod 342 and push the circular saw blade onto the power output shaft 231 of the electric circular saw 23.

S04, locking a disc saw blade on the electric disc saw:

a. adjusting the position and the posture of the industrial mechanical arm 14, moving the electric circular saw 23 to a position right opposite to the nut loosening and tightening mechanism 33, ensuring that the power output shaft 231 of the electric circular saw 23 is in a horizontal state or a state that the tail end of the power output shaft is upward in the moving process, avoiding the circular saw blade 232 from falling off in the moving process, after the movement is completed, the shaft axis of the power input shaft 231 is superposed with the central line of the nut limiting hole 3322, and the tail end of the power input shaft 231 is abutted against the orifice of the nut A233 retained in the nut limiting hole 3322;

The method for replacing consumable parts of the electric drilling machine comprises the following steps:

S01, unlocking a drill rod on the electric drilling machine:

c. adjusting the position and the posture of the industrial mechanical arm 14, butting the electric drilling machine 24 connected to the rear end part of the industrial mechanical arm 14 with the nut loosening mechanism 33, after the butting is finished, extending the drill rod 242 of the electric drilling machine 24 into the drill rod accommodating hole 3321 of the nut loosening mechanism 33, extending the nut B243 of the electric drilling machine 24 into the nut limiting hole 3322 of the nut loosening mechanism 33, and enabling the axial lead of the drill rod 242 to coincide with the central line of the drill rod accommodating hole 3321;

s02, discarding a drill rod on the electric drilling machine:

S03, loading a new drill rod:

a. adjusting the position and posture of the industrial mechanical arm 14, moving the electric drilling machine 24 connected to the rear end part of the industrial mechanical arm 14 to be opposite to the bar-type consumable feeding mechanism 35, and after the movement is finished, enabling the jack of the drill chuck 241 of the electric drilling machine 24 to be opposite to and closely adjacent to the channel opening A of the drill rod accommodating channel 3511 of the bar-type consumable feeding mechanism 35;

S04, locking a drill rod on the electric drilling machine:

The present invention and its embodiments have been described above, and the description is not intended to be limiting, and the drawings show only one embodiment of the present invention, and the actual structure is not limited thereto. In summary, those skilled in the art should appreciate that they can readily use the disclosed conception and specific embodiments as a basis for designing or modifying other structures for carrying out the same purposes of the present invention without departing from the spirit and scope of the invention as defined by the appended claims.

Claims

1. A nuclear waste storage tank decommissioning device comprises a bottom plate, a pose adjusting device, a decommissioning executing device and a reloading tool table; the bottom plate is provided with a working hole. The method is characterized in that:

The retired execution device comprises a fast swap disc and an execution tool; the quick-change plate comprises a first split body and a second split body which can be connected or separated from each other, the two ends of the first split body are respectively a connecting end and a butt-joint end, the connecting end of the first split body is connected with the rear end of the industrial mechanical arm, the two ends of the second split body are respectively a connecting end and a butt-joint end, the connecting end of the second split body is connected with an execution tool, and the second split body is connected or separated with the butt-joint end of the first split body through the butt-joint end.

The reloading tool table comprises a rotary driving motor A, a rotary table, a nut tightening and loosening mechanism, a disc type consumable material feeding mechanism and a bar type consumable material feeding mechanism; the rotary driving motor A is directly or indirectly fixedly arranged on the bottom plate, and a machine shaft of the rotary driving motor A vertically extends upwards and is fixedly connected with the central area of the lower surface of the rotary disc; the annular equipartition in carousel edge has a plurality of notches, and the notch is used for hanging the second subdivision of trading the dish soon, and when the second subdivision hung in the notch, the butt joint end of second subdivision is vertical gesture up, and nut take-up mechanism fixed mounting is on the carousel, and disc class consumptive material feed mechanism fixed mounting is on the carousel, and bar class consumptive material feed mechanism fixed mounting is on the carousel.

2. The nuclear waste storage tank decommissioning apparatus of claim 1, wherein: the first lifting mechanism comprises a lifting plate A and a hydraulic cylinder A; the lifting plate A is slidably arranged on the guide rod and is positioned between the top plate and the bottom plate; the cylinder body of the hydraulic cylinder A is fixedly installed on the top plate, a piston rod of the hydraulic cylinder A vertically extends downwards and is fixedly connected with the lifting plate A, and the piston rod of the hydraulic cylinder A stretches out and draws back to drive the lifting plate A to vertically lift and move along the guide rod.

3. The nuclear waste storage tank decommissioning device of claim 1, wherein: the second lifting mechanism comprises a double-shaft motor, a power turning box A, a power turning box B and a lifting plate B; the double-shaft motor is fixedly arranged on the lifting plate A; the number of the power direction changing boxes A is two; the power turning box A comprises a box shell A, a screw rod, a worm and a worm wheel; the box shell A is fixedly arranged on the lifting plate A, a screw rod mounting hole, a worm mounting hole and a worm wheel mounting cavity are arranged in the box shell A, the screw rod mounting hole is vertically arranged and penetrates through the upper end and the lower end of the box shell A, the worm mounting hole is horizontally arranged and penetrates through the horizontal two ends of the box shell A, and the worm wheel mounting cavity is respectively communicated with the screw rod mounting hole and the worm mounting hole; the screw rod is rotatably arranged in a screw rod mounting hole of the box shell A, and two ends of the screw rod respectively extend out of two ends of the screw rod mounting hole; the worm is rotatably arranged in a worm mounting hole of the box shell A; the inner hole of the worm wheel is provided with internal threads, the outer circular surface is provided with teeth, the worm wheel is matched with the screw rod in a rotating way through the internal threads in the inner hole, the worm wheel is positioned in a worm wheel mounting cavity of the box shell A and meshed with the worm through teeth on the outer circular surface; the number of the power direction changing boxes B is two; the two power turning boxes B are respectively arranged between two shafts of the double-shaft motor and the two sets of power turning boxes A and are used for turning and transmitting power output by the two shafts of the double-shaft motor to the two sets of power turning boxes A; the power steering box B comprises a box shell B, an input shaft, an output shaft, a bevel gear A and a bevel gear B; the box shell B is fixedly arranged on the lifting plate A; the input shaft and the output shaft are respectively rotatably arranged on the box shell B and are arranged vertically to each other, the input shaft is connected with a shaft of the double-shaft motor, and the output shaft is connected with one end of the worm; the bevel gear A and the bevel gear B are respectively fixedly arranged on the input shaft and the output shaft and are meshed with each other; the lifting plate B is arranged at the lower end of the screw rod and is fixedly connected with all the screw rods in the two sets of power turning boxes A.

4. The nuclear waste storage tank decommissioning device of claim 3, wherein: the second lifting mechanism further comprises a lifting plate C and an extension rod; the extension rod is vertically arranged, the upper end of the extension rod is fixedly connected to the lower end of the lifting plate B, and the lower end of the extension rod is fixedly connected with the lifting plate C; the fixed end of the industrial mechanical arm is fixedly connected with the lower surface of the lifting plate C.

5. The nuclear waste storage tank decommissioning apparatus of claim 3, wherein: one set of power diversion case A contains two power diversion case A, and two worms that contain in one set of power diversion case A are a whole at the end fixed connection to two power diversion case A synchronization action in the realization one set of power diversion case A.

6. The nuclear waste storage tank decommissioning apparatus of claim 1, wherein: the execution tool comprises a petal type grab bucket for grabbing the sludge, a hydraulic bucket for shoveling fragments, a high-pressure washing and pumping tool head for pumping the sludge, an electric circular saw for cutting a plate material and a pipe material, an electric reciprocating saw for cutting the plate material and the pipe material, hydraulic scissors for shearing and clamping a pipeline, an electric gripper for grabbing the fragments, a hydraulic clamping jaw for clamping the fragments, an electric pick for stripping a steel clad surface and an electric drilling machine for breaking and dismantling a steel structural part; the electric circular saw comprises a power output shaft, a circular saw blade and a nut A, wherein the power output shaft is used for outputting rotating power, the circular saw blade is arranged on the power output shaft and is driven by the power output shaft to rotate, and the nut A is in threaded connection with the power output shaft, abuts against the circular saw blade and provides axial positioning for the circular saw blade; wherein, the electric drilling machine comprises a drill chuck and a drill rod; the drill chuck is internally provided with a jack, the outer part of the drill chuck is provided with a nut B for adjusting the aperture of the jack, and one end of the drill rod is inserted in the jack of the drill chuck.

7. The nuclear waste storage tank decommissioning apparatus of claim 1, wherein: the nut tightening and loosening mechanism comprises a base A, a rotary sleeve and a rotary driving motor B; the base A is fixedly arranged on the turntable; the rotary sleeve is rotatably arranged on the base A, one end of the rotary sleeve is closed, the other end of the rotary sleeve is provided with an opening, a drill rod accommodating hole and a nut limiting hole are sequentially arranged in the rotary sleeve from the closed end to the opening end, the drill rod accommodating hole and the nut limiting hole are communicated with each other, the nut limiting hole is communicated with the opening at one end far away from the drill rod accommodating hole, and the central line of the drill rod accommodating hole and the central line of the nut limiting hole are horizontally arranged and are overlapped with each other; the rotary driving motor B is fixedly arranged on the rotary table, and a crankshaft of the rotary driving motor B is connected with the closed end of the rotary sleeve so as to drive the rotary sleeve to rotate around the central line of the drill rod accommodating hole.

8. The nuclear waste storage tank decommissioning apparatus of claim 1, wherein: the disc type consumable material feeding mechanism comprises a base B, a hanging rod, a push plate and a linear motor A; the base B is fixedly arranged on the turntable and is provided with a supporting hole; the hanging rods are welded on the side wall surface of the base and are horizontally arranged; the linear motor A is fixedly arranged on the turntable, and the crankshaft of the linear motor A is horizontally arranged and supported through a supporting hole of the base B; the push plate is an open annular plate, the middle of the push plate is provided with a central hole, and the push plate is welded and fixed at the tail end of a crankshaft of the linear motor A and penetrates through the hanging rod through the central hole.

9. The nuclear waste storage tank decommissioning apparatus of claim 1, wherein: the bar-type consumable feeding mechanism comprises a base C and a linear motor B; the base C is fixedly arranged on the turntable, a drill rod accommodating channel which is horizontally arranged and has two open ends is arranged on the base C, and the two ends of the drill rod accommodating channel are respectively set as a channel opening A and a channel opening B; the linear motor B is fixedly arranged on the upper surface of the rotary table, the crankshaft of the linear motor B is arranged in parallel to the drill rod accommodating channel and is opposite to the channel opening B of the drill rod accommodating channel, and the crankshaft of the linear motor B stretches and retracts to extend into or withdraw from the channel opening B of the drill rod accommodating channel.

10. The nuclear waste storage tank decommissioning apparatus of claim 3, wherein: be equipped with the hole of dodging that supplies the lead screw to pass on the roof, the lead screw upper end accessible dodges the hole and stretches out to the roof upper end, and does not take place the contact with the roof.

11. The nuclear waste storage tank decommissioning device of claim 1, wherein: the device also comprises an image device and a PC; the imaging device comprises a camera A and a camera B, wherein the camera A is installed on the bottom plate through a support, and the camera B is installed on the industrial mechanical arm; the camera A is used for acquiring the visual field of the tool changing table and the pose adjusting device, and the camera B is used for acquiring the visual field of the industrial mechanical arm and the visual field below the industrial mechanical arm; the PC is respectively in communication connection with the camera A, the camera B and each power-requiring component through a network; the display device is used for displaying pictures shot by the camera A and the camera B and sending instructions to control the actions of all the power-requiring components.

12. A nuclear waste storage tank decommissioning device comprises the following steps of:

s01, unloading the current executing tool:

a. starting a hydraulic cylinder A and a double-shaft motor, respectively driving a lifting plate A and a lifting plate B to ascend, and lifting the industrial mechanical arm above a bottom plate;

b. starting a rotary driving motor A, driving a turntable to rotate, and enabling a notch for unloading the execution tool to rotate to the overlapping area;

c. and adjusting the position and the posture of the industrial mechanical arm to enable the second split body connected to the rear end part of the industrial mechanical arm to extend into the notch, and then controlling the first split body and the second split body at the rear end part of the industrial mechanical arm to be separated from each other to enable the second split body and the execution tool to be unloaded to be hung in the notch.

S02, loading a target execution tool:

a. starting a rotary driving motor A, driving a turntable to rotate, and enabling a notch on which a target execution tool is hung to rotate to the overlapping area;

b. adjusting the position and the posture of the industrial mechanical arm to enable a second sub-body connected to the rear end part of the industrial mechanical arm to be in butt joint with a first sub-body connected with a target execution tool, and after the butt joint is completed, connecting the industrial mechanical arm and the target execution tool through a quick-change disc to form a whole;

in the step S01 of the method, the overlapping area is the overlapping area of the path swept by the notch along with the rotation of the turntable and the movable range of the free end of the industrial mechanical arm.

before the method is executed, a new disc saw blade is hung on a hanging rod of a disc consumable material feeding mechanism; and a discarding area of the disc saw blade is arranged in the movable range of the free end of the industrial mechanical arm above the bottom plate.

S01, unlocking a disc saw blade on the electric disc saw:

b. starting a rotary driving motor A to drive the rotary table to rotate, so that the nut tightening and loosening mechanism rotates to the overlapping area;

c. adjusting the position and the posture of the industrial mechanical arm to enable the electric circular saw connected to the rear end part of the industrial mechanical arm to move to be opposite to the nut loosening and tightening mechanism, and inserting a nut A of the electric circular saw into a nut limiting hole of the nut loosening and tightening mechanism after the electric circular saw finishes moving;

d. starting a rotary driving motor B, driving a rotary sleeve to rotate, driving a nut A to rotate through the rotary sleeve, and screwing the nut A off from a power output shaft, wherein the nut A is retained in a nut limiting hole of the rotary sleeve at the moment, and the axial positioning of a disc saw blade on the electric disc saw is released;

s02, discarding the disc saw blade on the electric disc saw:

a. the position and the gesture of adjustment industry arm move electronic circular saw to abandoning the region, and the removal in-process ensures that the power output shaft of electronic circular saw is in the level or terminal ascending state, avoids the disc saw piece to drop at the removal in-process.

b. After the electric circular saw moves to a discarding area, the position and the posture of the industrial mechanical arm are adjusted, so that the power output shaft of the electric circular saw rotates to a state that the tail end of the power output shaft faces downwards, and the circular saw blade immediately slides down from the power output shaft.

S03, loading a new circular saw blade:

a. adjusting the position and the posture of the industrial mechanical arm, moving the electric circular saw connected to the rear end part of the industrial mechanical arm to be opposite to the disc type consumable feeding mechanism, and after the movement is finished, enabling the tail end of a power output shaft of the electric circular saw to be opposite to and close to the tail end of a hanging rod of the disc type consumable feeding mechanism;

b. the linear motor A is started, the crankshaft of the linear motor A is in linear motion in the horizontal direction, the push plate is driven to be in horizontal linear motion along the hanging rod, and the disc saw blade hung on the hanging rod is pushed out from the tail end of the hanging rod and pushed onto the power output shaft of the electric disc saw.

S04, locking a disc saw blade on the electric disc saw:

a. adjusting the position and the posture of the industrial mechanical arm, moving the electric circular saw to a position right facing the nut tightening and loosening mechanism, ensuring that a power output shaft of the electric circular saw is in a horizontal state or a state that the tail end of the power output shaft faces upwards in the moving process, preventing a circular saw blade from falling off in the moving process, after the movement is finished, enabling the shaft axis of the power input shaft to be superposed with the central line of the nut limiting hole, and enabling the tail end of the power input shaft to be tightly abutted to the orifice of the nut A retained in the nut limiting hole;

b. and starting the rotary driving motor B, driving the rotary sleeve to rotate, driving the nut A to rotate through the rotary sleeve, connecting the nut A to a power input shaft of the electric circular saw in a threaded manner, and stopping the rotary driving motor B until the axial positioning of the circular saw blade is completed.

Preferably, set up the industrial robot who carries on the multi-disc saw bit in the place, when needing to hang new disc saw bit on disc class consumptive material feed mechanism, hang on disc class consumptive material feed mechanism's peg by a new disc saw dish of industrial robot centre gripping. The method for replacing the consumable parts of the electric drilling machine comprises the following steps:

before the method starts, a new drill rod is inserted into a drill rod accommodating channel of a rod consumable feeding mechanism; and arranging a discarding area of the drill rod in the movable range of the free end of the industrial mechanical arm above the bottom plate.

S01, unlocking a drill rod on the electric drilling machine:

c. adjusting the position and the posture of the industrial mechanical arm to enable an electric drilling machine connected to the rear end part of the industrial mechanical arm to be in butt joint with a nut loosening and tightening mechanism, after the butt joint is completed, a drill rod of the electric drilling machine extends into a drill rod accommodating hole of the nut loosening and tightening mechanism, a nut B of the electric drilling machine extends into a nut limiting hole of the nut loosening and tightening mechanism, and the axis line of the drill rod is superposed with the center line of the drill rod accommodating hole;

d. starting a rotary driving motor B to drive a rotary sleeve to rotate, and driving a nut B to rotate through the rotary sleeve so as to enable the drill chuck to loosen the drill rod, wherein the nut B is still in threaded connection with the drill chuck at the moment;

s02, discarding a drill rod on the electric drilling machine:

a. the position and the gesture of adjustment industry arm move the electric drill machine to abandoning the region, and the removal in-process ensures that the drilling rod of electric drill machine is in the level or terminal ascending state, avoids the drilling rod to drop at the removal in-process.

b. After the electric drilling machine moves to the discarding area, the position and the posture of the industrial mechanical arm are adjusted, so that a drill rod of the electric drilling machine rotates to a state that the tail end of the drill rod faces downwards, and the drill rod is separated from the drill chuck and falls off.

S03, loading a new drill rod:

a. adjusting the position and the posture of the industrial mechanical arm, moving an electric drilling machine connected to the rear end part of the industrial mechanical arm to be opposite to the bar-type consumable material feeding mechanism, and after the electric drilling machine is moved, enabling a jack of a drill chuck of the electric drilling machine to be opposite to and closely adjacent to a channel opening A of a drill rod accommodating channel of the bar-type consumable material feeding mechanism;

b. and starting the linear motor B, and pushing the drill rod placed in the drill rod accommodating channel out of the channel opening A of the drill rod accommodating channel and into the jack of the drill chuck of the electric drilling machine by the aid of the crankshaft of the linear motor B performing linear motion in the horizontal direction.

S04, locking a drill rod on the electric drilling machine:

a. adjusting the position and the posture of the industrial mechanical arm, moving the electric drilling machine to a position right facing the nut loosening and tightening mechanism, ensuring that the jack of the drill chuck is in a horizontal state or a state that the tail end of the drill chuck is upward in the moving process, and preventing the drill rod from falling off in the moving process;

b. and starting the rotary driving motor B to drive the rotary sleeve to rotate, and driving the nut B to rotate through the rotary sleeve so that the drill chuck clamps the drill rod.

Preferably, set up the industrial robot who carries on many drilling rods in the place, when needing the new drilling rod of cartridge on the rod class consumptive material feed mechanism, insert in rod class consumptive material feed mechanism's the drilling rod accommodation channel by a new drilling rod of industrial robot centre gripping.