Remote-controlled dismantling robot and dismantling method for nuclear facility decommissioning

A remote-controlled dismantling robot for nuclear facility decommissioning, comprising a tracked chassis, a hydraulic arm, a hydraulic system, and a quick change mechanism for hydraulic tool head, wherein

• the tracked chassis comprises a vehicle chassis, a rotating mechanism mounted on the vehicle chassis, track systems mounted on left and right sides of the vehicle chassis, and support leg systems mounted on two front ends of the vehicle chassis;
• the hydraulic arm is mounted on the rotating mechanism, and comprises a multi-stage hinged arm and arm oil cylinder;
• and
• the quick change mechanism for hydraulic tool head is used for quick change connection with a target tool head;
• wherein the rotating mechanism comprises a rotating support mounted on an upper part of the vehicle chassis and capable of rotating, a rotating platform mounted on the rotating support, and a rotating motor capable of driving the rotating support to rotate;
• wherein the track system comprises a track, a driving wheel and a driven wheel arranged inside the track and adapted to the track, a driving motor capable of providing power to the driving wheel, a support wheel arranged below the vehicle chassis, and a tensioning oil cylinder fixed on the vehicle chassis;
• and a piston of the tensioning oil cylinder is connected to the driven wheel;
• wherein the support leg system comprises a support leg crossbeam hinged to the vehicle chassis, one support leg hinged to the support leg crossbeam and a support leg oil cylinder connected to the support leg and the support leg crossbeam by hinges;
• wherein two support leg crossbeams are provided systematically with the support leg oil cylinder, and two support legs are provided systematically with the support leg oil cylinder;
• the two support leg crossbeams and the two support legs each are inclinedly provided from the support leg oil cylinder to a ground;
• the two support legs are moveable towards each other under driving of the support leg oil cylinder, such that the tracked chassis is lifted up when the two support legs are moveable toward each other.