A spring automatic tube loading device and system

Abstract

The present invention discloses an automatic spring tube loading device and an automatic spring tube loading system including the automatic spring tube loading device. The automatic spring tube loading device includes a tube loading mechanism, a material storage mechanism and a pushing mechanism. The outer diameter of the compression spring is larger than the inner diameter of the cladding tube. The pushing mechanism includes a push rod assembly and a measuring assembly. The measuring assembly includes a length measuring rod. The length measuring rod is used to measure the first distance between the inlet end of the cladding tube and the core block in the cladding tube. The push rod assembly includes a push rod. The push rod is used to push a compression spring stored in the material storage mechanism into the cladding tube after the length measuring rod measures, and make the compression spring in a target position in the cladding tube. The length of the compression spring is set to a first length. The distance between the compression spring in the target position and the inlet end of the cladding tube is a second distance. The second distance is equal to the difference between the first distance and the first length. The device can ensure the consistency of the pressing force of the springs in different cladding tubes on the core block.

Description

Technical Field

[0001] The invention belongs to the technical field of nuclear industry, and in particular relates to an automatic spring tube loading device and an automatic spring tube loading system comprising the automatic spring tube loading device. Background Art

[0002] The MOX fuel rods used in fast neutron reactors contain fuel pellets and springs. The fuel pellets must be tightly arranged in the cladding tube and cannot move at will. In order to ensure the tightness and stability of the arrangement of the fuel pellets in the cladding tube, interference springs are used to compress the fuel pellets. The resistance generated by the interference between the spring and the cladding tube ensures the compression force of the spring on the fuel pellets.

[0003] In the prior art, the compression length of the compression spring after being sent into the cladding tube cannot be accurately controlled, resulting in inconsistent compression lengths of the compression springs in different cladding tubes, which in turn results in different pressing forces of the spring on the fuel pellets, making it impossible to ensure the stability of the cladding tube quality. Summary of the invention

[0004] The technical problem to be solved by the present invention is to provide a spring automatic tube loading device and a spring automatic tube loading system including the spring automatic tube loading device in view of the above-mentioned deficiencies in the prior art. The spring automatic tube loading device can load the spring into the target position in the cladding tube, thereby ensuring the consistency of the pressing force of the springs in different cladding tubes on the core block.

[0005] In order to solve the above problems, the present invention adopts the following technical solutions:

[0006] A spring automatic tube loading device comprises a tube loading mechanism, a material storage mechanism and a pushing mechanism, wherein the material storage mechanism is used to store compression springs, wherein the outer ring diameter of the compression springs is larger than the inner diameter of a cladding tube, the pushing mechanism and the tube loading mechanism are respectively arranged on both sides of the material storage mechanism, and the tube loading mechanism is used to support and fix the cladding tube, the pushing mechanism comprises a push rod assembly and a measuring assembly, wherein the measuring assembly comprises a length measuring rod, wherein the length measuring rod is used to extend into the cladding tube to measure a first distance between an inlet end of the cladding tube and a core block in the cladding tube, and the push rod assembly comprises a push rod, wherein the push rod is used to push a compression spring stored in the material storage mechanism into the cladding tube after measurement by the length measuring rod, and to place the compression spring in a target position in the cladding tube, wherein the length of the compression spring is set to a first length, and the distance between the compression spring in the target position and the inlet end of the cladding tube is a second distance, and the second distance is equal to the difference between the first distance and the first length.

[0007] Preferably, the push rod is parallel to the measuring rod and to the length direction of the cladding tube, and the front ends of the two are aligned. The measuring assembly also includes a first driving electric cylinder, on which the fixed end of the measuring rod is mounted, and the first driving electric cylinder is used to drive the measuring rod to perform linear motion along the length direction of the measuring rod; the push rod assembly also includes a second driving electric cylinder, on which the fixed end of the push rod is mounted, and the second driving electric cylinder is used to drive the push rod to perform linear motion along the length direction of the push rod.

[0008] Preferably, the pushing mechanism further includes a control component, which includes a sensor, a length measuring device and a controller. The sensor is provided at the free end of the measuring rod and is electrically connected to the controller for sending a first signal to the controller when sensing the core block in the cladding tube. The controller is electrically connected to the first driving electric cylinder for controlling the first driving electric cylinder to stop driving the measuring rod to move forward when receiving the first signal. The length measuring device is electrically connected to the controller for measuring the position data of the measuring rod when the measuring rod stops moving forward and sending the data to the controller. The controller is also used to control the first driving electric cylinder to drive the measuring rod to return, and to obtain the first distance according to the received position data, and to calculate the second distance according to the first distance and the first length stored therein. The controller is also electrically connected to the second driving electric cylinder, and is also used to control the second driving electric cylinder to drive the push rod to move forward the second distance.

[0009] Preferably, the pushing mechanism also includes a support plate and a third driving electric cylinder, the support plate is fixedly mounted on the third driving electric cylinder, the first driving electric cylinder and the second driving electric cylinder are both arranged on the support plate, the third driving electric cylinder is electrically connected to the controller, and is used for driving the support plate to move along a second direction in a horizontal plane according to the control of the controller, so that the push rod / length measuring rod is aligned with the cladding tube, and the movement direction of the push rod and the length measuring rod is a first direction in the horizontal plane, and the first direction is perpendicular to the second direction.

[0010] Preferably, the material storage mechanism includes a material storage bin, a first drive unit and a second drive unit. The material storage bin is arranged between the cladding tube and the pushing mechanism, and is used to store compression springs. The first drive unit is used to drive the material storage bin to move linearly along the second direction, and the second drive unit is used to drive the material storage bin to move linearly in the vertical direction.

[0011] Preferably, the first driving unit includes a fixed plate, a support seat, a first screw, and a first motor. Two support seats are used, and the two support seats are arranged on the ground. Both ends of the first screw are respectively supported on the two support seats, and the first screw is arranged along the second direction. The fixed plate is threadedly connected to the first screw, and the second driving unit is installed on the fixed plate. The storage bin is arranged on the second driving unit, and the first motor is connected to one end of the first screw for driving the first screw to rotate, so that the fixed plate drives the storage bin to move along the length direction of the first screw.

[0012] Preferably, the second driving unit includes a second motor, a second lead screw, a guide rail unit and a slide, the guide rail unit includes a linear guide rail and a slider slid on the linear guide rail, the second lead screw and the linear guide rail are arranged parallel to each other in a vertical direction, the linear guide rail is fixed to the fixed plate, one end of the slide plate is threadedly connected to the second lead screw, and the other end of the slide plate is fixed to the slider, the storage bin is fixed to the slide plate, and the second motor is connected to the second lead screw for driving the second lead screw to rotate, so that the slide plate drives the storage bin to move linearly along the vertical direction.

[0013] Preferably, the tube loading mechanism includes a fixing assembly, which includes a supporting wheel, a base plate and a clamping unit. The clamping unit is mounted on the base plate and includes a clamping control cylinder and a clamping jaw. The clamping jaw control cylinder is used to control the closing of the clamping jaw to grasp the cladding tube. The supporting wheel is mounted on the base plate to support both ends of the cladding tube.

[0014] Preferably, the pipe loading mechanism further includes a fourth driving electric cylinder, the base plate is fixedly mounted on the fourth driving electric cylinder, and the fourth driving electric cylinder is used to drive the base plate to move along the first direction.

[0015] The present invention also provides a spring automatic tube loading system, comprising a glove box, a positioning assembly, and the above-mentioned spring automatic tube loading device, wherein the glove box is divided into three areas by three partition plates, and the pushing mechanism, material storage mechanism and tube loading mechanism in the spring automatic tube loading device are arranged in the three areas in sequence, and the positioning assembly comprises a positioning block, a positioning hole is opened in the center of the positioning block, the positioning block is installed on the partition plate between the material storage mechanism and the tube loading mechanism, and the positioning hole is connected to the input end of the cladding tube.

[0016] The spring automatic tube loading device in the present invention can accurately measure the distance between the cladding tube port and the internal core block through the measuring component, thereby ensuring that the compression spring can be accurately installed at the target position in the cladding tube, so that the compression force of the compression spring in the cladding tube is appropriate, and the compression force of the compression springs in different cladding tubes is consistent. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 is a side view of the spring automatic tube loading device in embodiment 1 of the present invention;

[0018] Figure 2 is a front view of the automatic spring tube loading device in embodiment 1 of the present invention;

[0019] Figure 3 is a schematic structural diagram of a tube loading mechanism in Embodiment 1 of the present invention;

[0020] Figure 4 is a schematic structural diagram of a material storage mechanism in Embodiment 1 of the present invention;

[0021] Figure 5 It is a schematic diagram of the structure of the pushing mechanism in Example 1 of the present invention.

[0022] In the figure: 1-tube loading mechanism, 2-material storage mechanism, 3-pushing mechanism, 4-cladding tube, 5-fourth driving electric cylinder, 6-support wheel, 7-gripper, 8-positioning block, 9-gripper control cylinder, 10-second motor, 11-second lead screw, 12-slide, 13-material storage bin, 14-first lead screw, 15-length measuring rod, 16-first driving electric cylinder, 17-push rod, 18-second driving electric cylinder, 19-third motor, 20-fourth motor, 21-first motor, 22-support seat, 23-fixed plate, 24-linear guide rail, 25-bottom plate. DETAILED DESCRIPTION

[0023] The following will be combined with the accompanying drawings in the present invention to clearly and completely describe the technical solutions in the invention. Obviously, the described embodiments are part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments in the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of the present invention.

[0024] In the description of the present invention, it should be noted that the directions or positional relationships indicated by “upper” and the like are based on the directions or positional relationships shown in the accompanying drawings and are only for the convenience and simplification of the description. They do not indicate or imply that the device or element referred to must have a specific direction, be constructed and operated in a specific direction. Therefore, they cannot be understood as limitations on the present invention.

[0025] In the description of the present invention, the terms “first” and “second” are used for descriptive purposes only and should not be understood as indicating or implying relative importance.

[0026] In the description of the present invention, it should be noted that, unless otherwise clearly specified and limited, the terms "connect", "set", "install", "fix" and the like should be understood in a broad sense, for example, it can be a fixed connection or a detachable connection, or an integral connection; it can be a direct connection or an indirect connection through an intermediate medium, or it can be the internal communication of two elements. For those skilled in the art, the specific meanings of the above terms in the present invention can be understood according to the specific circumstances.

[0027] The present invention provides a spring automatic tube loading device, comprising a tube loading mechanism, a material storage mechanism and a pushing mechanism, wherein the material storage mechanism is used to store compression springs, wherein the outer ring diameter of the compression springs is larger than the inner diameter of a cladding tube, the pushing mechanism and the tube loading mechanism are respectively arranged on both sides of the material storage mechanism, and the tube loading mechanism is used to support and fix the cladding tube, the pushing mechanism comprises a push rod assembly and a measuring assembly, wherein the measuring assembly comprises a length measuring rod, wherein the length measuring rod is used to extend into the cladding tube to measure a first distance between an inlet end of the cladding tube and a core block in the cladding tube, and the push rod assembly comprises a push rod, wherein the push rod is used to push a compression spring stored in the material storage mechanism into the cladding tube after the length measuring rod measures, and the compression spring is located at a target position in the cladding tube, the length of the compression spring is set to a first length, and the distance between the compression spring at the target position and the inlet end of the cladding tube is a second distance, and the second distance is equal to the difference between the first distance and the first length.

[0028] The present invention also provides a spring automatic tube loading system, comprising a glove box, a positioning assembly, and the above-mentioned spring automatic tube loading device, wherein the glove box is divided into three areas by three partition plates, and the pushing mechanism, material storage mechanism and tube loading mechanism in the spring automatic tube loading device are arranged in the three areas in sequence, and the positioning assembly comprises a positioning block, a positioning hole is opened in the center of the positioning block, the positioning block is installed on the partition plate between the material storage mechanism and the tube loading mechanism, and the positioning hole is connected to the input end of the cladding tube.

[0029] Example 1

[0030] like Figure 1 As shown, the present invention discloses an automatic spring tube loading device, comprising a tube loading mechanism 1, a storage mechanism 2 and a pushing mechanism 3, wherein the storage mechanism 2 is used to store compression springs, wherein the outer ring diameter of the compression spring is larger than the inner diameter of the cladding tube 4, so that after the compression spring is loaded into the cladding tube 4, the outer ring of the compression spring can generate a sufficiently large friction force with the inner wall of the cladding tube 4, thereby compressing the core block in the cladding tube 4.

[0031] like Figure 1 , 2 As shown, the pushing mechanism 3 and the tube loading mechanism 1 are arranged on both sides of the material storage mechanism 2. The tube loading mechanism 1 is used to support and fix the cladding tube 4; the pushing mechanism 3 includes a push rod assembly and a measuring assembly.

[0032] Specifically, the measuring assembly includes a measuring rod 15, the diameter of which is smaller than the inner diameter of the cladding tube 4, and the measuring rod 15 is used to extend into the cladding tube 4 to measure a first distance between the inlet end of the cladding tube 4 and the core block in the cladding tube 4; the push rod assembly includes a push rod 17, the diameter of which is smaller than the diameter of the cladding tube 4, and the push rod 17 is arranged in parallel with the measuring rod 15, and the push rod 17 is used to push a compression spring stored in the storage mechanism 2 into the cladding tube 4 after the measuring rod 15 measures the length, and to make the compression spring be at a target position in the cladding tube 4.

[0033] In order to ensure that the compression springs in different cladding tubes 4 produce consistent compression force on the core blocks inside them, the length of the compression spring after compression is set to the first length, and the length of each compression spring after being installed in the cladding tube 4 is equal to the first length; the distance between the outermost end of the compression spring at the target position and the inlet end of the cladding tube 4 is the second distance, and the second distance is equal to the difference between the first distance and the first length, so that the compression spring only needs to be transported from the inlet end of the cladding tube 4 forward (inside the cladding tube) by the push rod 17 to make the compression spring located at the target position of the cladding tube 4, and finally the compression force of the compression spring in the cladding tube 4 is an appropriate compression force, and the compression force of the compression springs in different cladding tubes is consistent.

[0034] like Figure 5 As shown, the push rod 17 is arranged in parallel with the measuring rod 15 and in parallel with the length direction of the cladding tube 4, and the front ends of the two (i.e., the end that can contact the cladding tube) are aligned. The measuring assembly also includes a first driving electric cylinder 16 and a third motor 19. The fixed end of the measuring rod 15 is installed on the first driving electric cylinder 16. When the measuring rod 15 is aligned with the cladding tube 4, the first driving electric cylinder 16 drives the measuring rod 15 to make a linear motion along the length direction of the measuring rod 15 under the drive of the first motor 21, thereby measuring the first distance; the push rod assembly also includes a second driving electric cylinder 18 and a fourth motor 20. The fixed end of the push rod 17 is installed on the second driving electric cylinder 18. When the push rod 17 is aligned with the cladding tube 4, the fourth motor 20 is used to drive the second driving electric cylinder 18 to move, thereby driving the push rod 17 to make a linear motion along the length direction of the push rod 17, thereby pushing the compression spring into the target position in the cladding tube 4.

[0035] The movement direction of the push rod 17 and the length measuring rod 15 is a first direction in the horizontal plane, and the second direction is in the horizontal plane, and the second direction is perpendicular to the first direction.

[0036] In this embodiment, the pushing mechanism 3 further includes a control component, which includes a sensor, a length measuring device and a controller. The sensor is provided at the free end of the measuring rod 15 and is electrically connected to the controller, and is used to send a first signal to the controller when the measuring rod extends into the cladding tube and senses the core block in the cladding tube 4; the controller is electrically connected to the first driving electric cylinder 16, and is used to control the first driving electric cylinder 16 to stop driving the measuring rod 15 to move forward when receiving the first signal; the length measuring device is electrically connected to the controller, and is used to measure the position data of the measuring rod 15 when the measuring rod 15 stops moving forward, and send it to the controller, so that the controller obtains the first distance according to the received position data, and calculates the second distance according to the first distance and the first length (the length of the spring after compression) stored in the controller; the controller is also used to control the first driving electric cylinder 16 to drive the measuring rod 15 to return, and the controller is also electrically connected to the second driving electric cylinder 18, and is also used to control the second driving electric cylinder 18 to drive the push rod 17 to move forward for the second distance and then stop, so that the push rod can push the compressed spring to the target position in the cladding tube 4.

[0037] In this embodiment, the pushing mechanism 3 also includes a support plate and a third driving electric cylinder. The support plate is a flat plate structure, and the support plate is fixedly mounted on the third driving electric cylinder. The third driving electric cylinder is arranged on the ground. The first driving electric cylinder 16 and the second driving electric cylinder 18 are both arranged on the support plate and are arranged in parallel along the first direction. The third driving electric cylinder is electrically connected to the controller and is used to drive the support plate to move along the second direction in the horizontal plane according to the control of the controller so that the cladding tube 4 is aligned with the push rod 17 / the measuring rod 15. Specifically, during the length measurement process, the third driving electric cylinder drives the support plate to move along the second direction so that the measuring rod 15 is aligned with the cladding tube 4. During the pushing process of the compression spring, the third driving electric cylinder drives the support plate to continue to move along the second direction so that the push rod 17 is aligned with the cladding tube 4.

[0038] The control assembly further includes a position sensor for detecting whether the push rod 17 / the measuring rod 15 is aligned with the cladding tube, and sending an alignment signal to the controller when aligned. The controller is used to control the movement of the third driving electric cylinder according to the alignment signal.

[0039] like Figure 4 As shown, the storage mechanism 2 includes a storage bin 13, a first drive unit and a second drive unit. The storage bin 13 is arranged between the cladding tube 4 and the pushing mechanism 3, and is used to store the compression spring. The first drive unit is used to drive the storage bin 13 to move linearly along the second direction, and the second drive unit is used to drive the storage bin 13 to move linearly in the vertical direction.

[0040] Specifically, the storage bin 13 is a box-shaped structure, and a plurality of storage holes extending in a first direction are provided on its side wall, the storage holes include a plurality of rows, each row includes a plurality of holes, and a compression spring is stored in each storage hole. Under the drive of the first drive unit and the second drive unit, the compression spring in a storage hole of the storage bin 13 is aligned with the cladding tube supported by the tube loading mechanism 1.

[0041] like Figure 4 As shown, the first driving unit includes a fixed plate 23, a support seat 22, a first lead screw 14, and a first motor 21. The support seat 22 can specifically adopt a bearing, and the number of the support seats 22 is two, and the two support seats 22 are arranged on the ground. The two ends of the first lead screw 14 are respectively supported on the two support seats 22, and the first lead screw 14 is arranged along the second direction. A threaded hole is opened at the lower end of the fixed plate 23, and the threaded hole is threadedly connected to the first lead screw 14. The second driving unit is installed on the fixed plate 23, and the storage bin 13 is arranged on the second driving unit. The first motor 21 is connected to one end of the first lead screw 14, and is used to drive the first lead screw 14 to rotate, so that the fixed plate 23 drives the storage bin 13 to move along the length direction of the first lead screw 14.

[0042] like Figure 4 As shown, the second driving unit includes a second motor 10, a second lead screw 11, a guide rail unit and a slide plate 12. The guide rail unit includes a linear guide rail 24 and a slider slidably arranged on the linear guide rail 24. The second lead screw 11 and the linear guide rail 24 are arranged at both ends of the fixed plate 23 in parallel along the vertical direction. One end of the second lead screw 11 is rotatably connected to the fixed plate 23, and the other end is fixed to the slider. The linear guide rail 24 is fixed to the fixed plate 23. Specifically, the slide plate 12 is threadedly connected to the second lead screw 11 through a threaded hole, and the storage bin 13 is fixed to the slide plate 12. The second motor 10 is connected to the second lead screw 11 and is arranged above the second lead screw 11, and is used to drive the second lead screw 11 to rotate, so that the slide plate 12 drives the storage bin 13 to move linearly along the length direction of the linear guide rail, so that the storage holes at different heights can be aligned with the cladding tube 4.

[0043] like Figure 3 As shown, the tube loading mechanism 1 includes a fixing assembly, which includes a supporting wheel 6, a base plate 25 and a clamping unit. The clamping unit is installed on the base plate 25, and includes a clamping control cylinder 9 and a clamping jaw 7. The clamping jaw control cylinder 9 is used to control the closing of the clamping jaw 7 to grasp the cladding tube 4 and align the inlet end of the cladding tube 4 with the storage hole of the storage bin. The supporting wheel 6 is installed on the base plate 25 to support both ends of the cladding tube 4.

[0044] like Figure 3As shown, the tube loading mechanism 1 further includes a fourth driving electric cylinder 5, on which the bottom plate 25 is fixedly mounted. The fourth driving electric cylinder 5 is used to drive the bottom plate 25 to move along the first direction, thereby transporting the cladding tube 4 to the loading position.

[0045] The spring automatic tube loading device in the present invention can accurately measure the depth of the compression spring loaded into the cladding tube 4, so that the compression spring produces a suitable pressing force on the core block of the cladding tube 4. The device has a simple structure and a high degree of automation, does not require close operation by personnel, and can protect the human body from radiation sources.

[0046] Example 2

[0047] The present embodiment discloses an automatic spring tube loading system, comprising a glove box, a positioning assembly, and the above-mentioned automatic spring tube loading device. The glove box is divided into three areas by three partition plates. The pushing mechanism 3, the material storage mechanism 2 and the tube loading mechanism 1 in the automatic spring tube loading device are arranged in the three areas in sequence. The positioning assembly comprises a positioning block 8, a positioning hole is opened in the center of the positioning block 8, the positioning block 8 is installed on the partition plate between the material storage mechanism 2 and the tube loading mechanism 1, and the positioning hole is connected to the input end of the cladding tube 4.

[0048] Specifically, the material storage mechanism 2 is arranged in the middle area of ​​the three areas of the glove box, and the pushing mechanism 3 and the tube loading mechanism 1 are arranged in two areas on both sides of the middle area.

[0049] The working process of the spring automatic tube loading system in the present invention is as follows:

[0050] In the starting state, the storage bin 13 is located at the initial position, the measuring rod 15 is located at the initial position, the initial position of the storage bin 13 is located on the same straight line as the cladding tube 4 and the positioning hole, and the initial position of the measuring rod 15 is located on the same straight line as the cladding tube 4 and the positioning hole;

[0051] The controller controls the first driving electric cylinder 16 to move linearly along the first direction. When the sensor at the front end of the measuring rod 15 contacts the core block, the sensor sends a first signal. The controller controls the first driving electric cylinder 16 to stop driving according to the first signal. The length measuring device measures the position data of the front end of the measuring rod at this time and sends it to the controller, so that the controller calculates the first distance according to the position data, and then calculates the second distance in combination with the first length.

[0052] Next, the controller controls the first driving electric cylinder 16 to return along the first direction, thereby driving the measuring rod 15 to return to the initial position.

[0053] Then, the controller controls the third motor 19 to rotate so that the storage bin 13 moves along the second direction, thereby aligning the storage hole with the positioning hole and the cladding tube 4;

[0054] Then, the controller controls the third driving electric cylinder to drive the support plate to move along the second direction, so that the push rod 17 is aligned with the positioning hole.

[0055] Finally, the controller controls the second driving electric cylinder 18 to make linear motion along the first direction, driving the push rod 17 to push the compression spring inside the storage hole into the cladding tube 4. At this time, the distance between the outer end of the compression spring installed at the target position and the entrance end of the cladding tube 4 is the second distance.

[0056] The measuring rod 15 of the spring automatic tube loading system in the present invention can effectively measure the installation position of the compression spring, and each component is arranged in the glove box and separated by a partition plate, which can effectively reduce the radiation received by each component, which is beneficial to reduce the number of maintenance times of the system, thereby increasing the service life of the system.

[0057] It is to be understood that the above embodiments are merely exemplary embodiments used to illustrate the principles of the present invention, but the present invention is not limited thereto. For those of ordinary skill in the art, various modifications and improvements can be made without departing from the spirit and essence of the present invention, and these modifications and improvements are also considered to be within the scope of protection of the present invention.

Claims

1. A spring automatic tube loading device, characterized in that: It comprises a tube loading mechanism (1), a material storage mechanism (2) and a pushing mechanism (3). The storage mechanism (2) is used to store compression springs, the outer ring diameter of the compression springs being larger than the inner diameter of the cladding tube (4), the pushing mechanism (3) and the tube loading mechanism (1) being arranged on both sides of the storage mechanism (2). The tube loading mechanism (1) is used to support and fix the cladding tube (4). The pushing mechanism (3) comprises a push rod assembly and a measuring assembly. The measuring assembly comprises a measuring rod (15), the measuring rod (15) being used to extend into the cladding tube (4) to measure a first distance between an inlet end of the cladding tube (4) and a pellet in the cladding tube (4). The push rod assembly comprises a push rod (17), wherein the push rod (17) is used to push a compression spring stored in the storage mechanism (2) into the cladding tube (4) after the length measuring rod (15) has measured, and to place the compression spring in a target position in the cladding tube (4). The length of the compression spring after compression is set as a first length, the length of each compression spring after being installed in the cladding tube is equal to the first length, the distance between the compression spring at the target position and the inlet end of the cladding tube (4) is a second distance, and the second distance is equal to the difference between the first distance and the first length; The push rod assembly further comprises a second driving electric cylinder (18), on which the fixed end of the push rod (17) is mounted, and the second driving electric cylinder (18) is used to drive the length measuring rod (15) to perform linear motion along the length direction of the push rod (17). The pushing mechanism (3) further comprises a control component, wherein the control component comprises a controller, The controller is electrically connected to the second driving electric cylinder (18) and is used to control the second driving electric cylinder (18) to drive the push rod (17) to move forward a second distance.

2. The spring automatic tube loading device according to claim 1, characterized in that: The push rod (17) is parallel to the length measuring rod (15) and to the length direction of the cladding tube (4), and the front ends of the two are aligned. The measuring assembly further comprises a first driving electric cylinder (16), the fixed end of the measuring rod (15) being mounted on the first driving electric cylinder (16), the first driving electric cylinder (16) being used to drive the measuring rod (15) to perform linear motion along the length direction of the measuring rod (15).

3. The spring automatic tube loading device according to claim 2, characterized in that: The control component also includes a sensor and a length measuring device. The sensor is arranged at the free end of the length measuring rod (15) and is electrically connected to the controller, and is used to send a first signal to the controller when sensing a pellet in the cladding tube (4). The controller is electrically connected to the first driving electric cylinder (16) and is used to control the first driving electric cylinder (16) to stop driving the length measuring rod (15) to move forward when receiving the first signal. The length measuring device is electrically connected to the controller and is used to measure the position data of the measuring rod (15) when the measuring rod (15) stops moving forward, and send the position data to the controller. The controller is also used to control the first driving electric cylinder (16) to drive the measuring rod (15) to return, and to obtain the first distance according to the received position data, and to calculate the second distance according to the first distance and the first length stored therein.

4. The spring automatic tube loading device according to claim 3, characterized in that: The pushing mechanism (3) also includes a support plate and a third driving electric cylinder. The support plate is fixedly mounted on the third driving electric cylinder, and the first driving electric cylinder (16) and the second driving electric cylinder (18) are both arranged on the support plate. The third driving electric cylinder is electrically connected to the controller and is used to drive the support plate to move along a second direction in the horizontal plane according to the control of the controller, so that the push rod (17) / the measuring rod (15) is aligned with the cladding tube (4). The movement direction of the push rod (17) and the length measuring rod (15) is a first direction in a horizontal plane, and the first direction is perpendicular to the second direction.

5. The spring automatic tube loading device according to claim 4, characterized in that: The material storage mechanism (2) comprises a material storage bin (13), a first drive unit and a second drive unit. The storage bin (13) is disposed between the cladding tube (4) and the pushing mechanism (3) and is used to store the compressed spring. The first driving unit is used to drive the storage bin (13) to perform linear motion along a second direction. The second driving unit is used to drive the storage bin (13) to perform linear motion in a vertical direction.

6. The automatic spring tube loading device according to claim 5, characterized in that: The first driving unit comprises a fixing plate (23), a supporting seat (22), a first lead screw (14), and a first motor (21). Two support seats (22) are used, and the two support seats (22) are arranged on the ground. The two ends of the first lead screw (14) are respectively supported on the two support seats (22), and the first lead screw (14) is arranged along the second direction. The fixing plate (23) is threadably connected to the first lead screw, the second drive unit is mounted on the fixing plate (23), and the material storage bin (13) is disposed on the second drive unit. The first motor (21) is connected to one end of the first lead screw (14) and is used to drive the first lead screw (14) to rotate, thereby causing the fixed plate (23) to drive the storage bin (13) to move along the length direction of the first lead screw (14).

7. The automatic spring tube loading device according to claim 6, characterized in that: The second drive unit comprises a second motor (10), a second lead screw (11), a guide rail unit and a slide plate (12), the guide rail unit comprising a linear guide rail (24) and a slider slidably disposed on the linear guide rail (24). The second lead screw (11) and the linear guide rail (24) are arranged parallel to each other in a vertical direction, and the linear guide rail (24) is fixed on the fixing plate (23). One end of the slide plate (12) is threadedly connected to the second lead screw (11), the other end of the slide plate (12) is fixed to the slider, and the storage bin (13) is fixed on the slide plate (12). The second motor (10) is connected to the second lead screw (11) and is used to drive the second lead screw (11) to rotate, so that the slide (12) drives the storage bin (13) to move linearly in a vertical direction.

8. The automatic spring tube loading device according to claim 1, characterized in that: The pipe loading mechanism (1) comprises a fixing assembly, wherein the fixing assembly comprises a supporting wheel (6), a base plate (25) and a clamping claw unit. The clamping jaw unit is mounted on a base plate (25), and comprises a clamping jaw control cylinder (9) and a clamping jaw (7). The clamping jaw control cylinder (9) is used to control the closing of the clamping jaw (7) to grasp the cladding tube (4). The supporting wheels (6) are mounted on the bottom plate (25) and are used to support the two ends of the cladding tube (4).

9. The automatic spring tube loading device according to claim 8, characterized in that: The pipe loading mechanism (1) further comprises a fourth driving electric cylinder (5), The base plate (25) is fixedly mounted on the fourth driving electric cylinder (5), and the fourth driving electric cylinder (5) is used to drive the base plate (25) to move along a first direction; The movement direction of the push rod (17) and the length measuring rod (15) is a first direction in a horizontal plane.

10. A spring automatic tube loading system, characterized in that: It comprises a glove box, a positioning assembly, and the automatic spring tube loading device according to any one of claims 1 to 9, The glove box is divided into three areas by three partition plates, and the pushing mechanism (3), the material storage mechanism (2) and the tube loading mechanism (1) in the spring automatic tube loading device are arranged in the three areas in sequence. The positioning assembly comprises a positioning block (8), a positioning hole is provided at the center of the positioning block (8), the positioning block (8) is mounted on a partition plate between the material storage mechanism (2) and the tube loading mechanism (1), and the positioning hole is connected to the input end of the cladding tube (4).

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