An apparatus and method for rapid cutting of nuclear decommissioning enclosures

Abstract

The application provides a device and method for fast cutting of a nuclear decommissioning shell, and belongs to the technical field of nuclear decommissioning cutting. The device for fast cutting of the nuclear decommissioning shell comprises a synchronous belt driving mechanism, a front wheel mechanism, a cutting device, a picking device and a table top. The synchronous belt driving mechanism comprises a driving device, small synchronous pulleys, a synchronous belt main body, large synchronous pulleys and a large synchronous shaft. The synchronous belt driving mechanism is located on the lower surface of the table top. The number of the small synchronous pulleys and the large synchronous pulleys is two. The mechanical hand can move on the surface of the cylinder through the adjustable magnetic absorption type moving device, the cutting device can be moved to the cutting position more quickly, and the cutting efficiency is higher. The cutting device only cuts the upper side and the two side edges, and the lower side edge is cut after being fixed through the picking device, so that the cutting is safer and more reliable. The device can adapt to the movement on a large curved surface steel structure and can also adapt to the movement on a flat surface, and is widely applied.

Description

Technical Field

[0001] This invention belongs to the field of nuclear decommissioning cutting technology, specifically relating to a device and method for rapid cutting of nuclear decommissioning shells. Background Technology

[0002] During the decommissioning of nuclear facilities, a large number of metal components, pipes, and equipment need to be cut and dismantled. Cutting cylindrical components is a particularly difficult problem. Currently, most cutting of cylindrical components in nuclear decommissioning is done by moving the cutting device to the cutting position using a gantry crane. However, due to the slow movement speed of the gantry crane and the slow adjustment speed of the cutting device, the cutting efficiency is generally low, leading to increased economic and time costs. Therefore, improving the speed of nuclear decommissioning shell cutting devices is of great significance.

[0003] The following cutting methods are currently available:

[0004] Two robotic arms are used, each fixed to a gantry crane. The gantry cranes enable horizontal movement. One robotic arm has a plasma cutting device at its end effector, and the other has a pickup device. The two robotic arms work in opposite directions, one inside and one outside. Another method uses a combination of one large robotic arm and two smaller robotic arms. The large robotic arm is mounted on a gantry crane, and the two smaller robotic arms are mounted at the end of the large robotic arm, vertically positioned. The upper robotic arm has a cutting device at its end for cutting, while the lower robotic arm has a pickup device at its end for picking up the cut pieces. A material bin is also mounted on the lower robotic arm to store the picked-up pieces. A third method uses a combination of a robotic arm and a cantilever crane. The robotic arm's end has a cutting device for cutting, while the cantilever crane's end carries a pickup device to pick up the cut pieces and hoist them to the outside of the stack. Currently, all these cutting methods fix the end effector to the gantry crane, resulting in low cutting efficiency and increased costs. Summary of the Invention

[0005] The purpose of this invention is to provide an apparatus and method for rapid cutting of nuclear decommissioning shells, aiming to solve the problems of low cutting efficiency and increased cost in the prior art.

[0006] To achieve the above objectives, the present invention provides the following technical solution: a device for rapid cutting of nuclear decommissioning shells, comprising a synchronous belt drive mechanism, a front wheel mechanism, a cutting device, a picking device, and a table. The synchronous belt drive mechanism includes a drive device, a small synchronous pulley, a synchronous belt body, a large synchronous pulley, and a large synchronous shaft. The synchronous belt drive mechanism is located on the lower surface of the table. There are two small synchronous pulleys and two large synchronous pulleys. The large synchronous pulleys are rotatably connected to both sides of the large synchronous shaft. An adjustable electromagnet is installed inside the large synchronous pulley. The large synchronous shaft is fixedly connected to the table. The small synchronous pulleys and the large synchronous pulleys are evenly overlapped with the synchronous belt body.

[0007] In order to enable the device for rapid cutting of nuclear decommissioning shells to have a driving effect, as a preferred embodiment of the present invention, the driving device is fixedly connected to the table, the driving device includes a motor, a reducer and a drive shaft, the motor and the reducer are located in the middle of the drive shaft, the reducer is located on one side of the motor and is adapted to the motor, and the output end of the reducer is fixedly connected to the drive shaft.

[0008] In order to enable the device for rapid cutting of nuclear decommissioning shells to have a transmission effect, in a preferred embodiment of the present invention, the front wheel mechanism is located in front of the synchronous belt drive mechanism. The front wheel mechanism includes a front wheel body, a front wheel axle, and a front wheel fork. The front wheel fork is fixedly connected to the lower surface of the platform. A telescopic mechanism is provided at the bottom end of the front wheel fork. The front wheel axle is rotatably connected to the bottom end of the telescopic mechanism of the front wheel fork. The front wheel axle is rotatably connected to the front wheel body. An electromagnet assembly is provided inside the front wheel body.

[0009] In order to enable the device for rapid cutting of nuclear decommissioning shells to perform cutting, as a preferred embodiment of the present invention, the cutting device includes a main telescopic robotic arm and a plasma cutting mechanism. The cutting device is located above the synchronous belt drive mechanism and the front wheel mechanism. The main telescopic robotic arm is fixedly connected to the table. The main telescopic robotic arm consists of a main telescopic cylinder, a main cutting mechanical joint and a secondary cutting mechanical joint, which are fixedly connected in sequence.

[0010] In order to enable the device for rapid cutting of nuclear decommissioning shells to have a telescopic purpose, as a preferred embodiment of the present invention, the plasma cutting mechanism is fixedly connected to the output end of the main telescopic robotic arm. The plasma cutting mechanism consists of a cutting telescopic cylinder, a cutting shaft and a cutting wheel, which are fixedly connected in sequence.

[0011] In order to enable the device for rapid cutting of nuclear decommissioning shells to have a collection function, as a preferred embodiment of the present invention, the picking device includes a secondary robotic arm, a picking telescopic cylinder, a picking robotic hand, and a collection box.

[0012] In order to enable the device for rapid cutting of nuclear decommissioning shells to have a picking effect, in a preferred embodiment of the present invention, the auxiliary robotic arm is fixedly connected to one side of the main telescopic cylinder. The auxiliary robotic arm consists of a main picking mechanical joint and an auxiliary picking mechanical joint, which are fixedly connected in sequence. The picking telescopic cylinder is fixedly connected to the end of the auxiliary robotic arm and perpendicular to it. The picking manipulator is located on the upper side of the end of the picking telescopic cylinder, and the collection box is located on the lower side of the end of the picking telescopic cylinder.

[0013] An apparatus and method for rapid cutting of nuclear decommissioning hulls, comprising the following steps:

[0014] Step 1: The motor in the drive device outputs driving force, which is transmitted to the small synchronous pulley through the reducer and drive shaft. Then, the power is transmitted to the large synchronous pulley through the synchronous belt body. The front wheel mechanism is the driven mechanism. The synchronous belt drive mechanism and the front wheel mechanism constitute the motion mechanism of this device. There are adjustable electromagnets in the large synchronous pulley and the front wheel body, which can ensure that it will not fall off when moving on the surface of the cylindrical shell. The device moves to the position to be cut.

[0015] Step 2: Simultaneously, the main telescopic cylinder extends, and the main cutting mechanical joint, the auxiliary cutting mechanical joint, the cutting telescopic cylinder, and the cutting shaft are adjusted in position. The cutting wheel starts to rotate, and the adjustable electromagnets in the large synchronous wheel and the front wheel body increase the magnetic strength. The cutting wheel starts to cut, and the upper and side edges of the structure are cut using the cutting wheel, leaving the edges to be cut.

[0016] Step 3: Simultaneously adjust the position of the main pickup mechanical joint, the auxiliary pickup mechanical joint, and the pickup telescopic cylinder. Extend the pickup robot arm and bring it close to the plasma cutting mechanism. Use the pickup robot arm to fix the plasma cutting mechanism, and then use the cutting wheel to cut the edge to be cut. The pickup robot arm retracts and releases, allowing the cut piece to fall into the lower collection box.

[0017] Compared with the prior art, the beneficial effects of the present invention are:

[0018] The device and method for rapid cutting of nuclear decommissioning shells: An adjustable magnetic moving device allows the robotic arm to move on the cylindrical surface, enabling the cutting device to move to the cutting position more quickly and achieving higher cutting efficiency; time and cost are reduced, and the cutting device only cuts the top and side edges, cutting the bottom edge only after being fixed by a pick-up device, making the cutting safer and more reliable; this device can adapt to movement on large curved steel structures as well as on flat surfaces, and has a wide range of applications. Attached Figure Description

[0019] The accompanying drawings are provided to further illustrate the invention and form part of the specification. They are used in conjunction with embodiments of the invention to explain the invention and do not constitute a limitation thereof. In the drawings:

[0020] Figure 1 This is a front view structural diagram of the present invention;

[0021] Figure 2 This is a schematic diagram of the synchronous belt drive mechanism in this invention;

[0022] Figure 3 This is a schematic diagram of the front wheel mechanism in this invention;

[0023] Figure 4 This is a schematic diagram of the cutting device in this invention.

[0024] In the diagram: 1. Synchronous belt drive mechanism; 101. Drive unit; 1011. Motor; 1012. Reducer; 1013. Drive shaft; 102. Small synchronous pulley; 103. Synchronous belt body; 104. Large synchronous pulley; 105. Large synchronous shaft; 2. Front wheel mechanism; 201. Front wheel body; 202. Front wheel axle; 203. Front wheel fork; 3. Cutting device; 301. Main telescopic robotic arm; 3011. Main telescopic cylinder 3012, Main cutting mechanical joint; 3013, Secondary cutting mechanical joint; 302, Plasma cutting mechanism; 3021, Cutting telescopic cylinder; 3022, Cutting shaft; 3023, Cutting wheel; 4, Pickup device; 401, Secondary robotic arm; 4011, Main pickup mechanical joint; 4012, Secondary pickup mechanical joint; 402, Pickup telescopic cylinder; 403, Pickup robotic arm; 404, Collection box; 5, Table. Detailed Implementation

[0025] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0026] Example

[0027] Please see Figure 1-4The present invention provides the following technical solution: a device and method for rapid cutting of nuclear decommissioning shells, comprising a synchronous belt drive mechanism 1, a front wheel mechanism 2, a cutting device 3, a picking device 4, and a platform 5. The synchronous belt drive mechanism 1 includes a drive device 101, a small synchronous pulley 102, a synchronous belt body 103, a large synchronous pulley 104, and a large synchronous shaft 105. The synchronous belt drive mechanism 1 is located on the lower surface of the platform 5. There are two small synchronous pulleys 102 and two large synchronous pulleys 104. The large synchronous pulleys 104 are rotatably connected to both sides of the large synchronous shaft 105. An adjustable electromagnet is provided inside the large synchronous pulleys 104. The large synchronous shaft 105 is fixedly connected to the platform 5. The small synchronous pulleys 102 and the large synchronous pulleys 104 are evenly overlapped with the synchronous belt body 103.

[0028] In a specific embodiment of the present invention, the synchronous belt body 103 transmits power to the large synchronous pulley 104, and the front wheel mechanism 2 is a driven mechanism. The synchronous belt drive mechanism 1 and the front wheel mechanism 2 constitute the motion mechanism of this device. Both the large synchronous pulley 104 and the front wheel body 201 have adjustable electromagnets, which can ensure that they will not fall off when moving on the surface of the cylindrical outer shell. The device moves to the position to be cut.

[0029] Specifically, the drive device 101 is fixedly connected to the table surface 5. The drive device 101 includes a motor 1011, a reducer 1012 and a drive shaft 1013. The motor 1011 and the reducer 1012 are located in the middle of the drive shaft 1013. The reducer 1012 is located on one side of the motor 1011 and is adapted to the motor 1011. The output end of the reducer 1012 is fixedly connected to the drive shaft 1013.

[0030] In this embodiment: the motor 1011 in the drive device 101 outputs driving force, which is transmitted to the small synchronous pulley 102 through the reducer 1012 and the drive shaft 1013. Then, the power is transmitted to the large synchronous pulley 104 through the synchronous belt body 103. The front wheel mechanism 2 is a driven mechanism.

[0031] Specifically, the front wheel mechanism 2 is located in front of the synchronous belt drive mechanism 1. The front wheel mechanism 2 includes a front wheel body 201, a front wheel axle 202 and a front wheel fork 203. The front wheel fork 203 is fixedly connected to the lower surface of the platform 5. A telescopic mechanism is provided at the bottom end of the front wheel fork 203. The front wheel axle 202 is rotatably connected to the bottom end of the telescopic mechanism of the front wheel fork 203. The front wheel axle 202 is rotatably connected to the front wheel body 201. An electromagnet assembly is provided inside the front wheel body 201.

[0032] In this embodiment, the synchronous belt drive mechanism 1 and the front wheel mechanism 2 constitute the motion mechanism of the device. The front wheel body 201 can rotate on the front wheel fork 203 through the front wheel axle 202, thus having a rotatable function.

[0033] Specifically, the cutting device 3 includes a main telescopic robotic arm 301 and a plasma cutting mechanism 302. The cutting device 3 is located above the synchronous belt drive mechanism 1 and the front wheel mechanism 2. The main telescopic robotic arm 301 is fixedly connected to the table 5. The main telescopic robotic arm 301 is composed of a main telescopic cylinder 3011, a main cutting mechanical joint 3012 and a secondary cutting mechanical joint 3013, which are fixedly connected in sequence.

[0034] In this embodiment: the main telescopic cylinder 3011 extends, the main cutting mechanical joint 3012, the secondary cutting mechanical joint 3013, the cutting telescopic cylinder 3021 and the cutting shaft 3022 are adjusted in position, the cutting wheel 3023 starts to rotate, and the adjustable electromagnets in the large synchronous wheel 104 and the front wheel body 201 increase the magnetic strength.

[0035] Specifically, the plasma cutting mechanism 302 is fixedly connected to the output end of the main telescopic robotic arm 301. The plasma cutting mechanism 302 consists of a cutting telescopic cylinder 3021, a cutting shaft 3022, and a cutting wheel 3023, which are fixedly connected in sequence.

[0036] In this embodiment: the cutting wheel 3023 starts to rotate, the adjustable electromagnets in the large synchronous wheel 104 and the front wheel body 201 increase the magnetic strength, the cutting wheel 3023 starts to cut, and the cutting wheel 3023 is used to cut the upper and side edges of the structure, leaving the edge to be cut.

[0037] Specifically, the picking device 4 includes a secondary robotic arm 401, a picking telescopic cylinder 402, a picking robotic hand 403, and a collection box 404.

[0038] In this embodiment: the pickup telescopic cylinder 402 is used to adjust the position, the pickup robot 403 is extended and brought close to the plasma cutting mechanism 302, and the pickup robot 403 is used to fix the plasma cutting mechanism 302.

[0039] Specifically, the auxiliary robotic arm 401 is fixedly connected to one side of the main telescopic cylinder 3011. The auxiliary robotic arm 401 consists of the main pickup mechanical joint 4011 and the auxiliary pickup mechanical joint 4012, which are fixedly connected in sequence. The pickup telescopic cylinder 402 is fixedly connected to the end of the auxiliary robotic arm 401 and is perpendicular to it. The pickup robot 403 is located on the upper side of the end of the pickup telescopic cylinder 402, and the collection box 404 is located on the lower side of the end of the pickup telescopic cylinder 402.

[0040] In this embodiment: the picking robot 403 is extended and brought close to the plasma cutting mechanism 302. The picking robot 403 is used to fix the plasma cutting mechanism 302, and then the cutting wheel 3023 is used to cut the edge to be cut. The picking robot 403 retracts and releases, so that the cut piece falls into the lower collection box 404.

[0041] An apparatus and method for rapid cutting of nuclear decommissioning hulls, comprising the following steps:

[0042] Step 1: The motor 1011 in the drive device 101 outputs driving force, which is transmitted to the small synchronous pulley 102 through the reducer 1012 and drive shaft 1013. Then, the power is transmitted to the large synchronous pulley 104 through the synchronous belt body 103. The front wheel mechanism 2 is the driven mechanism. The synchronous belt drive mechanism 1 and the front wheel mechanism 2 constitute the motion mechanism of this device. The large synchronous pulley 104 and the front wheel body 201 both have adjustable electromagnets, which can ensure that they will not fall off when moving on the surface of the cylindrical shell. The device moves to the position to be cut.

[0043] Step 2: Simultaneously, the main telescopic cylinder 3011 extends, and the main cutting mechanical joint 3012, the auxiliary cutting mechanical joint 3013, the cutting telescopic cylinder 3021, and the cutting shaft 3022 are adjusted in position. The cutting wheel 3023 starts to rotate, and the adjustable electromagnets in the large synchronous wheel 104 and the front wheel body 201 increase the magnetic strength. The cutting wheel 3023 starts to cut, using the cutting wheel 3023 to cut the upper and side edges of the structure, leaving the edges to be cut.

[0044] Step 3: Simultaneously adjust the position of the main pickup mechanical joint 4011, the auxiliary pickup mechanical joint 4012, and the pickup telescopic cylinder 402. Extend the pickup robot arm 403 and bring it close to the plasma cutting mechanism 302. Use the pickup robot arm 403 to fix the plasma cutting mechanism 302, and then use the cutting wheel 3023 to cut the edge to be cut. The pickup robot arm 403 retracts and releases, so that the cut piece falls into the lower collection box 404.

[0045] All electrical components mentioned in this article are connected to an external main controller and 220V AC mains power, and the main controller can be a conventional known device such as a computer that provides control.

[0046] The working principle and usage process of this invention: In use, the device and method for rapid cutting of nuclear decommissioning shells, the motor 1011 in the drive device 101 outputs driving force, which is transmitted to the small synchronous pulley 102 via the reducer 1012 and drive shaft 1013. Then, the power is transmitted to the large synchronous pulley 104 via the synchronous belt body 103. The front wheel mechanism 2 is the driven mechanism. The synchronous belt drive mechanism 1 and the front wheel mechanism 2 constitute the motion mechanism of this device. Both the large synchronous pulley 104 and the front wheel body 201 contain adjustable electromagnets to ensure that the device does not fall off the cylindrical shell surface during movement. When the device moves to the cutting position, the main telescopic cylinder 3011 extends, and the main cutting mechanical joint 3012, the auxiliary cutting mechanical joint 3013, the cutting telescopic cylinder 3021, and the cutting shaft 3022 are activated. After position adjustment, the cutting wheel 3023 begins to rotate. The adjustable electromagnets in the large synchronous wheel 104 and the front wheel body 201 increase the magnetic strength, and the cutting wheel 3023 begins to cut. The cutting wheel 3023 cuts the top and side edges of the structure, leaving the edge to be cut. The main pickup mechanical joint 4011, the auxiliary pickup mechanical joint 4012, and the pickup telescopic cylinder 402 are adjusted in position to extend the pickup robot 403 and bring it close to the plasma cutting mechanism 302. The pickup robot 403 is used to fix the plasma cutting mechanism 302, and then the cutting wheel 3023 cuts the edge to be cut. The pickup robot 403 retracts and releases, allowing the cut piece to fall into the lower collection box 404, making the cutting safer and more reliable. This device can adapt to movement on large curved steel structures as well as movement on flat surfaces, and has a wide range of applications.

[0047] Finally, it should be noted that the above descriptions are merely preferred embodiments of the present invention and are not intended to limit the present invention. Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art can still modify the technical solutions described in the foregoing embodiments or make equivalent substitutions for some of the technical features. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. A device for rapid cutting of nuclear decommissioning casing, comprising a synchronous belt drive mechanism (1), a front wheel mechanism (2), a cutting device (3), a pickup device (4), and a table (5), characterized in that: The synchronous belt drive mechanism (1) includes a drive device (101), a small synchronous pulley (102), a synchronous belt body (103), a large synchronous pulley (104), and a large synchronous shaft (105). The synchronous belt drive mechanism (1) is located on the lower surface of the platform (5). There are two small synchronous pulleys (102) and two large synchronous pulleys (104). The large synchronous pulleys (104) are rotatably connected to both sides of the large synchronous shaft (105). An adjustable electromagnet is provided inside the large synchronous pulleys (104). The large synchronous shaft (105) is fixedly connected to the platform (5). The small synchronous pulleys (102) and the large synchronous pulleys (104) overlap the synchronous belt body (103). The cutting device (3) includes a main telescopic mechanical arm (301) and a plasma cutting mechanism (302). The cutting device (3) is located above the synchronous belt drive mechanism (1) and the front wheel mechanism (2). The main telescopic mechanical arm (301) is fixedly connected to the table (5). The main telescopic mechanical arm (301) is composed of a main telescopic cylinder (3011), a main cutting mechanical joint (3012), and a secondary cutting mechanical joint (3013) and is fixedly connected in sequence. The plasma cutting mechanism (302) is fixedly connected to the output end of the main telescopic robotic arm (301). The plasma cutting mechanism (302) consists of a cutting telescopic cylinder (3021), a cutting shaft (3022), and a cutting wheel (3023), which are fixedly connected in sequence. The picking device (4) includes a secondary robotic arm (401), a picking telescopic cylinder (402), a picking robotic hand (403), and a collection box (404). The auxiliary robotic arm (401) is fixedly connected to one side of the main telescopic cylinder (3011). The auxiliary robotic arm (401) consists of a main pickup mechanical joint (4011) and an auxiliary pickup mechanical joint (4012) and is fixedly connected in sequence. The pickup telescopic cylinder (402) is fixedly connected to the end of the auxiliary robotic arm (401) and is perpendicular to it. The pickup manipulator (403) is located on the upper side of the end of the pickup telescopic cylinder (402), and the collection box (404) is located on the lower side of the end of the pickup telescopic cylinder (402).

2. The device for rapid cutting of nuclear decommissioning outer shell according to claim 1, characterized in that: The drive device (101) is fixedly connected to the table (5). The drive device (101) includes a motor (1011), a reducer (1012) and a drive shaft (1013). The motor (1011) and the reducer (1012) are located in the middle of the drive shaft (1013). The reducer (1012) is located on one side of the motor (1011) and is adapted to the motor (1011). The output end of the reducer (1012) is fixedly connected to the drive shaft (1013).

3. The device for rapid cutting of nuclear decommissioning outer shell according to claim 2, characterized in that: The front wheel mechanism (2) is located in front of the synchronous belt drive mechanism (1). The front wheel mechanism (2) includes a front wheel body (201), a front wheel axle (202) and a front wheel fork (203). The front wheel fork (203) is fixedly connected to the lower surface of the platform (5). A telescopic mechanism is provided at the bottom end of the front wheel fork (203). The front wheel axle (202) is rotatably connected to the bottom end of the telescopic mechanism of the front wheel fork (203). The front wheel axle (202) is rotatably connected to the front wheel body (201). An electromagnet assembly is provided inside the front wheel body (201).

4. The device for rapid cutting of nuclear decommissioning outer shell according to claim 3, characterized in that: The picking telescopic cylinder (402) is fixedly connected to the end of the auxiliary robotic arm (401) and perpendicular to it. The picking robotic hand (403) is located on the upper side of the end of the picking telescopic cylinder (402), and the collection box (404) is located on the lower side of the end of the picking telescopic cylinder (402).

5. The method of using the device for rapid cutting of nuclear decommissioning outer shell according to claim 4, characterized in that: Includes the following steps: Step 1: The motor (1011) in the drive device (101) outputs driving force, which is transmitted to the small synchronous pulley (102) through the reducer (1012) and drive shaft (1013). Then, the power is transmitted to the large synchronous pulley (104) through the synchronous belt body (103). The front wheel mechanism (2) is the driven mechanism. The synchronous belt drive mechanism (1) and the front wheel mechanism (2) constitute the motion mechanism of this device. The large synchronous pulley (104) and the front wheel body (201) both have adjustable electromagnets, which can ensure that they will not fall off when moving on the surface of the cylindrical shell. The device moves to the position to be cut. Step 2: Simultaneously, the main telescopic cylinder (3011) extends, and the main cutting mechanical joint (3012), the auxiliary cutting mechanical joint (3013), the cutting telescopic cylinder (3021), and the cutting shaft (3022) are adjusted in position. The cutting wheel (3023) begins to rotate, and the adjustable electromagnets in the large synchronous wheel (104) and the front wheel body (201) increase the magnetic strength. The cutting wheel (3023) begins to cut, and the upper and side edges of the structure are cut using the cutting wheel (3023), leaving the edge to be cut. Step 3: Simultaneously adjust the position of the main pickup mechanical joint (4011), the auxiliary pickup mechanical joint (4012), and the pickup telescopic cylinder (402), extend the pickup robot (403) and approach the plasma cutting mechanism (302), fix the plasma cutting mechanism (302) with the pickup robot (403), and then cut the edge to be cut with the cutting wheel (3023). The pickup robot (403) retracts and releases, so that the cut piece falls into the lower collection box (404).

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