An automated production device and method for prefabricating nuclear-grade pipes

Abstract

This invention discloses an automated production device for prefabricated nuclear-grade pipes, comprising a control console, a feeding mechanism, a first roller frame, a moving clamping mechanism, a coding mechanism, a cutting mechanism, a second roller frame, a length-fixing mechanism, a transport mechanism, a beveling mechanism, and a detection mechanism. It integrates the control console, feeding mechanism, first roller frame, moving clamping mechanism, coding mechanism, cutting mechanism, second roller frame, length-fixing mechanism, transport mechanism, beveling mechanism, and detection mechanism, achieving a high degree of automation, reducing manual intervention, and improving production efficiency. The limiting component is detachably connected to the sleeve via a screw, allowing for disassembly or position adjustment to position nuclear-grade pipes of different diameters. The detection mechanism can detect the diameter of the nuclear-grade pipes, preventing workers from misplacing them and reducing human error. The robotic arm can adaptively clamp pipes of different diameters, ensuring sufficient clamping force.

Description

Technical Field

[0001] This invention relates to the field of nuclear power pipeline production technology, and mainly to an automated production device and method for prefabricating nuclear-grade pipelines. Background Technology

[0002] Nuclear-grade piping refers to piping used within the nuclear island of a nuclear power plant and related to nuclear safety systems. The media they transport may be radioactive, hot, high-pressure, or highly toxic; their failure could directly or indirectly lead to the release of radioactive materials, endangering public and environmental safety. There are several nuclear-grade piping systems within the nuclear island of a nuclear power plant, with varying specifications (diameters typically between 5mm and 300mm). These systems are designed to meet the comprehensive requirements of different systems in terms of thermal-hydraulic performance, safety, material limitations, economy, and functional needs. The piping within the nuclear island needs to be connected in series or parallel using various joints to meet practical requirements.

[0003] The existing nuclear-grade pipeline production process includes a series of processes such as marking, cutting, and beveling. However, the existing nuclear-grade pipeline production equipment has a low degree of automation. Each production process requires manual loading and unloading, and cannot be fully automated to complete marking, cutting, and beveling, which affects the production efficiency of nuclear-grade pipelines. Summary of the Invention

[0004] The present invention aims to solve at least one problem existing in the prior art. Therefore, the object of the present invention is to provide an automated production apparatus and method for the prefabrication of nuclear-grade pipelines.

[0005] To achieve the above objectives, firstly, this invention proposes an automated production device for nuclear-grade pipeline prefabrication, comprising: A console, the display of which shows the parameters of the core-level pipeline; A feeding mechanism for automatically conveying nuclear-grade pipelines; The first roller frame is disposed at the unloading end of the feeding mechanism and is used to support the conveying of nuclear-grade pipelines; A movable clamping mechanism is used to clamp and move a nuclear-grade pipeline. The movable clamping mechanism includes a first linear module and centering jaws. The first linear module is disposed below a first roller frame, and the centering jaws are disposed on a slide of the first linear module. The two jaws are respectively located on both sides of the first roller frame. The nuclear-grade pipeline is clamped by the centering jaws and moves under the action of the first linear module. The inkjet printing mechanism is located at one end of the first roller frame and above the first roller frame, and is used to print inkjet prints on nuclear-grade pipelines. A cutting mechanism for cutting nuclear-grade pipes, the cutting mechanism comprising a body, a first clamping mechanism and a lifting cutting saw, the body being disposed at one end of a first roller frame, the first clamping mechanism being disposed within the body, and the lifting cutting saw being disposed within the body and located above the first clamping mechanism; The second roller frame is disposed at the other end of the cutting mechanism and is used to carry the nuclear-grade pipeline. A length-fixing mechanism is used to measure the length that a nuclear-grade pipeline needs to be cut. The length-fixing mechanism includes a second linear module, a second clamping mechanism, and a sensor. The second linear module is disposed on one side of a second roller frame. The second clamping mechanism is disposed on the slide of the second linear module and located above the second roller frame. The sensor is disposed on the second clamping mechanism. A handling mechanism for handling nuclear-grade pipelines; and A beveling mechanism for beveling nuclear-grade pipelines.

[0006] Furthermore, it also includes a detection mechanism, which is located near the end of the first roller frame and in front of the inkjet printing mechanism, and is used to detect the diameter of the nuclear-grade pipe.

[0007] Furthermore, the feeding mechanism consists of multiple parallel chain conveyors. Each chain conveyor has several sleeves on its chain, with a gap between adjacent sleeves. The sleeves are used to support nuclear-grade pipelines, and each sleeve has a protruding limiting member used to restrict the rolling of the nuclear-grade pipelines.

[0008] Furthermore, the limiting member is detachably mounted on the sleeve via a screw. The sleeve has an installation cavity, and an opening groove penetrating the top surface of the sleeve is provided above the installation cavity. The width of the installation cavity is greater than the width of the opening groove. A threaded post is provided inside the limiting member, and a wing nut is provided at one end of the screw. The screw passes through the installation cavity and the opening groove and is threaded into the threaded post, so that the limiting member is fixed on the sleeve.

[0009] Furthermore, the limiting member is provided with a protective cover, one end of which is rotatably connected to the limiting member via a rotating shaft, and the other end is engaged with the limiting member via a snap-fit ​​structure; both ends of the sleeve are provided with semi-circular grooves, which are connected to the open groove, and the diameter of the semi-circular groove is larger than the diameter of the screw head of the screw.

[0010] Furthermore, the first clamping mechanism includes two first cylinders, two first clamping blocks, and two first protective pads. The two first cylinders are disposed inside the machine body and are located on both sides of the machine body respectively. The two first clamping blocks are respectively disposed on the output shafts of the two first cylinders. The two first protective pads are respectively disposed on the two first clamping blocks. Grooves are provided on both the two first clamping blocks and the two first protective pads. The lifting cutting saw is located above the grooves.

[0011] Furthermore, the second clamping mechanism includes a frame, a second cylinder, two second clamping blocks, and two second protective pads. The frame is mounted on the slide of the second linear module, the second cylinder is mounted inside the frame, the two second clamping blocks are respectively mounted on the two output shafts of the second cylinder, the two second protective pads are respectively mounted on the two second clamping blocks, and the sensor is mounted in one of the second clamping blocks with its head extending into the second protective pad.

[0012] Furthermore, the handling mechanism includes a gantry truss and multiple robotic arms. The robotic arms are movably mounted on the gantry truss. Each robotic arm includes a housing, a third cylinder, a drive unit, two linkages, and two grippers. The housing has a movable cavity. The third cylinder is mounted on the housing, and its output shaft extends into the housing. The drive unit is located in the movable cavity and connected to the output shaft of the third cylinder. The linkages are rotatably connected to the housing via a rotating shaft. The linkages connect the drive unit and the grippers. The grippers are rotatably connected to the housing via a rotating shaft, and one end extends out of the housing. When the drive unit is subjected to force, the two grippers open or close under the action of the two linkages.

[0013] Furthermore, the linkage component is provided with an arc-shaped groove and an oblong groove, the driving component is provided with a first guide rod located in the arc-shaped groove, the gripper is provided with a second guide rod located in the oblong groove; both ends of the gripper are provided with rotating wheels, the linkage component is provided with arc-shaped walls on both sides, and one end of the linkage component is provided with an abutment head.

[0014] Secondly, this invention also proposes an automated production method for prefabricated nuclear-grade pipelines, comprising: S1. According to the parameters of the nuclear-grade pipeline displayed on the console monitor, put the pipeline raw materials to be processed into the feeding mechanism one by one in sequence. S2. The feeding mechanism transports the pipeline material to the first roller frame; S3. The centering gripper moves to the position of the pipeline material under the action of the first linear module and clamps the pipeline material. The centering gripper drives the pipeline material to move together under the action of the first linear module. S4. When the pipeline material passes through the detection mechanism, the detection mechanism will detect the diameter of the pipeline material and make a comparison. If the diameter of the pipeline material does not match the preset diameter, an alarm will be issued. If the diameter of the pipeline material is the same as the preset diameter, the centering jaws will continue to drive the pipeline material to move. S5. When the raw material in the pipeline moves to the area below the coding mechanism, the coding mechanism will perform coding operation on the raw material in the pipeline. S6. After the inkjet printing is completed, the centering gripper, under the action of the first linear module, feeds the pipe material into the machine body, and makes one end of the pipe material extend from the machine body to the second roller frame. The second clamping mechanism, under the action of the second linear module, moves to the position closest to the machine body. When the sensor on the second clamping mechanism senses the pipe material, the second clamping mechanism will clamp the pipe material, and at the same time, the centering gripper will release the pipe material. The second clamping mechanism, under the action of the second linear module, pulls the pipe material outward until the length of the pipe material meets the cutting length. The first clamping mechanism clamps the pipe material, and the lifting cutting saw descends to cut the pipe material to form pipe segments. S7. After the cutting is completed, the first clamping mechanism releases the pipe segment material, and the pipe segment material continues to move on the second roller frame under the action of the second linear module and the second clamping mechanism. S8. The robotic arm moves on the gantry truss, moves to the position of the pipe section, descends to grab the pipe section, and transfers the pipe section to the beveling mechanism for beveling. S9. After the beveling is completed, the robotic arm will transport the pipe section to the next processing step.

[0015] Compared with the prior art, the beneficial effects of the present invention are: This production unit integrates a control console, feeding mechanism, first roller frame, moving clamping mechanism, inkjet printing mechanism, cutting mechanism, second roller frame, length fixing mechanism, handling mechanism, beveling mechanism, and inspection mechanism. It has a high degree of automation, reduces manual intervention, and improves production efficiency.

[0016] The limiting component of this production unit is detachably connected to the sleeve via a screw, which allows the limiting component to be disassembled or its position adjusted, enabling it to be positioned for different nuclear-grade pipelines.

[0017] The testing organization of this production unit can test the diameter of nuclear-grade pipelines, which can prevent workers from misplacing nuclear-grade pipelines and thus reduce human error.

[0018] The robotic arm of this production device can adaptively clamp pipes of different diameters to ensure the clamping force.

[0019] The features and advantages of the present invention will be described in detail through embodiments and in conjunction with the accompanying drawings. Attached Figure Description

[0020] Figure 1 This is a schematic diagram of the production apparatus of the present invention. Figure 1 (View from above); Figure 2 This is a schematic diagram of the production apparatus of the present invention. Figure 2 (View from above); Figure 3 This is a schematic diagram of the feeding mechanism of the present invention. Figure 1 (View from above); Figure 4 This is a schematic diagram of the chain, link sleeve, and limiting component of the present invention; Figure 5 This is a structural schematic diagram (sectional view) of the sleeve and limiting member of the present invention. Figure 6 This is a schematic diagram of the cutting mechanism of the present invention. Figure 1 (Right-viewing position); Figure 7 This is a schematic diagram of the cutting mechanism of the present invention. Figure 2 (Top-down perspective); Figure 8 This is a structural schematic diagram (cross-sectional view) of the second clamping mechanism of the present invention. Figure 9 This is a schematic diagram of the transport mechanism of the present invention; Figure 10 This is a schematic diagram of the structure of the robotic arm of the present invention. Figure 1 ; Figure 11 This is a schematic diagram of the structure of the robotic arm of the present invention. Figure 2 (Cut view).

[0021] In the picture: 1. Console; 2. Feeding mechanism, 201. Chain, 202. Sleeve, 2021. Mounting cavity, 2022. Opening groove, 2023. Semicircular groove, 203. Limiting component, 2031. Threaded post, 2032. Protective cover, 204. Screw, 2041. Wing nut; 3. First roller frame; 4. Moving clamping mechanism, 401. First linear module, 402. Centering gripper; 5. Inkjet printing mechanism; 6. Cutting mechanism; 601. Machine body; 602. First clamping mechanism; 6021. First cylinder; 6022. First clamping block; 6023. First protective pad; 603. Lifting cutting saw; 604. Groove; 7. Second roller frame; 8. Fixed length mechanism; 801. Second linear module; 802. Second clamping mechanism; 8021. Frame; 8022. Second cylinder; 8023. Second clamping block; 8024. Second protective pad; 803. Sensor; 9. Handling mechanism; 901. Gantry truss; 902. Robotic arm; 9021. Housing; 90211. Movable cavity; 9022. Third cylinder; 9023. Drive component; 90231. First guide rod; 90232. Arc-shaped wall; 90233. Contact head; 9024. Linkage component; 90241. Arc-shaped groove; 90242. Waist-shaped groove; 9025. Gripper; 90251. Second guide rod; 90252. Rotating wheel; 10. Beveling mechanism; 11. Testing institutions. Detailed Implementation

[0022] To make the technical means, creative features, objectives and effects of this invention easier to understand, the invention will be further described below in conjunction with specific embodiments.

[0023] Exemplary embodiments will now be described in detail, examples of which are illustrated in the accompanying drawings. When the following description relates to the drawings, unless otherwise indicated, the same numerals in different drawings denote the same or similar elements. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with this application. Rather, they are merely examples of apparatuses consistent with some aspects of this application as detailed in the appended claims.

[0024] The terminology used in this application is for the purpose of describing particular embodiments only and is not intended to be limiting of the application. Unless otherwise defined, the technical or scientific terms used in this application should be understood in their ordinary sense by one of ordinary skill in the art to which this invention pertains. The words “a” or “one” and similar terms used in this specification and claims do not indicate a limitation of quantity, but rather indicate the presence of at least one. “A plurality” includes two, equivalent to at least two. The words “comprising” or “including” and similar terms mean that the element or object preceding “comprising” or “including” covers the element or object listed following “comprising” or “including” and its equivalents, and does not exclude other elements or objects. The words “connected” or “linked” and similar terms are not limited to physical or mechanical connections and can include electrical connections, whether direct or indirect. The singular forms “a,” “the,” and “the” used in this specification and appended claims are also intended to include the plural forms, unless the context clearly indicates otherwise. It should also be understood that the term “and / or” as used herein refers to and includes any or all possible combinations of one or more associated listed items.

[0025] like Figures 1-11 As shown, an automated production apparatus and method for prefabricating nuclear-grade pipelines according to one or more preferred embodiments of this application will be disclosed and described in the following description.

[0026] An automated production device for prefabricating nuclear-grade pipes includes a control console 1, a feeding mechanism 2, a first roller frame 3, a moving clamping mechanism 4, a coding mechanism 5, a cutting mechanism 6, a second roller frame 7, a length-fixing mechanism 8, a conveying mechanism 9, a beveling mechanism 10, and a detection mechanism 11. The control console 1 displays parameters of the nuclear-grade pipes on its monitor. The feeding mechanism 2 automatically conveys the nuclear-grade pipes. The first roller frame 3 is located at the unloading end of the feeding mechanism 2 and carries the conveyed nuclear-grade pipes. The moving clamping mechanism 4 clamps the nuclear-grade pipes. The nuclear-grade pipeline moves along with the nuclear-grade pipeline. The moving clamping mechanism 4 includes a first linear module 401 and centering jaws 9025402. The first linear module 401 is located below the first roller frame 3, and the centering jaws 9025402 are located on the slide of the first linear module 401, with the two jaws 9025 located on both sides of the first roller frame 3. The nuclear-grade pipeline is clamped by the centering jaws 9025402 and moves under the action of the first linear module 401. The inkjet printing mechanism 5 is located at one end near the first roller frame 3. The first roller frame 7, located above the first roller frame 3, is used for marking nuclear-grade pipelines. The cutting mechanism 6, comprising a body 601, a first clamping mechanism 602, and a lifting cutting saw 603, is used to cut the nuclear-grade pipelines. The body 601 is located at one end of the first roller frame 3, the first clamping mechanism 602 is located inside the body 601, and the lifting cutting saw 603 is located inside the body 601 and above the first clamping mechanism 602. The second roller frame 7 is located at the other end of the cutting mechanism 6 and is used to carry and transport nuclear-grade pipelines. The pipeline includes a length-fixing mechanism 8 for measuring the required cutting length of the nuclear-grade pipeline. The length-fixing mechanism 8 comprises a second linear module 801, a second clamping mechanism 802, and a sensor 803. The second linear module 801 is positioned on one side of the second roller frame 7, the second clamping mechanism 802 is positioned on the slide of the second linear module 801 and above the second roller frame 7, and the sensor 803 is positioned on the second clamping mechanism 802. A transport mechanism 9 is used to transport the nuclear-grade pipeline. A beveling mechanism 10 is used to bevele the nuclear-grade pipeline. A detection mechanism 11 is located near the end of the first roller frame 3 and in front of the coding mechanism 5, and is used to detect the diameter of the nuclear-grade pipeline. This production device integrates a control console 1, a feeding mechanism 2, a first roller frame 3, a moving clamping mechanism 4, a coding mechanism 5, a cutting mechanism 6, a second roller frame 7, a length-fixing mechanism 8, a transport mechanism 9, a beveling mechanism 10, and a detection mechanism 11. It boasts a high degree of automation, reduces manual intervention, and improves production efficiency.

[0027] In this embodiment, the control console 1 can be a PLC control console 1. The parameters of the nuclear-grade pipeline displayed on its display include the pipeline material arrangement order, diameter, original length and length to be cut, etc. The worker needs to place the pipeline material on the feeding mechanism 2 according to the pipeline material arrangement order for feeding, as shown in the table below.

[0028] Table 1: Parameters of nuclear-grade pipelines: In this embodiment, the detection mechanism 11 is a pipeline laser outer diameter measuring instrument, which is used to detect the diameter of nuclear-grade pipelines. Only when the detection mechanism 11 detects that the diameter is in compliance can the next process be carried out. If the detection mechanism 11 detects that the diameter is not in compliance, the detection mechanism 11 will alarm to remind the workers, thereby preventing human error in placing nuclear-grade pipelines incorrectly.

[0029] Specifically, the feeding mechanism 2 consists of multiple parallel chain conveyors 201. Each chain 201 has several sleeves 202, which can be welded to the chain 201. A gap is left between adjacent sleeves 202 to prevent interference when the chain 201 turns. The sleeves 202 are used to support nuclear-grade pipelines. Each sleeve 202 has a protruding limiting element 203 to restrict the rolling of the nuclear-grade pipeline. Workers place the pipeline material onto the sleeve 202. There is a limiting element 203 on each side of the pipeline material, and the distance between two connected limiting elements 203 needs to be greater than the diameter of the pipeline material, generally 1.5-2 times the diameter, to prevent the pipeline material from rolling excessively.

[0030] Specifically, the limiting member 203 is detachably mounted on the sleeve 202 via a screw 204. The sleeve 202 has an installation cavity 2021 and an opening groove 2022 that penetrates the top surface of the sleeve 202 above the installation cavity 2021. The width of the installation cavity 2021 is greater than the width of the opening groove 2022. A threaded post 2031 is provided inside the limiting member 203. A wing nut 2041 is provided at one end of the screw 204. The wing nut 2041 is welded to the upper end of the screw 204. The screw 204 passes through the installation cavity 2021 and the opening groove 2022 and is threaded into the threaded post 2031, so that the limiting member 203 is fixed on the sleeve 202. Tightening the screw 204 with the wing nut 2041 (with the screw head of the screw 204 in close contact with the upper surface of the mounting cavity 2021) fixes the limiting member 203 on the sleeve 202. Loosening the screw 204 with the wing nut 2041 (with the screw head of the screw 204 not in close contact with the upper surface of the mounting cavity 2021) loosens the limiting member 203. At this time, the limiting member 203 can be adjusted laterally on the sleeve 202 or removed from the sleeve 202 to meet the requirements of restricting different pipeline materials.

[0031] Specifically, a protective cover 2032 is provided on the limiting member 203. One end of the protective cover 2032 is rotatably connected to the limiting member 203 via a rotating shaft, and the other end is fastened to the limiting member 203 via a snap-fit ​​structure. That is, the protective cover 2032 is fastened to the limiting member 203, which serves to protect the screw 204.

[0032] Specifically, the two ends of the sleeve 202 are provided with semi-circular grooves 2023, which are connected to the open groove 2022. The diameter of the semi-circular groove 2023 is larger than the diameter of the screw head of the screw 204. Since there is a gap between the two sleeves 202 and the semi-circular grooves 2023, the screw 204 can be easily inserted into or removed from the sleeve 202 from between the two adjacent semi-circular grooves 2023.

[0033] In this embodiment, an inclined plate is provided between the feeding mechanism 2 and the first roller frame 3 to guide the nuclear-grade pipeline to roll onto the first roller frame 3. The first roller frame 3 and the second roller frame 7 are unpowered roller frames, which only provide support for the nuclear-grade pipeline and significantly reduce the conveying resistance.

[0034] In this embodiment, the first linear module 401 is a common lead screw linear module with a dust cover in the prior art, and the centering jaws 9025402 are common cylinder gear jaws 9025 in the prior art. Therefore, they will not be described in detail in this application. The first linear module 401 is laid under the first roller frame 3, and the centering jaws 9025402 are installed on the slide of the first linear module 401. The two sides of the centering jaws 9025402 extend upward to the two sides of the first roller frame 3. Through the linkage of the cylinder gear, the two jaws 9025 can be driven to move closer or further away to clamp or release the nuclear-grade pipeline.

[0035] Specifically, the first clamping mechanism 602 includes two first cylinders 6021, two first clamping blocks 6022, and two first protective pads 6023. The two first cylinders 6021 are disposed inside the machine body 601 and located on both sides of the machine body 601. The two first clamping blocks 6022 are respectively disposed on the output shafts of the two first cylinders 6021. The two first protective pads 6023 are respectively disposed on the two first clamping blocks 6022. Grooves 604 are provided on both the two first clamping blocks 6022 and the two first protective pads 6023. The lifting cutting saw 603 is located above the grooves 604. When cutting the nuclear-grade pipe, the two first cylinders 6021 will work to drive the two first clamping blocks 6022 and the two first protective pads 6023 to move closer together to clamp the nuclear-grade pipe, so that the lifting cutting saw 603 can descend into the grooves 604 for cutting.

[0036] In this embodiment, the first protective pad 6023 is made of rubber, which can effectively reduce the clamping marks caused by the first clamping block 6022 on the nuclear-grade pipeline.

[0037] Specifically, the second clamping mechanism 802 includes a frame 8021, a second cylinder 8022, two second clamping blocks 8023, and two second protective pads 8024. The frame 8021 is mounted on the slide of the second linear module 801. The second cylinder 8022 is mounted inside the frame 8021. The two second clamping blocks 8023 are respectively mounted on the two output shafts of the second cylinder 8022. The two second protective pads 8024 are respectively mounted on the two second clamping blocks 8023. The sensor 803 is mounted in one of the second clamping blocks 8023, and the head of the sensor 803 extends into the second protective pad 8024. When cutting a nuclear-grade pipe, when the nuclear-grade pipe is transported between the two second clamping blocks 8023 and sensed by the sensor 803, the moving clamping mechanism 4 will stop working and release the nuclear-grade pipe. At the same time, the second cylinder 8022 will work to drive the two second clamping blocks 8023 and the two second protective pads 8024 to move closer to each other to clamp the nuclear-grade pipe. Since the second clamping mechanism 802 is transported to the position closest to the cutting mechanism 6 by the second linear module 801 when clamping the nuclear-grade pipe, the initial distance between the second clamping mechanism 802 and the lifting cutting saw 603 is constant each time it clamps the nuclear-grade pipe. Assuming the initial distance is 100cm, if the nuclear-grade pipe needs to be cut to 200cm, then the second clamping mechanism 802 only needs to clamp and move the nuclear-grade pipe away from the cutting mechanism 6 by 100cm. In this way, a 200cm nuclear-grade pipe can be cut.

[0038] In this embodiment, the second cylinder 8022 is a dual-output-shaft cylinder.

[0039] In this embodiment, the second linear module 801 is a drag chain screw module.

[0040] Specifically, the handling mechanism 9 includes a gantry truss 901 and multiple robotic arms 902. The robotic arms 902 are movably mounted on the gantry truss 901. Each robotic arm 902 includes a housing 9021, a third cylinder 9022, a drive component 9023, two linkage components 9024, and two grippers 9025. The housing 9021 contains a movable cavity 90211. The third cylinder 9022 is mounted on the housing 9021, and its output shaft extends into the housing 9021. The drive component 9023 is located in the movable cavity 90211 and connected to the output shaft of the third cylinder 9022. The linkage components 9024 are rotatably connected to the housing 9021 via a rotating shaft. The linkage components 9024 connect the drive component 9023 and the grippers 9025. The grippers 9025 are rotatably connected to the housing 9021 via a rotating shaft. The gripper 9025 extends from the housing 9021 at one end. When the driving member 9023 is subjected to force, the two grippers 9025 open or close under the action of the two linkage members 9024. The linkage member 9024 is provided with an arc-shaped groove 90241 and an oblong groove 90242. The driving member 9023 is provided with a first guide rod 90231, which is located in the arc-shaped groove 90241. The gripper 9025 is provided with a second guide rod 90251, which is located in the oblong groove 90242. Both ends of the gripper 9025 are provided with rotating wheels 90252. The linkage member 9024 is provided with arc-shaped walls 90232 on both sides, which contact the upper rotating wheel 90252. One end of the linkage member 9024 is provided with an abutment head 90233. The operation of the third cylinder 9022 drives the drive component 9023 to move up and down within the movable cavity 90211. When the drive component 9023 moves downward, the arc-shaped wall 90232 compresses the rotating wheel 90252, causing it to move. The first guide rod 90231 moves within the arc-shaped groove 90241, causing the linkage component 9024 to rotate. The second guide rod 90251 moves within the waist-shaped groove 90242, causing the gripper 9025 to rotate. With the coordinated action of these components, the two grippers 9025 close, thus clamping and transporting the pipe section. The rotating wheel 90252 at the lower end reduces the marks left on the surface of the pipe section during clamping. Furthermore, when the two grippers 9025 move towards the center, if the initial position of the pipe section is not centered, the roller will roll while simultaneously guiding the workpiece to the geometric center of the grippers 9025, achieving centering. Furthermore, due to the action of the contact head 90233, when clamping the pipe segment material, the contact head 90233 will work together with the two grippers 9025 to clamp the pipe segment material, thereby achieving the effect of three-point clamping. In this way, if a single robot arm 902 clamps the pipe segment material to the center or near the center, it can also stably grasp the pipe segment material without the need for multiple robot arms 902 to grasp the pipe segment material.

[0041] This embodiment provides two types of beveling mechanisms 10, one of which is described in reference to... Figure 1The double-end beveling mechanism 10 is used. After the pipe section is conveyed to the double-end beveling mechanism 10, the equipment automatically adjusts the position of the assembly trolley according to the length data of the pipe section. The equipment automatically finds the positions of both ends of the pipe section, and then the pressure head automatically descends to press and tighten, beveling one or both ends. The double-end beveling mechanism 10 can be the double-end beveling mechanism 10 manufactured and sold by Aote Company or other double-end beveling mechanisms 10 available on the market. Secondly, please refer to... Figure 1 It is a single-end reversing beveling mechanism 10, which includes a hydraulic lifting gear reversing frame. Both ends of the pipe section can be reversed through the hydraulic lifting gear reversing frame to process the beveling at the other end. The single-end reversing beveling mechanism 10 can be the single-end reversing beveling mechanism 10 produced and sold by Aote Company or other single-end reversing beveling mechanisms 10 on the market.

[0042] An automated production method for prefabricated nuclear-grade pipelines includes: S1. According to the parameters of the nuclear-grade pipeline displayed on the console 1, put the pipeline raw materials to be processed into the feeding mechanism 2 one by one in sequence. S2, The feeding mechanism 2 transports the pipeline material to the first roller frame 3; S3. The centering gripper 9025402 moves to the position of the pipeline material under the action of the first linear module 401 and clamps the pipeline material. The centering gripper 9025402 drives the pipeline material to move together under the action of the first linear module 401. S4. When the pipeline material passes through the detection mechanism 11, the detection mechanism 11 will detect the diameter of the pipeline material and make a comparison. If the diameter of the pipeline material does not match the preset diameter, an alarm will be issued. If the diameter of the pipeline material is the same as the preset diameter, the centering jaw 9025402 will continue to drive the pipeline material to move. S5. When the pipeline material moves to below the coding mechanism 5, the coding mechanism 5 will perform coding operation on the pipeline material. S6. After the inkjet printing is completed, the centering gripper 9025402, under the action of the first linear module 401, feeds the pipe material into the machine body 601, and makes one end of the pipe material extend from the machine body 601 to the second roller frame 7. The second clamping mechanism 802, under the action of the second linear module 801, moves to the position closest to the machine body 601. When the sensor 803 on the second clamping mechanism 802 senses the pipe material, the second clamping mechanism 802 will clamp the pipe material, and at the same time, the centering gripper 9025402 releases the pipe material. The second clamping mechanism 802, under the action of the second linear module 801, pulls the pipe material outward until the length of the pipe material meets the cutting length. The first clamping mechanism 602 clamps the pipe material, and the lifting cutting saw 603 descends to cut the pipe material to form pipe segments. S7. After the cutting is completed, the first clamping mechanism 602 releases the pipe segment material, and the pipe segment material continues to move on the second roller frame 7 under the action of the second linear module 801 and the second clamping mechanism 802. S8. The robotic arm 902 moves on the gantry truss 901, moves to the position of the pipe section, descends to grab the pipe section, and transfers the pipe section to the beveling mechanism 10 for beveling. S9. After the beveling is completed, the robotic arm 902 will transport the pipe section to the next processing step for further processing.

[0043] It should be noted that all standard parts used in this application can be purchased from the market, and irregular parts can be customized according to the description and drawings. The specific connection methods of each part adopt conventional methods such as bolts, rivets, and welding that are mature in the prior art. The machinery, parts and equipment adopt conventional models in the prior art, and the circuit connection adopts conventional connection methods in the prior art, which will not be described in detail here.

[0044] The foregoing has shown and described the basic principles, main features, and advantages of the present invention. Those skilled in the art should understand that the present invention is not limited to the above embodiments. The embodiments and descriptions in the specification are merely illustrative of the principles of the invention. Various changes and modifications can be made to the invention without departing from its spirit and scope, and all such changes and modifications fall within the scope of the present invention as claimed. The scope of protection of this invention is defined by the appended claims and their equivalents.

Claims

1. An automated production device for prefabricated nuclear-grade pipelines, characterized in that, include: A console, the display of which shows the parameters of the core-level pipeline; A feeding mechanism for automatically conveying nuclear-grade pipelines; The first roller frame is disposed at the unloading end of the feeding mechanism and is used to support the conveying of nuclear-grade pipelines; A movable clamping mechanism is used to clamp and move a nuclear-grade pipeline. The movable clamping mechanism includes a first linear module and centering jaws. The first linear module is disposed below a first roller frame, and the centering jaws are disposed on a slide of the first linear module. The two jaws are respectively located on both sides of the first roller frame. The nuclear-grade pipeline is clamped by the centering jaws and moves under the action of the first linear module. The inkjet printing mechanism is located at one end of the first roller frame and above the first roller frame, and is used to print inkjet prints on nuclear-grade pipelines. A cutting mechanism for cutting nuclear-grade pipes, the cutting mechanism comprising a body, a first clamping mechanism and a lifting cutting saw, the body being disposed at one end of a first roller frame, the first clamping mechanism being disposed within the body, and the lifting cutting saw being disposed within the body and located above the first clamping mechanism; The second roller frame is disposed at the other end of the cutting mechanism and is used to carry the nuclear-grade pipeline. A length-fixing mechanism is used to measure the length that a nuclear-grade pipeline needs to be cut. The length-fixing mechanism includes a second linear module, a second clamping mechanism, and a sensor. The second linear module is disposed on one side of a second roller frame. The second clamping mechanism is disposed on the slide of the second linear module and located above the second roller frame. The sensor is disposed on the second clamping mechanism. A handling mechanism for handling nuclear-grade pipelines; A beveling mechanism for beveling nuclear-grade pipelines.

2. The automated production device for prefabrication of nuclear-grade pipelines according to claim 1, characterized in that, It also includes a detection mechanism, which is located at the end of the first roller frame and in front of the inkjet printing mechanism, and is used to detect the diameter of the nuclear-grade pipe.

3. An automated production device for prefabricated nuclear-grade pipelines according to claim 1 or 2, characterized in that, The feeding mechanism consists of multiple parallel chain conveyors. The chain conveyor has several sleeves on its chain, with a gap between two adjacent sleeves. The sleeves are used to support nuclear-grade pipelines, and each sleeve has a protruding limiting member to restrict the rolling of the nuclear-grade pipeline.

4. The automated production device for prefabrication of nuclear-grade pipelines according to claim 3, characterized in that, The limiting member is detachably mounted on the sleeve via a screw. The sleeve has an installation cavity, and an opening groove penetrating the top surface of the sleeve is provided above the installation cavity. The width of the installation cavity is greater than the width of the opening groove. A threaded post is provided inside the limiting member, and a wing nut is provided at one end of the screw. The screw passes through the installation cavity and the opening groove and is threaded into the threaded post to fix the limiting member on the sleeve.

5. The automated production device for prefabrication of nuclear-grade pipelines according to claim 4, characterized in that, The limiting member is provided with a protective cover. One end of the protective cover is rotatably connected to the limiting member via a rotating shaft, and the other end is snapped onto the limiting member via a snap-fit ​​structure. The two ends of the sleeve are provided with semi-circular grooves. The semi-circular grooves are connected to the open grooves, and the diameter of the semi-circular grooves is larger than the diameter of the screw head of the screw.

6. An automated production device for prefabricated nuclear-grade pipelines according to claim 1 or 2, characterized in that, The first clamping mechanism includes two first cylinders, two first clamping blocks, and two first protective pads. The two first cylinders are disposed in the machine body and are located on both sides of the machine body. The two first clamping blocks are respectively disposed on the output shafts of the two first cylinders. The two first protective pads are respectively disposed on the two first clamping blocks. Grooves are provided on both the two first clamping blocks and the two first protective pads. The lifting cutting saw is located above the grooves.

7. An automated production device for prefabricated nuclear-grade pipelines according to claim 1 or 2, characterized in that, The second clamping mechanism includes a frame, a second cylinder, two second clamping blocks, and two second protective pads. The frame is mounted on the slide of the second linear module. The second cylinder is mounted inside the frame. The two second clamping blocks are respectively mounted on the two output shafts of the second cylinder. The two second protective pads are respectively mounted on the two second clamping blocks. The sensor is mounted in one of the second clamping blocks, and the sensor head extends into the second protective pad.

8. An automated production device for prefabricated nuclear-grade pipelines according to claim 1 or 2, characterized in that, The handling mechanism includes a gantry truss and multiple robotic arms. The robotic arms are movably mounted on the gantry truss. Each robotic arm includes a housing, a third cylinder, a drive unit, two linkages, and two grippers. The housing has a movable cavity. The third cylinder is mounted on the housing, and its output shaft extends into the housing. The drive unit is located in the movable cavity and connected to the output shaft of the third cylinder. The linkages are rotatably connected to the housing via a rotating shaft. The linkages connect the drive unit and the grippers. The grippers are rotatably connected to the housing via a rotating shaft, and one end extends out of the housing. When the drive unit is subjected to force, the two grippers open or close under the action of the two linkages.

9. The automated production device for prefabrication of nuclear-grade pipelines according to claim 8, characterized in that, The linkage component is provided with an arc-shaped groove and an oblong groove. The driving component is provided with a first guide rod located in the arc-shaped groove. The gripper is provided with a second guide rod located in the oblong groove. Both ends of the gripper are provided with rotating wheels. The linkage component is provided with arc-shaped walls on both sides. One end of the linkage component is provided with an abutment head.

10. An automated production method for prefabricated nuclear-grade pipelines, characterized in that, include: S1. According to the parameters of the nuclear-grade pipeline displayed on the console monitor, put the pipeline raw materials to be processed into the feeding mechanism one by one in sequence. S2. The feeding mechanism transports the pipeline material to the first roller frame; S3. The centering gripper moves to the position of the pipeline material under the action of the first linear module and clamps the pipeline material. The centering gripper drives the pipeline material to move together under the action of the first linear module. S4. When the pipeline material passes through the detection mechanism, the detection mechanism will detect the diameter of the pipeline material and make a comparison. If the diameter of the pipeline material does not match the preset diameter, an alarm will be issued. If the diameter of the pipeline material is the same as the preset diameter, the centering jaws will continue to drive the pipeline material to move. S5. When the raw material in the pipeline moves to the area below the coding mechanism, the coding mechanism will perform coding operation on the raw material in the pipeline. S6. After the inkjet printing is completed, the centering gripper, under the action of the first linear module, feeds the pipe material into the machine body, and makes one end of the pipe material extend from the machine body to the second roller frame. The second clamping mechanism, under the action of the second linear module, moves to the position closest to the machine body. When the sensor on the second clamping mechanism senses the pipe material, the second clamping mechanism will clamp the pipe material, and at the same time, the centering gripper will release the pipe material. The second clamping mechanism, under the action of the second linear module, pulls the pipe material outward until the length of the pipe material meets the cutting length. The first clamping mechanism clamps the pipe material, and the lifting cutting saw descends to cut the pipe material to form pipe segments. S7. After the cutting is completed, the first clamping mechanism releases the pipe segment material, and the pipe segment material continues to move on the second roller frame under the action of the second linear module and the second clamping mechanism. S8. The robotic arm moves on the gantry truss, moves to the position of the pipe section, descends to grab the pipe section, and transfers the pipe section to the beveling mechanism for beveling. S9. After the beveling is completed, the robotic arm will transport the pipe section to the next processing step.

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