Visual recognition based nuclear class pipe prefabrication automatic assembling and automatic welding device

Abstract

This invention provides a vision-based automated assembly and welding device for prefabricated nuclear-grade pipelines, belonging to the field of nuclear-grade pipeline prefabrication and welding technology. It includes a ground-mounted loading frame, a main frame, and a welding robot. The loading frame is located in the middle of the main frame and is equipped with a loading drive mechanism for loading and conveying the pipelines. The loading drive mechanism also includes several pipeline limiting mechanisms for limiting the pipeline transport. A pipeline reversing mechanism is located in the middle of the loading frame for reversing the pipeline direction. Below the main frame are two sets of welding clamping mechanisms for fixing and holding the pipelines for welding. The welding robot is positioned between the two sets of welding clamping mechanisms to weld the pipeline connections. This invention effectively solves the problems of low pipeline assembly accuracy and high reliance on manual labor in traditional nuclear-grade pipeline prefabrication and welding by integrating vision recognition technology with automated mechanical structures.

Description

Technical Field

[0001] This invention belongs to the field of nuclear-grade pipeline prefabrication and welding technology, specifically a vision-based automatic assembly and welding device for nuclear-grade pipeline prefabrication. Background Technology

[0002] Nuclear-grade piping is a critical component of the primary loop system of a nuclear power plant, responsible for transporting high-temperature, high-pressure radioactive media. The quality of its prefabrication and welding directly affects the overall safety and operational life of the nuclear power plant. The welding process must meet extremely high requirements for precision, consistency, and process standardization; even the slightest defect can trigger leaks or structural failures under extreme conditions, leading to serious nuclear safety accidents. Currently, automated equipment for prefabricated welding of nuclear-grade piping faces significant technical bottlenecks in practical applications, making it difficult to support the demands of high-precision, mass production.

[0003] Existing equipment completely lacks automated visual recognition capabilities in the pipe assembly process, making it impossible to perform real-time inspection of the pipe ends to be welded, including pipe specifications, bevel geometry, and the matching status of the two pipes. Operators are forced to rely on visual observation and manual measurement to judge pipe alignment. This highly subjective method of judgment is prone to problems such as misalignment, uneven gaps, or specification mismatches due to visual fatigue or lack of experience. These problems not only significantly extend assembly time and reduce production efficiency but also easily generate internal defects such as porosity and incomplete fusion during welding, posing long-term safety hazards to nuclear power plants. Furthermore, in the pipe feeding and conveying stage, the existing conveying mechanism is too simple, using only fixed limit blocks for pipe constraint. Since nuclear-grade pipes vary in diameter, ranging from tens to hundreds of millimeters, the fixed limit blocks cannot adapt to changes in pipe diameter. Each time the pipe diameter is changed, the machine must be stopped for adjustment or the limit device must be replaced, severely restricting the flexibility and versatility of the production line. Summary of the Invention

[0004] The purpose of this application is to provide a vision-based automatic assembly and welding device for prefabricated nuclear-grade pipes, which solves the problems of low assembly accuracy and high dependence on manual labor in traditional prefabricated welding of nuclear-grade pipes.

[0005] The technical solution adopted by the present invention to solve its technical problem is: a prefabricated automatic assembly and automatic welding equipment for nuclear-grade pipelines based on visual recognition, including a feeding frame, a main frame and a welding robot set on the ground. The feeding frame is set in the middle of the main frame. The feeding frame is equipped with a feeding drive mechanism for feeding and conveying the pipeline. The feeding drive mechanism is equipped with a plurality of pipeline limiting mechanisms for limiting the conveying of the pipeline. The middle of the feeding frame is equipped with a pipeline reversing mechanism for reversing the pipeline. Two sets of welding clamping mechanisms are provided below the main frame for fixing and clamping the pipes for welding. The welding robot is located between the two sets of welding clamping mechanisms for welding the pipe joints. The main frame is provided with a feeding clamping mechanism for transferring the pipes from the feeding drive mechanism to the welding clamping mechanism. The main frame is also provided with a pipe feeding mechanism for driving the feeding clamping mechanism to move horizontally and vertically. The pipe limiting mechanism is detachably mounted on the feeding track of the feeding drive mechanism. The pipe limiting mechanism includes a mounting base connected to a connecting belt. The upper end of the mounting base is provided with a limiting component for limiting the pipe conveying. The side wall of the mounting base is provided with a through base slot. Both sides of the feeding track are connected by a connecting belt to mounting blocks that are inserted into the base slot. The mounting blocks are provided with block insertion holes. The side wall of the base slot is provided with two sets of snap-fit ​​mechanisms for inserting into the block insertion holes. The snap-fit ​​mechanism includes a snap-fit ​​rod that is slidably connected through the side wall of the mounting base. One end of the snap-fit ​​rod is used to insert into the block insertion hole, and the other end of the snap-fit ​​rod is fixedly connected to a snap-fit ​​pull plate.

[0006] Preferably, the feeding drive mechanism includes two sets of feeding drive shafts rotatably mounted on the feeding frame. A feeding motor for driving the feeding drive shafts to rotate is fixedly installed on the outer wall of the feeding frame. A plurality of feeding pulleys are evenly arranged on the feeding drive shafts. The feeding pulleys on the two sets of feeding drive shafts are connected by a feeding track drive. The pipe limiting mechanism is detachably installed on the feeding track. Both sides of the upper end of the feeding frame are provided with pulley support plates for supporting the feeding track.

[0007] Preferably, the limiting component includes a limiting support fixedly mounted on the upper end of the mounting base. The limiting support has a support groove, and a bidirectional lead screw is rotatably mounted in the support groove. One end of the bidirectional lead screw extends out of the limiting support and is fixedly connected to a drive handle. Two sets of lead screw slides are threadedly connected to the bidirectional lead screw, and the two sets of lead screw slides are slidably connected in the support groove. A limiting block for limiting pipeline transport is fixedly mounted on the upper end of the lead screw slide.

[0008] Preferably, the pipe reversing mechanism includes a reversing base plate fixedly installed inside the feeding machine frame. A lifting drive cylinder is fixedly installed at the lower end of the reversing base plate. A lifting bracket is fixedly connected to the output end of the lifting drive cylinder. A rotary motor is fixedly installed on the lifting bracket. A bidirectional rodless cylinder is fixedly installed on the output shaft of the rotary motor. Two sets of rodless slides are installed on the bidirectional rodless cylinder. A reversing clamp for clamping the pipe is fixedly installed at the upper end of the rodless slide.

[0009] Preferably, a linkage rack is fixedly provided in the middle of the snap-fit ​​pull plate, a side through groove for the linkage rack to pass through is provided on the side wall of the mounting base, a gear shaft is fixedly provided in the base slot, and a linkage gear that meshes with the two sets of linkage racks is rotatably mounted on the gear shaft.

[0010] Preferably, the pipeline feeding mechanism includes a transverse slide block slidably connected to the lower top of the main frame and a transverse lead screw rotatably mounted on the top of the main frame. The lower top of the main frame is provided with a transverse guide rail for guiding and limiting the sliding of the transverse slide block. A motor for driving the transverse lead screw to rotate is fixedly mounted on the upper part of the main frame. A slide block threaded block threadedly connected to the transverse lead screw is fixedly provided on the upper end of the transverse slide block. A vertically opposing lifting drive cylinder is fixedly provided on the upper end of the transverse slide block. A lifting feeding seat is fixedly connected to the output end of the lifting drive cylinder. A longitudinal movement component is provided on the lifting feeding seat.

[0011] Preferably, the longitudinal movement assembly of the pipe feeding mechanism includes two sets of longitudinal movement guide rails fixedly mounted on the main frame. One end of the longitudinal movement guide rail extends above the feeding drive mechanism. A screw support is fixedly mounted on the side wall of the lifting feeding seat. A longitudinal movement screw is rotatably mounted on the screw support. A second motor for driving the longitudinal movement screw to rotate is fixedly mounted on the outer side wall of the screw support. The pipe feeding clamping mechanism is mounted on the longitudinal movement assembly.

[0012] Preferably, the feeding clamping mechanism includes a clamping support, the upper end of which is fixedly provided with a support guide block that slides with the longitudinal guide rail and a longitudinal thread block that is threadedly connected to the longitudinal lead screw, the lower end of which is provided with a vision recognition device for identifying pipeline information, and the pipeline is pre-set with identification information for pipeline grouping information; both sides of the lower end of the clamping support are fixedly provided with a bidirectional rodless cylinder II, and the two output ends of the bidirectional rodless cylinder II are fixedly connected to a feeding clamping plate for gripping the pipeline through a rodless slide II.

[0013] Preferably, the welding clamping mechanism includes a clamping support fixed to the ground, a clamping sleeve fixedly installed at the upper end of the clamping support, and multiple sets of arc-shaped clamping plates for clamping pipes are slidably arranged radially inside the clamping sleeve. The lower end of the arc-shaped clamping plate is provided with an extension support plate extending out of the clamping sleeve to receive the pipe. The outer side wall of the arc-shaped clamping plate is slidably connected to the side wall of the clamping sleeve through a clamping plate guide rod. The end of the clamping sleeve away from the welding robot is provided with a clamping drive component for driving the multiple sets of arc-shaped clamping plates to move synchronously.

[0014] Preferably, the clamping drive includes a clamping motor fixedly mounted on the clamping sleeve, a drive disk fixedly mounted on the output shaft of the clamping motor, and multiple sets of drive connecting rods rotatably mounted on the drive disk via connecting rod pins. The end of the drive connecting rod away from the drive disk is rotatably mounted on the arc-shaped clamping plate via connecting rod pins. After the feeding clamping mechanism picks up the nuclear-grade pipe from the loading drive mechanism, the lifting drive cylinder moves the nuclear-grade pipe upward. Then, the longitudinal translation component moves the nuclear-grade pipe longitudinally to directly above the clamping sleeve. Subsequently, motor 1 drives the transverse lead screw to rotate, causing the nuclear-grade pipe to move towards one of the welding clamping mechanisms. At the same time, the lifting drive cylinder moves the nuclear-grade pipe downward. After the nuclear-grade pipe is placed on the extension support plate, the feeding clamping plate on the side closest to the welding clamping mechanism releases its grip on the nuclear-grade pipe. As the transverse lead screw continues to drive, the nuclear-grade pipe is fed into the clamping sleeve, and the feeding clamping mechanism releases its grip on the pipe. Then, the clamping motor drives the drive disk to rotate, and through the transmission of the drive linkage, it synchronously drives multiple sets of arc-shaped clamping plates to move towards the center of the clamping sleeve to clamp the nuclear-grade pipe. Finally, the welding robot welds the nuclear-grade pipe.

[0015] The beneficial effects of this invention are as follows: By integrating visual recognition technology with automated mechanical structures, it effectively solves the problems of low pipe assembly accuracy and high reliance on manual labor in traditional nuclear-grade pipe prefabrication welding. The detachable and self-adaptive pipe limiting mechanism overcomes the limitations of existing fixed limiting blocks that cannot adapt to multiple pipe specifications, significantly reducing pipe rolling and offset during transportation and ensuring the accuracy of the loading position. Therefore, the equipment improves the accuracy of pipe assembly, the consistency of welding, and the standardization of processes, realizing the automation and standardization of nuclear-grade pipe prefabrication welding and reducing nuclear safety hazards. Attached Figure Description

[0016] The invention will now be further described with reference to the accompanying drawings.

[0017] Figure 1 This is a schematic diagram of the overall structure of the present invention; Figure 2 This is a three-dimensional structural schematic diagram of the feeding drive mechanism of the present invention; Figure 3 This is an isometric structural diagram of the feeding drive mechanism of the present invention; Figure 4 This is a three-dimensional structural schematic diagram of the pipeline limiting mechanism of the present invention; Figure 5 This is a front view schematic diagram of the pipeline limiting mechanism of the present invention; Figure 6 This is the present invention. Figure 5 Schematic diagram of the cross-sectional structure along the AA direction; Figure 7This is a schematic diagram of the pipeline reversing mechanism of the present invention; Figure 8 This is a three-dimensional structural schematic diagram of the pipeline feeding mechanism of the present invention; Figure 9 This is an isometric structural schematic diagram of the pipeline feeding mechanism of the present invention; Figure 10 This is a three-dimensional structural schematic diagram of the feeding clamping tube mechanism of the present invention; Figure 11 This is a three-dimensional structural schematic diagram of the welding clamping mechanism of the present invention; Figure 12 This is a side view of the welding clamping mechanism of the present invention. Figure 13 This is the present invention. Figure 12 Schematic diagram of the cross-sectional structure in the middle BB direction.

[0018] In the diagram: 1. Feeding frame; 2. Feeding drive mechanism; 21. Feeding drive shaft; 22. Feeding motor; 23. Feeding pulley; 24. Feeding track; 25. Pulley support plate; 26. Connecting belt; 27. Mounting block; 271. Block insertion hole; 3. Pipe limiting mechanism; 31. Mounting base; 311. Base slot; 312. Side through groove; 32. Limiting support; 321. Support groove; 3 3. Double-acting lead screw; 34. Drive handle; 35. Lead screw slide; 36. Limit stop; 37. Snap-fit ​​mechanism; 371. Snap-fit ​​pull plate; 372. Snap-fit ​​insertion rod; 373. Linkage rack; 374. Gear shaft; 375. Linkage gear; 4. Pipe reversing mechanism; 41. Reversing base plate; 42. Lifting drive cylinder; 43. Lifting bracket; 44. Rotary motor; 45. Double-acting rodless cylinder one; 46. 1. Rodless slide 1; 47. Reversing clamp; 5. Main frame; 51. Transverse guide rail; 6. Pipe feeding mechanism; 61. Motor 1; 62. Transverse lead screw; 63. Transverse slide; 631. Slide threaded block; 64. Lifting drive cylinder; 65. Lifting feeding seat; 651. Longitudinal guide rail; 652. Lead screw support; 66. Longitudinal lead screw; 67. Motor 2; 7. Feeding pipe clamping mechanism; 71. Pipe clamp 72. Support guide block; 73. Vision recognition device; 74. Two-way rodless cylinder II; 75. Rodless slide II; 76. Feeding clamp; 8. Welding clamping mechanism; 81. Clamping support; 82. Clamping sleeve; 83. Arc-shaped clamp; 831. Extension support plate; 84. Clamping guide rod; 85. Clamping motor; 86. Drive disk; 87. Drive link; 88. Link pin; 9. Welding robot. Detailed Implementation

[0019] 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.

[0020] Please see Figures 1-13 As shown, this embodiment of the invention provides a vision-based automated assembly and welding device for prefabricated nuclear-grade pipes, including a loading frame 1, a main frame 5, and a welding robot 9, all mounted on the ground. The loading frame 1 is located in the middle of the main frame 5. The loading frame 1 is equipped with a loading drive mechanism 2 for loading and conveying the pipes, and a plurality of pipe limiting mechanisms 3 for limiting the pipe conveying. A pipe reversing mechanism 4 for reversing the pipe direction is located in the middle of the loading frame 1. Two sets of welding clamping mechanisms 8 are located below the main frame 5 for fixing and holding the pipes for welding. The welding robot 9 is positioned between the two sets of welding clamping mechanisms 8 to weld the pipe connections. The main frame 5 is equipped with a feeding clamping mechanism 7 for transferring the pipes from the loading drive mechanism 2 to the welding clamping mechanism 8, and a pipe feeding mechanism 6 for driving the feeding clamping mechanism 7 to perform translational and lifting movements. The pipe limiting mechanism 3 is detachably mounted on the feeding track 24 of the feeding drive mechanism 2. The pipe limiting mechanism 3 includes a mounting base 31 connected to a connecting belt 26. The upper end of the mounting base 31 is provided with a limiting component for limiting the pipe conveying. The side wall of the mounting base 31 is provided with a through base slot 311. Both sides of the feeding track 24 are connected by the connecting belt 26 to mounting blocks 27 that are inserted into the base slot 311. The mounting blocks 27 are provided with blocks insertion holes 271. The side wall of the base slot 311 is provided with two sets of snap-fit ​​mechanisms 37 for inserting into the blocks insertion holes 271. The snap-fit ​​mechanism 37 includes a snap-fit ​​rod 372 that is slidably connected through the side wall of the mounting base 31. One end of the snap-fit ​​rod 372 is inserted into the blocks insertion hole 271, and the other end of the snap-fit ​​rod 372 is fixedly connected to a snap-fit ​​pull plate 371.

[0021] Specifically, the equipment includes a ground-mounted loading frame 1, a main frame 5, and a welding robot 9. The loading frame 1 is configured as an initial receiving and conveying platform for the pipes, the main frame 5 undertakes the precise feeding, clamping, and welding operations of the pipes, and the welding robot 9 performs the final welding task. The loading frame 1 is located in the middle of the main frame 5, a layout that facilitates a smooth transition of the pipes between different processes.

[0022] The feeding frame 1 is equipped with a feeding drive mechanism 2 for feeding and conveying pipes. In one implementation, the feeding drive mechanism 2 can consist of a series of rollers driven by a motor to rotate, thereby moving the pipes placed on them forward. Alternatively, the feeding drive mechanism 2 can also employ a chain drive system, where pushers on the chain push the pipes forward.

[0023] The feeding drive mechanism 2 is equipped with several pipe limiting mechanisms 3 for limiting the pipe conveying. In one implementation, the pipe limiting mechanism 3 can consist of V-shaped blocks fixed on both sides of the conveying path. The height and spacing of these blocks are preset to accommodate pipes of a specific diameter. In another implementation, the pipe limiting mechanism 3 can consist of lateral baffles whose positions can be manually adjusted. The baffles are fixed in position by the operator tightening bolts.

[0024] The pipe limiting mechanism 3 is designed to be detachably mounted on the feeding track 24 of the feeding drive mechanism 2; the pipe limiting mechanism 3 includes a mounting base 31 connected to the connecting belt 26. The upper end of the mounting base 31 is provided with a limiting component for limiting the pipe transport. For example, the limiting component can consist of a pair of adjustable-gap limiting blocks, whose spacing can be adjusted manually by a knob to accommodate pipes of different diameters. The side wall of the mounting base 31 is provided with a through base slot 311. Both sides of the feeding track 24 are connected via the connecting belt 26 to mounting blocks 27 that engage with the base slot 311. The mounting blocks 27 are provided with block insertion holes 271. The side wall of the base slot 311 is provided with two sets of engaging mechanisms 37 for insertion into the block insertion holes 271. The snap-fit ​​mechanism 37 includes a snap-fit ​​rod 372 that slides through the side wall of the mounting base 31. One end of the snap-fit ​​rod 372 is inserted into the snap-fit ​​block socket 271, and the other end of the snap-fit ​​rod 372 is fixedly connected to a snap-fit ​​pull plate 371. Alternatively, the snap-fit ​​mechanism 37 can consist of a spring-loaded pin. When the pin is pulled out, the mounting base 31 can be detached from the mounting snap-fit ​​block 27. When the pin is released, it automatically inserts into the snap-fit ​​block socket 271 for fixation.

[0025] The middle part of the feeding frame 1 is provided with a pipe reversing mechanism 4 for reversing the pipe direction; for example, the pipe reversing mechanism 4 can be a platform that can be lifted and rotated, which is lifted by a cylinder or hydraulic cylinder, and the platform is rotated by a rotary motor, thereby changing the conveying direction of the pipe.

[0026] Two sets of welding clamping mechanisms 8 are installed below the main frame 5 for fixing and holding the pipe during welding; the welding robot 9 is located between the two sets of welding clamping mechanisms 8 and is used to weld the pipe joints. As one implementation, the welding clamping mechanism 8 can be composed of a V-block and a pneumatic clamping device. When the pipe is placed on the V-block, the pneumatic clamping device is activated to firmly clamp the pipe.

[0027] The main frame 5 is provided with a feeding clamping mechanism 7 for transferring the pipe from the feeding drive mechanism 2 to the welding clamping mechanism 8; for example, the feeding clamping mechanism 7 can be a device with a mechanical gripper that opens and closes pneumatically or hydraulically to grip and release the pipe.

[0028] The main frame 5 is equipped with a pipe feeding mechanism 6 for driving the pipe feeding clamping mechanism 7 to move horizontally and vertically. In one implementation, the pipe feeding mechanism 6 can be composed of a horizontal guide rail and a screw drive system and a vertical cylinder. The screw is driven by a motor to achieve horizontal movement, and the cylinder is used to achieve vertical movement.

[0029] The equipment in this embodiment effectively solves the problems of low pipe assembly accuracy and high reliance on manual labor in traditional nuclear-grade pipe prefabrication welding by integrating visual recognition technology and automated mechanical structures. The detachable and adaptive pipe limiting mechanism overcomes the limitations of existing fixed limiting blocks that cannot adapt to multiple pipe specifications, significantly reducing pipe rolling and offset during transportation and ensuring the accuracy of the loading position. Therefore, the equipment improves the accuracy of pipe assembly, welding consistency, and process standardization, realizing the automation and standardization of nuclear-grade pipe prefabrication welding and reducing nuclear safety hazards.

[0030] In some embodiments described above in this application, a vision-based automated assembly and welding device for prefabricated nuclear-grade pipes is proposed to achieve automated pipe feeding and welding. However, in practical applications, the feeding drive mechanism, as the primary link for pipes entering the system, can experience problems such as slippage, deviation from the centerline, or unstable support during pipe transport if it lacks a structured power transmission and support system. This can affect the subsequent precise gripping and positioning of the pipes by the feeding clamping mechanism, resulting in insufficient stability of the overall automated process.

[0031] For this, please refer to Figures 2-6 As shown, this application further proposes a feeding drive mechanism 2, which specifically includes: two sets of feeding drive shafts 21 rotatably mounted on a feeding frame 1; a feeding motor 22 for driving the feeding drive shafts 21 to rotate is fixedly installed on the outer side wall of the feeding frame 1; a plurality of feeding pulleys 23 are evenly arranged on the feeding drive shafts 21; the feeding pulleys 23 on the two sets of feeding drive shafts 21 are connected by a feeding track 24; the pipe limiting mechanism 3 is detachably installed on the feeding track 24; and pulley support plates 25 for supporting the feeding track 24 are provided on both sides of the upper end of the feeding frame 1.

[0032] Through the above technical solution, this application constructs a tracked conveyor system driven by a feeding motor 22, with a feeding drive shaft 21 and feeding pulleys 23 cooperating, providing a stable and continuous power transmission foundation for nuclear-grade pipelines. The feeding pulleys 23 on the two sets of feeding drive shafts 21 are connected by a feeding track 24, which increases the contact area between the pipeline and the conveying surface, effectively preventing the pipeline from rolling or shifting position during conveying, and ensuring that the pipeline can move smoothly to the predetermined work position. The pulley support plate 25 provides necessary rigid support for the feeding track 24, preventing the track from sinking or deforming when carrying heavy nuclear-grade pipelines, thereby ensuring the flatness of the conveying surface. The pipeline limiting mechanism 3 is detachably installed on the feeding track 24, which allows the system to flexibly adjust the limiting layout according to nuclear-grade pipelines of different diameters. This modular design not only enhances the versatility of the equipment, but also realizes dynamic limiting of the pipeline during the conveying process through the linkage between the track and the pipeline limiting mechanism 3. This creates reliable physical conditions for the precise gripping of the subsequent feeding pipe clamping mechanism 7, significantly improving the stability, accuracy and adaptability of pipeline feeding.

[0033] In some of the embodiments described above in this application, a pipeline limiting mechanism is proposed to limit the pipeline transport. However, in practical applications, since nuclear-grade pipelines have various diameter specifications, if the limiting mechanism has a simple structure or lacks adjustment capability, it will not be able to adapt to the transport requirements of different pipe diameters, which will cause the pipeline to roll or deviate during transport, thereby affecting the accuracy of subsequent assembly and welding.

[0034] For this, please refer to Figures 2-6 As shown, this application further proposes that the limiting component of the above-mentioned pipeline limiting mechanism 3 includes a limiting support 32 fixedly installed on the upper end of the mounting base 31. The limiting support 32 is provided with a support groove 321. A bidirectional lead screw 33 is rotatably installed in the support groove 321. One end of the bidirectional lead screw 33 extends out of the limiting support 32 and is fixedly connected to a drive handle 34. Two sets of lead screw slides 35 are threadedly connected to the bidirectional lead screw 33. The two sets of lead screw slides 35 are slidably connected in the support groove 321. A limiting block 36 for limiting pipeline transportation is fixedly provided at the upper end of the lead screw slide 35.

[0035] The limiting support 32 serves as the structural foundation of the limiting assembly, providing a stable mounting platform and support for the entire limiting adjustment mechanism. The limiting support 32 can be a one-piece casting or assembled through welding, bolting, or other methods. It is typically made of high-strength metal materials such as carbon steel or stainless steel to ensure it can withstand necessary loads and impacts during pipeline transport. The support groove 321 is a structure formed inside or on the surface of the limiting support 32 to guide and accommodate the screw slide 35. This groove 321 can be a U-shaped, V-shaped, or rectangular cross-section guide rail, with its inner wall precision-machined to ensure smooth sliding of the screw slide 35. It can also integrate linear bearings or low-friction pads to reduce movement resistance. The bidirectional screw 33 is the core component for achieving symmetrical movement of the limiting stop 36. It is characterized by having threaded sections with different left and right helical directions on the same screw, or by using a clever mechanical structure (such as two opposing threaded screws driven synchronously by gears) to achieve opposite or backward movement of the nuts at both ends. This design allows for synchronous and symmetrical adjustment of the two sets of lead screw slides 35 using a single drive source. The drive handle 34 is a component for manually or assistedly driving the rotation of the bidirectional lead screw 33. It can be a handwheel, a crank, or a coupling connected to the motor output shaft for precise rotation when needed, thereby adjusting the position of the limit stop 36. The lead screw slide 35 is a component that threadedly engages with the bidirectional lead screw 33 and slides within the support groove 321. Each lead screw slide 35 has an internal threaded hole matching the thread of the bidirectional lead screw 33, and its external design is a slider structure that engages with the support groove 321, ensuring stable and precise positioning during sliding. The limit stop 36 is a component that directly contacts and limits the nuclear-grade pipeline. The limit stop 36 can be designed as a flat, curved, or V-shaped structure to adapt to the shape of pipelines of different diameters, and its surface can be covered with wear-resistant, high-friction coefficient, or cushioning materials, such as polyurethane or rubber, to prevent damage to the pipeline surface and enhance the limiting effect.

[0036] Through the above technical solution, in the prefabrication and automatic welding equipment for nuclear-grade pipelines, when it is necessary to feed and transport nuclear-grade pipelines of different diameters, the operator or the automated system can rotate the bidirectional lead screw 33 by driving the handle 34. Due to the special thread design of the bidirectional lead screw 33, its rotation will synchronously drive two sets of lead screw slides 35 to slide in opposite directions or back directions within the support groove 321. As the lead screw slides 35 move, the limiting blocks 36 fixed at their upper ends also move accordingly, thereby precisely adjusting the distance between the two sets of limiting blocks 36. This adjustable limiting block 36 can closely fit the outer wall of nuclear-grade pipelines of different diameters, achieving precise clamping and limiting of the pipeline, effectively preventing the pipeline from rolling or deviating on the conveyor belt 24. Compared with the traditional fixed limiting structure, this solution significantly improves the versatility and adaptability of the pipeline limiting mechanism 3, ensures the positional stability of the pipeline on the feeding drive mechanism 2, and provides a reliable positioning basis for subsequent pipeline reversal, feeding, assembly and welding processes, thereby improving the automation level and welding accuracy of the entire equipment and reducing the product defect rate caused by pipeline position deviation.

[0037] In some of the embodiments described above in this application, a prefabricated automatic assembly and welding device for nuclear-grade pipelines based on visual recognition is proposed to realize the automated transportation and welding of pipelines. However, if the pipeline posture does not meet the assembly requirements before the pipeline is transported to the welding station, the existing equipment lacks the means to flexibly change the direction and position the pipeline, which results in the pipeline not being able to be adjusted to the optimal docking angle before entering the welding clamping mechanism, thereby affecting the accuracy and efficiency of subsequent assembly and welding.

[0038] For this, please refer to Figures 2-3 as well as Figure 7 As shown, this application further proposes a pipeline reversing mechanism 4, which includes a reversing base plate 41 fixedly installed inside the feeding frame 1. A lifting drive cylinder 42 is fixedly installed at the lower end of the reversing base plate 41. A lifting bracket 43 is fixedly connected to the output end of the lifting drive cylinder 42. A rotary motor 44 is fixedly installed on the lifting bracket 43. A bidirectional rodless cylinder 45 is fixedly installed on the output shaft of the rotary motor 44. Two sets of rodless slides 46 are provided on the bidirectional rodless cylinder 45. A reversing clamping plate 47 for clamping the pipeline is fixedly installed at the upper end of the rodless slides 46.

[0039] Through the above technical solution, the pipe reversing mechanism 4 of this application can effectively solve the problem that the pipe's posture does not meet the assembly requirements before being transported to the welding station. Specifically, when the loading drive mechanism 2 transports the pipe above the reversing mechanism 4, the lifting drive cylinder 42 first drives the lifting bracket 43 to move upward, smoothly lifting the pipe from the loading track 24 to a preset height. Subsequently, the rotary motor 44 drives the bidirectional rodless cylinder 45 and its two sets of rodless slides 46 and reversing clamp 47 to rotate, thereby precisely adjusting the axial orientation of the pipe. During this process, the reversing clamp 47, through the synchronous movement of the bidirectional rodless cylinder 45, can adaptively clamp according to the actual diameter of the pipe, ensuring that the pipe is always stably fixed during rotation, avoiding rolling or displacement. Once the pipe is adjusted to the optimal angle that meets the assembly requirements, the lifting drive cylinder 42 lowers the pipe, allowing it to be placed back on the loading drive mechanism 2, or directly transferred to the subsequent station. This integrated design, combining lifting, rotation, and clamping functions, allows the pipeline to automatically adjust its posture before entering the welding clamping mechanism 8, significantly improving the automation level and docking accuracy of pipeline assembly. Consequently, this mechanism effectively avoids misalignment and welding defects caused by initial pipeline placement angle deviations, thereby improving the efficiency and quality of prefabricated welding of nuclear-grade pipelines, reducing the need for manual intervention, and providing a reliable guarantee for the standardized and automated production of nuclear-grade pipelines.

[0040] In some of the embodiments described above in this application, a pipe limiting mechanism is installed on the track using a snap-fit ​​mechanism to limit the pipe. However, in the implementation process, since the snap-fit ​​rod needs to be manually or independently driven for insertion and removal, in actual operation, if the two sets of snap-fit ​​mechanisms cannot achieve synchronous operation, the snap-fit ​​of the mounting base on the track will be unstable, or even the snap-fit ​​failure on one side will cause the limiting mechanism to fall off or tilt, thereby affecting the stability of the pipeline transportation.

[0041] For this, please refer to Figures 4-6 As shown, a linkage rack 373 is fixedly installed in the middle of the snap-fit ​​pull plate 371, and a side through groove 312 for the linkage rack 373 to pass through is provided on the side wall of the mounting base 31. A gear shaft 374 is fixedly installed in the base slot 311, and a linkage gear 375 that meshes with the two sets of linkage racks 373 is rotatably installed on the gear shaft 374.

[0042] Through the above technical solution, when the operator applies force to one of the snap-fit ​​pull plates 371, the linkage rack 373 connected to the snap-fit ​​pull plate 371 will move linearly. This linearly moving linkage rack 373 will drive the linkage gear 375 meshing with it to rotate. Since the linkage gear 375 simultaneously meshes with the linkage rack 373 on the other side, the rotational movement of the linkage gear 375 will synchronously drive the linkage rack 373 on the other side and its connected snap-fit ​​pull plate 371 to move linearly. This mechanical linkage mechanism ensures that the two sets of snap-fit ​​rods 372 can extend and retract synchronously with the same stroke and speed, thereby achieving a stable and balanced snap-fit ​​of the mounting base 31 on the mounting block 27. This effectively avoids problems such as unstable snap-fit ​​or unilateral snap-fit ​​failure caused by asynchronous manual operation or independent drive, significantly improving the reliability and stability of the pipe limiting mechanism 3 installation, and thus ensuring the smoothness and accuracy of the pipe conveying process on the feeding track 24, providing a reliable pipe positioning basis for subsequent automatic assembly and welding processes.

[0043] In some of the embodiments described above in this application, although the pipe is transferred by the feeding clamping mechanism, there is a lack of a mechanism for precise spatial position adjustment of the pipe during the process of transferring the pipe from the feeding drive mechanism to the welding clamping mechanism. This makes it difficult to achieve high-precision positioning of the pipe during translation and lifting, which in turn affects the accuracy of subsequent assembly welding.

[0044] In response, this application further proposes a vision-based automated assembly and welding device for prefabricated nuclear-grade pipes. Please refer to [link to relevant documentation]. Figures 8-10 As shown, the pipeline feeding mechanism 6 includes a transverse slide 63 slidably connected to the lower top of the main frame 5 and a transverse lead screw 62 rotatably mounted on the top of the main frame 5. The lower top of the main frame 5 is provided with a transverse guide rail 51 for guiding and limiting the transverse slide 63. The upper part of the main frame 5 is fixedly mounted with a motor 61 for driving the transverse lead screw 62 to rotate. The upper end of the transverse slide 63 is fixedly provided with a slide thread block 631 threadedly connected to the transverse lead screw 62. The upper end of the transverse slide 63 is fixedly provided with a vertically facing lifting drive cylinder 64. The output end of the lifting drive cylinder 64 is fixedly connected to a lifting feeding seat 65. The lifting feeding seat 65 is provided with a longitudinal movement component.

[0045] Through the above technical solutions, the cooperation of the transverse sliding block 63, transverse lead screw 62, transverse guide rail 51, and motor 61 in the pipeline feeding mechanism 6 constructs a high-precision transverse movement system, enabling precise transverse positioning of the pipeline on the main frame 5 and effectively solving the problem of inaccurate transverse positioning during pipeline transfer. Simultaneously, the lifting drive cylinder 64, integrated on the transverse sliding block 63, drives the lifting feeding seat 65 to vertically lift and lower, allowing the pipeline to be height-adjusted according to assembly requirements during transfer, thus adapting to spatial position requirements under different working conditions. Furthermore, the longitudinal movement component on the lifting feeding seat 65 further provides the pipeline with longitudinal movement freedom, enabling the pipeline to have all-around adjustment capabilities within the three-dimensional coordinate system. This linkage design in the transverse, longitudinal, and vertical directions allows the pipeline feeding mechanism 6 to accurately transport the pipeline from the loading position to the designated station of the welding clamping mechanism 8, effectively overcoming the shortcomings of traditional equipment in terms of rough positioning and difficulty in achieving automated assembly during pipeline transfer, laying a spatial positional foundation for achieving high-precision prefabrication welding of nuclear-grade pipelines. Compared to the basic approach, the introduction of precise lateral, longitudinal, and vertical adjustment capabilities significantly improves the positioning accuracy and flexibility of the pipeline during transfer, thereby ensuring the accuracy of subsequent assembly and welding processes, reducing the risk of welding defects caused by positioning errors, and improving the automation level and product quality of nuclear-grade pipeline prefabrication welding.

[0046] In some of the embodiments described above in this application, a pipeline feeding mechanism is proposed to realize the transfer of pipelines. However, in the actual automated conveying process, it is difficult to achieve accurate and stable docking of pipelines from the feeding area to the welding area by simply relying on translation and lifting. Moreover, the lack of guidance and drive support for long-distance conveying makes it easy for pipelines to shift position or vibrate during the feeding process, which is difficult to meet the process requirements of high-precision assembly of nuclear-grade pipelines.

[0047] For this, please refer to Figures 8-10 As shown, this application further proposes a longitudinal movement assembly for the pipe feeding mechanism 6, which includes two sets of longitudinal movement guide rails 651 fixedly mounted on the main frame 5. One end of the longitudinal movement guide rail 651 extends above the feeding drive mechanism 2. A screw support 652 is fixedly mounted on the side wall of the lifting feeding seat 65. A longitudinal movement screw 66 is rotatably mounted at the screw support 652. A motor 67 for driving the longitudinal movement screw 66 to rotate is fixedly mounted on the outer side wall of the screw support 652. The feeding clamping mechanism 7 is mounted on the longitudinal movement assembly.

[0048] Through the above technical solution, the longitudinal movement component of the pipe feeding mechanism 6 is driven by the motor 67 to rotate the longitudinal movement screw 66, which converts the rotational motion into linear longitudinal movement of the pipe feeding clamping mechanism 7. Two sets of longitudinal guide rails 651 provide stable guidance for the pipe feeding clamping mechanism 7, ensuring its trajectory accuracy during movement. The longitudinal guide rails 651 extend above the loading drive mechanism 2, enabling the pipe feeding clamping mechanism 7 to directly grasp the pipe in the loading area and accurately transport it longitudinally to the welding station. This effectively solves the problem that it is difficult to achieve accurate and stable pipe docking by simply relying on translation and lifting, as well as the problem of pipe position deviation or vibration caused by the lack of long-distance conveying guidance and drive support.

[0049] Furthermore, this longitudinal movement component works in conjunction with existing components in the pipe feeding mechanism 6, such as the transverse slide 63, transverse lead screw 62, lifting drive cylinder 64, and lifting feeding seat 65, to jointly construct a pipe conveying system with three-dimensional motion capabilities in the transverse, longitudinal, and lifting directions. The introduction of the longitudinal movement component greatly expands the working range and flexibility of the feeding clamping mechanism 7, enabling it to achieve long-distance, high-precision longitudinal conveying from the loading drive mechanism 2 to the welding clamping mechanism 8. Through the stable guidance of the longitudinal guide rail 651 and the high-precision transmission of the longitudinal lead screw 66, the stability and positioning accuracy of the feeding clamping mechanism 7 during longitudinal movement are ensured, effectively preventing the nuclear-grade pipe from rolling, deviating, or shaking during the conveying process. This provides a reliable physical basis for the subsequent precise clamping of the pipe by the welding clamping mechanism 8 and the accurate welding by the welding robot 9. In addition, the longitudinal guide rail 651 extends above the feeding drive mechanism 2, realizing a seamless connection between the feeding mechanism and the loading mechanism, reducing the pipeline transfer links, reducing the risk of pipeline collision or positional deviation during transfer, significantly improving the efficiency and reliability of the entire automated process, and meeting the stringent requirements for high precision and high stability in the nuclear-grade pipeline prefabrication process.

[0050] In some of the solutions mentioned above in this application, a feeding clamping mechanism is proposed to transfer the pipe from the feeding drive mechanism to the welding clamping mechanism. However, in this process, due to the lack of automatic identification and precise gripping control of the pipe information, the equipment has difficulty in automatically obtaining the pipe assembly parameters. Moreover, when gripping pipes of different specifications, the movement of the feeding clamp lacks flexibility, which can easily cause unstable pipe gripping or positioning deviation, thereby affecting the accuracy of subsequent assembly welding.

[0051] For this, please refer to Figures 8-10As shown, this application further proposes a feeding pipe clamping mechanism 7, which includes a pipe clamping support 71. The upper end of the pipe clamping support 71 is fixedly provided with a support guide block 72 that slides with the longitudinal guide rail 651 and a longitudinal thread block that is threadedly connected to the longitudinal threaded screw 66. The lower end of the pipe clamping support 71 is provided with a vision recognition device 73 for identifying pipe information. The pipe is pre-set with identification information for pipe grouping information. Both sides of the lower end of the pipe clamping support 71 are fixedly provided with bidirectional rodless cylinders 74. The two output ends of the bidirectional rodless cylinders 74 are fixedly connected to feeding clamping plates 76 for gripping the pipe through rodless sliding seats 75.

[0052] The vision recognition device 73 is an image acquisition and processing unit installed at the lower center of the pipe clamp support 71. Its main function is to acquire image information of the nuclear-grade pipeline surface in real time and identify the preset pipeline assembly information. This information may include the pipeline's diameter, wall thickness, bevel type, material batch, QR code, or barcode, providing crucial data support for subsequent automated assembly and welding. The vision recognition device 73 can use a high-resolution industrial camera in conjunction with image processing software to identify pipeline geometric parameters and marking information through edge detection, feature matching, and other algorithms; or it can use a 3D vision sensor to acquire the pipeline's three-dimensional contour data through structured light or laser scanning, thereby more accurately identifying bevel parameters and dimensional information. The preset pipeline assembly information refers to specific data marked on the surface of the nuclear-grade pipeline during the manufacturing or pre-processing stage, which can be read and parsed by the vision recognition device 73. This information is crucial for achieving automated assembly, including the pipeline's unique identifier, specifications, bevel features, material properties, etc., ensuring that the equipment can accurately identify and match the pipeline. The identification information can be in the form of QR codes, barcodes, or RFID tags, which can be quickly read by a visual identifier 73 or an RFID reader; or it can be marked with specific geometric features, such as grooves, ridges, or color codes, and identified and analyzed by image processing algorithms.

[0053] Through the above technical solution, during the process of transferring the pipe from the feeding drive mechanism 2 to the welding clamping mechanism 8, the pipe feeding clamping mechanism 7 first uses the vision recognition device 73 at the lower center of the clamping support 71 to scan the pipe and automatically identify the preset pairing information on the pipe, thus solving the problem that the equipment is difficult to automatically obtain the pipe pairing parameters. Subsequently, based on the pipe specification information fed back by the vision recognition device 73, the bidirectional rodless cylinder 74 drives the feeding clamping plate 76 to adaptively open and close, realizing flexible and precise gripping of pipes of different diameters, effectively avoiding unstable gripping or positioning deviation caused by the lack of flexibility in the clamping plate movement. During the pipe transfer process, the clamping support 71 slides with the longitudinal guide rail 651 through the support guide block 72 and is driven by the longitudinal threaded block and the longitudinal threaded screw 66, ensuring the stability and positioning accuracy of the pipe feeding clamping mechanism 7 during longitudinal movement, thereby ensuring the stability and accuracy of the pipe during the transfer process. This integrated visual recognition and adaptive gripping control feeding and clamping mechanism 7 significantly improves the automation level and accuracy of pipe transfer during the prefabrication and welding of nuclear-grade pipes. It provides accurate initial positioning for subsequent automatic assembly and welding, effectively avoiding subjective errors caused by manual recognition and assembly failures caused by unstable gripping, thereby improving overall welding quality and production efficiency.

[0054] In some of the embodiments described above in this application, a prefabricated automatic assembly and welding device for nuclear-grade pipes based on visual recognition is proposed to realize the automated transportation and welding of pipes. However, in the process of transferring the pipes from the feeding mechanism to the welding station and fixing them, if there is a lack of adaptive clamping and receiving structures for different pipe diameters, the pipes will not be able to maintain a stable axial position and concentricity before welding, which will affect the welding robot's accurate positioning of the pipe connection and the welding quality.

[0055] For this, please refer to Figures 11-13 As shown, this application proposes a welding clamping mechanism 8, which includes a clamping support 81 fixed to the ground. A clamping sleeve 82 is fixedly provided at the upper end of the clamping support 81. Multiple sets of arc-shaped clamping plates 83 for clamping pipes are slidably arranged radially inside the clamping sleeve 82. An extension support plate 831 is provided at the lower end of the arc-shaped clamping plate 83, extending out of the outside of the clamping sleeve 82 to receive the pipe. The outer side wall of the arc-shaped clamping plate 83 is slidably connected to the side wall of the clamping sleeve 82 through a clamping plate guide rod 84. A clamping drive component is provided at the end of the clamping sleeve 82 away from the welding robot 9 for driving the multiple sets of arc-shaped clamping plates 83 to move synchronously.

[0056] Through the above technical solution, this application sets a clamping sleeve 82 with radial clamping function at the welding station, realizing stable support and positioning of nuclear-grade pipelines. By setting multiple sets of radially sliding arc-shaped clamps 83 inside the clamping sleeve 82, it can adaptively adjust according to the actual outer diameter of the pipeline, ensuring that pipelines of different specifications are always in the center position during the welding process, thereby ensuring that the welding robot 9 can accurately weld the pipeline joints. The extension support plate 831 set at the end of the lower arc-shaped clamp 83 plays a role in pre-receiving and guiding the pipeline during the transfer from the feeding clamping mechanism 7 to the welding station, avoiding collisions or positional displacement of the pipeline during placement, and effectively improving the stability of the assembly. The arc-shaped clamp 83 is slidably connected to the side wall of the clamping sleeve 82 through the clamp guide rod 84, ensuring that the movement trajectory of the clamp during radial movement is stable and controlled. The clamping drive unit drives multiple sets of arc-shaped clamping plates 83 to move synchronously, ensuring a uniform distribution of clamping force in the circumferential direction of the pipe. This avoids pipe deformation or insecure clamping caused by uneven clamping force, providing a reliable physical support foundation for high-precision welding of nuclear-grade pipes. This effectively solves the problem that the pipe cannot maintain a stable axial position and concentricity before welding, which affects the welding robot's accurate positioning of the pipe connection and the welding quality.

[0057] In some embodiments described above in this application, a welding clamping mechanism is proposed for fixing pipes. However, in actual automated assembly welding processes, how to achieve synchronous and precise clamping of multiple sets of arc-shaped clamps to ensure the stability and concentricity of the pipes in the welding position remains a key problem that needs to be solved in the prior art. If the driving method of the clamping mechanism is not designed properly, it can easily lead to uneven force on the clamps or asynchronous movements, which in turn can cause pipe clamping deviation or insufficient clamping force, affecting the welding quality.

[0058] In response, this application further proposes a vision-based automated assembly and welding device for prefabricated nuclear-grade pipes. Please refer to [link to relevant documentation]. Figures 11-13As shown, the clamping drive includes a clamping motor 85 fixedly mounted on the clamping sleeve 82. A drive disk 86 is fixedly mounted on the output shaft of the clamping motor 85. Multiple sets of drive connecting rods 87 are rotatably mounted on the drive disk 86 via connecting rod pins 88. The end of the drive connecting rod 87 away from the drive disk 86 is rotatably mounted on the arc-shaped clamping plate 83 via connecting rod pins 88. When the feeding clamping mechanism 7 clamps the nuclear-grade pipe on the feeding drive mechanism 2, the lifting drive cylinder 64 drives the nuclear-grade pipe to move upward. Then, the longitudinal translation component drives the nuclear-grade pipe to move longitudinally to directly above the clamping sleeve 82. Subsequently, the motor 61 drives the transverse lead screw 62 to rotate, causing the nuclear-grade pipe to face the direction of the clamping drive. As the nuclear-grade pipeline moves towards one of the welding clamping mechanisms 8, the lifting drive cylinder 64 moves it downwards. After the nuclear-grade pipeline is placed on the extension support plate 831, the feeding clamp 76 on the side closest to the welding clamping mechanism 8 releases its grip on the nuclear-grade pipeline. As the transverse lead screw 62 continues to drive, the nuclear-grade pipeline is fed into the clamping sleeve 82, and the feeding clamping mechanism 7 releases its grip on the pipeline. Then, the clamping motor 85 drives the drive disk 86 to rotate, and through the transmission of the drive linkage 87, it synchronously drives multiple sets of arc-shaped clamping plates 83 to move towards the center of the clamping sleeve 82 to clamp the nuclear-grade pipeline. Finally, the welding robot 9 welds the nuclear-grade pipeline.

[0059] During pipe transfer, a laser rangefinder or vision sensor can be integrated into the pipe feeding clamping mechanism 7 to monitor the distance and alignment between the pipe and the clamping sleeve 82 in real time. Based on the feedback signal, the actions of the lifting drive cylinder 64 and the lateral lead screw 62 can be precisely adjusted to achieve a higher level of positioning accuracy. During the pipe clamping stage, in addition to the synchronous drive of the linkage mechanism, a high-friction coefficient material or texture can be applied to the inner surface of the arc-shaped clamping plate 83 to increase the clamping force on the pipe and prevent slippage or displacement during welding. Simultaneously, a pressure sensor can be integrated to monitor the clamping force in real time, ensuring that the clamping force is moderate and uniform.

[0060] Through the above technical solution, this application provides an efficient and precise method for the automated transfer, positioning, and clamping of nuclear-grade pipelines, and optimizes the driving mode of the clamping mechanism. Specifically, the clamping motor 85 drives the drive disk 86 to rotate, and then the rotational motion is precisely converted into the synchronous radial movement of multiple sets of arc-shaped clamping plates 83 through a linkage mechanism composed of connecting rod pin 88 and drive connecting rod 87. This mechanical linkage design ensures that all arc-shaped clamping plates 83 can simultaneously and uniformly contract towards the center of the pipeline, thereby achieving stable and concentric clamping of the nuclear-grade pipeline, effectively avoiding the problems of uneven force or asynchronous movement of the clamping plates that may occur in traditional clamping methods, and significantly improving the stability and centering accuracy of the pipeline at the welding position. In addition, the pipeline transfer process described in detail in this application, through the coordinated cooperation of the feeding clamping mechanism 7, the lifting drive cylinder 64, the longitudinal movement component, the motor 61, and the transverse movement screw 62, realizes the automated and seamless transfer of nuclear-grade pipelines from the feeding drive mechanism 2 to the welding clamping mechanism 8. In particular, the extension support plate 831 serves as a transitional support for the pipe as it enters the clamping sleeve 82, and the timely release of the feeding clamp plate 76 ensures that the pipe can slide smoothly and steadily into the clamping sleeve 82, preventing any bumps or damage that may occur during the transfer process. Finally, after the pipe is precisely positioned and stably clamped, the welding robot 9 can perform high-quality welding operations on the nuclear-grade pipe connections, thus ensuring the precision and consistency of the prefabricated welding of nuclear-grade pipes and meeting the high-standard welding quality requirements of nuclear power equipment.

[0061] The following example will provide a more detailed explanation of the above technical solution: In a nuclear-grade pipe prefabrication workshop, automated assembly and welding of nuclear-grade pipes of different diameters and specifications are required. Traditional manual identification and fixed-positioning methods are inefficient and prone to errors. This equipment aims to solve these problems.

[0062] First, the operator places the nuclear-grade pipe to be processed on the loading frame 1. The loading motor 22 drives the loading drive shaft 21 to rotate, thereby driving the loading conveyor 24 to transport the pipe in the upward direction. To accommodate pipes of different diameters and prevent them from rolling or deviating during transport, several pipe limiting mechanisms 3 are detachably installed on the loading conveyor 24 of the loading drive mechanism 2. When a pipe of a specific diameter needs to be processed, the operator can select and install the appropriate number of pipe limiting mechanisms 3 according to the pipe diameter. Each pipe limiting mechanism 3 includes a mounting base 31, whose side wall is provided with a through base slot 311. Mounting blocks 27 are connected to both sides of the loading conveyor 24 by connecting belts 26, and the mounting blocks 27 are provided with block insertion holes 271. The operator inserts the base slot 311 of the mounting base 31 into the mounting block 27, and then inserts the locking rod 372 into the block insertion hole 271 through the locking mechanism 37, thereby firmly fixing the pipe limiting mechanism 3 onto the feeding conveyor 24. A linkage rack 373 is fixedly installed in the middle of the locking pull plate 371, and a side through groove 312 is provided on the side wall of the mounting base 31, through which the linkage rack 373 passes. A gear shaft 374 is fixedly installed in the base slot 311, and a linkage gear 375 is rotatably mounted on the gear shaft 374, meshing with the two sets of linkage racks 373. By pulling the locking pull plate 371, the linkage rack 373 drives the linkage gear 375 to rotate, thereby synchronously driving the two sets of locking rods 372 to slide, achieving fast and synchronous locking and unlocking, and improving the installation and disassembly efficiency of the limiting mechanism.

[0063] The mounting base 31 of the pipe limiting mechanism 3 is equipped with a limiting component. When the pipe is conveyed on the feeding conveyor 24, the operator can rotate the drive handle 34 to drive the bidirectional lead screw 33 to rotate, causing the limiting blocks 36 on the two sets of lead screw slides 35 to move synchronously inward or outward, thereby adjusting the distance between the limiting blocks 36 to accurately adapt to pipes of different diameters, achieving pipe conveying limitation and effectively preventing pipe rolling and positional deviation during conveying. Compared with traditional fixed limiting blocks, this significantly improves the equipment's versatility and pipe positioning accuracy.

[0064] When the pipeline is transported to the middle of the loading frame 1, the pipeline reversing mechanism 4 starts to work. The lifting drive cylinder 42 first drives the lifting bracket 43 to rise, so that the reversing clamp 47 clamps the pipeline and lifts it off the loading track 24. Subsequently, the rotary motor 44 drives the bidirectional rodless cylinder 45 and the reversing clamp 47 to rotate, so that the pipeline completes a 90-degree reversal, preparing for subsequent assembly and welding.

[0065] After the pipes have been reversed, they need to be transferred to the welding area. The main frame 5 is equipped with a pipe feeding mechanism 6 and a pipe clamping mechanism 7. A vision recognition device 73 is located at the lower center of the pipe clamping support 71 to identify pipe information. The pipes have pre-set identification information for pipe assembly. When the pipe clamping mechanism 7 moves above the pipe, the vision recognition device 73 automatically scans the identification information on the pipe, obtaining key data such as pipe specifications and bevel parameters, and compares it with the information of the other pipe to be assembled, automatically determining its matching degree. This completely replaces traditional manual visual judgment, significantly improving assembly accuracy and efficiency, and avoiding misalignment and specification mismatch problems.

[0066] Both sides of the lower end of the pipe clamping support 71 are fixedly equipped with a two-way rodless cylinder 74. The two output ends of the two-way rodless cylinder 74 are fixedly connected to a feeding clamping plate 76 for gripping the pipe through a rodless slide 75. After the vision recognition device 73 confirms the pipe information, the two-way rodless cylinder 74 drives the feeding clamping plate 76 to clamp the pipe.

[0067] After the feeding clamping mechanism 7 clamps the nuclear-grade pipe on the feeding drive mechanism 2, the lifting drive cylinder 64 moves the nuclear-grade pipe upward. Then, the longitudinal translation component moves the nuclear-grade pipe longitudinally to directly above the clamping sleeve 82 of the welding clamping mechanism 8. Next, the motor 61 drives the transverse lead screw 62 to rotate, causing the nuclear-grade pipe to move towards one of the welding clamping mechanisms 8, while the lifting drive cylinder 64 moves the nuclear-grade pipe downward, placing it on the extension support plate 831. At this point, the feeding clamping plate 76 on the side closest to the welding clamping mechanism 8 releases its grip on the nuclear-grade pipe. As the transverse lead screw 62 continues to drive, the nuclear-grade pipeline is fed into the clamping sleeve 82, and the feeding clamping mechanism 7 completely releases its grip on the pipeline. After the pipeline is fully inside the clamping sleeve 82, the clamping motor 85 drives the drive disk 86 to rotate, and through the transmission of the drive connecting rod 87, it synchronously drives multiple sets of arc-shaped clamping plates 83 to move toward the center of the clamping sleeve 82, so as to accurately clamp the nuclear-grade pipeline.

[0068] Finally, the welding robot 9, positioned between the two sets of welding clamping mechanisms 8, performs automated welding on the precisely assembled and clamped nuclear-grade pipe connections. The entire process achieves full automation from material loading, limiting, reversing, feeding, visual recognition assembly, clamping to welding, significantly improving the precision, consistency, and production efficiency of prefabricated welding of nuclear-grade pipes, and effectively avoiding errors and safety hazards caused by manual operation.

[0069] 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 the present invention is defined by the appended claims and their equivalents.

Claims

1. A vision-recognition-based automated assembly and welding system for prefabricated nuclear-grade pipes, characterized in that: The system includes a loading frame (1) set on the ground, a main frame (5) and a welding robot (9). The loading frame (1) is set in the middle of the main frame (5). The loading frame (1) is equipped with a loading drive mechanism (2) for loading and conveying pipes. The loading drive mechanism (2) is equipped with several pipe limiting mechanisms (3) for limiting the conveying of pipes. The middle of the loading frame (1) is equipped with a pipe reversing mechanism (4) for reversing the direction of the pipes. The main frame (5) is provided with two sets of welding clamping mechanisms (8) for fixing and clamping the pipe welding. The welding robot (9) is located between the two sets of welding clamping mechanisms (8) for welding the pipe connection. The main frame (5) is provided with a feeding pipe clamping mechanism (7) for transferring the pipe from the feeding drive mechanism (2) to the welding clamping mechanism (8). The main frame (5) is provided with a pipe feeding mechanism (6) for driving the feeding pipe clamping mechanism (7) to move horizontally and vertically. The pipe limiting mechanism (3) is detachably mounted on the feeding track (24) of the feeding drive mechanism (2). The pipe limiting mechanism (3) includes a mounting base (31) connected to the connecting belt (26). The upper end of the mounting base (31) is provided with a limiting component for limiting the pipe conveying. The side wall of the mounting base (31) is provided with a through base slot (311). Both sides of the feeding track (24) are connected by the connecting belt (26) to mounting components that are inserted into the base slot (311). The mounting block (27) is provided with a mounting block insertion hole (271); the side wall of the base slot (311) is provided with two sets of snap-fit ​​mechanisms (37) for inserting into the mounting block insertion hole (271). The snap-fit ​​mechanism (37) includes a snap-fit ​​rod (372) that is slidably connected through the side wall of the mounting base (31). One end of the snap-fit ​​rod (372) is used to insert into the mounting block insertion hole (271), and the other end of the snap-fit ​​rod (372) is fixedly connected to a snap-fit ​​pull plate (371).

2. The automatic assembly and welding equipment for prefabricated nuclear-grade pipes based on vision recognition according to claim 1, characterized in that: The feeding drive mechanism (2) includes two sets of feeding drive shafts (21) rotatably mounted on the feeding frame (1). The outer side wall of the feeding frame (1) is fixedly provided with a feeding motor (22) for driving the feeding drive shaft (21) to rotate. A number of feeding pulleys (23) are evenly arranged on the feeding drive shaft (21). The feeding pulleys (23) on the two sets of feeding drive shafts (21) are connected by a feeding track (24). The pipe limiting mechanism (3) is detachably mounted on the feeding track (24). Both sides of the upper end of the feeding frame (1) are provided with pulley support plates (25) for supporting the feeding track (24).

3. The automatic assembly and welding equipment for prefabricated nuclear-grade pipes based on vision recognition according to claim 2, characterized in that: The limiting component includes a limiting support (32) fixedly installed on the upper end of the mounting base (31). The limiting support (32) is provided with a support groove (321). A bidirectional screw rod (33) is rotatably installed in the support groove (321). One end of the bidirectional screw rod (33) extends out of the limiting support (32) and is fixedly connected to a drive handle (34). Two sets of screw slides (35) are threadedly connected to the bidirectional screw rod (33). The two sets of screw slides (35) are slidably connected in the support groove (321). A limiting stop (36) for limiting pipeline transportation is fixedly provided at the upper end of the screw slide (35).

4. The automatic assembly and welding equipment for prefabricated nuclear-grade pipes based on vision recognition according to claim 1, characterized in that: The pipe reversing mechanism (4) includes a reversing base plate (41) fixedly installed inside the feeding frame (1). A lifting drive cylinder (42) is fixedly installed at the lower end of the reversing base plate (41). A lifting bracket (43) is fixedly connected to the output end of the lifting drive cylinder (42). A rotary motor (44) is fixedly installed on the lifting bracket (43). A bidirectional rodless cylinder (45) is fixedly installed on the output shaft of the rotary motor (44). Two sets of rodless slides (46) are installed on the bidirectional rodless cylinder (45). A reversing clamp (47) for clamping the pipe is fixedly installed at the upper end of the rodless slide (46).

5. The automatic assembly and welding equipment for prefabricated nuclear-grade pipes based on vision recognition according to claim 1, characterized in that: A linkage rack (373) is fixedly provided in the middle of the snap-fit ​​plate (371), and a side through groove (312) for the linkage rack (373) to pass through is provided on the side wall of the mounting base (31). A gear shaft (374) is fixedly provided in the base slot (311), and a linkage gear (375) that meshes with the two sets of linkage racks (373) is rotatably installed on the gear shaft (374).

6. The automatic assembly and welding equipment for prefabricated nuclear-grade pipes based on vision recognition according to claim 1, characterized in that: The pipeline feeding mechanism (6) includes a transverse slide (63) slidably connected to the lower top of the main frame (5) and a transverse screw (62) rotatably mounted on the top of the main frame (5). The lower top of the main frame (5) is provided with a transverse guide rail (51) for guiding and limiting the transverse slide (63). The upper part of the main frame (5) is fixedly installed with a motor (61) for driving the transverse screw (62) to rotate. The upper end of the transverse slide (63) is fixedly provided with a slide thread block (631) threadedly connected to the transverse screw (62). The upper end of the transverse slide (63) is fixedly provided with a vertically facing lifting drive cylinder (64). The output end of the lifting drive cylinder (64) is fixedly connected with a lifting feed seat (65). The lifting feed seat (65) is provided with a longitudinal movement component.

7. The automatic assembly and welding equipment for prefabricated nuclear-grade pipes based on vision recognition according to claim 6, characterized in that: The longitudinal movement assembly of the pipe feeding mechanism (6) includes two sets of longitudinal movement guide rails (651) fixedly installed on the main frame (5). One end of the longitudinal movement guide rail (651) extends above the feeding drive mechanism (2). A screw support (652) is fixedly installed on the side wall of the lifting feeding seat (65). A longitudinal movement screw (66) is rotatably installed at the screw support (652). A second motor (67) for driving the longitudinal movement screw (66) to rotate is fixedly installed on the outer side wall of the screw support (652). The feeding clamping mechanism (7) is installed on the longitudinal movement assembly.

8. The automatic assembly and welding equipment for prefabricated nuclear-grade pipes based on vision recognition according to claim 7, characterized in that: The feeding clamping mechanism (7) includes a clamping support (71). The upper end of the clamping support (71) is fixedly provided with a support guide block (72) that slides with the longitudinal guide rail (651) and a longitudinal thread block that is threadedly connected to the longitudinal threaded screw (66). The lower end of the clamping support (71) is provided with a visual recognition device (73) for identifying pipeline information. The pipeline is pre-set with identification information for pipeline grouping. Both sides of the lower end of the clamping support (71) are fixedly provided with a two-way rodless cylinder (74). The two output ends of the two-way rodless cylinder (74) are fixedly connected to a feeding clamping plate (76) for gripping the pipeline through a rodless slide (75).

9. The automatic assembly and welding equipment for prefabricated nuclear-grade pipes based on vision recognition according to claim 1, characterized in that: The welding clamping mechanism (8) includes a clamping support (81) fixed to the ground. A clamping sleeve (82) is fixedly provided at the upper end of the clamping support (81). Multiple sets of arc-shaped clamps (83) for clamping pipes are slidably arranged in the clamping sleeve (82) along the radial direction. An extension support plate (831) is provided at the lower end of the arc-shaped clamp (83) to extend out of the clamping sleeve (82) for receiving pipes. The outer side wall of the arc-shaped clamp (83) is slidably connected to the side wall of the clamping sleeve (82) through the clamping plate guide rod (84). A clamping drive component is provided at the end of the clamping sleeve (82) away from the welding robot (9) for driving the multiple sets of arc-shaped clamps (83) to move synchronously.

10. The automatic assembly and welding equipment for prefabricated nuclear-grade pipes based on vision recognition according to claim 9, characterized in that: The clamping drive includes a clamping motor (85) fixedly mounted on the clamping sleeve (82), a drive disk (86) fixedly mounted on the output shaft of the clamping motor (85), and multiple sets of drive connecting rods (87) rotatably mounted on the drive disk (86) via connecting rod pins (88). The end of the drive connecting rod (87) away from the drive disk (86) is rotatably mounted on the arc-shaped clamping plate (83) via connecting rod pins (88). When the feeding clamping mechanism (7) clamps the nuclear-grade pipe on the feeding drive mechanism (2), the lifting drive cylinder (64) drives the nuclear-grade pipe to move upward. Then, the longitudinal translation component drives the nuclear-grade pipe to move longitudinally to directly above the clamping sleeve (82). Then, the motor (61) drives the transverse lead screw (62) to rotate, causing the nuclear-grade pipe to move toward one of the welding clamping mechanisms (8). At the same time, the lifting drive cylinder (64) drives the nuclear-grade pipe to move downward. After placing the nuclear-grade pipe on the extension support plate (831), it approaches the welding clamping machine. The feeding clamp (76) on one side of the structure (8) releases its grip on the nuclear-grade pipe. As the transverse screw (62) continues to drive, the nuclear-grade pipe is fed into the clamping sleeve (82). Then the feeding clamping mechanism (7) releases its grip on the pipe. Subsequently, the clamping motor (85) drives the drive disk (86) to rotate. Through the transmission of the drive linkage (87), multiple sets of arc-shaped clamps (83) move toward the center of the clamping sleeve (82) to clamp the nuclear-grade pipe. Finally, the welding robot (9) welds the nuclear-grade pipe.

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