CN115008169A

CN115008169A - Numerical control full-automatic pipe penetrating equipment for tube type heat exchanger

Info

Publication number: CN115008169A
Application number: CN202210643024.3A
Authority: CN
Inventors: 周凯; 江国春; 贺黎明; 王海超; 吴广
Original assignee: Wuhan Kempinsh Power Equipment Co ltd
Current assignee: Wuhan Kempinsh Power Equipment Co ltd
Priority date: 2022-06-08
Filing date: 2022-06-08
Publication date: 2022-09-06
Anticipated expiration: 2042-06-08
Also published as: CN115008169B

Abstract

The invention discloses numerical control full-automatic pipe penetrating equipment for a tube type heat exchanger, which comprises a position-changing roller carrier for placing and driving the heat exchanger to rotate, wherein two servo horizontal moving mechanisms which are symmetrically distributed front and back are arranged in front of a pipe plate at the front end of the heat exchanger, a servo vertical moving mechanism is arranged on a horizontal sliding plate of the servo horizontal moving mechanism, a pipe grabbing device is arranged between the two servo vertical moving mechanisms positioned on the same side, a pipe pushing device, a servo driving rotating device and a roller driving pipe penetrating device are sequentially arranged on the servo vertical moving mechanism close to the end of the heat exchanger, a visual sensor and a light source are arranged on the side surface of the front end of the roller driving pipe penetrating device, automatic pipe feeding devices and automatic heat exchange pipe installing guide head devices are symmetrically arranged on the two sides of the servo horizontal moving mechanism, and the pipe penetrating equipment can realize the feeding from pipes, The automatic pipe overturning device has the advantages that the pipe is automatically overturned, the guide head is automatically installed, the pipe is automatically grabbed, the pipe plate hole is automatically found, the pipe is automatically pushed in place, and the full automation of the pipe penetrating process is realized.

Description

Numerical control full-automatic pipe penetrating equipment for tube type heat exchanger

Technical Field

The application belongs to the technical field of shell and tube heat exchanger manufacturing, and particularly relates to numerical control full-automatic tube penetrating equipment for a shell and tube heat exchanger.

Background

The tubular heat exchanger is a common device in petroleum, chemical, nuclear power, special boiler system, light industry, food and other industries. The shell is generally round, the tube bundle is provided with hundreds of tubes and thousands of tubes, two ends of the tube bundle are fixed on the tube plate, and the middle of the tube bundle penetrates through small holes in a plurality of baffle plates. The resistance is large when the pipe penetrates due to the fact that the pipe is long and thin, the number of the pipes is large, multiple operators are needed to lift one pipe and align the end of the pipe to the pipe plate hole, then the pipe is pushed manually, large physical force is needed to be consumed, the labor intensity of the operators is high, the production efficiency is low, the manufacturing speed of the heat exchanger is severely limited, and pipe penetrating of the pipe bundle is an important process which influences the production efficiency in the manufacturing of the fixed pipe plate tubular heat exchanger.

In the prior art, a plurality of simple mechanical devices are generally adopted to assist tube penetration, the labor intensity of manual tube penetration can be reduced to a certain extent, the mechanical devices still need to be assembled and disassembled manually to be adjusted to align to holes on a tube plate, and then the tubes are penetrated in a reciprocating feeding mode or a roller forced feeding mode, so that the production efficiency is low, and the tube penetrating device is particularly not suitable for the tube penetration of large-diameter and large-length tubular heat exchangers.

Before the pipe is penetrated in the prior art, a guide head needs to be installed at the front end of the pipe manually, in order to realize full-automatic pipe penetration, a pipe penetrating method for automatically installing the guide head needs to be found, and the guide head can be automatically installed at the pipe end at the front end of an automatic pipe feeding device.

In the prior art, a laser scanning sensor is adopted to transmit signals to the control system, the control system is electrically connected with each actuating mechanism, and a driving device on each actuating mechanism is controlled to enable the grabbed heat exchange tube to be concentric with the hole site of the front end tube plate of the heat exchanger, so that a vision system is urgently needed to replace the function.

In the prior art, two gantry frames are symmetrically distributed front and back, a beam of the gantry frame is provided with two horizontal movement and vertical movement driving mechanisms, the horizontal movement and vertical movement driving mechanisms are provided with lifting columns, and the lower ends of the two lifting columns positioned on the same side are provided with the same pipe grabbing and pipe penetrating driving device; however, this implementation is not simple and complicated.

In order to realize that the pipe is subjected to forward thrust and rotational moment in the pipe penetrating process to generate forward and rotational compound motion, the roller drives the arc driving wheel on one side of the pipe penetrating device to slightly tilt forwards and the arc driving wheel on the other side of the pipe penetrating device to slightly tilt backwards, so that the pair of mutually inclined arc driving wheels extrudes and spirally feeds the heat exchange pipe, and how to provide a simpler and more convenient structure becomes a technical problem continuously explored by technical personnel in the field.

Disclosure of Invention

The invention aims to overcome the defects and provides numerical control full-automatic tube penetrating equipment for the tube type heat exchanger, which is suitable for heat exchangers with different lengths, different diameters and different tube hole distribution states and tube penetrating of heat exchange tubes with different tube diameters, different wall thicknesses and different materials, and can realize the purposes of feeding the tubes, automatically turning the tubes, automatically grabbing the tubes, automatically searching tube hole holes, automatically pushing the tubes in place and realizing the automation of a tube penetrating process.

In order to achieve the aim, the numerical control full-automatic tube penetrating equipment for the tube type heat exchanger comprises a heat exchanger, a shifting roller carrier, a front end tube plate of the heat exchanger, a servo horizontal moving mechanism, a servo vertical moving mechanism, a roller driving tube penetrating device, a tube pushing device, a tube grabbing device, a driving rotating device, an automatic tube feeding device, an automatic installation guide head device, a visual system and a heat exchange tube, wherein the shifting roller carrier is arranged on the heat exchanger;

the tube pushing device is characterized in that the position-changing roller frame is used for placing a heat exchanger needing tube penetration and driving the heat exchanger to rotate, two bases and two servo horizontal moving mechanisms which are symmetrically distributed front and back are installed on a tube plate at the front end of the heat exchanger, a servo vertical moving mechanism is installed on a horizontal sliding plate of the servo horizontal moving mechanism, a tube grabbing device is installed between the two servo vertical moving mechanisms positioned on the same side, a tube pushing device is installed on the servo vertical moving mechanism close to one end of the heat exchanger, a driving rotating device is installed at the front end of the tube pushing device, a roller driving tube penetrating device is installed at the front end of the driving rotating device, a visual system is installed on the front end side of the roller driving tube penetrating device, automatic tube feeding devices are symmetrically installed on the two bases and the two sides of the servo horizontal moving mechanism, and an automatic installation guide head device is installed at the front end of the automatic tube feeding device, the automatic feeding device conveys the heat exchange tube to an automatic installation guide head device, the automatic installation guide head device automatically installs a guide head at the end part of the heat exchange tube, the servo horizontal moving mechanism and the servo vertical moving mechanism move the tube grabbing device and the roller driving tube penetrating device to the position above a V-shaped conveying roller path, so that the tube grabbing V-shaped rollers on the tube grabbing device are positioned at two sides of the heat exchange tube, after the heat exchange tube is grabbed from the automatic tube feeding device, under the assistance of a visual sensor in the visual system, the servo horizontal moving mechanism and the servo vertical moving mechanism drive the tube grabbing device to drive the roller driving tube penetrating device to reach any specified hole position of the tube plate at the front end of the heat exchanger so as to enable the grabbed heat exchange tube to be concentric with the hole position of the tube plate at the front end of the heat exchanger, and the roller driving tube penetrating device, the starting driving rotating device, the driving rotating device, Starting the pipe pushing device to complete the automatic pipe penetrating process;

the visual system is arranged at the front end of the roller driving pipe penetrating device, the visual sensor scans along a planned path, the visual sensor pauses after finding a target hole of the heat exchange pipe, the visual sensor takes a picture again, and the visual sensor transmits a signal to the control system of the visual system;

the control system is electrically connected with the roller driving pipe penetrating device, the driving rotating device and the automatic pipe feeding device and is used for controlling the starting and stopping of the driving devices on the executing mechanisms and enabling the grabbed heat exchange pipes to run to be concentric with target hole positions of the pipe plate at the front end of the heat exchanger.

Furthermore, the servo horizontal moving mechanism is provided with two bases which are symmetrically distributed front and back, the bases are installed on the ground through supporting legs, two linear guide rails are installed on the bases, racks are installed between the two linear guide rails, sliding blocks are installed on the linear guide rails, horizontal sliding plates are installed on the sliding blocks, speed reducer installing seats are arranged on the horizontal sliding plates, and the speed reducers are fixedly connected with the installing seats through bolts;

the servo motor is installed to the top of speed reducer, servo motor is connected with the speed reducer, the driving gear is installed to the speed reducer front end, the driving gear is connected with the rack meshing, install servo vertical movement mechanism on the horizontal sliding plate, the stopper is installed at the base both ends, the base side-mounting has the tow chain.

Furthermore, a vertical upright post is arranged on the servo vertical moving mechanism, the vertical upright post is arranged on the upper surface of the horizontal sliding plate and fixedly connected with the horizontal sliding plate through bolts, two linear guide rails are arranged on the side surface of the vertical upright post, a rack is arranged between the two linear guide rails, a sliding block is arranged on the linear guide rails, a vertical sliding plate is arranged on the surface of the sliding block, and a mounting support is connected onto the vertical sliding plate; a worm and gear speed reducer is mounted on the upper surface of the mounting support, the servo motor is connected with the worm and gear speed reducer, a driving gear is mounted on an output shaft of the worm and gear speed reducer, and the driving gear is meshed with the rack;

the limiting blocks are installed at two ends of the vertical stand column, the drag chain is installed on the side face of the vertical stand column, the front end of the mounting support is fixedly connected with the rear end of the mounting frame arranged on the pipe pushing device through bolts, and the rear end of the mounting support is fixedly connected with the front end of the pipe grabbing beam arranged on the pipe grabbing device through bolts.

Further, the automatic tube feeding device includes a frame with a slope for the heat exchange tubes to be arranged on the slope and to automatically roll downward, and a frame with a flat surface for storing the entire bundle of the heat exchange tubes;

the heat exchange tube heat exchanger comprises a heat exchange tube, a baffle plate, an eccentric plate, a connecting long shaft, a support, a cylinder rod, a cylinder support, a connecting cylinder and a connecting cylinder, wherein the baffle plate is arranged at the lower end of an inclined plane of a framework with the inclined plane and used for preventing the heat exchange tube orderly arranged on the inclined plane from sliding downwards;

the pipe taking turning plate is of an eccentric wheel structure and is provided with a long arm, a V-shaped conveying roller path is mounted at the front end of the pipe taking turning plate, a transmission chain, a driving motor and a speed reducer are mounted on the V-shaped conveying roller path, an automatic installation guide head device is mounted at the front end of the V-shaped conveying roller path, the pipe taking turning plate takes out a heat exchange pipe and guides the heat exchange pipe into the V-shaped conveying roller path, and the V-shaped conveying roller path conveys the heat exchange pipe to a guide head bracket of the automatic installation guide head device at the end part.

Furthermore, the automatic installation guide head device is installed at the end part of the V-shaped conveying roller path, a base of the automatic installation guide head device and an installation support are installed on the ground, a guide head hopper is arranged at the upper end of the installation support, a plurality of longitudinal partition plates are arranged on a bin at the upper end of the guide head hopper to divide the bin at the upper end into a plurality of small bin units, a guide cylinder and a hopper gate plate are installed at the necking part at the lower end of the guide head hopper, the guide cylinder and the hopper gate plate are installed on the side surface of the installation support and connected through bolts, the hopper gate plate is connected with a piston rod end of the guide cylinder through bolts, a guide head hopper outlet inclined slide way is connected below the guide cylinder and the hopper gate plate, a guide head bracket is positioned at the outlet end below the guide head hopper outlet inclined slide way, and a guide head lifting guide cylinder is installed below the guide head bracket and connected through bolts, the guide head lifting guide cylinder is connected with the mounting bracket through a bolt, a guide groove is formed in the middle of the guide head bracket, the guide head bracket can move up and down under the action of the guide head lifting guide cylinder, the guide head bracket is provided with an adjustable mechanical limit, the upper limit position of the guide head bracket is connected with the lower end of an inclined slideway at the outlet of a guide head hopper, the lower limit position of the guide head bracket is connected with the center of a heat exchange tube, a guide head push plate can move back and forth along the guide groove, the rear end of the guide head push plate is connected with a piston rod end of the guide head pushing guide cylinder through a bolt, the guide head bracket and the heat exchange tube are bilaterally symmetrical, the guide head pushing guide cylinder is connected with the mounting bracket through a bolt, the tubes are symmetrically arranged at the front end of the guide head bracket in parallel manner, and the centers of the parallel clamp jaws of the tubes are concentric with the heat exchange tube on the V-shaped conveying roller path, the front end of the guide head is conical, the guide head is connected with the conical shape and is cylindrical with the same diameter as the outer diameter of the heat exchange tube, then the diameter of the guide head is changed into a cylinder with the same diameter as the inner diameter of the heat exchange tube or with elasticity, the rear end of the guide head is a chamfer, the guide head is placed from a plurality of small bin units above a hopper of the guide head in a specified direction, the guide head enters an inclined slideway of an outlet of the hopper of the guide head through the lower part of the gate of the hopper and falls on a guide head bracket, the guide head bracket descends to enable the guide head and the heat exchange tube to be concentric, and the guide head push plate advances to push the guide head into the end part of the heat exchange tube.

Furthermore, grab a tub device and include the crossbeam, the crossbeam lower extreme is the steel sheet plane, and both sides are the reinforcing plate, and the centre is hollow structure, the crossbeam front and back end respectively is equipped with the connecting plate, the last erection support of servo vertical migration mechanism with connecting plate bolted connection, the below steel sheet equipartition of grabbing a tub crossbeam of grabbing tub device has the parallel switching cylinder of a plurality of, the both ends of parallel switching cylinder are installed and are grabbed a tub V-arrangement gyro wheel, grab a tub V-arrangement gyro wheel and open and fold the linkage along the center of symmetry for the centre gripping heat exchange tube.

Furthermore, the roller driving pipe penetrating device is provided with a driving mechanism mounting frame, the lower end of the driving mechanism mounting frame is provided with two linear guide rails, the middle of the two linear guide rails is symmetrically provided with a sliding block, the middle of the two linear guide rails is symmetrically provided with two sliding plates, two sides of the upper end of the two sliding plates are provided with ear plates, a lifting plate is arranged between the ear plates at two sides, the two sides of the lifting plate are symmetrically provided with the ear plates, a chain plate is arranged between the lifting plate and the ear plates on the sliding plates, the lifting plate is provided with a lifting plate guide column, the middle of the lifting plate is connected with the end part of a piston rod of a clamping cylinder through a floating joint, the clamping cylinder is arranged above the driving mechanism mounting frame and is fixed with the driving mechanism mounting frame through a flange of the clamping cylinder, and the lower part of the sliding plates is symmetrically provided with arc-shaped driving wheels, the speed reducer and the brushless direct current motor are connected with the arc-shaped driving wheels and are arranged above the sliding plates, the air cylinder rod of the clamping air cylinder drives the two sliding plates to generate symmetrical horizontal motion, the two sliding plates drive the arc-shaped driving wheels to generate symmetrical horizontal motion, and the arc-shaped driving wheels clamp the tubes and drive the heat exchange tubes to move forwards.

Furthermore, a push tube lifting cylinder mounting plate is arranged at the front part of the upper end of a push tube device mounting frame of the push tube device, the push tube lifting cylinder is connected with the mounting plate through bolts, a push tube lifting cylinder piston rod is connected with a push tube lifting plate, a push tube lifting plate guide column is arranged between the push tube lifting cylinder mounting plate and the push tube lifting plate, a push tube guide cylinder is arranged below the push tube lifting plate, the push tube lifting cylinder drives the push tube guide cylinder to ascend and descend, a compressed air hole is formed in the middle of a push plate at the front end of a push tube guide cylinder piston rod and is connected with a compressed air pipeline, when the push tube guide cylinder descends, the push tube guide cylinder is started, and the push plate at the front end of the push tube guide cylinder piston rod can extend forwards to push the heat exchange tube to advance.

Furthermore, the driving and rotating device is a rotary servo driving device, the front end connecting plate of the rotary servo driving device is connected with the rear end of the driving mechanism mounting frame through a bolt, the front end connecting plate is arc-shaped, the arc center of the front end connecting plate coincides with the center of the heat exchange tube, a ring gear is arranged on the front end connecting plate, the arc center of the ring gear coincides with the center of the heat exchange tube, an arc guide rail is arranged below the front end connecting plate ring gear, the arc center of the arc guide rail coincides with the center of the heat exchange tube, the inner side and the outer side of the arc guide rail are respectively provided with a V-shaped section, a plurality of V-shaped rollers are arranged on the inner side and the outer side of the arc guide rail, the V-shaped rollers are closely matched with the inner side and the outer side of the arc guide rail in a V-shaped section, slide along the arc guide rail, and are arranged on the rollers and the reducer mounting plate, gyro wheel and reduction gear mounting panel are connected with the rear end connecting plate through connecting the arc, bolted connection is passed through with the ejector sleeve device front end to the rear end connecting plate, there is the reduction gear mounting panel rear end connecting plate upper end, reduction gear mounting panel and reduction gear and gyro wheel bolted connection, gyro wheel and reduction gear mounting panel are passed to the axle of reduction gear the epaxial driving gear of installing of reduction gear, the driving gear is connected with ring gear meshing, the reduction gear rear end is connected with servo motor, servo motor drive front end connecting plate is rotatory around heat exchange tube center positive negative degree, thereby drives the gyro wheel drive poling device winds heat exchange tube center positive negative degree is rotatory.

Furthermore, the driving and rotating device is an air cylinder driving and rotating device, the front end connecting support of the air cylinder driving and rotating device is connected with the rear end of the driving mechanism mounting frame through a bolt, the front end connecting support is arc-shaped, the arc center coincides with the heat exchange tube center, the rear end connecting arc plate of the air cylinder driving and rotating device is provided with an arc guide rail, ear plates are arranged below two sides of the arc guide rail, the arc center of the arc guide rail coincides with the heat exchange tube center, the inner side and the outer side of the arc guide rail are respectively provided with a V-shaped cross section, a plurality of V-shaped rollers are arranged on the inner side and the outer side of the arc guide rail, the V-shaped rollers are closely matched with the inner side and the outer side of the arc guide rail in a V-shaped cross section manner, can slide along the arc guide rail, and are arranged on the front end connecting support, the rear end is connected with the arc plate and is connected with the front end of the pipe pushing device through a bolt, a Y-shaped air cylinder mounting support is arranged above the middle of the front end connecting support, two ends of the Y-shaped air cylinder mounting support are hinged with the rear ends of the two air cylinders, a fork frame at the end part of an air cylinder piston rod is hinged with lug plate holes below two sides of the arc guide rail through a pin shaft, and the reciprocating motion of the two air cylinders can drive the front end connecting support to rotate around the positive and negative degrees of the center of a heat exchange pipe so as to drive the roller wheel to drive the pipe penetrating device to rotate around the positive and negative degrees of the center of the heat exchange pipe.

Compared with the prior art, the invention provides numerical control full-automatic pipe penetrating equipment for a tubular heat exchanger, which has the following beneficial effects:

1. the pipe penetrating equipment adopts the automatic guide head installation device, and the automatic guide head installation device is arranged, so that the guide head is not required to be manually installed at the front end of the pipe, and the full-automatic pipe penetrating is realized.

2. The pipe penetrating equipment adopts a vision system, the vision system is a control system which transmits signals to the vision system through a vision sensor, the control system is electrically connected with each actuating mechanism, and a driving device on each actuating mechanism is controlled to enable the grabbed heat exchange pipe to be concentric with a hole site of a pipe plate at the front end of the heat exchanger.

3. The pipe penetrating equipment is suitable for heat exchangers with different lengths, different diameters and different pipe hole distribution states and pipe penetrating of heat exchange pipes with different pipe diameters, different wall thicknesses and different materials, and can realize the purposes of feeding pipes, automatically turning the pipes, automatically grabbing the pipes, automatically searching pipe hole holes, automatically pushing the pipes in place, realizing automation of a pipe penetrating process, greatly improving the pipe penetrating efficiency and saving the manufacturing cost.

4. In the prior art, two gantry frames are symmetrically distributed front and back, a beam of the gantry frame is provided with two horizontal movement and vertical movement driving mechanisms, the horizontal movement and vertical movement driving mechanisms are provided with lifting columns, and the lower ends of the two lifting columns positioned on the same side are provided with the same pipe grabbing and pipe penetrating driving device; the implementation mode can be further simplified into that two bases which are symmetrically distributed front and back and a servo horizontal moving mechanism are directly arranged on the ground, a servo vertical moving mechanism is arranged on a sliding plate of the servo horizontal moving mechanism, and two servo vertical moving mechanisms which are positioned on the same side are provided with the same pipe grabbing and pipe penetrating driving device.

5. In order to realize that the pipe is subjected to forward thrust and rotational moment in the pipe penetrating process to make the pipe generate forward and rotational combined motion, the roller drives the arc driving wheel on one side of the pipe penetrating device to slightly tilt forwards, and the arc driving wheel on the other side of the pipe penetrating device to slightly tilt backwards, so that the pair of mutually inclined arc driving wheels extrude and spirally feed the heat exchange pipe.

Drawings

FIG. 1 is a schematic structural view of a pipe threading device of the present invention;

FIG. 2 is a schematic view of a partial structure of a servo horizontal moving mechanism of the pipe penetrating device;

FIG. 3 is a schematic view of a partial structure of a servo vertical moving mechanism of the pipe penetrating device;

FIG. 4 is a schematic view of a part of a roller-driven pipe threading device in an embodiment 1 of the pipe threading equipment of the present invention;

FIG. 5 is a schematic view of a partial structure of a rotary servo driving device in embodiment 1 of the pipe penetrating apparatus of the present invention;

FIG. 6 is a schematic structural view of a device for automatically installing a seeker on a pipe in the pipe-threading device according to the present invention;

FIG. 7 is a schematic structural view of an automatic feeding device for tubes in the tube inserting apparatus according to the present invention;

FIG. 8 is a schematic structural view of a pipe gripping device in the pipe penetrating apparatus according to the present invention;

FIG. 9 is a schematic view of a partial structure of a rotary servo driving device in embodiment 2 of the pipe penetrating apparatus of the present invention;

fig. 10 is a partial structure schematic diagram of a rotary cylinder driving device in embodiment 2 of the pipe penetrating equipment.

In the figure: wherein: 1. a heat exchanger; 2. a position-changing roller frame; 3. a heat exchanger front end tube plate; 4. a servo horizontal movement mechanism; 4a, a base; 4b, linear guide rails; 4c, a rack; 4d, a limiting block; 4e, a horizontal sliding plate; 4f, a sliding block; 4g, a servo motor; 4h, a speed reducer and a driving gear; 4i, a driving gear; 4j, a drag chain; 4k, supporting legs; 5. a servo vertical movement mechanism; 5a, vertical columns; 5b, a sliding block; 5c, vertical sliding plate; 5d, linear guide rails; 5e, a rack; 5f, a servo motor; 5g, a worm gear speed reducer; 5h, mounting a support; 5i, a drag chain; 5j, a driving gear; 6. the roller drives the pipe penetrating device; 6a, a driving mechanism mounting frame; 6b, a linear guide rail; 6c, a sliding block; 6d, arc-shaped driving wheels; 6e, a sliding plate; 6f, a speed reducer and a brushless direct current motor; 6g, ear plates; 6h, link plates; 6i, clamping a cylinder; 6j, a floating joint; 6k, a lifting plate; 6l of lifting plate guide post; 7. a pipe pushing device; 7a, a push pipe lifting cylinder; 7b, a push pipe lifting plate; 7c, pushing a pipe lifting plate guide post; 7d, pushing a pipe to guide the cylinder; 7e, a pipe pushing device mounting rack; 8. a pipe grabbing device; 8a, grabbing a pipe beam; 8b, parallelly opening and closing the air cylinder; 8c, grabbing a V-shaped roller; 8d, beam mounting surface; 9. a servo drive rotating device; 9a, a front end connecting plate; 9b, a ring gear; 9c, a driving gear; 9d, a speed reducer; 9e, a servo motor; 9f, a roller and a speed reducer mounting plate; 9g, connecting the arc-shaped plates; 9h, connecting a rear end plate; 9i, an arc-shaped guide rail; 9j, a V-shaped roller; 10. a cylinder driven rotation device; 10a, connecting a bracket at the front end; 10b, a cylinder mounting bracket; 10c, a V-shaped roller; 10d, arc-shaped guide rails; 10e, connecting the rear end with an arc-shaped plate; 10f, a cylinder; 10g, ear plates; 10h, a fork frame at the end part of the piston rod; 11. an automatic pipe feeding device; 11a, a V-shaped conveying roller path; 11b, a driving motor and a speed reducer; 11c, a transmission chain; 11d, a raceway support; 11e, a pipe supporting plate, 11f, a framework with an inclined plane; 11g, a framework with a plane; 11h, connecting a long shaft; 11i, taking a tube turning plate; 11j, a cylinder; 11k, an eccentric plate; 12. automatically installing a seeker device; 12a, mounting a bracket; 12b, a seeker hopper; 12c, a guide head hopper outlet inclined slideway; 12d, a guide cylinder and a hopper gate; 12e, a seeker; 12f, pushing a guide cylinder by a guide head; 12g, a seeker push plate; 12h, a seeker bracket; 12i, a seeker lifting guide cylinder; 12j, parallel clamping of the pipes; 13. a vision system; 13a, a mounting arm; 13b, a vision sensor; 13c, a light source; 14. a heat exchange tube.

Detailed Description

The preferred embodiments of the present invention will be described below with reference to the accompanying drawings of the specification, it being understood that the preferred embodiments described herein are merely for illustrating and explaining the present invention, and are not intended to limit the present invention, and that the embodiments and features of the embodiments in the present invention may be combined with each other without conflict.

Example 1:

as shown in fig. 1-8, a numerical control full-automatic tube penetrating device for a tube type heat exchanger comprises a heat exchanger 1, a deflection roller frame 2, a front tube plate 3 of the heat exchanger, a servo horizontal moving mechanism 4, a servo vertical moving mechanism 5, a roller driving tube penetrating device 6, a tube pushing device 7, a tube grabbing device 8, a rotary servo driving device 9, an automatic tube feeding device 11, an automatic installation guide head device 12, a visual system 13 and a heat exchange tube 14;

the heat exchanger comprises a position-changing roller carrier 2 placed on the ground, wherein the position-changing roller carrier 2 is used for placing a heat exchanger 1 needing pipe penetration and driving the heat exchanger 1 to rotate.

As one embodiment, the deflection roller frame 2 comprises a mounting frame, two driving rollers are hinged on the mounting frame, a driving roller driving mechanism is further arranged on the mounting frame, and the driving roller driving mechanism drives the driving rollers to rotate so as to drive the heat exchanger 1 to rotate.

At least one heat exchanger 1 needing pipe penetration is placed on a deflection roller frame 2, two bases 4a and servo horizontal moving mechanisms 4 which are symmetrically distributed front and back are installed on a tube plate 3 at the front end of the heat exchanger, a servo vertical moving mechanism 5 is installed on a horizontal sliding plate 4e of the servo horizontal moving mechanism 4, a pipe grabbing device 8 is installed between the two servo vertical moving mechanisms 5 located on the same side, a pipe pushing device 7 is installed on the servo vertical moving mechanism 5 close to one end of the heat exchanger 1, a driving rotating device is installed at the front end of the pipe pushing device 7, a roller driving pipe penetrating device 6 is installed at the front end of the driving rotating device, a visual system 13 is installed on the front end of the roller driving pipe penetrating device 6, pipe automatic feeding devices 11 are symmetrically installed on two bases 4a and two sides of the servo horizontal moving mechanism 4, and a guide head device 12 for automatically installing the end portion of a heat exchange pipe 14 is installed at the front end of the pipe automatic feeding device 11 The automatic feeding device 11 is used for conveying the heat exchange tubes 14 to an automatic installation guide head device 12, the automatic installation guide head device 12 automatically installs a guide head 12e at the end of the heat exchange tubes 14, the servo horizontal moving mechanism 4 and the servo vertical moving mechanism 5 move the tube grabbing device 8 and the roller driving tube penetrating device 6 to the upper part of a V-shaped conveying raceway 11a, so that the tube grabbing V-shaped rollers 8c on the tube grabbing device 8 are positioned at two sides of the heat exchange tubes 14, after the heat exchange tubes 14 are grabbed from the automatic tube feeding device 11, the servo horizontal moving mechanism 4 and the servo vertical moving mechanism 5 drive the tube grabbing device 8 and the roller driving tube penetrating device 6 to reach any specified hole site of a tube plate 3 at the front end of the heat exchanger under the assistance of a visual sensor 13a in the visual system 13, the automatic pipe penetrating device is used for enabling the grabbed heat exchange pipes 14 to be concentric with the hole positions of the pipe plate 3 at the front end of the heat exchanger, and the roller driving pipe penetrating device 6, the driving rotating device and the pipe pushing device 7 are sequentially started to complete the automatic pipe penetrating process.

The servo horizontal moving mechanism 4 is provided with two bases 4a which are symmetrically distributed front and back, the bases 4a are installed on the ground through supporting legs 4k, two linear guide rails 4b are installed on the bases 4a, a rack 4c is installed between the two linear guide rails 4b, a sliding block 4f is installed on each linear guide rail 4b, a horizontal sliding plate 4e is installed on each sliding block 4f, a speed reducer 4h installation seat is arranged on each horizontal sliding plate 4e, and the speed reducers 4h are fixedly connected with the installation seats through bolts; servo motor 4g is installed to speed reducer 4 h's top, servo motor 4g is connected with speed reducer 4h, driving gear 4i is installed to 4 front ends of speed reducer, driving gear 4i is connected with the meshing of rack 4c, install servo vertical migration mechanism 5 on the horizontal sliding plate 4e, stopper 4d is installed at base 4a both ends, base 4a side-mounting has tow chain 4 j.

The servo vertical moving mechanism 5 is provided with a vertical upright post 5a, the vertical upright post 5a is arranged on the upper surface of a horizontal sliding plate 4e and fixedly connected through bolts, two linear guide rails 5d are arranged on the side surface of the vertical upright post 5a, a rack 5e is arranged between the two linear guide rails 5d, a sliding block 5b is arranged on the linear guide rails 5d, a vertical sliding plate 5c is arranged on the surface of the sliding block 5b, and an installation support 5h is connected to the vertical sliding plate 5 c; the upper surface of the mounting support 5h is provided with a worm and gear speed reducer 5g, the servo motor 4g is connected with the worm and gear speed reducer 5g, an output shaft of the worm and gear speed reducer 5g is provided with a driving gear 5j, and the driving gear 5j is meshed with the rack 5 e; limiting blocks 4d are arranged at two ends of the vertical upright post 5a, a drag chain 5i is arranged on the side surface of the vertical upright post 5a, the front end of the mounting support 5h is fixedly connected with the rear end of a mounting frame 7e arranged on the pipe pushing device 7 through bolts, and the rear end of the mounting support 5h is fixedly connected with the front end of a pipe grabbing beam 8a arranged on the pipe grabbing device 8 through bolts;

the vision system 13 is arranged at the front end of the roller driving pipe penetrating device 6, the vision sensor 13a scans along a planned path, the vision sensor 13a pauses after finding a target hole of the heat exchange pipe, the vision sensor 13a takes a picture again, and the vision sensor 13a transmits a signal to a control system of the vision system 13; the control system is electrically connected with the roller wheel driving pipe penetrating device 6, the driving rotating device and the automatic pipe feeding device 11 and is used for controlling the starting and stopping of the driving devices on the executing mechanisms and enabling the grabbed heat exchange pipes 14 to run to be concentric with the target hole positions of the pipe plates 3 at the front ends of the heat exchangers.

The automatic pipe feeding device 11 comprises a frame 11f with a slope and a frame 11g with a plane, wherein the frame 11f with the slope is used for arranging the heat exchange pipes 14 on the slope and automatically rolling downwards, and the frame 11g with the plane is used for storing the whole bundle of the heat exchange pipes 14;

the heat exchange tube heat exchanger is characterized in that a material baffle is mounted at the lower end of an inclined plane of the framework 11f with the inclined plane and used for preventing the heat exchange tubes 14 arranged in order on the inclined plane from sliding downwards, a connecting long shaft 11h penetrating through the framework 11f with the inclined plane is mounted behind the material baffle, a support seat connected with the long shaft 11h is mounted at the end part of the framework 11f with the inclined plane, an eccentric plate 11k is fixedly mounted on the connecting long shaft 11h, at least one air cylinder 11j driving the connecting long shaft 11h to rotate is mounted on the eccentric plate 11k, a plurality of tube taking turning plates 11i are fixedly mounted on the connecting long shaft 11h, an air cylinder rod of the air cylinder 11j is connected with the eccentric plate 11k through a pin shaft, the air cylinder support seat 11i is connected with the framework 11a with the inclined plane, the rear end of the air cylinder 11j is mounted on an air cylinder support seat 11l, and the air cylinder support seat 11l is mounted on the side surface of the framework 11f with the inclined plane, the cylinder 11j drives the connecting long shaft 11h to rotate so as to drive all the tube taking turning plates 11i to rotate; the heat exchange tube taking device is characterized in that the tube taking turning plate 11i is of an eccentric wheel structure and is provided with a long arm, a V-shaped conveying roller path 11a is mounted at the front end of the tube taking turning plate 11i, a transmission chain 11c, a driving motor and a speed reducer 11b are mounted on the V-shaped conveying roller path 11a, an automatic installation guide head device 12 is mounted at the front end of the V-shaped conveying roller path 11a, the heat exchange tube 14 is taken out by the tube taking turning plate 11i and guided into the V-shaped conveying roller path 11a, and the heat exchange tube 14 is conveyed to a guide head bracket 12h of the automatic installation guide head device 12 at the end part by the V-shaped conveying roller path 11 a.

The automatic installation guide head device 12 is installed at the end part of the V-shaped conveying raceway 11a, a base of the automatic installation guide head device 12 and an installation support 12a are installed on the ground, a guide head hopper 12b is arranged at the upper end of the installation support 12a, a plurality of longitudinal partition plates are arranged on a bin at the upper end of the guide head hopper 12b to partition the bin at the upper end into a plurality of small bin units, a guide cylinder and a hopper gate 12d are installed at a necking part at the lower end of the guide head hopper 12b, the guide cylinder and the hopper gate 12d are installed on the side surface of the installation support 12a and connected through bolts, the hopper gate 12d is connected with a piston rod end bolt of the guide cylinder, a guide head hopper outlet inclined slideway 12c is connected below the guide cylinder and the hopper gate 12d, and a guide head bracket 12h is positioned at an outlet end below the guide head hopper outlet inclined slideway 12c, the guide head lifting guide cylinder 12i is installed below a guide head bracket 12h and connected through a bolt, the guide head lifting guide cylinder 12i is connected with a mounting support 12a through a bolt, a guide groove is formed in the middle of the guide head bracket 12h, the guide head bracket 12h can move up and down under the action of the guide head lifting guide cylinder 12i, the guide head bracket 12h is provided with an adjustable mechanical limit, the upper limit position of the guide head bracket 12h is connected with the lower end of a guide head hopper outlet inclined slideway 12c, the lower limit position of the guide head bracket 12h is connected with the center of a heat exchange tube 14, a guide head push plate 12g can move back and forth along the guide groove, the rear end of the guide head push plate 12g is connected with a piston rod end bolt of a guide head pushing guide cylinder 12f through a bolt, the guide head bracket 12h is bilaterally symmetrical to the heat exchange tube 14, the guide head pushing guide cylinder 12f is connected with the mounting support 12a through a bolt, the pipe parallel clamps 12j are symmetrically arranged at the front ends of guide head brackets 12h, the centers of jaws of the pipe parallel clamps 12j are concentric with the heat exchange pipes 14 on the V-shaped conveying roller ways 11a, the front ends of the guide heads 12e are conical, the conical connection is cylindrical with the outer diameter of the heat exchange pipes 14, then the conical connection is changed into a cylinder with the inner diameter of the heat exchange pipes 14 or with elasticity, the rear ends of the guide heads are chamfers, the guide heads 12e are placed from a plurality of small bin units above a guide head hopper 12b in a specified direction, the guide heads 12e enter an inclined slideway 12c at the outlet of the guide head hopper through the lower part of a hopper gate 12d and fall on the guide head brackets 12h, the guide head brackets 12h descend to enable the guide heads 12e to be concentric with the heat exchange pipes 14, and the guide head push plates 12g advance to push the guide heads 12e into the end parts of the heat exchange pipes 14.

Grab a tub device 8 and include crossbeam 8a, crossbeam 8a lower extreme is the steel sheet plane, and both sides are the reinforcing plate, and the centre is hollow structure, crossbeam 8a front and back end respectively is equipped with connecting plate 8b, mounting support 5h on the servo vertical migration mechanism 5 with connecting plate 8b bolted connection, the below steel sheet equipartition of grabbing tub crossbeam 8a of grabbing tub device 8 has the parallel switching cylinder 8b of a plurality of, grab a tub V-arrangement gyro wheel 8c is installed at the both ends of parallel switching cylinder 8b, grab a tub V-arrangement gyro wheel 8c and open and fold the linkage along the symmetry center for centre gripping heat exchange tube 14.

Roller drive poling device 6 sets up actuating mechanism mounting bracket 6a, actuating mechanism mounting bracket 6a lower extreme is equipped with two linear guide 6b, slider 6c is installed to the symmetry in the middle of two linear guide 6b, two slides 6e are installed to the symmetry on the slider 6c of the middle symmetry installation of two linear guide 6b, two slide 6 e's upper end both sides are equipped with otic placode 6g, at both sides install lifter plate 6k between the otic placode 6g, 6g are installed to lifter plate 6k bilateral symmetry between 6g on lifter plate 6k and the slide 6e, install link joint 6h, install lifter plate guide post 6l on the lifter plate 6k, be connected through unsteady joint 6j with the piston rod tip of die clamping cylinder 6i in the middle of lifter plate 6k, die clamping cylinder 6i installs flange and actuating mechanism mounting bracket 6b through die clamping cylinder 6i in actuating mechanism mounting bracket 6 a's top a is fixed, arc-shaped driving wheels 6d are symmetrically arranged below the sliding plates, the speed reducer and the brushless direct current motor 6f are connected with the arc-shaped driving wheels 6d and are arranged above the sliding plates 6e, the cylinder rods of the clamping cylinders 6i drive the two sliding plates 6e to generate symmetrical horizontal motion, the two sliding plates 6e drive the arc-shaped driving wheels 6d to generate symmetrical horizontal motion, and the arc-shaped driving wheels 6d clamp the tubes 14 and drive the heat exchange tubes 14 to move forwards; the slide plate 6e is provided with a bearing mounting hole, a flange which is contacted with an outer ring of the radial thrust ball bearing is arranged below the bearing mounting hole, two radial thrust ball bearings are put into the upper part of the bearing mounting hole and are contacted with the flange at the lower end of the bearing mounting hole, transmission shafts are arranged at inner rings of the two radial thrust ball bearings, a shaft shoulder is arranged at the upper end of each transmission shaft and is contacted with the inner ring of the radial thrust ball bearing at the upper end, a key groove and a key are arranged at the lower end of each transmission shaft, a hole and a key groove which are matched with the transmission shafts are formed in the middle of the arc-shaped driving wheel 6d, the arc-shaped driving wheel 6d penetrates through the lower end of the transmission shaft and is fixed by a nut, a circular ring bulge is arranged at the upper end of the hole of the arc-shaped driving wheel 6d and is contacted with the inner ring of the radial thrust ball bearing at the lower end, and a bearing gland is arranged above the bearing hole of the slide plate 6e, the utility model discloses a radial thrust ball bearing, including bearing gland, bearing gland and slide 6e, the bearing gland pushes down the outer lane of upper end radial ball bearing, bearing gland and slide 6e adopt bolted connection, open porosely in the middle of the bearing gland, the hole in the middle of the bearing gland is passed to the transmission shaft upper end, the transmission shaft upper end is opened there is the keyway and is installed the key, passes the moving axis upper end penetrates speed reducer and brushless DC motor 6f, the lower flange and the bearing gland of speed reducer and brushless DC motor 6f adopt bolted connection, speed reducer and brushless DC motor 6f can drive the transmission shaft and drive the rotation of arc drive wheel 6 d.

The driving and rotating device is a rotary servo driving device 9, a front end connecting plate 9a of the rotary servo driving device 9 is connected with the rear end of a driving mechanism mounting frame 6a through bolts, the front end connecting plate 9a is arc-shaped, the arc center of the front end connecting plate coincides with the center of the heat exchange tube 14, a ring gear 9b is installed on the front end connecting plate 9a, the arc center of the ring gear 9b coincides with the center of the heat exchange tube 14, an arc-shaped guide rail 9i is installed below the front end connecting plate 9a and the ring gear 9b, the arc center of the arc-shaped guide rail 9i coincides with the center of the heat exchange tube 14, the inner side and the outer side of the arc-shaped guide rail 9i are respectively V-shaped cross sections, a plurality of V-shaped rollers 9j are installed on the inner side and the outer side of the arc-shaped guide rail 9i, and the plurality of V-shaped rollers 9j are closely matched with the inner side and the outer side of the arc-shaped guide rail 9i in a V-shaped cross section manner, the plurality of V-shaped rollers 9j slide along an arc-shaped guide rail 9i, the plurality of V-shaped rollers 9j are arranged on a roller and speed reducer mounting plate 9f, the roller and speed reducer mounting plate 9f is connected with a rear end connecting plate 9g through a connecting arc-shaped plate 9g, the rear end connecting plate 9h is connected with the front end of the pipe pushing device 7 through a bolt, the speed reducer mounting plate 9f is arranged at the upper end of the rear end connecting plate 9h, the speed reducer mounting plate 9f is connected with a speed reducer 9d and the roller through a bolt, the shaft of the speed reducer 9d penetrates through the roller and speed reducer mounting plate 9f, a driving gear 9c is arranged on the shaft of the speed reducer 9d, the driving gear 9c is meshed with a ring gear 9b, the rear end of the speed reducer 9d is connected with a servo motor 9e, the servo motor 9e drives the front end connecting plate 9a to rotate around the center of the heat exchange pipe 14 at an angle of plus or minus 90 degrees, thereby driving the roller to drive the pipe penetrating device 6 to rotate around the center of the heat exchange pipe 14 by plus or minus 90 degrees.

A mounting plate of a push tube lifting cylinder 7a is arranged at the front part of the upper end of a push tube device mounting frame 7e of the push tube device 7, the push tube lifting cylinder 7a is connected with the mounting plate through bolts, a piston rod of the push tube lifting cylinder 7a is connected with a push tube lifting plate 7b, a push tube lifting plate guide post 7c is arranged between the mounting plate of the push tube lifting cylinder 7a and the push tube lifting plate 7b, a push tube guide cylinder 7d is arranged below the push tube lifting plate 7b, the push tube lifting cylinder 7a drives the push tube guide cylinder 7d to ascend and descend, a compressed air hole is arranged in the middle of a push plate at the front end of the piston rod of the push tube guide cylinder 7d and is connected with a compressed air pipeline, when the push tube guide cylinder 7d descends, the push tube guide cylinder 7d is started, the push plate at the front end of the piston rod of the push tube guide cylinder 7d can extend forwards to push the heat exchange tube 14 forwards, at the moment, the middle compressed air hole of the push plate is aligned to the center of the heat exchange tube 14, compressed air is introduced into the middle compressed air hole of the push plate and is guided into the heat exchange tube 14, the guide head 12e at the front end of the heat exchange tube 14 can be pushed out, a collection bag is installed at the end part of the heat exchanger 1, and the blown guide head 12e can be collected for recycling.

The automatic pipe penetrating working process comprises the following steps:

s1, mounting at least one heat exchanger 1 on a deflection roller frame 2, adjusting the distance between the heat exchanger 1 and an automatic tube penetrating device, adjusting the horizontal and vertical states of a hole system of a tube plate 3 at the front end of the heat exchanger by using the deflection roller frame 2, detecting the spatial position state of the hole system of the tube plate 3 at the front end of the heat exchanger by using a servo horizontal moving mechanism 4 and a servo vertical moving mechanism 5 of the automatic tube penetrating device to be matched with a vision system 13 through taking 4 points from the top, the bottom, the left and the right of the tube plate 3 at the front end of the heat exchanger, automatically completing the calibration of the vision system 13 by software driving, and adjusting the center height of a chamfering power head 12d to be matched with a conveying raceway 11a and the pipe diameter;

s2, inputting the related design information of the hole series of the front end tube plate 3 of the heat exchanger on the automatic tube penetrating equipment, defining the tube penetrating sequence, and replacing the arc driving wheel 6d with the same outer diameter as the heat exchange tube 14;

s3, placing the seeker 12e into the small bin units above the seeker hopper 12b according to a specified direction, and adjusting the upper and lower mechanical limit positions of the seeker bracket 12 h; the position of an adjustable baffle on a tube taking turning plate 11i at the front end of the automatic tube feeding device 11 is adjusted according to the tube diameter so as to be adaptive to the outer diameter of the heat exchange tube 14, the whole bundle of heat exchange tubes 14 is placed on a framework 11g with a plane, the heat exchange tubes 14 manually roll downwards along the framework 11f with an inclined plane, the heat exchange tubes 14 are uniformly arranged on the framework 11f with the inclined plane and automatically roll downwards, and the tube taking turning plate 11i can prevent the heat exchange tubes 14 from continuously sliding downwards.

S4, starting an air cylinder 11j for driving a connecting long shaft 11h to rotate so as to drive a plurality of pipe taking turning plates 11i on the connecting long shaft 11h to rotate, wherein the pipe taking turning plates 11i support a heat exchange pipe 14, then roll downwards along a long arm of the pipe taking turning plates 11i to a V-shaped conveying raceway 11a, starting the V-shaped conveying raceway 11a to convey the heat exchange pipe 14 to a position 12h of a guide head bracket 12 of an automatic guide head mounting device 12 at the end part, and then resetting the pipe taking turning plates 11 i;

s5, starting a hydraulic horizontal clamp 12j to clamp the heat exchange tube 14, enabling a guide head 12e to enter the guide head through the lower part of a hopper gate 12d, enabling an inclined slideway 12c at the outlet of the hopper to fall on a guide head bracket 12h, enabling the guide head 12e to be concentric with the heat exchange tube 14 by descending the guide head bracket 12h, starting a guide head pushing guide cylinder 12f to enable a guide head push plate 12g to advance, pushing the guide head 12e into the heat exchange tube 14 and then resetting;

s6, starting the servo horizontal moving mechanism 4 and the servo vertical moving mechanism 5 to move the pipe grabbing device 8 and the roller driving pipe penetrating device 6 above the V-shaped conveying roller path 11a, enabling the pipe grabbing V-shaped rollers 8c on the pipe grabbing device 8 to be located on two sides of the heat exchange pipe 14, starting the clamping cylinder 6i and the parallel opening and closing cylinder 8b, enabling the arc-shaped driving wheel 6d and the pipe grabbing V-shaped rollers 8c to be folded to grab the heat exchange pipe 14, enabling the servo horizontal moving mechanism 4 and the servo vertical moving mechanism 5 to drive the roller driving pipe grabbing device 8 to drive the pipe penetrating device 6 to quickly reach a hole system area of a pipe plate 3 at the front end of the heat exchanger, and enabling the vision sensor and the light source 13 to scan according to a planned path;

s7, the visual sensor 13a pauses after finding the target hole, the visual sensor 13a takes a picture again, the visual sensor 13a transmits a signal to the control system, the control system is electrically connected with each actuating mechanism and is used for controlling the start and stop of the driving device on each actuating mechanism, and the control system moves the grabbed heat exchange tube 14 to be concentric with the target hole position of the tube plate 3 at the front end of the heat exchanger;

s8, starting a roller to drive a speed reducer and a brushless direct current motor 6f on the pipe penetrating device 6 to drive an arc driving wheel 6d to rotate, pushing a heat exchange pipe 14 to advance by the friction force generated by the arc driving wheel 6d on the heat exchange pipe 14, starting a servo motor 9e on a servo driving rotating device 9, and driving the roller to drive the pipe penetrating device 6 to rotate at a positive and negative 90 degrees so that the heat exchange pipe 14 obtains a positive and negative 90-degree rotating power;

s9, when the tail end of the heat exchange tube 14 reaches the arc driving wheel 6d, the speed reducer and the brushless DC motor 6f are stopped to rotate, the clamping cylinder 6i and the parallel opening and closing cylinder 8b are started to reset, the arc driving wheel 6d and the grabbing tube V-shaped roller 8c are opened at the moment, the pushing tube lifting cylinder 7a at the front part of the upper end of the pushing tube device mounting frame 7f is started, the pushing tube lifting plate 7b moves downwards to drive the pushing tube guiding cylinder 7d to descend, the pushing tube guiding cylinder 7d is started, the pushing plate at the front end of the piston rod of the pushing tube guiding cylinder 7d can extend forwards to push the heat exchange tube 14 to move forwards, compressed air is introduced into the compressed air hole in the middle of the pushing plate and can push out the guiding head 12e at the front end of the heat exchange tube 14, a collecting bag is mounted at the end part of the heat exchanger 1 to collect and recycle the blown guiding head 12e, and the pushing tube guiding cylinder 7d _ piston rod resets, then the push pipe lifting cylinder 7a resets;

s10, repeating the cycle of S4-S9.

Example 2:

as shown in fig. 9 to 10, the same automatic pipe threading operation as the automatic pipe threading operation S8 in embodiment 1 is performed, and the air cylinder driving rotation device 10 may be used instead of the rotary servo driving device 10 in embodiment 1.

The driving and rotating device is an air cylinder driving and rotating device 10, a front end connecting support 10a of the air cylinder driving and rotating device 10 is connected with the rear end of a driving mechanism mounting frame 6a through a bolt, the front end connecting support 10a is arc-shaped, the center of the arc is coincided with the center of a heat exchange tube 14, an arc guide rail 10d is installed on a rear end connecting arc plate 10e of the air cylinder driving and rotating device 10, lug plates 10g are arranged below two sides of the arc guide rail 10d, the center of the arc guide rail 10d is coincided with the center of the heat exchange tube 14, the inner side and the outer side of the arc guide rail 10d are respectively provided with a V-shaped cross section, a plurality of V-shaped rollers 10c are installed on the inner side and the outer side of the arc guide rail 10d, the plurality of V-shaped rollers 10c are closely matched with the inner side and the outer side of the arc guide rail 10d in the V-shaped cross section, and the plurality of V-shaped rollers 10c can slide along the arc guide rail 10d, the V-shaped rollers 10c are mounted on a front end connecting support 10a, the rear end connecting arc-shaped plate 10e is connected with the front end of the pipe pushing device 7 through bolts, a Y-shaped air cylinder mounting support 10b is arranged above the middle of the front end connecting support 10a, two ends of the Y-shaped air cylinder mounting support 10b are hinged to the rear ends of the two air cylinders 10f, fork frames 10h at the end portions of piston rods of the two air cylinders 10f are hinged to lug plate holes below two sides of the arc-shaped guide rail 10d through pin shafts, reciprocating motion of the two air cylinders 10f can drive the front end connecting support 10a to rotate around the center of the heat exchange pipe 14 at an angle of plus or minus 45 degrees, and accordingly the roller driving pipe penetrating device 6 is driven to rotate around the center of the heat exchange pipe 14 at an angle of plus or minus 45 degrees.

The working process comprises the following steps:

S1-S7 are the same as in example 1

S8, the roller is started to drive the speed reducer and the brushless direct current motor 6f on the pipe penetrating device 6 to drive the arc driving wheel 6d to rotate, the heat exchange pipe 14 is pushed to advance by the friction force generated by the arc driving wheel 6d, the air cylinder is started to drive the two air cylinders 10f on the rotating device 10 to reciprocate, the front end connecting support 10a is driven to rotate around the center of the heat exchange pipe 14 at a positive and negative angle of 45 degrees, and the roller is driven to drive the pipe penetrating device 6 to rotate around the center of the heat exchange pipe 14 at a positive and negative angle of 45 degrees.

S9-S10 same as example 1

Example 3:

the servo horizontal moving mechanism 4 can be changed from the transmission of a gear 4i and a rack 4c to the transmission of a ball screw, and the rest is completely the same as the embodiment 1 and the embodiment 2.

Example 4:

the servo vertical moving mechanism 5 can be changed from a worm gear reducer 5g with a self-locking function to drive a gear 4i and a rack 4c to be in transmission with a screw nut with a self-locking function, and the rest is completely the same as the embodiment 1-3.

Having thus described the basic concept, it will be apparent to those skilled in the art that the foregoing detailed disclosure is to be considered as illustrative only and not limiting, of the present invention. Various modifications, improvements, and offset processing may occur to those skilled in the art, though not expressly stated herein. Such modifications, improvements, and offset processing are suggested in this specification and still fall within the spirit and scope of the exemplary embodiments of this specification.

Moreover, those skilled in the art will appreciate that aspects of the present description may be illustrated and described in terms of several patentable species or contexts, including any new and useful combination of processes, machines, manufacture, or materials, or any new and useful improvement thereof. Accordingly, aspects of this description may be performed entirely by hardware, entirely by software, including firmware, resident software, micro-code, etc., or by a combination of hardware and software. The above hardware or software may be referred to as "data block," module, "" engine, "" unit, "" component, "or" system. Furthermore, aspects of the present description may be represented as a computer product, including computer readable program code, embodied in one or more computer readable media.

It is to be understood that the descriptions, definitions and/or uses of terms in the accompanying materials of this specification shall control if they are inconsistent or contrary to the descriptions and/or uses of terms in this specification.

Finally, it should be understood that the embodiments described herein are merely illustrative of the principles of the embodiments of the present disclosure. Other variations are also possible within the scope of the present description. Thus, by way of example, and not limitation, alternative configurations of the embodiments of the specification can be considered consistent with the teachings of the specification. Accordingly, the embodiments of the present description are not limited to the implementations specifically illustrated and described herein.

Claims

1. The utility model provides a full-automatic poling equipment of shell and tube heat exchanger numerical control which characterized in that: the device comprises a heat exchanger (1), a position-changing roller frame (2), a heat exchanger front end tube plate (3), a servo horizontal moving mechanism (4), a servo vertical moving mechanism (5), a roller driving tube penetrating device (6), a tube pushing device (7), a tube grabbing device (8), a driving rotating device, an automatic tube feeding device (11), an automatic installation guide head device (12), a visual system (13) and a heat exchange tube (14);

the heat exchanger (1) needing pipe penetration is placed and driven to rotate by the position-changing roller carrier (2), two bases (4a) and two servo horizontal moving mechanisms (4) which are symmetrically distributed front and back are installed on a front end tube plate (3) of the heat exchanger, a servo vertical moving mechanism (5) is installed on a horizontal sliding plate (4e) of each servo horizontal moving mechanism (4), a pipe grabbing device (8) is installed between the two servo vertical moving mechanisms (5) located on the same side, a pipe pushing device (7) is installed on the servo vertical moving mechanism (5) close to one end of the heat exchanger (1), a driving rotating device is installed at the front end of the pipe pushing device (7), a roller driving pipe penetrating device (6) is installed at the front end of the driving rotating device, and a visual system (13) is installed on the side face of the front end of the roller driving pipe penetrating device (6), automatic pipe feeding devices (11) are symmetrically arranged on two sides of two bases (4a) and a servo horizontal moving mechanism (4), an automatic installation guide head device (12) for automatically installing a guide head on the end part of a heat exchange pipe (14) is arranged at the front end of the automatic pipe feeding device (11) and used for placing the heat exchange pipe (14) on the automatic feeding device (11), the automatic feeding device (11) conveys the heat exchange pipe (14) to the automatic installation guide head device (12), the automatic installation guide head device (12) automatically installs a guide head (12e) on the end part of the heat exchange pipe (14), the servo horizontal moving mechanism (4) and the servo vertical moving mechanism (5) drive the pipe penetrating device (6) to move above a V-shaped conveying roller path (11a) so that pipe grabbing V-shaped rollers (8c) on the pipe grabbing device (8) are positioned on two sides of the heat exchange pipe (14), after a heat exchange tube (14) is grabbed from the automatic tube feeding device (11), under the assistance of a visual sensor (13a) in the visual system (13), the servo horizontal moving mechanism (4) and the servo vertical moving mechanism (5) drive the tube grabbing device (8) and the roller drive tube penetrating device (6) to reach any specified hole site of the front end tube plate (3) of the heat exchanger, so that the grabbed heat exchange tube (14) is concentric with the hole site of the front end tube plate (3) of the heat exchanger, and the roller drive tube penetrating device (6), the drive rotating device and the tube pushing device (7) are sequentially started to complete the automatic tube penetrating process;

the vision system (13) is arranged at the front end of the roller driving pipe penetrating device (6), the vision sensor (13a) scans along a planned path, the vision sensor (13a) pauses after finding a target hole of the heat exchange pipe, the vision sensor (13a) takes a picture again, and the vision sensor (13a) transmits a signal to a control system of the vision system (13);

the control system is electrically connected with the roller driving pipe penetrating device (6), the driving rotating device and the automatic pipe feeding device (11) and is used for controlling the starting and stopping of the driving devices on the executing mechanisms and enabling the grabbed heat exchange pipes (14) to run to be concentric with target hole positions of the pipe plate (3) at the front end of the heat exchanger.

2. The full-automatic tube penetrating equipment for the tube type heat exchanger according to claim 1, characterized in that: the servo horizontal moving mechanism (4) is provided with two bases (4a) which are symmetrically distributed front and back, the bases (4a) are mounted on the ground through supporting legs (4k), two linear guide rails (4b) are mounted on the bases (4a), a rack (4c) is mounted between the two linear guide rails (4b), a sliding block (4f) is mounted on the linear guide rails (4b), a horizontal sliding plate (4e) is mounted on the sliding block (4f), a speed reducer (4h) mounting seat is arranged on the horizontal sliding plate (4e), and the speed reducer (4h) is fixedly connected with the mounting seat through bolts;

servo motor (4g) are installed to the top of speed reducer (4h), servo motor (4g) are connected with speed reducer (4h), driving gear (4i) are installed to speed reducer (4) front end, driving gear (4i) are connected with rack (4c) meshing, install servo vertical migration mechanism (5) on horizontal sliding plate (4e), stopper (4d) are installed at base (4a) both ends, base (4a) side-mounting has tow chain (4 j).

3. The full-automatic tube penetrating equipment of the tube type heat exchanger according to claim 1, characterized in that: the servo vertical moving mechanism (5) is provided with a vertical upright post (5a), the vertical upright post (5a) is installed on the upper surface of a horizontal sliding plate (4e) and fixedly connected through bolts, two linear guide rails (5d) are installed on the side surface of the vertical upright post (5a), a rack (5e) is installed between the two linear guide rails (5d), a sliding block (5b) is installed on the linear guide rails (5d), a vertical sliding plate (5c) is installed on the surface of the sliding block (5b), and an installation support (5h) is connected to the vertical sliding plate (5 c); a worm and gear speed reducer (5g) is mounted on the upper surface of the mounting support (5h), the servo motor (4g) is connected with the worm and gear speed reducer (5g), a driving gear (5j) is mounted on an output shaft of the worm and gear speed reducer (5g), and the driving gear (5j) is meshed with the rack (5 e);

stopper (4d) are installed at vertical column (5a) both ends, vertical column (5a) side-mounting has tow chain (5i), mounting bracket (7e) for the rear end bolt fixed connection that sets up on erection support (5h) front end and ejector sleeve device (7), erection support (5h) rear end with grab pipe crossbeam (8a) for the front end bolt fixed connection that sets up on grabbing tub device (8).

4. The full-automatic tube penetrating equipment of the tube type heat exchanger according to claim 1, characterized in that: the automatic pipe feeding device (11) comprises a framework (11f) with a slope and a framework (11g) with a plane, the framework (11f) with the slope is used for arranging the heat exchange pipes (14) on the slope and automatically rolling downwards, and the framework (11g) with the plane is used for storing a whole bundle of the heat exchange pipes (14);

the heat exchange tube heat exchanger is characterized in that a material baffle is mounted at the lower end of an inclined plane of a framework (11f) with an inclined plane and used for preventing the heat exchange tubes (14) which are orderly arranged on the inclined plane from sliding downwards, a connecting long shaft (11h) penetrating through the framework (11f) with the inclined plane is mounted behind the material baffle, a support for connecting the long shaft (11h) is mounted at the end part of the framework (11f) with the inclined plane, an eccentric plate (11k) is fixedly mounted on the connecting long shaft (11h), at least one air cylinder (11j) for driving the connecting long shaft (11h) to rotate is mounted on the eccentric plate (11k), a plurality of tube taking turning plates (11i) are fixedly mounted on the connecting long shaft (11h), an air cylinder rod of the air cylinder (11j) is connected with the eccentric plate (11k) through a pin shaft, the air cylinder support (11i) is connected with the framework (11a) with the inclined plane, and the rear end of the air cylinder (11j) is mounted on the air cylinder support (11l), the cylinder support (11l) is arranged on the side surface of the framework (11f) with the inclined plane, and the cylinder (11j) is connected with the long shaft (11h) in a driving mode to rotate so as to drive all the pipe taking turning plates (11i) to rotate;

the tube taking turning plate (11i) is of an eccentric wheel structure and is provided with a long arm, a V-shaped conveying roller path (11a) is installed at the front end of the tube taking turning plate (11i), a transmission chain (11c), a driving motor and a speed reducer (11b) are installed on the V-shaped conveying roller path (11a), an automatic installation guide head device (12) is installed at the front end of the V-shaped conveying roller path (11a), the tube taking turning plate (11i) takes out a heat exchange tube (14) and guides the heat exchange tube into the V-shaped conveying roller path (11a), and the V-shaped conveying roller path (11a) conveys the heat exchange tube (14) to a guide head bracket (12h) of the automatic installation guide head device (12) at the end portion.

5. The full-automatic tube penetrating equipment for the tube type heat exchanger according to claim 1, characterized in that: the automatic installation guide head device (12) is installed at the end part of the V-shaped conveying roller path (11a), a base of the automatic installation guide head device (12) and an installation support (12a) are installed on the ground, a guide head hopper (12b) is arranged at the upper end of the installation support (12a), a plurality of longitudinal partition plates are arranged on a bin at the upper end of the guide head hopper (12b), the bin at the upper end is divided into a plurality of small bin units, a guide cylinder and a hopper gate plate (12d) are installed at a necking part at the lower end of the guide head hopper (12b), the guide cylinder and the hopper gate plate (12d) are installed on the side surface of the installation support (12a) and are connected through bolts, the hopper gate plate (12d) is connected with a piston rod end bolt of the guide cylinder, and a guide head hopper outlet inclined slide way (12c) is connected below the guide cylinder and the hopper gate plate (12d), the guide head bracket (12h) is positioned at the outlet end below the guide head hopper outlet inclined slideway (12c), the guide head lifting guide cylinder (12i) is installed below the guide head bracket (12h) and connected with the guide head lifting guide cylinder (12i) through a bolt, the guide head lifting guide cylinder (12i) is connected with the installation support (12a) through a bolt, a guide groove is formed in the middle of the guide head bracket (12h), the guide head bracket (12h) can move up and down under the action of the guide head lifting guide cylinder (12i), the guide head bracket (12h) is provided with an adjustable mechanical limit, the upper limit position of the guide head bracket (12h) is connected with the lower end of the guide head hopper outlet inclined slideway (12c), the lower limit position of the guide head bracket (12h) is connected with the center of the heat exchange tube (14), and the guide head push plate (12g) can move back and forth along the guide groove, the rear end of the seeker push plate (12g) is in bolted connection with a piston rod end of a seeker push guide cylinder (12f), the seeker bracket (12h) and the heat exchange tube (14) are bilaterally symmetrical, the seeker push guide cylinder (12f) is in bolted connection with an installation support (12a), the tube parallel clamp (12j) is symmetrically installed at the front end of the seeker bracket (12h), the center of a jaw of the tube parallel clamp (12j) is concentric with the heat exchange tube (14) on the V-shaped conveying raceway (11a), the front end of the seeker (12e) is conical, the front end of the seeker (12e) is connected with the conical cylinder with the outer diameter being equal to that of the heat exchange tube (14), the reducer is a cylinder with the inner diameter being equal to that of the heat exchange tube (14) or with elasticity, the rear end of the seeker (12e) is chamfered, and the seeker (12e) is placed from a plurality of small stock bin units above the seeker hopper (12b) in a specified direction, the guide head (12e) enters the guide head hopper outlet inclined slide way (12c) through the lower part of the hopper gate plate (12d) and falls on a guide head bracket (12h), the guide head bracket (12h) descends to enable the guide head (12e) to be concentric with the heat exchange tube (14), and the guide head push plate (12g) advances to push the guide head (12e) into the end part of the heat exchange tube (14).

6. The full-automatic tube penetrating equipment of the tube type heat exchanger according to claim 1, characterized in that: grab a tub device (8) and include crossbeam (8a), crossbeam (8a) lower extreme is the steel sheet plane, and both sides are the reinforcing plate, and the centre is hollow structure, crossbeam (8a) front and back end respectively is equipped with connecting plate (8b), erection support (5h) on servo vertical migration mechanism (5) with connecting plate (8b) bolted connection, the below steel sheet equipartition of grabbing tub crossbeam (8a) of grabbing tub device (8) has parallel switching cylinder (8b) of a plurality of, the both ends of parallel switching cylinder (8b) are installed and are grabbed tub V-arrangement gyro wheel (8c), grab tub V-arrangement gyro wheel (8c) and open and fold the linkage along the symmetry center for centre gripping heat exchange tube (14).

7. The full-automatic tube penetrating equipment of the tube type heat exchanger according to claim 1, characterized in that: roller drive poling device (6) sets up actuating mechanism mounting bracket (6a), actuating mechanism mounting bracket (6a) lower extreme is equipped with two linear guide (6b), slider (6c) are installed to symmetry in the middle of two linear guide (6b), two slide (6e) are installed to symmetry on slider (6c) of installing in the middle of two linear guide (6b) the upper end both sides of slide (6e) are equipped with otic placode (6g), in both sides install lifter plate (6k) between otic placode (6g), otic placode (6g) are installed to lifter plate (6k) bilateral symmetry between otic placode (6g) on lifter plate (6k) and slide (6e), install link joint (6h), install lifter plate guide post (6l) on lifter plate (6k), the piston rod tip that connects (6i) through floating in the middle of lifter plate (6k) and press from both sides tight cylinder (6i) j) The pipe clamping device is characterized by comprising clamping cylinders (6i), arc-shaped driving wheels (6d), a speed reducer, a brushless direct current motor (6f), arc-shaped driving wheels (6d), a heat exchange pipe (14) and a heat exchange pipe (6), wherein the clamping cylinders (6i) are arranged above the driving mechanism mounting frame (6a) and fixed with the driving mechanism mounting frame (6a) through flanges of the clamping cylinders (6i), the arc-shaped driving wheels (6d) are symmetrically arranged below the sliding plates, the speed reducer and the brushless direct current motor (6f) are connected with the arc-shaped driving wheels (6d) and arranged above the sliding plates (6e), cylinder rods of the clamping cylinders (6i) drive the two sliding plates (6e) to symmetrically move horizontally, the two sliding plates (6e) drive the arc-shaped driving wheels (6d) to symmetrically move horizontally, and the arc-shaped driving wheels (6d) clamp the pipe (14) and drive the heat exchange pipe (14) to move forwards.

8. The full-automatic tube penetrating equipment of the tube type heat exchanger according to claim 1, characterized in that: a push pipe lifting cylinder (7a) mounting plate is arranged at the upper end of a push pipe device mounting frame (7e) of the push pipe device (7) close to the front part, the push pipe lifting cylinder (7a) is connected with the mounting plate through a bolt, a piston rod of the push pipe lifting cylinder (7a) is connected with a push pipe lifting plate (7b), a push pipe lifting plate guide column (7c) is arranged between the push pipe lifting cylinder (7a) mounting plate and the push pipe lifting plate (7b), a push pipe guide cylinder (7d) is arranged below the push pipe lifting plate (7b), the push pipe lifting cylinder (7a) drives the push pipe guide cylinder (7d) to ascend and descend, a compressed air hole is arranged in the middle of a push plate at the front end of the piston rod of the push pipe guide cylinder (7d) and is connected with a compressed air pipeline, the push pipe guide cylinder (7d) is started when the push pipe guide cylinder (7d) descends, the push plate at the front end of the piston rod of the push pipe guide cylinder (7d) can extend forwards to push the heat exchange pipe (14) to advance.

9. The full-automatic tube penetrating equipment of the tube type heat exchanger according to claim 7, characterized in that: the driving and rotating device is a rotary servo driving device (9), a front end connecting plate (9a) of the rotary servo driving device (9) is connected with the rear end of the driving mechanism mounting frame (6a) through a bolt, the front end connecting plate (9a) is arc-shaped, the arc center of the front end connecting plate coincides with the center of the heat exchange tube (14), a ring gear (9b) is installed on the front end connecting plate (9a), the arc center of the ring gear (9b) coincides with the center of the heat exchange tube (14), an arc guide rail (9i) is installed below the ring gear (9b) of the front end connecting plate (9a), the arc center of the arc guide rail (9i) coincides with the center of the heat exchange tube (14), the inner side and the outer side of the arc guide rail (9i) are respectively provided with a V-shaped cross section, and a plurality of V-shaped rollers (9j) are installed on the inner side and the outer side of the arc guide rail (9i), the V-shaped rollers (9j) are tightly matched with the inner side and the outer side of the arc-shaped guide rail (9i) in a V-shaped cross section, the V-shaped rollers (9j) slide along the arc-shaped guide rail (9i), the V-shaped rollers (9j) are mounted on the rollers and the speed reducer mounting plate (9f), the rollers and the speed reducer mounting plate (9f) are connected with the rear end connecting plate (9) through a connecting arc-shaped plate (9g), the rear end connecting plate (9h) is connected with the front end of the pipe pushing device (7) through a bolt, the speed reducer mounting plate (9f) is arranged at the upper end of the rear end connecting plate (9h), the speed reducer mounting plate (9f) is connected with the speed reducer (9d) and the roller bolts, the shaft of the speed reducer (9d) penetrates through the rollers and the speed reducer mounting plate (9f), and a driving gear (9c) is mounted on the shaft of the speed reducer (9d), the driving gear (9c) is meshed with the ring gear (9b), the rear end of the speed reducer (9d) is connected with the servo motor (9e), and the servo motor (9e) drives the front end connecting plate (9a) to rotate around the center of the heat exchange tube (14) at a positive angle or a negative angle of 90 degrees, so that the roller wheel is driven to drive the tube penetrating device (6) to rotate around the center of the heat exchange tube (14) at a positive angle or a negative angle of 90 degrees.

10. The full-automatic tube penetrating equipment of the tube type heat exchanger according to claim 7, characterized in that: the driving and rotating device is an air cylinder driving and rotating device (10), a front end connecting support (10a) of the air cylinder driving and rotating device (10) is connected with the rear end of a driving mechanism mounting frame (6a) through a bolt, the front end connecting support (10a) is arc-shaped, the arc center is coincided with the center of a heat exchange tube (14), an arc guide rail (10d) is installed on a rear end connecting arc plate (10e) of the air cylinder driving and rotating device (10), ear plates (10g) are arranged below two sides of the arc guide rail (10d), the arc center of the arc guide rail (10d) is coincided with the center of the heat exchange tube (14), the inner side and the outer side of the arc guide rail (10d) are respectively provided with a V-shaped cross section, a plurality of V-shaped rollers (10c) are installed on the inner side and the outer side of the arc guide rail (10d), and the plurality of V-shaped rollers (10c) are closely matched with the inner side and the outer side of the arc guide rail (10d) in a V-shaped cross section, the plurality of V-shaped rollers (10c) can slide along an arc-shaped guide rail (10d), the plurality of V-shaped rollers (10c) are arranged on the front end connecting bracket (10a), the rear end connecting arc-shaped plate (10e) is connected with the front end of the pipe pushing device (7) through a bolt, a Y-shaped cylinder mounting bracket (10b) is arranged above the middle of the front end connecting bracket (10a), two ends of the Y-shaped cylinder mounting bracket (10b) are hinged with the rear ends of the two cylinders (10f), fork frames (10h) at the end parts of piston rods of the two cylinders (10f) are hinged with lug plate holes below two sides of the arc-shaped guide rail (10d) through pin shafts, the two cylinders (10f) reciprocate, the front end connecting bracket (10a) can be driven to rotate around the center of the heat exchange tube (14) by plus or minus 45 degrees, thereby driving the roller to drive the pipe penetrating device (6) to rotate around the center of the heat exchange pipe (14) by plus or minus 45 degrees.