CN115008169B

CN115008169B - Numerical control full-automatic tube penetrating equipment for tube type heat exchanger

Info

Publication number: CN115008169B
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: 2024-04-12
Anticipated expiration: 2042-06-08
Also published as: CN115008169A

Abstract

The invention discloses a tube array type heat exchanger numerical control full-automatic tube penetrating device, which comprises a deflection roller frame, wherein the deflection roller frame is used for placing and driving a heat exchanger to rotate, two servo horizontal moving mechanisms which are symmetrically distributed front and back are arranged in front of a tube 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 tube grabbing device is arranged between the two servo vertical moving mechanisms positioned on the same side, a tube pushing device, a servo driving rotating device and a roller driving tube 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 tube penetrating device, and automatic tube feeding devices and automatic heat exchange tube installation guide head devices are symmetrically arranged on two sides of the servo horizontal moving mechanisms.

Description

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

Technical Field

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

Background

The shell-and-tube heat exchanger is a common device in petroleum, chemical, nuclear power, special boiler systems, light industry, food industry and other industries. The shell is generally circular, the tube bundle comprises 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 passes through small holes on a plurality of baffle plates. Because the tubes are slender, the number of the tubes is large, the number of the baffles is large, the resistance is large when the tubes penetrate, a plurality of operators are required to lift one tube and align the ends of the tubes with the tube holes, then the tubes are pushed by manpower, the labor intensity of the operators is high, the production efficiency is low, the manufacturing speed of the heat exchanger is severely limited, and in the manufacturing of the tube-in-tube type heat exchanger with fixed tube plates, the tube penetrating of the tube bundle is an important process for influencing the production efficiency.

The prior art generally adopts some simple mechanical devices to assist in tube passing, so that the labor intensity of manual tube passing can be reduced to a certain extent, but still the mechanical devices are required to be assembled and disassembled manually to be aligned with holes on a tube plate, and then the tubes are passed in a reciprocating feeding mode or a roller forced feeding mode, so that the production efficiency is low, and the tube passing device is particularly not suitable for tube passing of large-diameter and large-length tube type heat exchangers.

Before pipe threading in the prior art, a guide head needs to be manually installed at the front end of a pipe, in order to realize full-automatic pipe threading, a pipe threading method for automatically installing the guide head needs to be found, and the guide head can be automatically installed 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 tube plate at the front end of the heat exchanger, so that a vision system is urgently needed to replace the grabbed heat exchange tube to fulfill the function.

In the prior art, two gantry frames which are symmetrically distributed front and back are adopted, two horizontal movement and vertical movement driving mechanisms are arranged on a cross beam of the gantry frames, lifting columns are arranged on the horizontal movement and vertical movement driving mechanisms, 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; but this implementation is not simple enough and has a complex structure.

In order to realize that the pipe is subjected to forward thrust and rotational moment in the pipe penetrating process in the prior art, the pipe is enabled to generate forward and rotational compound motion, the roller drives the arc-shaped driving wheels on one side of the pipe penetrating device to slightly incline forward, and the arc-shaped driving wheels on the other side of the pipe penetrating device to slightly incline backward, so that the pair of arc-shaped driving wheels which incline mutually extrude and screw into the heat exchange pipe, and how to provide a simpler structure to realize is a technical problem which is continuously explored by a person skilled in the art.

Disclosure of Invention

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

In order to achieve the above purpose, a tube array type heat exchanger numerical control full-automatic tube penetrating device is provided, which comprises a heat exchanger, a deflection roller frame, a heat exchanger front end tube plate, 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, a tube automatic feeding device, an automatic installation guide head device, a vision system and a heat exchange tube;

the deflection roller frame is used for placing a heat exchanger needing to pass through a pipe and driving the heat exchanger to rotate, two bases which are symmetrically distributed in front and back and a servo horizontal moving mechanism are arranged on a tube 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 is arranged on the servo vertical moving mechanism which is close to one end of the heat exchanger, a driving rotating device is arranged at the front end of the pipe pushing device, a roller driving pipe passing device is arranged at the front end of the driving rotating device, a visual system is arranged on the side surface of the front end of the roller driving pipe passing device, automatic pipe feeding devices are symmetrically arranged on two bases and on two sides of the servo horizontal moving mechanism, an automatic mounting guide head device is arranged at the front end of the pipe automatic feeding devices, the automatic feeding device conveys the heat exchange tube to the automatic installation guide head device, the automatic installation guide head device automatically installs the guide head on 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-driven tube penetrating device to the upper part of the V-shaped conveying rollaway nest, so that the V-shaped roller of the tube grabbing device is positioned on two sides of the heat exchange tube, after the heat exchange tube is grabbed from the tube automatic feeding device, the servo horizontal moving mechanism and the servo vertical moving mechanism drive the roller-driven tube penetrating device to reach the hole site of the front end tube plate of any specified heat exchanger under the assistance of a visual sensor in the visual system, and the servo horizontal moving mechanism and the servo vertical moving mechanism drive the roller-driven tube penetrating device to enable the grabbed heat exchange tube to be concentric with the hole site of the front end tube plate of the heat exchanger, and sequentially start the roller-driven tube penetrating device, starting the driving rotating device and starting the pipe pushing device to complete the automatic pipe penetrating process;

The vision system is arranged at the front end of the roller-driven pipe penetrating device, the vision sensor scans along a planned path, the vision sensor pauses after finding a target hole of the heat exchange pipe, the vision sensor shoots again, and the vision sensor transmits signals to a control system of the vision system;

the control system is electrically connected with the roller driving pipe penetrating device, the driving rotating device and the pipe automatic feeding device and is used for controlling the starting and stopping of the driving devices on the actuating mechanisms to enable the grabbed heat exchange pipe to run to be concentric with a target hole site of a 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 in the front-back direction, 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, a sliding block is installed on each linear guide rail, a horizontal sliding plate is installed on each sliding block, a speed reducer installation seat is arranged on each horizontal sliding plate, and the speed reducer is fixedly connected with the installation seat through bolts;

the servo motor is installed above the speed reducer, the servo motor is connected with the speed reducer, the driving gear is installed at the front end of the speed reducer, the driving gear is connected with the rack in a meshed mode, the servo vertical moving mechanism is installed on the horizontal sliding plate, the limiting blocks are installed at two ends of the base, and the drag chain is installed on the side face of the base.

Further, a vertical column is arranged on the servo vertical movement mechanism, the vertical column is fixedly connected with the upper surface of the horizontal sliding plate through bolts, two linear guide rails are arranged on the side face of the vertical column, 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 to the vertical sliding plate; the upper surface of the mounting support is provided with a worm and gear reducer, the servo motor is connected with the worm and gear reducer, the output shaft of the worm and gear reducer is provided with a driving gear, and the driving gear is in meshed connection with the rack;

limiting blocks are installed at two ends of the vertical upright, a drag chain is installed on the side face of the vertical upright, the front end of the installation support is fixedly connected with the rear end of the installation rack arranged on the pipe pushing device through bolts, and the rear end of the installation support is fixedly connected with the front end of the pipe grabbing cross beam arranged on the pipe grabbing device through bolts.

Further, the automatic tube feeding device comprises a frame with a bevel and a frame with a plane, wherein the frame with the bevel is used for arranging the heat exchange tubes on the bevel and automatically rolling downwards, and the frame with the plane is used for storing and bundling the heat exchange tubes;

The heat exchange tube heat exchanger comprises a frame with an inclined surface, wherein a baffle plate is arranged at the lower end of the inclined surface of the frame with the inclined surface and used for preventing the heat exchange tubes orderly arranged on the inclined surface from sliding downwards, a connecting long shaft penetrating through the frame with the inclined surface is arranged behind the baffle plate, a support of the connecting long shaft is arranged at the end part of the frame with the inclined surface, a eccentric plate is fixedly arranged on the connecting long shaft, at least one cylinder for driving the connecting long shaft to rotate is arranged on the eccentric plate, a plurality of tube taking turning plates are fixedly arranged on the connecting long shaft, a cylinder rod of the cylinder is connected with the eccentric plate through a pin shaft, a cylinder support is connected with the frame with the inclined surface, the rear end of the cylinder is arranged on the cylinder support, and the cylinder is arranged on the side surface of the frame with the inclined surface and drives the connecting long shaft to rotate so as to drive all tube taking turning plates to rotate;

the heat exchange tube collecting and turning plate is of an eccentric wheel structure and is provided with a long arm, a V-shaped conveying roller way is arranged at the front end of the heat exchange tube collecting and turning plate, a transmission chain, a driving motor and a speed reducer are arranged on the V-shaped conveying roller way, an automatic installation seeker device is arranged at the front end of the V-shaped conveying roller way, the heat exchange tube collecting and turning plate is taken out and led into the V-shaped conveying roller way, and the V-shaped conveying roller way conveys the heat exchange tube to a seeker bracket of the automatic installation seeker device at the end part.

Furthermore, the automatic installation seeker device is arranged at the end part of the V-shaped conveying rollaway nest, the base and the installation bracket of the automatic installation seeker device are arranged on the ground, the upper end of the installation bracket is provided with a seeker hopper, a plurality of longitudinal partition plates are arranged on a stock bin at the upper end of the seeker hopper and divide the stock bin at the upper end into a plurality of small stock bin units, a guide cylinder and a hopper flashboard are arranged at the necking part at the lower end of the seeker hopper, the guide cylinder and the hopper flashboard are arranged at the side surface of the installation bracket and are connected with each other by bolts, the hopper flashboard is connected with a piston rod end bolt of the guide cylinder, a seeker hopper outlet inclined slideway is connected below the guide cylinder and the hopper flashboard, the seeker bracket is positioned at the outlet end below the seeker hopper outlet inclined slideway, the guide head lifting guide cylinder is arranged below the guide head bracket and connected with the mounting bracket through bolts, 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 adjustable mechanical limit, the upper limit position of the guide head bracket is connected with the lower end of the inclined slideway of the outlet of the guide head hopper, the lower limit position of the guide head bracket is connected with the center of the heat exchange tube, the 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 the piston rod end of the guide head pushing guide cylinder through bolts, the guide head bracket is bilaterally symmetrical with the heat exchange tube, the guide head pushing guide cylinder is connected with the mounting bracket through bolts, the tube parallel clamps are symmetrically arranged at the front end of the guide head bracket, the center of the parallel clamp mouth of the pipe is concentric with the heat exchange pipe on the V-shaped conveying rollaway nest, the front end of the guide head is conical, the guide head is connected with the conical end and is cylindrical with the same diameter as the outer diameter of the heat exchange pipe, then the guide head is changed into a cylinder with the same diameter as the inner diameter of the heat exchange pipe or elasticity, the rear end of the guide head is chamfered, the guide head is placed in from a plurality of small stock bin units above the guide head hopper according to a specified direction, the guide head enters the inclined slideway of the guide head hopper outlet from the lower part of the hopper flashboard and falls on the guide head bracket, the guide head bracket descends to enable the guide head to be concentric with the heat exchange pipe, and the guide head push plate advances to push the guide head into the end part of the heat exchange pipe.

Still further, grab a tub device includes 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 mount pad of servo vertical movement mechanism with connecting plate bolted connection, grab the below steel sheet equipartition of a tub crossbeam of device and have a plurality of parallel switching cylinder, grab tub V-arrangement gyro wheel is installed at the both ends of parallel switching cylinder, grab tub V-arrangement gyro wheel and open and fold the linkage along the symmetry center for centre gripping heat exchange tube.

Still further, roller drive poling device sets up the actuating mechanism mounting bracket, the actuating mechanism mounting bracket lower extreme is equipped with two linear guide, the slider is installed to symmetry in the middle of two linear guide, two slide is installed to symmetry on the slider of symmetrical installation in the middle of two linear guide, two the upper end both sides of slide are equipped with the otic placode, in both sides install the lifter plate between the otic placode, the otic placode is installed to lifter plate bilateral symmetry between the otic placode on lifter plate and the slide, install the link joint, install the lifter plate guide post on the lifter plate, the flange and the actuating mechanism mounting bracket fixed through the clamping cylinder in the middle of the lifter plate with the piston rod tip of clamping cylinder, arc drive wheel is installed to clamping cylinder's below symmetry, speed reducer and brushless DC motor are connected with the arc drive wheel, and install in the slide top, two slide production symmetry horizontal movement of cylinder rod drive of clamping cylinder, two drive arc drive wheel produce symmetry horizontal movement, and the arc drive wheel centre gripping cylinder carries out pipe forward motion.

Still further, push away the push tube device mounting bracket upper end and lean on the front portion to be provided with push tube lift cylinder mounting panel, push tube lift cylinder and mounting panel are with bolted connection, push tube lift cylinder piston rod is connected with push tube lifter plate install push tube lifter plate guide post between push tube lift cylinder mounting panel and the push tube lifter plate, push tube guide cylinder is installed to push tube lifter plate below, push tube lift cylinder drive push tube guide cylinder rises and descends, be equipped with compressed air hole in the middle of the push pedal of push tube guide cylinder piston rod front end and be connected with compressed air pipeline, when push tube guide cylinder descends, start push tube guide cylinder, push plate forward extension of push tube guide cylinder piston rod front end is used for the propelling movement the heat transfer pipe advances.

Still further, drive rotary device is rotatory servo drive device, rotatory servo drive device's front end connecting plate and actuating mechanism mounting bracket rear end and with bolted connection, the front end connecting plate is convex, its circular arc center with heat exchange tube center coincidence install ring gear on the front end connecting plate, ring gear's circular arc center and heat exchange tube center coincidence the arc guide rail is installed to front end connecting plate ring gear's below, arc guide rail's circular arc center and heat exchange tube center coincidence, arc guide rail's inboard and outside are V-arrangement cross-section respectively a plurality of V-arrangement gyro wheels are installed to arc guide rail's inboard and outside, a plurality of V-arrangement gyro wheels are V-arrangement cross-section close fit with arc guide rail's inboard and outside, a plurality of V-arrangement gyro wheels slide along arc guide rail, a plurality of V-arrangement gyro wheels are installed on gyro wheel and reduction gear mounting panel, gyro wheel and reduction gear mounting panel pass through the connection arc and are connected with the rear end connecting plate, the rear end connecting plate passes through bolted connection with push tube device front end, the rear end connecting plate upper end connecting plate has the reduction gear, reduction gear and the drive motor pass through the sun gear and the sun gear, the reduction gear passes through the drive motor and the reduction gear and the sun gear, the speed reducer passes through the drive shaft is connected with the drive device.

Still further, drive rotary device is cylinder drive rotary device, cylinder drive rotary device's front end linking bridge and actuating mechanism mounting bracket rear end are bolted connection, front end linking bridge is convex, the circular arc center with heat exchange tube center coincidence, install the arc guide rail on the rear end linking bridge of cylinder drive rotary device, arc guide rail both sides below is provided with the otic placode, the circular arc center of arc guide rail with heat exchange tube center coincidence, the inboard and the outside of arc guide rail are V-arrangement cross-section respectively a plurality of V-arrangement gyro wheels are installed to the inboard and the outside of arc guide rail, a plurality of V-arrangement gyro wheels are V-arrangement cross-section close fit with the inboard and the outside of arc guide rail, a plurality of V-arrangement gyro wheels can slide along the arc guide rail, a plurality of V-arrangement gyro wheels are installed on the front end linking bridge, the arc is connected with push away tube device front end through bolted connection to the rear end, the centre top of front end linking bridge has Y-shaped cylinder installing support, Y-shaped cylinder installing support both ends and two rear end articulated, two cylinder installing support and two cylinder fork shafts pass through the cross-section, two cylinder fork hole degree of rotation is passed through to the reciprocating motion of two cylinder center tube side, the piston rod passes through the reciprocating motion is around the arc guide rail.

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

1. the pipe penetrating equipment adopts the automatic guide head installing device, and the automatic guide head installing device is arranged, so that the manual installation of the guide head at the front end of the pipe is not needed, and the full-automatic pipe penetrating is realized.

2. The pipe penetrating equipment adopts a vision system, the vision system is a control system for transmitting signals to the vision system through a vision sensor, the control system is electrically connected with each execution mechanism, and a driving device on each execution mechanism is controlled to enable the grabbed heat exchange pipe to be concentric with the hole site of the tube 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 the penetrating pipes of the heat exchange pipes with different pipe diameters, different wall thicknesses and different materials, and can realize the feeding of the pipes, the automatic pipe turning, the automatic grabbing of the pipes, the automatic searching of pipe holes, the automatic pushing of the pipes in place, the automation of the pipe penetrating process, the substantial improvement of the pipe penetrating efficiency and the saving of the manufacturing cost.

4. In the prior art, two gantry frames which are symmetrically distributed front and back are adopted, two horizontal movement and vertical movement driving mechanisms are arranged on a cross beam of the gantry frames, lifting columns are arranged on the horizontal movement and vertical movement driving mechanisms, 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 realization mode of the pipe grabbing device can be simplified to directly install two bases which are symmetrically distributed in the front-back direction and the servo horizontal moving mechanism on the ground, the servo vertical moving mechanism is installed on a sliding plate of the servo horizontal moving mechanism, and two servo vertical moving mechanisms located 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 in the prior art, the pipe is driven to generate forward and rotational compound motion, the roller drives the arc-shaped driving wheels on one side of the pipe penetrating device to slightly incline forward, and the arc-shaped driving wheels on the other side of the pipe penetrating device to slightly incline backward, so that the pair of arc-shaped driving wheels which incline mutually extrude and screw the arc-shaped driving wheels into the heat exchange pipe.

Drawings

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

FIG. 2 is a schematic diagram of a partial structure of a servo horizontal movement mechanism of a pipe penetrating device;

FIG. 3 is a schematic view of a partial structure of a servo vertical movement mechanism of a pipe penetrating device according to the present invention;

FIG. 4 is a schematic view showing a partial structure of a roller-driven pipe threading device according to embodiment 1 of the pipe threading apparatus of the present invention;

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

FIG. 6 is a schematic view of the automatic pipe installation seeker apparatus in the pipe threading equipment of the present invention;

FIG. 7 is a schematic view of the structure of the automatic pipe feeding device in the pipe penetrating equipment of the invention;

FIG. 8 is a schematic view of the pipe grabbing device in the pipe penetrating equipment of the invention;

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

fig. 10 is a schematic view showing a partial structure of a rotary cylinder driving apparatus according to embodiment 2 of the pipe threading device of the present invention.

In the figure: wherein: 1. a heat exchanger; 2. a deflection roller frame; 3. the front end tube plate of the heat exchanger; 4. a servo horizontal movement mechanism; 4a, a base; 4b, linear guide rails; 4c, a rack; 4d, limiting blocks; 4e, a horizontal sliding plate; 4f, sliding blocks; 4g, servo motor; 4h, a speed reducer and a driving gear; 4i, a driving gear; 4j, drag chain; 4k, supporting legs; 5. a servo vertical movement mechanism; 5a, vertical columns; 5b, a sliding block; 5c, a vertical sliding plate; 5d, a linear guide rail; 5e, a rack; 5f, a servo motor; 5g, a turbine worm reducer; 5h, mounting a support; 5i, 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, sliding blocks; 6d, an arc-shaped driving wheel; 6e, sliding plate; 6f, a speed reducer and a brushless direct current motor; 6g, ear plate; 6h, chain plates; 6i, clamping a cylinder; 6j, floating joint; 6k, lifting plate; 6l, lifting plate guide posts; 7. a push pipe device; 7a, a push tube lifting cylinder; 7b, pushing the tube lifting plate; 7c, pushing the guide post of the lifting plate of the pipe; 7d, pushing the tube to guide the air cylinder; 7e, a push tube device mounting frame; 8. a pipe grabbing device; 8a, a tube grabbing beam; 8b, parallel opening and closing cylinders; 8c, grabbing a V-shaped roller; 8d, a beam mounting surface; 9. a servo-driven rotation 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 arc plates; 9h, connecting a rear end connecting plate; 9i, arc guide rails; 9j, V-shaped rollers; 10. the cylinder drives the rotating device; 10a, a front end connecting bracket; 10b, a cylinder mounting bracket; 10c, V-shaped rollers; 10d, arc guide rails; 10e, the rear end is connected with an arc plate; 10f, a cylinder; 10g of ear plate; 10h, a fork frame at the end part of the piston rod; 11. automatic pipe feeding device; 11a, V-shaped conveying raceways; 11b, a driving motor and a speed reducer; 11c, a transmission chain; 11d, a raceway bracket; 11e, pipe pallets, 11f, a frame with inclined surfaces; 11g, a frame with a plane; 11h, connecting a long shaft; 11i, taking a tube turning plate; 11j, a cylinder; 11k, eccentric plate; 12. automatically installing a seeker device; 12a, a mounting bracket; 12b, a seeker hopper; 12c, a guide head hopper outlet inclined slideway; 12d, a guide cylinder and a hopper flashboard; 12e, a seeker; 12f, pushing the guide head to a guide cylinder; 12g, a seeker push plate; 12h, a seeker bracket; 12i, lifting and guiding the guide head to the cylinder; 12j, a tube parallel clamp; 13. a vision system; 13a, mounting arms; 13b, a visual 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 for illustration and explanation only, and not for limitation of the present invention, and embodiments of the present invention and features of the embodiments may be combined with each other without conflict.

Example 1:

as shown in fig. 1-8, the numerical control full-automatic tube penetrating equipment of the tube type heat exchanger comprises a heat exchanger 1, a deflection 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 rotary servo driving device 9, a tube automatic feeding device 11, an automatic mounting guide head device 12, a vision system 13 and a heat exchange tube 14;

the deflection roller frame 2 is placed on the ground, and the deflection roller frame 2 is used for placing the heat exchanger 1 needing tube 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 to the mounting frame, and a driving roller driving mechanism is further arranged on the mounting frame and drives the driving rollers to rotate, so that the heat exchanger 1 is driven to rotate.

At least one heat exchanger 1 needing pipe penetration is placed on a deflection roller frame 2, two bases 4a and a servo horizontal moving mechanism 4 which are symmetrically distributed in the front end of the heat exchanger 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 positioned on the same side, a pipe pushing device 7 is installed on the servo vertical moving mechanism 5 which is 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 side surface of the front end of the roller driving pipe penetrating device 6, a pipe automatic feeding device 11 is symmetrically installed on two sides of the two bases 4a and the servo horizontal moving mechanism 4, an automatic installation guide head device 12 for automatically installing the end part of the heat exchange tube 14 is arranged at the front end of the tube automatic feeding device 11 and is used for placing the heat exchange tube 14 on the automatic feeding device 11, the automatic feeding device 11 conveys the heat exchange tube 14 to the automatic installation guide head device 12, the automatic installation guide head device 12 automatically installs the guide head 12e for automatically installing the end part of the heat exchange tube 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 above the V-shaped conveying roller path 11a, the tube grabbing V-shaped rollers 8c on the tube grabbing device 8 are positioned at two sides of the heat exchange tube 14, after the heat exchange tube 14 is grabbed from the tube automatic feeding device 11, with the aid of a vision sensor 13a in the vision system 13, the servo horizontal moving mechanism 4 and the servo vertical moving mechanism 5 drive the tube grabbing device 8 to drive the tube penetrating device 6 to reach the hole position of the tube plate 3 at the front end of the heat exchanger, and the tube penetrating device 6 is used for enabling the grabbed heat exchange tubes 14 to be concentric with the hole position of the tube plate 3 at the front end of the heat exchanger, and the tube penetrating device 6, the driving rotating device and the tube pushing device 7 are started in sequence to complete the automatic tube penetrating process.

The servo horizontal moving mechanism 4 is provided with two bases 4a which are symmetrically distributed in the front-back direction, the bases 4a are installed on the ground through supporting feet 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 the linear guide rails 4b, a horizontal sliding plate 4e is installed on the sliding block 4f, a speed reducer 4h installation seat is arranged on the horizontal sliding plate 4e, and the speed reducer 4h is fixedly connected with the installation seat through bolts; the servo motor 4g is installed to the top of speed reducer 4h, servo motor 4g is connected with speed reducer 4h, driving gear 4i is installed to speed reducer 4 front end, driving gear 4i is connected with rack 4c meshing, install servo vertical movement mechanism 5 on the horizontal slide 4e, stopper 4d is installed at base 4a both ends, tow chain 4j is installed to base 4a side.

The servo vertical movement mechanism 5 is provided with a vertical column 5a, the vertical column 5a is fixedly connected with the upper surface of the horizontal sliding plate 4e through bolts, two linear guide rails 5d are arranged on the side surface of the vertical column 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 a mounting 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 reducer 5g, the servo motor 4g is connected with the worm and gear reducer 5g, an output shaft of the worm and gear reducer 5g is provided with a driving gear 5j, and the driving gear 5j is in meshed connection with a 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 cross beam 8a arranged on the pipe grabbing device 8 through bolts;

The vision system 13 is installed at the front end of the roller-driven 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 shoots again, and the vision sensor 13a transmits signals 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 pipe automatic feeding device 11 and is used for controlling the starting and stopping of the driving devices on the actuating mechanisms and running the grabbed heat exchange pipe 14 to be concentric with a target hole position of the front end pipe plate 3 of the heat exchanger.

The automatic tube feeding device 11 comprises a frame 11f with a bevel and a frame 11g with a plane, wherein the frame 11f with the bevel is used for arranging the heat exchange tubes 14 on the bevel and automatically rolling downwards, and the frame 11g with the plane is used for storing and bundling the heat exchange tubes 14;

the lower end of the inclined plane-provided framework 11f is provided with a baffle plate for preventing the heat exchange tubes 14 orderly arranged on the inclined plane from sliding downwards, the rear of the baffle plate is provided with a connecting long shaft 11h penetrating through the inclined plane-provided framework 11f, a support of the connecting long shaft 11h is arranged at the end part of the inclined plane-provided framework 11f, the connecting long shaft 11h is fixedly provided with an eccentric plate 11k, at least one cylinder 11j for driving the connecting long shaft 11h to rotate is arranged on the eccentric plate 11k, the connecting long shaft 11h is fixedly provided with a plurality of tube taking turning plates 11i, a cylinder rod of the cylinder 11j is connected with the eccentric plate 11k through a pin shaft, a cylinder support 11i is connected with the inclined plane-provided framework 11a, the rear end of the cylinder 11j is arranged on a cylinder support 11l, the cylinder support 11l is arranged on the side surface of the inclined plane-provided framework 11f, and 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 pipe 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 arranged at the front end of the pipe taking turning plate 11i, a transmission chain 11c, a driving motor and a speed reducer 11b are arranged on the V-shaped conveying roller path 11a, an automatic installation seeker device 12 is arranged at the front end of the V-shaped conveying roller path 11a, the pipe taking turning plate 11i takes out a heat exchange pipe 14 and guides the heat exchange pipe 14 into the V-shaped conveying roller path 11a, and the V-shaped conveying roller path 11a conveys the heat exchange pipe 14 to a seeker bracket 12h of the automatic end installation seeker device 12.

The automatic installation seeker device 12 is arranged at the end part of the V-shaped conveying raceway 11a, the base and the installation bracket 12a of the automatic installation seeker device 12 are arranged on the ground, the upper end of the installation bracket 12a is provided with a seeker hopper 12b, a plurality of longitudinal partition plates are arranged at the bin at the upper end of the seeker hopper 12b, the bin at the upper end is divided into a plurality of small bin units, a guide cylinder and a hopper flashboard 12d are arranged at the necking part at the lower end of the seeker hopper 12b, the guide cylinder and the hopper flashboard 12d are arranged at the side surface of the installation bracket 12a and connected with each other through bolts, the hopper flashboard 12d is connected with a piston rod end bolt of the guide cylinder, the guide cylinder and the hopper flashboard 12d are connected with a piston rod end inclined slide 12c of the guide cylinder, the guide cylinder and the lower end inclined slide 12h is positioned at the outlet end of the lower end of the seeker hopper outlet inclined slide 12c, the guide head lifting guide cylinder 12i is connected with the lower end of the guide bracket 12h through bolts, the guide cylinder lifting guide cylinder 12i is connected with the installation bracket 12a through bolts, the guide cylinder 12f is connected with the lower end of the guide cylinder 12f of the guide cylinder, the guide cylinder 12f is connected with the lower end of the guide cylinder 12f through bolts, the guide cylinder end 12f is connected with the lower end of the guide cylinder end 12f, the guide cylinder is connected with the guide end 12f is connected with the guide end 12h through the guide end of the guide cylinder, the guide head 12h is connected with the guide end 12h through the guide head 12h, the guide head 12h is connected with the guide head 12h, the pipe parallel clamp 12j is symmetrically arranged at the front end of the guide head bracket 12h, the center of a jaw of the pipe parallel clamp 12j is concentric with the heat exchange pipe 14 on the V-shaped conveying roller path 11a, the front end of the guide head 12e is conical, is connected with the conical cylinder which is equal to the outer diameter of the heat exchange pipe 14, then is changed into the cylinder which is equal to the inner diameter of the heat exchange pipe 14 or has elasticity, the rear end of the cylinder is chamfered, the guide head 12e is placed from a plurality of small stock bin units above the guide head hopper 12b according to a specified direction, the guide head 12e enters the inclined slideway 12c of the guide head hopper outlet through the lower part of the hopper flashboard 12d and falls on the guide head bracket 12h, the guide head bracket 12h descends to enable the guide head 12e to be concentric with the heat exchange pipe 14, and the guide head push plate 12g moves forward to push the guide head 12e into the end of the heat exchange pipe 14.

The pipe grabbing device 8 comprises a cross beam 8a, the lower end of the cross beam 8a is a steel plate plane, two sides of the cross beam are reinforcing plates, the middle of the cross beam is of a hollow structure, connecting plates 8b are respectively arranged at the front end and the rear end of the cross beam 8a, a mounting support 5h on the servo vertical moving mechanism 5 is connected with the connecting plates 8b through bolts, a plurality of parallel opening and closing cylinders 8b are uniformly distributed on the steel plate below the pipe grabbing cross beam 8a of the pipe grabbing device 8, two ends of each parallel opening and closing cylinder 8b are provided with pipe grabbing V-shaped rollers 8c, and the pipe grabbing V-shaped rollers 8c are opened and closed along the symmetrical center to be linked and used for clamping the heat exchange pipe 14.

The roller driving pipe penetrating device 6 is provided with a driving mechanism mounting frame 6a, two linear guide rails 6b are arranged at the lower end of the driving mechanism mounting frame 6a, sliding blocks 6c are symmetrically arranged in the middle of the two linear guide rails 6b, two sliding plates 6e are symmetrically arranged on the sliding blocks 6c symmetrically arranged in the middle of the two linear guide rails 6b, ear plates 6g are arranged at two sides of the upper end of the two sliding plates 6e, lifting plates 6k are arranged between the ear plates 6g at two sides, ear plates 6g are symmetrically arranged at two sides of the lifting plates 6k, lifting plate guide posts 6l are arranged on the lifting plates 6k and the ear plates 6g on the sliding plates 6e, piston rod ends of the lifting plates 6k and a clamping cylinder 6i are connected through floating joints 6j, the clamping cylinder 6i is arranged above the driving mechanism mounting frame 6a and is fixed with the driving mechanism mounting frame 6a through flanges of the clamping cylinder 6i, a driving wheel 6d is symmetrically arranged below the driving wheel 6d, a direct current motor and a speed reducer 6f are symmetrically arranged between the lifting plate 6k and the ear plates 6g on the sliding plate 6e, two driving wheel 6d and the driving wheel 6d are horizontally moved in front of the arc-shaped pipe clamping cylinder 14 d, and the two driving wheel 14 d is driven to move in front of the arc-shaped driving wheel 6e symmetrically, and the arc-shaped driving wheel 14 d is driven by the driving wheel and the arc-shaped driving wheel is driven by the driving wheel; the brushless direct-current brushless motor is characterized in that bearing mounting holes are formed in the sliding plate 6e, flanges which are in contact with outer rings of the radial thrust ball bearings are arranged below the bearing mounting holes, the two radial thrust ball bearings are placed in the upper portions of the bearing mounting holes and are in contact with the flanges at the lower ends of the bearing mounting holes, a transmission shaft is mounted on an inner ring of the two radial thrust ball bearings, a shaft shoulder is arranged at the upper end of the transmission shaft and is in contact with an inner ring of the radial thrust ball bearings at the upper end, a key groove is formed in the lower end of the transmission shaft, a key is mounted at the lower end of the transmission shaft, a hole and a key groove which are matched with the transmission shaft are formed in the middle of the arc-shaped driving wheel 6d, the arc-shaped driving wheel 6d penetrates from the lower end of the transmission shaft and is fixed by nuts, annular protrusions are arranged at the upper ends of the holes of the arc-shaped driving wheel 6d, the annular protrusions are in contact with an inner ring of the radial thrust ball bearings at the lower end of the arc-shaped driving wheel, a bearing cover is arranged above the bearing holes, the bearing cover is pressed on the outer rings of the radial thrust ball bearings at the upper ends of the annular protrusions, the bearing covers are connected with the sliding plate 6e by bolts, the bearing covers are provided with the inner rings of the radial thrust ball bearings at the upper ends, the upper ends of the radial thrust ball bearings, the bearing covers are provided with the radial bearings, holes of the radial driving bearings, the radial driving bearings are connected with the radial driving shafts, the radial driving shafts are arranged on the radial driving shafts, the radial driving shafts and the brushless driving motor are connected with the brushless driving motor, and the driving motor.

The driving rotation 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 by bolts, the front end connecting plate 9a is arc-shaped, the arc center of the front end connecting plate is coincident with the center of a heat exchange tube 14, a ring gear 9b is mounted on the front end connecting plate 9a, the arc center of the ring gear 9b is coincident with the center of the heat exchange tube 14, an arc guide rail 9i is mounted below the ring gear 9b of the front end connecting plate 9a, the arc center of the arc guide rail 9i is coincident with the center of the heat exchange tube 14, the inner side and the outer side of the arc guide rail 9i are respectively in V-shaped cross sections, a plurality of V-shaped rollers 9j are tightly matched with the inner side and the outer side of the arc guide rail 9i, the plurality of V-shaped rollers 9j slide along the arc guide rail 9i, the plurality of V-shaped rollers 9j are mounted on a roller and a speed reducer roller 9f, the speed reducer 9g is connected with the front end connecting plate 9c and the rear end of the driving motor 9c through a speed reducer 9c, the speed reducer 9d is connected with the front end connecting plate 9e and the driving motor 9c through a speed reducer 9c, the speed reducer 9d is connected with the front end of the driving motor 9c and the speed reducer 9f through the speed reducer 9c, the speed reducer 9d is connected with the front end of the speed reducer 9c through the speed reducer 9c, the speed reducer 9d is connected with the speed reducer 9f, thereby driving the roller to drive the tube penetrating device 6 to rotate around the center of the heat exchange tube 14 by plus or minus 90 degrees.

The upper end of a push tube device mounting frame 7e of the push tube device 7 is provided with a push tube lifting cylinder 7a mounting plate near the front part, 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 mounted between the push tube lifting cylinder 7a mounting plate and the push tube lifting plate 7b, a push tube guide cylinder 7d is mounted 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 formed in the middle of a push plate at the front end of a piston rod of the push tube guide cylinder 7d and connected with a compressed air pipeline, when the push tube guide cylinder 7d descends, 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, the middle of the push plate is aligned with the center of the heat exchange tube 14, compressed air is introduced into the middle of the push plate compressed air hole, the compressed air guide cylinder 7d drives the push tube guide cylinder to ascend and descend, the compressed air guide cylinder 14 can be blown out of a guide head 12e at the front end of the heat exchange tube 12, and a collector head 12 can be mounted at the front end of the collector bag.

The automatic pipe penetrating working process comprises the following steps:

s1, installing at least one heat exchanger 1 on a deflection roller frame 2, adjusting the distance between the heat exchanger 1 and automatic pipe penetrating equipment, 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 taking 4 points up, down, left and right 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 pipe penetrating equipment in combination with a vision system 13, 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 suitable for a conveying roller path 11a and the pipe diameter;

s2, inputting relevant design information of a tube plate 3 hole system at the front end of the heat exchanger on automatic tube penetrating equipment, defining a tube penetrating sequence, and replacing an arc-shaped driving wheel 6d consistent with the outer diameter of the heat exchange tube 14;

s3, placing the seeker 12e into a plurality of small stock 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; according to the pipe diameter, the position of an adjustable baffle plate on a pipe taking turning plate 11i at the front end of the pipe automatic feeding device 11 is adjusted to be suitable for the outer diameter of the heat exchange pipe 14, the whole bundle of the heat exchange pipe 14 is placed on a frame 11g with a plane, the heat exchange pipe 14 is manually rolled downwards along the frame 11f with an inclined plane, so that the heat exchange pipe 14 is uniformly arranged on the frame 11f with the inclined plane and automatically rolls downwards, and the pipe taking turning plate 11i can prevent the heat exchange pipe 14 from continuously sliding downwards.

S4, starting an air cylinder 11j for driving the connecting long shaft 11h to rotate, so as to drive a plurality of tube taking turning plates 11i on the connecting long shaft 11h to rotate, enabling the tube taking turning plates 11i to support a heat exchange tube 14, then rolling down along long arms of the tube taking turning plates 11i into a V-shaped conveying rollaway nest 11a, starting the V-shaped conveying rollaway nest 11a to convey the heat exchange tube 14 to a position of a seeker bracket 12h of an end part automatic seeker device (12), and resetting the tube taking turning plates 11 i;

s5, starting a hydraulic parallel clamp 12j to clamp the heat exchange tube 14, enabling a guide head 12e to enter a guide head hopper outlet inclined slideway 12c below a hopper flashboard 12d and fall on a guide head bracket 12h, enabling the guide head bracket 12h to descend so as to enable the guide head 12e to be concentric with the heat exchange tube 14, starting a guide head pushing guide cylinder 12f to enable a guide head push plate 12g to advance, and enabling the guide head 12e to be pushed into the heat exchange tube 14 and then reset;

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

S7, stopping after the vision sensor 13a finds a target hole, photographing again by the vision sensor 13a, transmitting a signal to a control system by the vision sensor 13a, wherein the control system is electrically connected with each execution mechanism and used for controlling the start and stop of a driving device on each execution mechanism, and the control system operates 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 speed reducer and a brushless direct current motor 6f on a roller driving pipe penetrating device 6 to drive an arc-shaped driving wheel 6d to rotate, pushing the heat exchange pipe 14 to advance by friction force generated by the arc-shaped driving wheel 6d, 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 by plus or minus 90 degrees, so that the heat exchange pipe 14 obtains plus or minus 90-degree rotating power;

s9, when the tail end of the heat exchange tube 14 reaches the arc-shaped driving wheel 6d, stopping the rotation of the speed reducer and the brushless direct current motor 6f, starting the clamping cylinder 6i and the parallel opening and closing cylinder 8b to reset, at the moment, opening the arc-shaped driving wheel 6d and the tube grabbing V-shaped roller 8c, starting the tube pushing and lifting cylinder 7a at the front part of the upper end of the tube pushing device mounting frame 7f, enabling the tube pushing and lifting plate 7b to move downwards, driving the tube pushing and guiding cylinder 7d to descend, starting the tube pushing and guiding cylinder 7d, enabling a push plate at the front end of a piston rod of the tube pushing and guiding cylinder 7d to extend forwards for pushing the heat exchange tube 14 to advance, introducing compressed air into a compressed air hole in the middle of the push plate, guiding a guide head 12e at the front end of the heat exchange tube 14 to be pushed out, installing a collecting bag at the end of the heat exchanger 1, collecting the blown guide head 12e for recycling, enabling the tube pushing and guiding cylinder 7d to be reset, and enabling the tube pushing and lifting cylinder 7a to reset;

S10, repeating the S4-S9 cycle.

Example 2:

as shown in fig. 9 to 10, unlike the automatic pipe threading operation S8 in embodiment 1, the rest of the automatic pipe threading operation is the same, and based on embodiment 1, a solution in which the cylinder driving rotation device 10 replaces the rotation servo driving device 10 may be adopted.

The driving rotation device is a cylinder driving rotation device 10, a front end connecting support 10a of the cylinder driving rotation device 10 is connected with the rear end of a driving mechanism mounting frame 6a through bolts, the front end connecting support 10a is arc-shaped, the center of the arc is coincident with the center of a heat exchange tube 14, an arc-shaped guide rail 10d is installed on a rear end connecting arc-shaped plate 10e of the cylinder driving rotation device 10, ear plates 10g are arranged below two sides of the arc-shaped guide rail 10d, the center of the arc-shaped guide rail 10d is coincident with the center of a heat exchange tube 14, the inner side and the outer side of the arc-shaped guide rail 10d are respectively in V-shaped cross sections, a plurality of V-shaped rollers 10c are closely matched with the inner side and the outer side of the arc-shaped guide rail 10d, the plurality of V-shaped rollers 10c can slide along the arc-shaped guide rail 10d, the plurality of V-shaped rollers 10c are installed on the front end connecting support 10a, the rear end connecting support 10e and the push device 7 are connected with the front end through the front end connecting support 10e of the push device, the front end connecting support 10b of the cylinder driving support 10a is hinged with the two side of the cylinder driving support 10f through the piston rod 10f, the piston rod is hinged to the two sides of the cylinder driving support 10f is hinged to the cylinder driving support 10f, and the piston rod is hinged to the piston rod 10f is rotatably mounted around the two sides of the cylinder end of the cylinder driving support 10f through the piston rod 10, 45 h is hinged to the front end of the cylinder driving support 10 is mounted on the front end of the cylinder support 10, and the piston rod is mounted on the piston rod 10 is mounted on the piston rod is mounted.

The working process comprises the following steps:

s1 to S7 are the same as in example 1

S8, starting a speed reducer and a brushless direct current motor 6f on the roller-driven pipe penetrating device 6 to drive an arc-shaped driving wheel 6d to rotate, driving the heat exchange pipe 14 to advance under the friction force generated by the arc-shaped driving wheel 6d, starting two cylinders 10f on the cylinder-driven rotating device 10 to reciprocate, and driving a front-end connecting support 10a to rotate around the center of the heat exchange pipe 14 by plus or minus 45 degrees, so that the roller-driven pipe penetrating device 6 is driven to rotate around the center of the heat exchange pipe 14 by plus or minus 45 degrees.

S9-S10 are the same as in example 1

Example 3:

the servo horizontal movement 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 that of the embodiment 1 and the embodiment 2.

Example 4:

the servo vertical movement mechanism 5 can drive the gear 4i and the rack 4c to be driven by the worm and gear reducer 5g with the self-locking function, and is changed into screw nut driving with the self-locking function, and the rest is identical to the embodiment 1-3.

While the basic concepts have been described above, it will be apparent to those skilled in the art that the foregoing detailed disclosure is by way of example only and is not intended to be limiting. Although not explicitly described herein, various modifications, improvements, and offsets may occur to those skilled in the art to which this disclosure pertains. Such modifications, improvements, and offset processing are suggested in this specification and, therefore, remain within the spirit and scope of the exemplary embodiments of this specification.

Furthermore, those skilled in the art will appreciate that the various aspects of the specification can be illustrated and described in terms of several patentable categories or circumstances, including any novel and useful procedures, machines, products, or combinations of materials, or any novel and useful modifications thereof. Accordingly, aspects of the present 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 a "data block," module, "" engine, "" unit, "" component, "or" system. Furthermore, aspects of the specification may take the form of a computer product, comprising computer-readable program code, embodied in one or more computer-readable media.

It is noted that, if the description, definition, and/or use of a term in an attached material in this specification does not conform to or conflict with what is described in this specification, the description, definition, and/or use of the term in this specification controls.

Finally, it should be understood that the embodiments described in this specification are merely illustrative of the principles of the embodiments of this specification. Other variations are possible within the scope of this description. Thus, by way of example, and not limitation, alternative configurations of embodiments of the present specification may be considered as consistent with the teachings of the present specification. Accordingly, the embodiments of the present specification are not limited to the implementations explicitly described and depicted in this specification.

Claims

1. The numerical control full-automatic tube penetrating equipment for the shell and tube heat exchanger is characterized by comprising a heat exchanger (1), a deflection 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, a tube automatic feeding device (11), an automatic installation guide head device (12), a vision system (13) and a heat exchange tube (14);

the utility model provides a heat exchanger, including heat exchanger (1) and drive that need poling, shift gyro wheel frame (2) are used for placing heat exchanger (1) and drive heat exchanger (1) are rotatory, install two base (4 a) and servo horizontal migration mechanism (4) of front end tube sheet (3) on the symmetry distribution around, install servo vertical migration mechanism (5) on horizontal slide (4 e) of servo horizontal migration mechanism (4), install and grab tub device (8) between two servo vertical migration mechanisms (5) that are located the homonymy, be close to install push tube device (7) on servo vertical migration mechanism (5) of one end of heat exchanger (1), drive rotary device is installed to push tube device (7) front end, drive rotary device front end is installed gyro wheel drive poling device (6), gyro wheel drive poling device (6) front end side face is installed vision system (13), install tube automatic guide head (14) are installed to automatic guide head (14) automatic feed device (12) to automatic feed automatic heat pipe device (12) are installed to automatic feed end (14) on automatic feed device (12), the automatic installation guide head device (12) automatically installs the guide head (12 e) at the end part of the heat exchange tube (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 position above the V-shaped conveying rollaway nest (11 a), so that the tube grabbing V-shaped roller (8 c) on the tube grabbing device (8) is positioned at two sides of the heat exchange tube (14), after the heat exchange tube (14) is grabbed from the tube automatic feeding device (11), the servo horizontal moving mechanism (4) and the servo vertical moving mechanism (5) drive the tube grabbing device (8) to reach the hole position of the tube penetrating device (6) at the front end of any appointed heat exchanger, and the grabbed heat exchange tube (14) and the hole position of the front end (3) of the heat exchanger are concentric, and after the tube penetrating device (6) is grabbed from the tube automatic feeding device (11), the automatic driving device (7) is started, and the tube penetrating process is completed;

The vision system (13) is arranged at the front end of the roller-driven pipe penetrating device (6), the vision sensor (13 a) scans along a planned path, the vision sensor (13 a) pauses after finding a target hole of the heat exchange pipe, the vision sensor (13 a) shoots again, and the vision sensor (13 a) transmits signals 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 pipe automatic feeding device (11) and is used for controlling the starting and stopping of the driving devices on the actuating mechanisms to drive the grabbed heat exchange pipe (14) to be concentric with a target hole site of the pipe plate (3) at the front end of the heat exchanger;

the servo horizontal moving mechanism (4) is provided with two bases (4 a) which are symmetrically distributed front and back, the bases (4 a) are installed on the ground through supporting feet (4 k), two first linear guide rails (4 b) are installed on the bases (4 a), a first rack (4 c) is installed between the two first linear guide rails (4 b), a first sliding block (4 f) is installed on the first linear guide rails (4 b), a horizontal sliding plate (4 e) is installed on the first sliding block (4 f), an installation seat of a first speed reducer (4 h) is arranged on the horizontal sliding plate (4 e), and the first speed reducer (4 h) is fixedly connected with the installation seat through bolts;

A first servo motor (4 g) is arranged above the first speed reducer (4 h), the first servo motor (4 g) is connected with the first speed reducer (4 h), a first driving gear (4 i) is arranged at the front end of the first speed reducer (4 h), the first driving gear (4 i) is meshed with a first rack (4 c) and connected, a servo vertical moving mechanism (5) is arranged on the horizontal sliding plate (4 e), limiting blocks (4 d) are arranged at two ends of the base (4 a), and a drag chain (4 j) is arranged on the side surface of the base (4 a);

the servo vertical movement mechanism (5) is provided with a vertical column (5 a), the vertical column (5 a) is fixedly connected with the upper surface of a horizontal sliding plate (4 e) through bolts, two second linear guide rails (5 d) are arranged on the side surfaces of the vertical column (5 a), a second rack (5 e) is arranged between the two second linear guide rails (5 d), a second sliding block (5 b) is arranged on the second linear guide rails (5 d), a vertical sliding plate (5 c) is arranged on the surface of the second sliding block (5 b), a mounting support (5 h) is connected to the vertical sliding plate (5 c), a worm gear reducer (5 g) is arranged on the upper surface of the mounting support (5 h), a second servo motor (5 j) is connected with the worm gear reducer (5 g), and a second driving gear is arranged on an output shaft of the worm gear reducer (5 g) and is meshed with the second rack (5 e);

Limiting blocks are installed at two ends of the vertical upright post (5 a), a drag chain (5 i) is installed on the side face of the vertical upright post (5 a), the front end of the mounting support (5 h) is fixedly connected with the rear end of a mounting rack (7 e) arranged on the pushing pipe device (7) through bolts, and the rear end of the mounting support (5 h) is fixedly connected with the front end of a pipe grabbing cross beam (8 a) arranged on the pipe grabbing device (8) through bolts.

2. A tube-in-tube heat exchanger numerical control full-automatic tube threading device according to claim 1, characterized in that the tube automatic feeding device (11) comprises a frame (11 f) with an inclined plane and a frame (11 g) with a plane, wherein the frame (11 f) with an inclined plane is used for arranging the heat exchange tubes (14) on the inclined plane and automatically rolling downwards, the frame (11 g) with a plane is used for storing and bundling the heat exchange tubes (14), a baffle plate is arranged at the lower end of the inclined plane of the frame (11 f) with an inclined plane and used for preventing the heat exchange tubes (14) orderly arranged on the inclined plane from sliding downwards, a connecting long shaft (11 h) penetrating through the frame (11 f) with an inclined plane is arranged behind the baffle plate, a support seat for connecting the long shaft (11 h) is arranged at the end of the frame (11 f) with an inclined plane, an eccentric plate (11 k) is fixedly arranged on the connecting long shaft (11 h), at least one driving long shaft (11 j) is arranged on the eccentric plate (11 k) and is fixedly connected with a cylinder (11 j) with a cylinder support seat (11 i) through a plurality of cylinder pins (11 j), the heat exchange tube automatic installation guide head device comprises a cylinder support (11 l), a cylinder (11 j), a long shaft (11 h) and a long arm, wherein the cylinder support (11 l) is arranged on the side face of a framework (11 f) with an inclined surface, the cylinder (11 j) drives a connecting long shaft (11 h) to rotate so as to drive all tube taking overturning plates (11 i) to rotate, the tube taking overturning plates (11 i) are of eccentric wheel structures and are provided with long arms, a V-shaped conveying roller path (11 a) is arranged at the front end of each tube taking overturning plate (11 i), a transmission chain (11 c), a driving motor and a speed reducer (11 b) are arranged on each V-shaped conveying roller path (11 a), an automatic installation guide head device (12) is arranged at the front end of each V-shaped conveying roller path (11 a), and each tube taking overturning plate (11 i) takes out a heat exchange tube (14) and guides the heat exchange tube (14) into the guide head bracket (12 h) of the end part automatic installation guide head device (12).

3. The numerical control full-automatic tube penetrating equipment for the tube type heat exchanger, as set forth in claim 1, characterized in that the automatic installation guide head device (12) is installed at the end part of the V-shaped conveying raceway (11 a), the base of the automatic installation guide head device (12) and the installation support (12 a) are installed on the ground, the upper end of the installation support (12 a) is provided with a guide head hopper (12 b), the upper end of the guide head hopper (12 b) is provided with a plurality of longitudinal partition plates, the upper end of the guide head hopper is divided into a plurality of small bin units, a guide cylinder and a hopper gate (12 d) are installed at the contraction opening part of the lower end of the guide head hopper (12 b), the guide cylinder and the hopper gate (12 d) are installed at the side surface of the installation support (12 a) by bolts, the hopper gate (12 d) is connected with the piston rod end bolts of the guide cylinder, a guide head hopper outlet inclined slide (12 c) is connected below the guide cylinder and the hopper gate (12 d), a guide head bracket (12 h) is positioned below the guide head outlet inclined slide (12 c) and a guide head bracket (12 h) is installed below the guide head bracket (12 h) by a guide head lifting bolt, the guide head bracket (12 h) is installed below the guide head bracket (12 h), the guide head bracket (12 h) is provided with an adjustable mechanical limit, the upper limit position of the guide head bracket (12 h) is connected with the lower end of a guide head hopper outlet inclined slide way (12 c), the lower limit position of the guide head bracket (12 h) is connected with the center of a heat exchange tube (14), a guide head push plate (12 g) can move back and forth along a guide groove, the rear end of the guide head push plate (12 g) is connected with a piston rod end bolt of a guide head pushing guide cylinder (12 f), the guide head bracket (12 h) is bilaterally symmetrical with the heat exchange tube (14), the guide head pushing guide cylinder (12 f) is connected with a mounting bracket (12 a) through bolts, a tube parallel clamp (12 j) is symmetrically arranged at the front end of the guide head bracket (12 h), the center of the jaw of the pipe parallel clamp (12 j) is concentric with the heat exchange pipe (14) on the V-shaped conveying rollaway nest (11 a), the front end of the guide head (12 e) is conical, the front end is connected with the conical end and is cylindrical with the same diameter as the outer diameter of the heat exchange pipe (14), then the diameter of the guide head is changed into a cylinder with the same diameter as the inner diameter of the heat exchange pipe (14) or elasticity, the rear end is chamfered, the guide head (12 e) is placed in from a plurality of small stock bin units above the guide head hopper (12 b) according to a specified direction, the guide head (12 e) enters the guide head hopper outlet inclined slideway (12 c) below the hopper flashboard (12 d) and falls on the guide head bracket (12 h), the seeker bracket (12 h) descends to enable the seeker (12 e) to be concentric with the heat exchange tube (14), and the seeker pushing plate (12 g) advances to push the seeker (12 e) into the end part of the heat exchange tube (14).

4. The numerical control full-automatic tube penetrating equipment for the tube array heat exchanger, as claimed in claim 1, is characterized in that the tube grabbing device (8) comprises a cross beam (8 a), wherein the lower end of the cross beam (8 a) is a steel plate plane, two sides of the cross beam are provided with reinforcing plates, the middle of the cross beam is of a hollow structure, connecting plates (8 b) are respectively arranged at the front end and the rear end of the cross beam (8 a), a mounting support (5 h) on the servo vertical moving mechanism (5) is connected with the connecting plates (8 b) through bolts, a plurality of parallel opening and closing cylinders (8 b) are uniformly distributed on the steel plate below the tube grabbing cross beam (8 a) of the tube grabbing device (8), and tube grabbing V-shaped rollers (8 c) are installed at two ends of the parallel opening and closing cylinders (8 b) and are in linkage along the symmetrical center and used for clamping the heat exchange tube (14).

5. The tube array heat exchanger numerical control full-automatic tube penetrating equipment according to claim 1, wherein the roller driving tube penetrating device (6) is provided with a driving mechanism mounting frame (6 a), two third linear guide rails (6 b) are arranged at the lower end of the driving mechanism mounting frame (6 a), third sliding blocks (6 c) are symmetrically arranged in the middle of the two third linear guide rails (6 b), two sliding plates (6 e) are symmetrically arranged on the third sliding blocks (6 c) symmetrically arranged in the middle of the two third linear guide rails (6 b), two lug plates (6 g) are arranged at two sides of the upper end of the two sliding plates (6 e), lifting plates (6 k) are arranged between the lug plates (6 g) at two sides, the lug plates (6 g) are symmetrically arranged at two sides of the lifting plates (6 k), lifting plate guide posts (6 l) are arranged on the lifting plates (6 k) and the lug plates (6 g) on the sliding plates (6 e), the lifting plates are symmetrically arranged between the lifting plates (6 k) and the lifting plates (6 g), the lifting plates are fixedly connected with a driving flange (6 j) through a clamping mechanism (6 d) at the end part of the driving wheel (6 i) of the driving wheel mounting frame (6 j), the second speed reducer and the brushless direct current motor (6 f) are connected with the arc-shaped driving wheels (6 d) and are arranged above the sliding plates (6 e), the cylinder rods of the clamping cylinders (6 i) drive the two sliding plates (6 e) to generate symmetrical horizontal movement, the two sliding plates (6 e) drive the arc-shaped driving wheels (6 d) to generate symmetrical horizontal movement, and the arc-shaped driving wheels (6 d) clamp the pipe (14) and drive the heat exchange pipe (14) to do forward movement.

6. The numerical control full-automatic tube penetrating equipment for the tube array heat exchanger, as set forth in claim 1, is characterized in that a tube pushing device mounting frame (7 e) of the tube pushing device (7) is provided with a tube pushing lifting cylinder (7 a) mounting plate at the upper end near the front part, the tube pushing lifting cylinder (7 a) is connected with the mounting plate through bolts, a piston rod of the tube pushing lifting cylinder (7 a) is connected with a tube pushing lifting plate (7 b), a tube pushing lifting plate guide column (7 c) is mounted between the tube pushing lifting cylinder (7 a) mounting plate and the tube pushing lifting plate (7 b), a tube pushing guide cylinder (7 d) is mounted below the tube pushing lifting plate (7 b), the tube pushing guide cylinder (7 a) drives the tube pushing guide cylinder (7 d) to ascend and descend, a compressed air hole is formed in the middle of a push plate at the front end of the piston rod of the tube pushing guide cylinder (7 d) and is connected with a compressed air pipeline, when the tube pushing guide cylinder (7 d) descends, the tube pushing guide cylinder (7 d) is started, and the tube pushing guide cylinder (7 d) is mounted below the tube pushing guide cylinder guide column (7 b) to drive the tube pushing cylinder to ascend and descend along the tube pushing guide cylinder (7 d).

7. The numerical control full-automatic tube penetrating equipment of the tube heat exchanger, as set forth in claim 5, characterized in that the driving rotation device is a rotation servo driving device (9), a front end connecting plate (9 a) of the rotation servo driving device (9) is connected with a rear end of a driving mechanism mounting frame (6 a) by bolts, the front end connecting plate (9 a) is arc-shaped, an arc center of the front end connecting plate coincides with the center of a heat exchange tube (14), a ring gear (9 b) is mounted on the front end connecting plate (9 a), an arc guide rail (9 i) is mounted below the ring gear (9 b) of the front end connecting plate (9 a), the arc center of the arc guide rail (9 i) coincides with the center of the heat exchange tube (14), the inner side and the outer side of the arc guide rail (9 i) are respectively in V-shaped cross sections, a plurality of V-shaped rollers (9 j) are mounted on the inner side and the outer side of the arc guide rail (9 i), the plurality of V-shaped rollers (9 j) are mounted on the inner side and the outer side of the arc guide rail (9 i) and the outer side of the arc guide rail (9 j) are tightly matched with the arc guide rail (9 f) by a plurality of V-shaped rollers (9 j) and a reduction gear (9 f), the rear end connecting plate (9 h) is connected with the front end of the push tube device (7) through bolts, a speed reducer mounting plate (9 f) is arranged at the upper end of the rear end connecting plate (9 h), the speed reducer mounting plate (9 f) is connected with a speed reducer (9 d) and a roller through bolts, a shaft of the speed reducer (9 d) penetrates through the roller and the speed reducer mounting plate (9 f), a third driving gear (9 c) is arranged on the shaft of the speed reducer (9 d), the third driving gear (9 c) is meshed with the ring gear (9 b) and connected, the rear end of the speed reducer (9 d) is connected with a third servo motor (9 e), and the third servo motor (9 e) drives the front end connecting plate (9 a) to rotate around the center of the heat exchange tube (14) by plus or minus 90 degrees, so that the roller drives the tube penetrating device (6) to rotate around the center of the heat exchange tube (14).

8. The numerical control full-automatic tube penetrating equipment of the tube type heat exchanger, as set forth in claim 5, characterized in that the driving rotating device is a cylinder driving rotating device (10), a front end connecting bracket (10 a) of the cylinder driving rotating device (10) is connected with the rear end of a driving mechanism mounting frame (6 a) by bolts, the front end connecting bracket (10 a) is arc-shaped, the arc center coincides with the center of the heat exchange tube (14), an arc-shaped guide rail (10 d) is installed on a rear end connecting arc plate (10 e) of the cylinder driving rotating device (10), lug plates (10 g) are arranged below two sides of the arc-shaped guide rail (10 d), the arc center of the arc-shaped guide rail (10 d) coincides with the center of the heat exchange tube (14), the inner side and the outer side of the arc-shaped guide rail (10 d) are respectively V-shaped cross sections, a plurality of V-shaped rollers (10 c) are installed on the inner side and the outer side of the arc-shaped guide rail (10 d), the V-shaped rollers (10 c) are matched with the inner side and the outer side of the arc-shaped guide rail (10 d), the V-shaped rollers (10 c) are installed on the front end connecting arc-shaped bracket (10 b) by bolts, the front end (10 c) can be connected with the front end (10 e), the Y-shaped cylinder mounting bracket (10 b) is hinged with the rear ends of two cylinders (10 f), two fork frames (10 h) at the end parts of piston rods of the cylinders (10 f) are hinged with lug holes below two sides of an arc-shaped guide rail (10 d) through pin shafts, the two cylinders (10 f) reciprocate, the front end connecting bracket (10 a) can be driven to rotate around the center of a heat exchange tube (14) by plus or minus 45 degrees, and therefore the roller driving tube penetrating device (6) is driven to rotate around the center of the heat exchange tube (14) by plus or minus 45 degrees.