CN112264536A - Automatic tube penetrating equipment for tube type heat exchanger - Google Patents

Abstract

The invention discloses automatic pipe penetrating equipment for a tube type heat exchanger, which comprises a deflection roller carrier, a front end pipe plate and a rear end pipe plate, wherein the deflection roller carrier is used for placing and driving the heat exchanger to rotate; the left side and the right side between the two gantry type frames are provided with automatic tube feeding devices, the tube grabbing and tube penetrating driving devices grab and convey the heat exchange tubes forwards, and the horizontal moving and vertical moving driving mechanisms drive the tube grabbing and tube penetrating driving devices to reach any specified hole position of the front end tube plate of the heat exchanger, so that the grabbed heat exchange tubes are concentric with the hole position of the front end tube plate of the heat exchanger. The pipe penetrating equipment can realize the automatic pipe penetrating process automation by feeding the pipes, automatically turning the pipes, automatically grabbing the pipes, automatically searching pipe plate holes and automatically pushing the pipes in place.

Description

Automatic tube penetrating equipment for tube type heat exchanger

Technical Field

The invention belongs to the technical field of manufacturing of tube type heat exchangers, and particularly relates to automatic tube penetrating equipment for a tube type heat exchanger.

Background

The shell and tube heat exchanger is a common device in petroleum, chemical, nuclear power, special boiler system, light industry, food and other industries. The shell is generally circular, the tube bundle is few, hundreds of tubes are arranged, more tubes are 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 adjusted manually to align to holes in 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.

Disclosure of Invention

The invention aims to overcome the defects and provides 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 of heat exchange tubes with different tube diameters, different wall thicknesses and different materials, and can realize the purposes of feeding tubes, automatically turning the tubes, automatically grabbing the tubes, automatically searching tube hole holes, automatically pushing the tubes in place and realizing automation of a tube penetrating process.

In order to achieve the purpose, the invention adopts the following technical scheme:

the automatic tube penetrating equipment of the tube type heat exchanger comprises a shifting roller carrier, wherein the shifting roller carrier is used for placing the heat exchanger needing tube penetrating and driving the heat exchanger to rotate, two gantry type frames which are symmetrically distributed front and back are installed in front of a tube plate at the front end of the heat exchanger, two horizontal moving and vertical moving driving mechanisms are installed on a cross beam of the gantry type frame, lifting columns are installed on the horizontal moving and vertical moving driving mechanisms, and the lower ends of the two lifting columns positioned on the same side are provided with the same tube grabbing and tube penetrating driving device;

the left side and the right side between the two gantry frames are provided with automatic tube feeding devices, the automatic tube feeding devices are used for grabbing heat exchange tubes from the automatic tube feeding devices and conveying the heat exchange tubes forwards, and the horizontal moving and vertical moving driving mechanisms are used for driving the tube grabbing and tube penetrating driving devices to reach any specified hole site of the front end tube plate of the heat exchanger, so that the grabbed heat exchange tubes are concentric with the hole site of the front end tube plate of the heat exchanger;

the pipe grabbing and pipe penetrating device is characterized in that a laser scanning sensor is installed at the front end of the pipe grabbing and pipe penetrating driving device, the pipe penetrating equipment further comprises a control system, the laser scanning sensor transmits signals to the control system, and the control system is electrically connected with each executing mechanism and used for controlling the starting and stopping of the driving device on each executing mechanism.

Furthermore, the pipe grabbing and penetrating driving device comprises a first pipe grabbing device and a roller driving and penetrating device, the roller driving and penetrating device comprises a first cross beam, the lower end of the first cross beam is a steel plate plane, reinforcing plates are arranged on two sides of the first cross beam, the middle of the first cross beam is of a hollow structure, a first lifting column connecting plate is arranged at each of the front end and the rear end above the first cross beam, and the lifting columns are connected with the lifting columns through bolts;

the front end of the first beam is provided with a driving mechanism mounting frame, the lower end of the driving mechanism mounting frame is provided with two arc driving wheel guide grooves, arc driving wheel guide sliding blocks are symmetrically mounted in the middles of the two arc driving wheel guide grooves, two sides of the upper end of each arc driving wheel guide sliding block are provided with lug plates, a long pin shaft is mounted between the lug plates on the two sides, chain plates coaxial with the long pin shaft are respectively arranged on the outer sides of the lug plates on the two sides, the other ends of the chain plates are connected with a push-pull plate through pin shafts, the push-pull plate is symmetrically connected with four chain plates, the push-pull plate is connected with a cylinder rod of a push-pull cylinder, a front flange of the push-pull cylinder is connected with the upper plane of the driving mechanism mounting frame, and a cylinder rod of;

the middle of the arc-shaped driving wheel guide sliding block is provided with a bearing mounting hole, a flange which is in contact with an outer ring of a radial thrust ball bearing is arranged below the bearing mounting hole, two radial thrust ball bearings are put into the bearing mounting hole from the upper part and are in contact 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 in contact with the inner ring of the radial thrust ball bearing at the upper end, a hole and a key groove are formed in the middle of each transmission shaft, a key is arranged on the excircle of the arc-shaped driving wheel at the lower end of each transmission shaft, a threaded column for tightly pressing the arc-shaped driving wheel is arranged at the lowest end of each transmission shaft, the arc-shaped driving wheel penetrates through the lower end of each transmission shaft and is fixed by, the circular ring is in convex contact with the inner ring of the radial thrust ball bearing at the lower end, a bearing gland is arranged above a bearing hole of the arc-shaped driving wheel guide sliding block and presses the outer ring of the radial thrust ball bearing at the upper end, the bearing gland is connected with the arc-shaped driving wheel guide sliding block through bolts, a hole is formed in the middle of the bearing gland, lower flanges of a brushless motor and a planetary reducer are connected with the bearing gland through bolts, shafts of the brushless motor and the planetary reducer with keys penetrate through the hole in the middle of the bearing gland and are inserted into the hole in the middle of the driving shaft with a key groove, and the brushless motor and the planetary reducer can drive the driving shaft and drive the arc-shaped driving wheel to rotate;

the heat exchange tube pushing device is characterized in that a lifting cylinder mounting plate is mounted at the rear end of the mounting support, a lifting cylinder with a front flange is mounted in the middle of the lifting cylinder mounting plate, guide posts are mounted on two sides of the lifting cylinder, a pushing tube cylinder mounting plate is mounted at the lower ends of a shaft of the lifting cylinder and the guide posts, a pushing tube cylinder is mounted below the pushing tube cylinder mounting plate, the lifting cylinder drives the pushing tube cylinder to ascend and descend, and a pushing tube cylinder rod extends forwards to push the heat exchange tube.

The lower steel plate of the first cross beam is uniformly provided with a plurality of holes, a plurality of first pipe grabbing devices are symmetrically and uniformly arranged along the symmetrical central line of the lower plane of the first cross beam and the perforated part, each first pipe grabbing device comprises V-shaped roller guide grooves symmetrically arranged on the lower surface of the first cross beam, V-shaped roller guide sliders are arranged in the V-shaped roller guide grooves, guide flanges are arranged on two sides of each V-shaped roller guide slider, a bearing hole is formed in the middle of each V-shaped roller guide slider, flanges are arranged at the lower ends of the bearing holes, two radial thrust ball bearings are arranged in the bearing holes, the outer rings of the radial thrust ball bearings at the lower ends are in contact with the flanges of the bearing holes, roller mandrels are arranged between the two radial thrust ball bearings, and flanges are arranged at the upper ends of the roller mandrels and are in contact with the inner rings of the radial, a key is arranged on the excircle of the lower end of the roller mandrel, a stud is further arranged at the lower end of the roller mandrel, a bearing gland is arranged at the upper end of a bearing hole, the bearing gland is in contact with the outer ring of the radial thrust ball bearing at the upper end and is fixed with the upper surface of the V-shaped roller guide sliding block through a bolt, a first V-shaped roller with a bearing is arranged at the lower end of the roller mandrel and is fixed through a roller locking nut, a driving shaft is arranged in the middle of the upper surface of the V-shaped roller guide sliding block, a driving chain plate is arranged above the driving shaft, the other end of the driving chain plate is connected with a linkage push-pull plate, the linkage push-pull plate can move along a linkage push-pull plate guide groove plate, the end part of the linkage push-pull plate is connected with a cylinder rod of a linkage push-pull cylinder, a front flange of the, the linkage push-pull plate drives all the first V-shaped rollers to open and close along the symmetrical center in a linkage manner, and the first V-shaped rollers are used for clamping the heat exchange tube.

Furthermore, the pipe grabbing and penetrating driving device comprises a second pipe grabbing device and a chain wheel driving pipe penetrating device, the chain wheel driving pipe penetrating device comprises a second cross beam, the second cross beam is formed by welding steel plates or section steel, the lower end of the second cross beam is a steel plate plane, reinforcing plates are arranged on two sides of the second cross beam, the middle of the second cross beam is of a hollow structure, a second lifting column connecting plate is arranged at each of the front end and the rear end above the second cross beam, and the lifting columns are connected with the lifting columns through bolts;

a linear guide rail mounting seat is mounted in the middle below the second cross beam, a linear guide rail and a linear guide rail sliding block which are communicated from front to back are mounted on the linear guide rail mounting seat, an L-shaped push pipe arm is mounted on the linear guide rail sliding block, two wing plates are arranged on two sides of the L-shaped push pipe arm and are respectively connected with a chain, a hydraulic motor and speed reducer mounting support, a front chain wheel support, a chain tensioning wheel and a tensioning wheel adjusting and locking mechanism are symmetrically mounted on two sides of the front chain wheel support, a chain tensioning wheel and a tensioning wheel adjusting and locking mechanism are mounted above the middle of the second cross beam, U-shaped grooves are formed in two sides of the second cross beam, the chain tensioning wheel can be upwards adjusted and tensioned on the chain, and, the two chains are respectively arranged in the front-end chain wheel, the rear-end chain wheel and the chain tensioning wheel, chain guide rails are arranged on two sides of each chain, and the hydraulic motor and the speed reducer are driven to drive the L-shaped push pipe arm to move back and forth along the linear guide rails.

The pipe device is grabbed to the second, the second is grabbed the pipe device and is installed including installing the pneumatic wide mouthful of clamp of linear guide below, the upper surface that pneumatic wide mouthful of clamp with bolted connection is used to the lower surface of second crossbeam, the bilateral symmetry that pneumatic wide mouthful was pressed from both sides is installed L shape and is connect the length grabs the arm, L shape connects to install the second V-arrangement gyro wheel that has the bearing on the length grabs the arm, pneumatic wide mouthful of clamp drive the second V-arrangement gyro wheel symmetry is opened and is foldd, at each near the pipe device is grabbed to the second installs the sensor, the sensor is connected with the control system electricity, the sensor detects when L shape push tube arm is close from the rear end the control system control the pipe device is grabbed to the second and is opened, L shape push tube arm passes through the pipe device is grabbed to the second.

Further, the automatic tube feeding device comprises a frame with a slope for arranging the heat exchange tubes on the slope and automatically rolling downwards and a frame with a plane for storing the whole bundle of the heat exchange tubes;

the lower end of the inclined plane of the framework with the inclined plane is provided with a material baffle for preventing the heat exchange tubes which are orderly arranged on the inclined plane from sliding downwards, a connecting shaft penetrating through the framework with the inclined plane is arranged behind the material baffle, a support of the connecting shaft is arranged at the end part of the framework with the inclined plane, an eccentric plate is fixedly arranged on the connecting shaft, at least one air cylinder for driving the connecting shaft to rotate is arranged on the eccentric plate, a plurality of tube taking turning plates are fixedly arranged on the connecting shaft, an air cylinder rod of the air cylinder is connected with the eccentric plate through a pin shaft, an air cylinder support is connected with the framework with the inclined plane, the air cylinder is arranged on the air cylinder support, and the air cylinder drives the connecting shaft to rotate so as to drive all the tube;

the heat exchange tube taking device is characterized in that the tube taking turning plate is of an eccentric wheel structure and is provided with a long arm, a V-shaped conveying roller path is installed at the front end of the tube taking turning plate, a transmission chain, a driving motor and a speed reducer are installed on the V-shaped conveying roller path, an end baffle is installed at the front end of the V-shaped conveying roller path, the heat exchange tube is taken out and guided into the V-shaped conveying roller path by the tube taking turning plate, and the heat exchange tube is conveyed to the end baffle by the V-shaped conveying roller path.

Furthermore, the arc-shaped driving wheel on one side of the roller driving pipe penetrating device inclines forwards slightly, the arc-shaped driving wheel on the other side of the roller driving pipe penetrating device inclines backwards slightly, the bearing hole in the middle of the roller guiding sliding block correspondingly inclines, and the pair of the arc-shaped driving wheels which incline mutually extrudes and spirally feeds the heat exchange pipe.

Furthermore, a plurality of groups of conical rollers with bearings are installed on the first pipe grabbing device in a staggered mode, the conical rollers pass through the roller mandrel and the roller locking nuts are connected with the conical roller support, the conical roller support is connected with the roller guide sliding blocks, and when the roller guide sliding blocks are folded, the conical rollers support the two sides and the lower sides of the heat exchange pipe and hold the heat exchange pipe to complete grabbing of the heat exchange pipe.

Furthermore, the front end of the heat exchange tube is provided with an inner expansion type tube penetrating guide head, and the inner expansion type tube penetrating guide head comprises a guide head and a screw rod with a conical surface;

the middle of the guide head is provided with a hole, the front end of the guide head is a conical surface and is transited to a cylindrical surface, the diameter of the cylindrical surface is the same as the outer diameter of the heat exchange tube, the rear end of the guide head is cylindrical, the inner diameter of the guide head is close to the inner diameter of the heat exchange tube, and the rear end surface of the guide head is a conical surface;

the front end of the screw rod with the conical surface is a screw rod, the middle of the screw rod is cylindrical, the rear end of the screw rod is cylindrical with the conical surface, and the outer diameter of the cylindrical screw rod is close to the inner diameter of the heat exchange tube;

high-elasticity polyurethane circular rings are arranged between the screw rod with the conical surface and the guide head at intervals, the outer diameter of each circular ring is close to the inner diameter of the heat exchange tube, and circular rings with conical surfaces at two ends are arranged between the two high-elasticity polyurethane circular rings;

the front end of the guide head is provided with a nut, and when the nut is screwed down, the high-elasticity polyurethane circular ring is extruded by conical surfaces at two sides to generate expansion deformation in the diameter direction, so that the inner expansion type pipe penetrating guide head is connected with the heat exchange pipe in an expansion manner.

The invention has the beneficial effects that: 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.

Drawings

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

FIG. 2 is a schematic structural view of an automatic feeding device for tubes in the tube penetrating apparatus according to the present invention;

FIG. 3 is a partial structural diagram of the front end of a first pipe gripping device and a roller driving pipe penetrating device in embodiment 1 of the pipe penetrating equipment;

FIG. 4 is a schematic view of a rear end partial structure of a first pipe gripping device and a roller driving pipe penetrating device in embodiment 1 of the pipe penetrating equipment;

FIG. 5 is a partial structural view of a first pipe gripping device in accordance with embodiment 1 of the pipe penetrating apparatus of the present invention;

FIG. 6 is a schematic structural view of a second pipe gripping device and a sprocket-driven pipe penetrating device in embodiment 2 of the pipe penetrating apparatus;

FIG. 7 is a schematic rear end view of a second pipe gripping device and a sprocket-driven pipe threading device according to embodiment 2 of the pipe threading apparatus of the present invention;

FIG. 8 is a schematic structural view of the front end of a second pipe gripping device and a sprocket-driven pipe penetrating device in embodiment 2 of the pipe penetrating apparatus;

FIG. 9 is a schematic view of an internally expanding threading guide head of the threading device of the present invention;

wherein: 1. a heat exchanger; 2. a position-changing roller frame; 3. a heat exchanger front end tube plate; 4. a gantry frame; 5. horizontal movement and vertical movement driving mechanisms; 6. a numerically controlled lifting column; 7. the chain wheel drives the pipe penetrating device; 7a, a second cross beam; 7b, a hydraulic motor and speed reducer mounting support; 7c, a hydraulic motor and a speed reducer; 7d, a rear end chain wheel; 7e, a chain; 7f, a chain tensioning wheel; 7g, a front-end chain wheel support; 7h, a front-end chain wheel; 7i, a linear guide rail; 7j, linear guide rail sliding blocks; 7k, an L-shaped pipe pushing arm; 7l of chain guide rail; 7m, a second lifting column connecting plate; 7n, a linear guide rail mounting seat; 7o, adjusting a locking mechanism by a tension wheel; 8. a first pipe gripping device; 8a, a first V-shaped roller; 8b, a roller guide sliding block; 8c, a V-shaped roller guide groove; 8d, a drive shaft; 8e, driving a chain plate; 8f, linking the push-pull plate; 8g, linking a push-pull plate guide groove plate; 8k, a linkage push-pull air cylinder; 8l, linkage push-pull cylinder mounting plate; 8m, roller mandrels; 8n, roller locking nuts; 9. an automatic pipe feeding device; 9a, a framework with an inclined plane; 9b, a framework with a plane; 9c, end baffles; 9d, a connecting shaft; 9e, taking the tube turning plate; 9g of eccentric plate; 9h, a cylinder; 9i, a cylinder support; 9j, a V-shaped conveying roller path; 9k, a driving motor and a speed reducer; 9l of transmission chain; 10. a heat exchange pipe; 11. an internal expansion type pipe penetrating guide head; 11a, a nut; 11b, a guide head; 11c, a high-elasticity polyurethane circular ring; 11d, two ends are provided with conical rings; 11e, a screw rod with a conical surface; 12. the roller drives the pipe penetrating device; 12a, a first beam; 12b, a driving mechanism mounting frame; 12c, an arc-shaped driving wheel; 12d, a long pin shaft; 12e, guiding the sliding block by the arc-shaped driving wheel; 12f, arc-shaped driving wheel guide grooves; 12g, ear plates; 12h, link plates; 12i, a first lifting column connecting plate; 12j, a push-pull plate; 12k, a push-pull air cylinder; 12l, mounting a bracket; 12m, a brushless motor and a planetary reducer; 12q, a lifting cylinder mounting plate; 12r, guide posts; 12s, a lifting cylinder; 12t, a pipe pushing cylinder; 12u, a push pipe cylinder mounting plate; 12v, a push tube cylinder rod; 13. a second pipe gripping device; 13a, an L-shaped elongated grabbing arm; 13b, a second V-shaped roller; 13c, a pneumatic wide-mouth clamp; 14. a laser scanning sensor; 15. a tapered roller; 16. and a conical roller support.

Detailed Description

To better illustrate the objects, aspects and advantages of the present invention, the present invention will be further described with reference to specific embodiments. This invention may be embodied in many different forms and should not be construed as limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete and will fully convey the concept of the invention to those skilled in the art, and the present invention will only be defined by the appended claims.

As shown in fig. 1-9, an automatic tube penetrating device for a tube type heat exchanger comprises a position-changing roller frame 2 placed on the ground, wherein the position-changing roller frame 2 is used for placing a 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 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 the deflection roller frame 2, two gantry type frames 4 which are symmetrically distributed front and back are installed in front of a tube plate 3 at the front end of the heat exchanger, a guide rail is arranged on a cross beam of the gantry type frames 4, two horizontal movement and vertical movement driving mechanisms 5 are installed on the guide rail, lifting columns 6 are installed on the horizontal movement and vertical movement driving mechanisms 5, and the lower ends of the two lifting columns 6 which are located on the same side are provided with the same pipe grabbing and pipe penetration driving device.

The left side and the right side between the two gantry frames 4 are provided with automatic tube feeding devices 9, tube grabbing and tube penetrating driving devices grab the heat exchange tubes 10 from the automatic tube feeding devices 9 and convey the heat exchange tubes forwards, and the horizontal moving and vertical moving driving mechanisms 5 drive the tube grabbing and tube penetrating driving devices to reach any specified hole positions of the tube plates 3 at the front ends of the heat exchangers, so that the grabbed heat exchange tubes 10 are concentric with the hole positions of the tube plates 3 at the front ends of the heat exchangers.

The front end of the pipe grabbing and pipe penetrating driving device is provided with a laser scanning sensor 14, the pipe penetrating equipment further comprises a control system, the laser scanning sensor 14 transmits signals to the control system, and the control system is electrically connected with each executing mechanism and used for controlling the starting and stopping of the driving device on each executing mechanism.

In the present application, as shown in fig. 2, the automatic tube feeding device 9 includes a frame 9a with a slope for arranging the heat exchange tubes 10 on the slope and automatically rolling downward and a frame 9b with a flat surface for storing the entire bundle of heat exchange tubes 10.

The heat exchange tube heat exchanger comprises a frame 9a with an inclined plane, a material baffle is mounted at the lower end of the inclined plane of the frame 9a with the inclined plane to prevent heat exchange tubes 10 orderly arranged on the inclined plane from sliding downwards, a connecting shaft 9d penetrating through the frame 9a with the inclined plane is mounted behind the material baffle, a support of the connecting shaft 9d is mounted at the end of the frame 9a with the inclined plane, an eccentric plate 9g is fixedly mounted on the connecting shaft 9d, at least one cylinder 9h for driving the connecting shaft 9d to rotate is mounted on the eccentric plate 9g, a plurality of tube taking turning plates 9e are fixedly mounted on the connecting shaft 9d, a cylinder rod of the cylinder 9h is connected with the eccentric plate 9g through a pin shaft, the cylinder support 9i is connected with the frame 9a with the inclined plane, the cylinder 9h is mounted on the cylinder support 9i, and.

The pipe taking turning plate 9e is of an eccentric wheel structure and is provided with a long arm, a V-shaped conveying roller path 9j is installed at the front end of the pipe taking turning plate 9e, a transmission chain 9l, a driving motor and a speed reducer 9k are installed on the V-shaped conveying roller path 9j, an end baffle 9c is installed at the front end of the V-shaped conveying roller path 9j, the heat exchange pipe 10 is taken out of the pipe taking turning plate 9e and guided into the V-shaped conveying roller path 9j, and the heat exchange pipe 10 is conveyed to the position of the end baffle 9c by the V-shaped conveying roller path.

In this application, the tube grasping and tube threading driving means functions to grasp the heat exchange tube 10 from the automatic tube feeding device 9 and convey it forward. The pipe grabbing and pipe penetrating driving device can be realized by adopting different pipe grabbing structures and different pipe penetrating driving modes.

Example 1 (as shown in FIGS. 3-5)

The pipe grabbing and pipe penetrating driving device comprises a first pipe grabbing device 8 and a roller driving pipe penetrating device 12, the roller driving pipe penetrating device 12 comprises a first cross beam 12a, the lower end of the first cross beam 12a is a steel plate plane, reinforcing plates are arranged on two sides of the first cross beam 12a, the middle of the first cross beam is of a hollow structure, a first lifting column connecting plate 12i is arranged at the front end and the rear end above the first cross beam 12a, and the lifting column 6 is connected with the first lifting column connecting plate through bolts.

A driving mechanism mounting frame 12b is mounted at the front end of the first cross beam 12a, two arc-shaped driving wheel guide grooves 12f are arranged at the lower end of the driving mechanism mounting frame 12b, arc-shaped driving wheel guide sliding blocks 12e are symmetrically mounted in the middles of the two arc-shaped driving wheel guide grooves 12f, lug plates 12g are arranged on two sides of the upper end of each arc-shaped driving wheel guide sliding block 12e, the long pin shaft 12d is installed between the lug plates 12g on the two sides, chain plates 12h coaxial with the long pin shaft 12d are respectively arranged on the outer sides of the lug plates 12g on the two sides, the other ends of the chain plates 12h are connected with a push-pull plate 12j through pin shafts, the push-pull plate 12j is symmetrically connected with four chain plates 12h, the push-pull plate 12j is connected with a cylinder rod of a push-pull cylinder 12k, a front flange of the push-pull cylinder 12k is connected with the upper plane of a driving mechanism mounting frame 12b, and the cylinder rod of the push-pull cylinder 12k drives two arc-shaped driving wheel guide sliders 12e to symmetrically move.

A bearing mounting hole is arranged in the middle of the arc-shaped driving wheel guide sliding block 12e, a flange which is contacted with an outer ring of a radial thrust ball bearing is arranged below the bearing mounting hole, two radial thrust ball bearings are put in from the upper part of the bearing mounting hole and are contacted with the flange at the lower end of the bearing mounting hole, a transmission shaft is arranged at the inner ring of the two radial thrust ball bearings, a shaft shoulder is arranged at the upper end of the transmission shaft and is contacted with the inner ring of the radial thrust ball bearing at the upper end, a hole and a key groove are arranged in the middle of the transmission shaft, a key is arranged at the excircle of the arc-shaped driving wheel 12c at the lower end of the transmission shaft, a threaded column for pressing the arc-shaped driving wheel 12c is arranged at the lowest end of the transmission shaft, the arc-shaped driving wheel 12c penetrates through the lower end of the transmission shaft and, a bearing gland is arranged above a bearing hole of the arc-shaped driving wheel guide sliding block 12e, the bearing gland presses the outer ring of a radial thrust ball bearing at the upper end, the bearing gland is connected with the arc-shaped driving wheel guide sliding block 12e through a bolt, a hole is formed in the middle of the bearing gland, a lower flange of the brushless motor and the planetary reducer 12m is connected with the bearing gland through a bolt, a shaft with keys of the brushless motor and the planetary reducer 12m penetrates through the hole in the middle of the bearing gland and is inserted into the hole with key grooves in the middle of the transmission shaft, and the brushless motor and the planetary reducer 12m can drive the transmission shaft and drive the arc-.

A lifting cylinder mounting plate 12q is mounted at the rear end of the mounting support 12l, a lifting cylinder 12s with a front flange is mounted in the middle of the lifting cylinder mounting plate 12q, guide posts 12r are mounted on two sides of the lifting cylinder 12s, a push pipe cylinder mounting plate 12u is mounted at the lower ends of the shaft of the lifting cylinder 12s and the guide posts 12r, a push pipe cylinder 12t is mounted below the push pipe cylinder mounting plate 12u, the lifting cylinder 12s drives the push pipe cylinder 12t to ascend and descend, and a push pipe cylinder rod 12v extends forwards to push the heat exchange pipe 10.

A plurality of holes are uniformly distributed on a steel plate below the first cross beam 12a, a plurality of first pipe grabbing devices 8 are symmetrically and uniformly arranged along the symmetrical central line and the perforated part of the lower plane of the first cross beam 12a, each first pipe grabbing device 8 comprises a V-shaped roller guide groove 8c symmetrically arranged on the lower surface of the first cross beam 12a, a V-shaped roller guide slider 8b is arranged in the V-shaped roller guide groove 8c, guide flanges are arranged on two sides of the V-shaped roller guide slider 8b, a bearing hole is formed in the middle of the V-shaped roller guide slider 8b, a flange is arranged at the lower end of the bearing hole, two radial thrust ball bearings are arranged in the bearing hole, the outer ring of the radial thrust ball bearing at the lower end is contacted with the flange of the bearing hole, a roller mandrel 8m is arranged between the two radial thrust ball bearings, a flange is arranged at the upper end of the roller mandrel 8m and contacted with, the lower end of the roller mandrel 8m is also provided with a stud, the upper end of a bearing hole is provided with a bearing gland which is contacted with the outer ring of a radial thrust ball bearing at the upper end and is fixed with the upper surface of a V-shaped roller guide slide block 8b by a bolt, a first V-shaped roller 8a with a bearing is arranged at the lower end of the roller mandrel 8m and is fixed by a roller locking nut 8n, the middle of the upper surface of the V-shaped roller guide slide block 8b is provided with a driving shaft 8d, a driving chain plate 8e is arranged above the driving shaft 8d, the other end of the driving chain plate 8e is connected with a linkage push-pull plate 8f, the linkage push-pull plate 8f can move along a linkage push-pull plate guide groove plate 8g, the end part of the linkage push-pull plate 8f is connected with a cylinder rod of a linkage push-pull cylinder 8k, the front flange of the linkage push-, the linkage push-pull plate 8f drives all the first V-shaped rollers 8a to open and close along the symmetrical center in a linkage manner, and the linkage push-pull plate is used for clamping the heat exchange tube 10.

The working process is as follows:

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 the hole system of the tube plate 3 at the front end of the heat exchanger by using the deflection roller frame 2, and detecting the spatial position state of the hole system of the tube plate 3 at the front end of the heat exchanger by using the horizontal moving function of the automatic tube penetrating device and a laser scanning sensor 14;

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 12c with the same outer diameter as the heat exchange tube 10;

s3, adjusting the position of an end baffle 9c at the front end of the automatic pipe feeding device 9 according to the pipe diameter to be related to the position of a pipe taking turning plate 9e, putting the whole bundle of heat exchange pipes 10 on a framework 9b with a plane, manually rolling the heat exchange pipes 10 downwards along the framework 9a with an inclined plane to ensure that the heat exchange pipes 10 are uniformly arranged on the inclined plane and automatically roll downwards, wherein a material baffle can prevent the heat exchange pipes 10 from continuously sliding downwards, and an inner expanding type pipe penetrating guide head 11 is sequentially arranged at the end part of the heat exchange pipes 10;

s4, starting the air cylinder 9h for driving the connecting shaft 9d to rotate so as to drive the plurality of pipe taking turning plates 9e on the connecting shaft 9d to rotate, supporting one heat exchange pipe 10 by the pipe taking turning plates 9e, then rolling downwards along the long arm of the pipe taking turning plates 9e to the V-shaped conveying roller path 9j, starting the V-shaped conveying roller path 9j to convey the heat exchange pipe 10 to the end baffle 9c, and then resetting the pipe taking turning plates 9 e;

s5: the linkage push-pull cylinder 8k of the first pipe grabbing device 8 is started to drive the linkage push-pull plate 8f to move backwards, the drive chain plate 8e, the drive shaft 8d and the roller guide slide block 8b are driven to be linked, so that the first V-shaped rollers 8a of all the pipe grabbing devices are opened, simultaneously, a push-pull air cylinder 12k arranged above the driving mechanism mounting frame 12b is started to drive a push-pull plate 12j to move downwards, the guide slide block 12e is driven by the chain plate 12h to be linked, all the arc-shaped driving wheels 12c are opened, the roller driving pipe penetrating device 12 is automatically moved to the upper part of the V-shaped conveying roller path 9j by the horizontal movement and vertical movement driving mechanism 5, the centers of the first V-shaped roller 8a and the arc-shaped driving wheel 12c are overlapped with the center of the heat exchange tube 10 in the V-shaped conveying raceway 9j, the linkage push-pull cylinder 8k and the push-pull cylinder 12k are reversely started, and the first V-shaped roller 8a and the arc-shaped driving wheel 12c are folded to grab the heat exchange tube 10 from the V-shaped conveying raceway 9 j;

s6, automatically displacing the roller wheel driving pipe penetrating device 12 to a hole position set by a program by the horizontal movement and vertical movement driving mechanism 5, starting the brushless motor and the planetary reducer 12m, driving the arc driving wheel 12c to rotate so as to drive the heat exchange pipe 10 to move forwards until the heat exchange pipe 10 leaves the arc driving wheel 12c, starting the push-pull air cylinder 12k arranged above the driving mechanism mounting frame 12b to drive the push-pull plate 12j to move downwards, and driving the guide slide block 12e to be linked through the chain plate 12h so as to open all the arc driving wheels 12c at the front end; starting the lifting cylinder 12s to drive the pipe pushing cylinder 12t to descend, enabling the center line of a piston rod of the pipe pushing cylinder 12t to be overlapped with the center line of the heat exchange pipe 10, starting the pipe pushing cylinder 12t, enabling the end part of the piston rod of the pipe pushing cylinder 12t to push the heat exchange pipe 10 to advance and reach a specified position to complete pipe penetration, and starting the linkage push-pull cylinder 8k to drive all the first pipe grabbing devices 8 to open;

and S7, repeating the above steps to complete all pipe penetrating tasks.

Example 2 (as shown in FIGS. 6-8)

The pipe grabbing and pipe penetrating driving device comprises a second pipe grabbing device 13 and a chain wheel driving pipe penetrating device 7, the chain wheel driving pipe penetrating device 7 comprises a second cross beam 7a, the second cross beam 7a is formed by welding steel plates or section steel, the lower end of the second cross beam 7a is a steel plate plane, two sides of the second cross beam are reinforcing plates, the middle of the second cross beam is of a hollow structure, a second lifting column connecting plate 7m is arranged at the front end and the rear end above the second cross beam 7a, and the lifting columns 6 are connected with the second lifting column connecting plate through bolts.

A linear guide rail mounting seat 7n is mounted in the middle below a second cross beam 7a, a linear guide rail 7i and a linear guide rail sliding block 7j which are communicated from front to back are mounted on the linear guide rail mounting seat 7n, an L-shaped push pipe arm 7k is mounted on the linear guide rail sliding block 7j, two wing plates are arranged on two sides of the L-shaped push pipe arm 7k and are respectively connected with a chain 7e, a hydraulic motor and speed reducer mounting support 7b and a hydraulic motor and speed reducer 7c are arranged at the rear end of the second cross beam 7a, two rear end chain wheels 7d are symmetrically mounted on two sides of the hydraulic motor and speed reducer 7c, a front end chain wheel support 7g is arranged at the front end of the second cross beam 7a, two front end chain wheels 7h are symmetrically mounted on two sides of the front end chain wheel support 7g, a chain tensioning wheel 7f and a tensioning wheel adjusting and locking mechanism 7o are mounted above the middle of the, the chain tensioning wheel 7f can be upwards adjusted to tension the chain 7e and is locked and fixed by nuts, the two chains 7e are respectively arranged in the front-end chain wheel 7h, the rear-end chain wheel 7d and the chain tensioning wheel 7f, chain guide rails 7L are arranged on two sides of the chain 7e, and the driving hydraulic motor and the speed reducer 7c can drive the L-shaped push pipe arm 7k to move back and forth along the linear guide rail 7 i.

A plurality of second pipe grabbing devices 13 are arranged in the middle of the lower portion of the second cross beam 7a at intervals, each second pipe grabbing device 13 comprises a pneumatic wide-mouth clamp 13c arranged below the linear guide rail 7i, the upper surface of each pneumatic wide-mouth clamp 13c is connected with the lower surface of the second cross beam 7a through a bolt, L-shaped extension grabbing arms 13a are symmetrically arranged on two sides of each pneumatic wide-mouth clamp 13c, second V-shaped rollers 13b with bearings are arranged on the L-shaped extension grabbing arms 13a, the pneumatic wide-mouth clamps 13c drive the second V-shaped rollers 13b to symmetrically open and close, a sensor is arranged near each second pipe grabbing device 13 and electrically connected with a control system, when the sensors detect that the L-shaped pipe pushing arms 7k are close from the rear ends, the control system controls the second pipe grabbing devices 13 to open, and the L-shaped pipe pushing arms 7k pass through the second pipe grabbing devices 13.

The working process is as follows:

S1-S4 same as example 1

S5, starting the pneumatic wide-mouth clamp 13c on the second pipe grabbing device 13 to enable the second V-shaped roller 13b to be symmetrically opened, starting the hydraulic motor and the speed reducer 7c to drive the L-shaped pipe pushing arm 7k to move to the rear end along the linear guide rail 7i, starting the horizontal movement and vertical movement driving mechanism 5 to automatically move the chain wheel driving pipe penetrating device 7 to the position right above the V-shaped conveying roller path 9j, then descending until the center of the second V-shaped roller 13b is overlapped with the center of the heat exchange pipe 10 on the V-shaped conveying roller path 9j, and starting the pneumatic wide-mouth clamp 13c reversely to enable the second V-shaped roller 13b to be symmetrically folded and grab the heat exchange pipe 10 from the V-shaped conveying roller path 9 j;

s6, automatically displacing the chain wheel driving pipe penetrating device 7 to a hole position set by a program by the horizontal movement and vertical movement driving mechanism 5, starting a hydraulic motor and a speed reducer 7c to drive an L-shaped pipe pushing arm 7k to move forwards along a linear guide rail 7i to push the tail end of the heat exchange pipe 10, opening a pneumatic wide-mouth clamp 13c of the second pipe grabbing device 13 to allow the L-shaped pipe pushing arm 7k to pass when the L-shaped pipe pushing arm 7k approaches the second pipe grabbing device 13 from the rear end, pushing the tail end of the heat exchange pipe 10 by the L-shaped pipe pushing arm 7k till the specified position of the front end pipe plate 3 of the heat exchanger to finish pipe penetrating, and starting the hydraulic motor and the speed reducer 7c to enable the L-shaped pipe pushing arm 7k to return to the tail end;

and S7, repeating the above steps to complete all pipe penetrating tasks.

In the application, the arc driving wheel 12c on one side of the roller driving pipe penetrating device 12 inclines forwards slightly, the arc driving wheel 12c on the other side inclines backwards slightly, the bearing hole in the middle of the roller guide sliding block 8b inclines correspondingly, and the pair of arc driving wheels 12c which incline mutually extrude and spirally feed the heat exchange pipe 10.

In this application, install the toper gyro wheel 15 that a plurality of groups have the bearing on grabbing tub device 8 in the mistake, toper gyro wheel 15 is connected with toper gyro wheel support 16 through gyro wheel dabber 8m and gyro wheel lock nut 8n, and toper gyro wheel support 16 is connected with gyro wheel direction slider 8b, and when gyro wheel direction slider 8b folds, toper gyro wheel 15 held heat exchange tube 10 from the both sides below of heat exchange tube 10 and accomplished snatching of heat exchange tube 10.

In the present application, as shown in fig. 9, an inner expanding type pipe penetrating guide head 11 is installed at the front end of a heat exchange pipe 10, and the inner expanding type pipe penetrating guide head 11 includes a guide head 11b and a screw rod 11e with a conical surface.

The middle of the guide head 11b is provided with a hole, the front end of the guide head is a conical surface and transits to a cylindrical surface, the diameter of the cylindrical surface is the same as the outer diameter of the heat exchange tube 10, the rear end of the guide head is cylindrical, the inner diameter of the guide head is close to the inner diameter of the heat exchange tube 10, and the rear end surface of the guide head is a conical.

The front end of the screw rod 11e with the conical surface is a screw rod, the middle of the screw rod is cylindrical, the rear end of the screw rod is cylindrical with the conical surface, and the outer diameter of the cylindrical screw rod is close to the inner diameter of the heat exchange tube 10.

High-elasticity polyurethane circular rings 11c are arranged between the screw rod 11e with the conical surface and the guide head 11b at intervals, the outer diameter of each circular ring is close to the inner diameter of the heat exchange tube 10, and circular rings 11d with conical surfaces at two ends are arranged between the two high-elasticity polyurethane circular rings 11 c.

The front end of the guide head 11b is provided with a nut 11a, when the nut 11a is screwed, the high-elasticity polyurethane circular ring 11c is extruded by the conical surfaces at two sides to generate expansion deformation in the diameter direction, so that the inner expansion type pipe penetrating guide head 11 and the heat exchange pipe 10 are connected in an expansion manner.

In the application, the linkage push-pull air cylinder 8k, the air cylinder 9h, the push-pull air cylinder 12k, the lifting air cylinder 12s, the pipe pushing air cylinder 12t and the pneumatic wide-opening clamp 13c can be replaced by a hydraulic driving mode.

The hydraulic motor and the speed reducer 7c can be replaced by a large-torque motor and a speed reducer for driving.

It should be understood that the above examples are only for clarity of illustration and are not intended to limit the embodiments. Other variations and modifications will be apparent to persons skilled in the art in light of the above description. And are neither required nor exhaustive of all embodiments. And obvious variations or modifications therefrom are within the scope of the invention.

Claims (9)

1. The utility model provides an automatic poling equipment of shell and tube heat exchanger which characterized in that: the pipe-penetrating device comprises a displacement roller carrier (2), wherein the displacement roller carrier (2) is used for placing a heat exchanger (1) needing pipe penetration and driving the heat exchanger (1) to rotate, two gantry frames (4) which are symmetrically distributed front and back are installed in front of a pipe plate (3) at the front end of the heat exchanger, two horizontal movement and vertical movement driving mechanisms (5) are installed on a cross beam of each gantry frame (4), lifting columns (6) are installed on the horizontal movement and vertical movement driving mechanisms (5), and the lower ends of the two lifting columns (6) positioned on the same side are provided with the same pipe grabbing and pipe-penetrating driving device;

the left side and the right side between the two gantry frames (4) are provided with automatic tube feeding devices (9), the automatic tube grabbing and tube penetrating driving devices grab heat exchange tubes (10) from the automatic tube feeding devices (9) and convey the heat exchange tubes forwards, and the horizontal moving and vertical moving driving mechanisms (5) drive the automatic tube grabbing and tube penetrating driving devices to reach any specified hole position of the front end tube plate (3) of the heat exchanger, so that the grabbed heat exchange tubes (10) are concentric with the hole position of the front end tube plate (3) of the heat exchanger;

the pipe grabbing and pipe penetrating device is characterized in that a laser scanning sensor (14) is installed at the front end of the pipe grabbing and pipe penetrating driving device, the pipe penetrating equipment further comprises a control system, the laser scanning sensor (14) transmits signals to the control system, and the control system is electrically connected with each executing mechanism and used for controlling the starting and stopping of the driving device on each executing mechanism.

2. The automatic tube penetrating equipment of the tube type heat exchanger according to claim 1, wherein: the pipe grabbing and penetrating driving device comprises a first pipe grabbing device (8) and a roller driving and penetrating device (12), the roller driving and penetrating device (12) comprises a first cross beam (12a), the lower end of the first cross beam (12a) is a steel plate plane, reinforcing plates are arranged on two sides of the first cross beam, the middle of the first cross beam is of a hollow structure, a first lifting column connecting plate (12i) is arranged at the front end and the rear end above the first cross beam (12a), and the lifting column (6) is connected with the lifting column through bolts;

a driving mechanism mounting frame (12b) is mounted at the front end of the first cross beam (12a), two arc-shaped driving wheel guide grooves (12f) are formed in the lower end of the driving mechanism mounting frame (12b), arc-shaped driving wheel guide sliders (12e) are symmetrically mounted in the middles of the two arc-shaped driving wheel guide grooves (12f), ear plates (12g) are arranged on two sides of the upper end of each arc-shaped driving wheel guide slider (12e), a long pin shaft (12d) is mounted between the ear plates (12g) on two sides, chain plates (12h) coaxial with the long pin shaft (12d) are respectively arranged on the outer sides of the ear plates (12g) on the two sides, the other ends of the chain plates (12h) are connected with push-pull plates (12j) through pin shafts, the push-pull plates (12j) are symmetrically connected with four chain plates (12h), and the push-pull plates (12j) are connected, a front flange of the push-pull air cylinder (12k) is connected with the upper plane of the driving mechanism mounting frame (12b), and an air cylinder rod of the push-pull air cylinder (12k) drives the two arc-shaped driving wheel guide sliding blocks (12e) to generate symmetrical horizontal movement;

the middle of the arc-shaped driving wheel guide sliding block (12e) is provided with a bearing mounting hole, a flange which is in contact with the outer ring of a radial thrust ball bearing is arranged below the bearing mounting hole, two radial thrust ball bearings are put into the bearing mounting hole from the upper part and are in contact with the flange at the lower end of the bearing mounting hole, the inner rings of the two radial thrust ball bearings are provided with transmission shafts, the upper end of each transmission shaft is provided with a shaft shoulder and the upper end of each radial thrust ball bearing are in contact with the inner ring of the radial thrust ball bearing, the middle of each transmission shaft is provided with a hole and a key groove, the outer circle of the part of the arc-shaped driving wheel (12c) at the lower end of each transmission shaft is provided with a threaded column for pressing the arc-shaped driving wheel (12c), the arc-shaped driving wheel (12c) penetrates through the lower end of the transmission shaft, the upper end of the hole of the arc-shaped driving wheel (12c) is provided with a circular ring bulge which contacts with the inner ring of the radial thrust ball bearing at the lower end, a bearing gland is arranged above a bearing hole of the arc-shaped driving wheel guide sliding block (12e), the bearing gland presses the outer ring of the radial thrust ball bearing at the upper end, the bearing gland is connected with the arc-shaped driving wheel guide slide block (12e) by bolts, the middle of the bearing gland is provided with a hole, the lower flanges of the brushless motor and the planetary reducer (12m) are connected with the bearing gland by bolts, the shaft with keys of the brushless motor and the planetary reducer (12m) passes through a hole in the middle of the bearing gland and is inserted into a hole with a key groove in the middle of the transmission shaft, the brushless motor and the planetary reducer (12m) can drive the transmission shaft and drive the arc-shaped driving wheel (12c) to rotate;

a lifting cylinder mounting plate (12q) is mounted at the rear end of a mounting support (12l), a lifting cylinder (12s) with a front flange is mounted in the middle of the lifting cylinder mounting plate (12q), guide columns (12r) are mounted on two sides of the lifting cylinder (12s), a push pipe cylinder mounting plate (12u) is mounted on the shaft of the lifting cylinder (12s) and the lower end of the guide column (12r), a push pipe cylinder (12t) is mounted below the push pipe cylinder mounting plate (12u), the lifting cylinder (12s) drives the push pipe cylinder (12t) to ascend and descend, and a push pipe cylinder rod (12v) extends forwards to push the heat exchange pipe (10).

3. The automatic tube penetrating equipment of the tube type heat exchanger according to claim 2, wherein: the pipe grabbing device is characterized in that a plurality of holes are uniformly formed in a steel plate below the first cross beam (12a), a plurality of first pipe grabbing devices (8) are symmetrically and uniformly arranged along a symmetrical center line of a lower plane of the first cross beam (12a) and a perforated part, each first pipe grabbing device (8) comprises a V-shaped roller guide groove (8c) symmetrically arranged on the lower surface of the first cross beam (12a), a V-shaped roller guide sliding block (8b) is arranged in the V-shaped roller guide groove (8c), guide flanges are arranged on two sides of the V-shaped roller guide sliding block (8b), a bearing hole is formed in the middle of the V-shaped roller guide sliding block (8b), flanges are arranged at the lower end of the bearing hole, two radial thrust ball bearings are arranged in the bearing hole, the outer ring of the radial thrust ball bearing at the lower end is in contact with the flanges of the bearing hole, a roller mandrel (8m) is arranged between the two radial thrust, a flange is arranged at the upper end of the roller mandrel (8m) and is in contact with the inner ring of the radial thrust ball bearing at the upper end, a key is arranged on the excircle of the lower end of the roller mandrel (8m), a stud is further arranged at the lower end of the roller mandrel (8m), a bearing gland is arranged at the upper end of the bearing hole and is in contact with the outer ring of the radial thrust ball bearing at the upper end and is fixed with the upper surface of the V-shaped roller guide sliding block (8b) through a bolt, a first V-shaped roller (8a) with a bearing is arranged at the lower end of the roller mandrel (8m) and is fixed through a roller locking nut (8n), a driving shaft (8d) is arranged in the middle of the upper surface of the V-shaped roller guide sliding block (8b), a driving chain plate (8e) is arranged above the driving shaft (8d), the other end of the driving chain plate (8e) is connected with a linkage plate (8f), and the push-, the end part of the linkage push-pull plate (8f) is connected with a cylinder rod of a linkage push-pull cylinder (8k), a front flange of the linkage push-pull cylinder (8k) is connected with a linkage push-pull cylinder mounting plate (8l), the linkage push-pull cylinder mounting plate (8l) is connected with the end part of the first beam (12a), and the linkage push-pull plate (8f) drives all the first V-shaped rollers (8a) to open and close along a symmetrical center for linkage and used for clamping the heat exchange tube (10).

4. The automatic tube penetrating equipment of the tube type heat exchanger according to claim 1, wherein: the pipe grabbing and penetrating driving device comprises a second pipe grabbing device (13) and a chain wheel driving pipe penetrating device (7), the chain wheel driving pipe penetrating device (7) comprises a second cross beam (7a), the second cross beam (7a) is formed by welding steel plates or section steel, the lower end of the second cross beam (7a) is a steel plate plane, reinforcing plates are arranged on two sides of the second cross beam, a hollow structure is arranged in the middle of the second cross beam, a second lifting column connecting plate (7m) is arranged at each of the front end and the rear end above the second cross beam (7a), and the lifting columns (6) are connected with the second lifting column connecting plates through bolts;

a linear guide rail mounting seat (7n) is installed in the middle of the lower portion of the second cross beam (7a), a linear guide rail (7i) and a linear guide rail sliding block (7j) which are through from front to back are installed on the linear guide rail mounting seat (7n), an L-shaped push pipe arm (7k) is installed on the linear guide rail sliding block (7j), two wing plates are arranged on two sides of the L-shaped push pipe arm (7k) and are respectively connected with a chain (7e), a hydraulic motor and speed reducer installation support (7b) and a hydraulic motor and speed reducer (7c) are arranged at the rear end of the second cross beam (7a), two rear end chain wheels (7d) are symmetrically installed on two sides of the hydraulic motor and speed reducer (7c), a front end chain wheel support (7g) is arranged at the front end of the second cross beam (7a), two front end chain wheels (7h) are symmetrically installed on two sides of the front end chain wheel, chain take-up pulley (7f) and take-up pulley regulation locking mechanism (7o) are installed to second crossbeam (7a) middle top, open there is the U-shaped groove second crossbeam (7a) both sides, can with chain take-up pulley (7f) upwards adjust the tensioning chain (7e), and it is fixed with nut locking, two chain (7e) are installed respectively in front end sprocket (7h), rear end sprocket (7d) and chain take-up pulley (7f), chain guide (7L) are installed to chain (7e) both sides, the drive hydraulic motor and speed reducer (7c) can drive L shape push pipe arm (7k) are followed linear guide (7i) back-and-forth movement.

5. The automatic tube penetrating equipment of the tube type heat exchanger according to claim 4, wherein: the middle of the lower portion of the second cross beam (7a) is provided with a plurality of second pipe grabbing devices (13) at intervals, each second pipe grabbing device (13) comprises a pneumatic wide-mouth clamp (13c) arranged below the linear guide rail (7i), the upper surface of each pneumatic wide-mouth clamp (13c) is connected with the lower surface of the second cross beam (7a) through a bolt, L-shaped long grabbing arms (13a) are symmetrically arranged on two sides of each pneumatic wide-mouth clamp (13c), second V-shaped rollers (13b) with bearings are arranged on the L-shaped long grabbing arms (13a), the pneumatic wide-mouth clamps (13c) drive the second V-shaped rollers (13b) to symmetrically open and close, a sensor is arranged near each second pipe grabbing device (13) and electrically connected with a control system, and the control system controls the second pipe grabbing devices (13) to open when the sensors detect that the L-shaped pipe pushing arms (7k) are close to each other from the back end, the L-shaped pipe pushing arm (7k) passes through the second pipe grabbing device (13).

6. The automatic tube penetrating equipment of the tube type heat exchanger according to claim 1, wherein: the automatic pipe feeding device (9) comprises a framework (9a) with an inclined plane for arranging the heat exchange pipes (10) on the inclined plane and automatically rolling downwards, and a framework (9b) with a plane for storing the whole bundle of the heat exchange pipes (10);

the heat exchange tubes (10) which are orderly arranged on the inclined plane are prevented from sliding downwards by a baffle plate arranged at the lower end of the inclined plane of the framework (9a) with the inclined plane, a connecting shaft (9d) penetrating through the framework (9a) with the inclined plane is arranged behind the baffle plate, a support of the connecting shaft (9d) is arranged at the end part of the framework (9a) with the inclined plane, an eccentric plate (9g) is fixedly arranged on the connecting shaft (9d), at least one cylinder (9h) for driving the connecting shaft (9d) to rotate is arranged on the eccentric plate (9g), a plurality of tube taking turning plates (9e) are fixedly arranged on the connecting shaft (9d), a cylinder rod of the cylinder (9h) is connected with the eccentric plate (9g) through a pin shaft, a cylinder support (9i) is connected with the framework (9a) with the inclined plane, and the cylinder (9h) is arranged on the cylinder support (9i), the air cylinder (9h) drives the connecting shaft (9d) to rotate so as to drive all the pipe taking turning plates (9e) to rotate;

the heat exchange tube taking device is characterized in that the tube taking turning plate (9e) is of an eccentric wheel structure and is provided with a long arm, a V-shaped conveying roller path (9j) is installed at the front end of the tube taking turning plate (9e), a transmission chain (9l), a driving motor and a speed reducer (9k) are installed on the V-shaped conveying roller path (9j), an end baffle (9c) is installed at the front end of the V-shaped conveying roller path (9j), the heat exchange tube (10) is taken out and guided into the V-shaped conveying roller path (9j) through the tube taking turning plate (9e), and the heat exchange tube (10) is conveyed to the end baffle (9c) through the V-shaped conveying roller path (9 j).

7. The automatic tube penetrating equipment of the tube type heat exchanger according to claim 3, wherein: the arc-shaped driving wheel (12c) on one side of the roller driving pipe penetrating device (12) inclines forwards slightly, the arc-shaped driving wheel (12c) on the other side inclines backwards slightly, the bearing hole in the middle of the roller guide sliding block (8b) inclines correspondingly, and the pair of arc-shaped driving wheels (12c) which incline mutually extrudes and spirally feeds the heat exchange pipe (10).

8. The automatic tube penetrating equipment of the tube type heat exchanger according to claim 3, wherein: a plurality of groups of conical rollers (15) with bearings are installed on the first pipe grabbing device (8) in a staggered mode, the conical rollers (15) are connected with a conical roller support (16) through roller mandrels (8m) and roller locking nuts (8n), the conical roller support (16) is connected with roller guide sliders (8b), and when the roller guide sliders (8b) are folded, the conical rollers (15) support the heat exchange pipe (10) from the lower portions of the two sides of the heat exchange pipe (10) to complete grabbing of the heat exchange pipe (10).

9. The automatic tube penetrating equipment of the tube type heat exchanger according to claim 1, wherein: the front end of the heat exchange tube (10) is provided with an inner expansion type tube penetrating guide head (11), and the inner expansion type tube penetrating guide head (11) comprises a guide head (11b) and a screw rod (11e) with a conical surface;

the middle of the guide head (11b) is provided with a hole, the front end of the guide head is a conical surface and transits to a cylindrical surface, the diameter of the cylindrical surface is the same as the outer diameter of the heat exchange tube (10), the rear end of the guide head is cylindrical, the inner diameter of the guide head is close to the inner diameter of the heat exchange tube (10), and the rear end surface of the guide head is a conical surface;

the front end of the screw rod (11e) with the conical surface is a screw rod, the middle of the screw rod is cylindrical, the rear end of the screw rod is cylindrical with the conical surface, and the outer diameter of the cylindrical screw rod is close to the inner diameter of the heat exchange tube (10);

high-elasticity polyurethane circular rings (11c) are arranged between the screw rod (11e) with the conical surface and the guide head (11b) at intervals, the outer diameter of each circular ring is close to the inner diameter of the heat exchange tube (10), and circular rings (11d) with conical surfaces at two ends are arranged between the two high-elasticity polyurethane circular rings (11 c);

the front end of the guide head (11b) is provided with a nut (11a), when the nut (11a) is screwed down, the high-elasticity polyurethane circular ring (11c) is extruded by conical surfaces at two sides to generate expansion deformation in the diameter direction, so that the inner expansion type pipe penetrating guide head (11) and the heat exchange pipe (10) are connected in an expansion manner.

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