CN115106764B - Intelligent automatic tube penetrating production line for heat exchanger - Google Patents
Intelligent automatic tube penetrating production line for heat exchanger Download PDFInfo
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- CN115106764B CN115106764B CN202210965494.1A CN202210965494A CN115106764B CN 115106764 B CN115106764 B CN 115106764B CN 202210965494 A CN202210965494 A CN 202210965494A CN 115106764 B CN115106764 B CN 115106764B
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- 230000000149 penetrating effect Effects 0.000 title claims abstract description 89
- 238000004519 manufacturing process Methods 0.000 title claims abstract description 24
- 230000007246 mechanism Effects 0.000 claims abstract description 102
- 238000000034 method Methods 0.000 claims abstract description 13
- 230000008569 process Effects 0.000 claims abstract description 11
- 239000003638 chemical reducing agent Substances 0.000 claims description 50
- 230000005540 biological transmission Effects 0.000 claims description 34
- 230000033001 locomotion Effects 0.000 claims description 24
- 230000005012 migration Effects 0.000 claims description 17
- 238000013508 migration Methods 0.000 claims description 17
- 238000009434 installation Methods 0.000 claims description 12
- 239000000463 material Substances 0.000 claims description 10
- 229910000831 Steel Inorganic materials 0.000 claims description 7
- 239000010959 steel Substances 0.000 claims description 7
- 238000009826 distribution Methods 0.000 claims description 3
- 238000005096 rolling process Methods 0.000 claims description 2
- 230000007306 turnover Effects 0.000 claims description 2
- 230000000007 visual effect Effects 0.000 abstract description 5
- 210000004907 gland Anatomy 0.000 description 10
- 238000012546 transfer Methods 0.000 description 5
- 238000004806 packaging method and process Methods 0.000 description 4
- 230000006872 improvement Effects 0.000 description 3
- 238000012986 modification Methods 0.000 description 3
- 230000004048 modification Effects 0.000 description 3
- 238000005452 bending Methods 0.000 description 2
- 238000012545 processing Methods 0.000 description 2
- 238000004064 recycling Methods 0.000 description 2
- 238000013519 translation Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000000151 deposition Methods 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000006073 displacement reaction Methods 0.000 description 1
- 239000003208 petroleum Substances 0.000 description 1
- 230000009467 reduction Effects 0.000 description 1
- 239000000126 substance Substances 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23P—METAL-WORKING NOT OTHERWISE PROVIDED FOR; COMBINED OPERATIONS; UNIVERSAL MACHINE TOOLS
- B23P19/00—Machines for simply fitting together or separating metal parts or objects, or metal and non-metal parts, whether or not involving some deformation; Tools or devices therefor so far as not provided for in other classes
- B23P19/04—Machines for simply fitting together or separating metal parts or objects, or metal and non-metal parts, whether or not involving some deformation; Tools or devices therefor so far as not provided for in other classes for assembling or disassembling parts
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23P—METAL-WORKING NOT OTHERWISE PROVIDED FOR; COMBINED OPERATIONS; UNIVERSAL MACHINE TOOLS
- B23P19/00—Machines for simply fitting together or separating metal parts or objects, or metal and non-metal parts, whether or not involving some deformation; Tools or devices therefor so far as not provided for in other classes
- B23P19/001—Article feeders for assembling machines
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25B—TOOLS OR BENCH DEVICES NOT OTHERWISE PROVIDED FOR, FOR FASTENING, CONNECTING, DISENGAGING OR HOLDING
- B25B11/00—Work holders not covered by any preceding group in the subclass, e.g. magnetic work holders, vacuum work holders
- B25B11/02—Assembly jigs
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
- B65G47/22—Devices influencing the relative position or the attitude of articles during transit by conveyors
- B65G47/24—Devices influencing the relative position or the attitude of articles during transit by conveyors orientating the articles
- B65G47/248—Devices influencing the relative position or the attitude of articles during transit by conveyors orientating the articles by turning over or inverting them
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
- B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
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Abstract
The invention discloses an intelligent automatic tube penetrating production line of a heat exchanger, which comprises a deflection roller frame used for placing and driving the heat exchanger to rotate in front of tube penetrating equipment, and an assembly tool used for rapidly assembling a tube plate and a baffle plate and rapidly guiding a tube core of the heat exchanger into a cylinder body, wherein two servo horizontal moving mechanisms which are symmetrically distributed front and back are arranged in front of the tube plate at the front end of the heat exchanger, a servo vertical moving mechanism is arranged on the horizontal sliding plate, a tube taking and forced conveying device is arranged between the two servo vertical moving mechanisms, a roller driving tube penetrating and pushing device is arranged on the servo vertical moving mechanism close to the end of the heat exchanger, a visual sensor and a light source are arranged at the front end of the servo vertical moving mechanism, and the intelligent automatic tube penetrating and pushing process can be realized by automatically conveying a plurality of tubes, automatically searching for hole positions of the conveyed tubes one by one into the roller path and automatically driving the tubes to penetrate into tube holes through the forced conveying device.
Description
Technical Field
The application belongs to the technical field of manufacturing of shell and tube heat exchangers, and particularly relates to an intelligent automatic tube penetrating production line of a 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 penetrating, and an automatic tube penetrating machine in the prior art is not suitable for tube penetrating of a large-sized tube type heat exchanger with large diameter and large length.
In the prior art, laser sensor auxiliary control is adopted, a vision system is adopted to replace laser scanning sensor auxiliary control, and higher precision and convenience in use can be obtained.
In the prior art, the pipe grabbing and pipe penetrating driving device can only grab one pipe at a time, the round trip times between grabbing pipes and penetrating pipes are more, and the pipe penetrating efficiency can be improved by optimizing the design, reducing the round trip times.
In the prior art, the pipe feeding is inconvenient, the pipe needs to be taken out from the packaging box manually, the whole bundle of pipe is hung on the pipe automatic feeding device by the travelling crane, and the pipe is pushed onto the inclined plane of the pipe automatic feeding device manually.
The heat exchanger tube core is penetrated by the tube in a 'bright penetrating' mode and a 'blind penetrating' mode, when the heat exchanger tube core is penetrated by the tube penetrating machine in a 'bright penetrating' mode, the heat exchanger tube core is prevented from being assembled in other places, and then the heat exchanger tube core is hoisted to the tube penetrating machine by a crane, so that the tube core is easy to deform, labor and time are wasted, and the heat exchanger tube core after the tube penetrating is inconvenient to hoist by the crane and penetrate into the cylinder body.
Disclosure of Invention
The invention aims to overcome the defects, and provides an intelligent automatic tube penetrating production line for heat exchangers, which is suitable for heat exchangers with different lengths, different diameters and different tube hole distribution states, and tube penetrating pipes of heat exchange tubes with different tube diameters, different wall thicknesses and different materials, and can realize feeding from the tubes, automatic tube turning, automatic grabbing of a plurality of tubes, automatic searching of tube holes and automatic pushing of the plurality of tubes in place, thereby realizing automation of tube penetrating process; for the mode of 'obviously wearing' the heat exchanger tube cores, in order to avoid assembling the heat exchanger tube cores at other places, the heat exchanger tube cores are then hoisted to the front of a tube penetrating machine by a crane, and the heat exchanger tube cores after tube penetrating are inconvenient to hoist by the crane and penetrate into a cylinder body, and a tube type heat exchanger tube core quick assembly fixture is arranged at the front end of an intelligent automatic tube penetrating production line of the heat exchanger.
In order to achieve the above purpose, an intelligent automatic tube penetrating production line for a heat exchanger is provided, which comprises a heat exchanger, a deflection roller frame, a heat exchanger tube core rapid assembly tool, a heat exchanger front tube plate, a servo horizontal movement mechanism, a servo vertical movement mechanism, a roller driving tube penetrating and pushing device, a tube taking and forced feeding device, a tube automatic feeding device, a vision system, a guide head and a heat exchange tube;
The displacement roller frame comprises a mounting frame, wherein the mounting frame is connected with two driving rollers and two driving roller driving mechanisms, and the driving roller driving mechanisms drive the driving rollers to rotate so as to drive the heat exchanger to rotate;
the front end of the surface of the heat exchanger tube core rapid assembly tool is provided with a heat exchanger front end tube plate, a plurality of heat exchanger baffle plates are arranged behind the heat exchanger front end tube plate, the heat exchanger front end tube plate and the heat exchanger baffle plates are fixed with a pull rod through distance tubes, a small amount of heat exchange tubes penetrate through the heat exchanger front end tube plate and the heat exchanger baffle plates, so that the hole systems on the heat exchanger front end tube plate and the heat exchanger baffle plates keep a basically concentric structure;
The front end of the heat exchanger or the heat exchanger tube core is provided with two bases and servo horizontal moving mechanisms which are symmetrically distributed from front to back, a horizontal sliding plate of the servo horizontal moving mechanism is provided with a servo vertical moving mechanism, a tube taking and forced feeding device is arranged between the two servo vertical moving mechanisms positioned on the same side, a roller driving tube penetrating device and a tube pushing device are arranged on the servo vertical moving mechanism which is close to one end of the heat exchanger or the heat exchanger tube core, a visual system is arranged on the side surface of the front end of the roller driving tube penetrating device and the tube pushing device, one sides of the two bases and the servo horizontal moving mechanism are symmetrically provided with a tube automatic feeding device, the servo horizontal moving mechanism and the servo vertical moving mechanism move the tube taking and forced feeding device and the roller driving tube penetrating device and the tube pushing device to the lower part of the front end of the tube automatic feeding device, the translation will get the pipe and send the pipe support of getting on the device to insert the pipe automatic feed device front end below, when vertical migration mechanism risees, get away many heat exchange tubes that are located pipe automatic feed device front end under vision system's assistance, servo horizontal migration mechanism and servo vertical migration mechanism drive gyro wheel drive poling and push away the pipe device and get the pipe and send the device to reach the hole site of arbitrary appointed heat exchanger front end tube sheet, make the heat exchange tube that is snatched concentric with the hole site of heat exchanger front end tube sheet, start in proper order get the pipe and send device and gyro wheel drive poling and push away the pipe device and accomplish automatic poling process.
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 first linear guide rails are installed on the bases, a first rack is installed between the two first linear guide rails, a first sliding block is installed on the first linear guide rails, a horizontal sliding plate is installed on the first sliding block, a speed reducer installation seat is arranged on the horizontal sliding plate, and the speed reducer is fixedly connected with the installation seat through bolts; the automatic transmission is characterized in that a first servo motor is arranged above the speed reducer and the driving gear, the first servo motor is connected with the speed reducer and the driving gear, the driving gear is arranged at the front end of the speed reducer, the driving gear is meshed with the first rack, a servo vertical movement mechanism is arranged on the horizontal sliding plate, limiting blocks are arranged at two ends of the base, and a first drag chain is arranged on the side face of the base.
Further, a vertical column is arranged on the servo vertical movement mechanism, the vertical column is arranged on the upper surface of the horizontal sliding plate, two second linear guide rails are arranged on the side face of the vertical column, a second rack is arranged between the two second linear guide rails, a second sliding block is arranged on the second linear guide rails, a vertical sliding plate is arranged on the surface of the second 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 and a driving gear, a second servo motor is arranged above the worm and gear reducer and the driving gear, the second servo motor is connected with the worm and gear reducer and the driving gear, and the worm and gear reducer is meshed with the driving gear and a second rack; limiting blocks are installed at two ends of the vertical upright, a second drag chain is installed on the side face of the vertical upright, the front end of the installation support is fixedly connected with a first connecting flange on the roller driving pipe penetrating device and the pipe pushing device through bolts, and the rear end of the installation support is fixedly connected with a second connecting flange at two ends of the pipe taking device and the forced conveying device through bolts.
Still further, vision system installs in gyro wheel drive poling and push tube device front end, vision system includes vision sensor, light source and vision system mount pad, install vision sensor and light source on the vision system mount pad, the light source is installed in the outside of vision sensor, vision sensor and light source in the vision system scan along planned route, read the spatial position information of heat exchanger baffling board and the spatial position of target tube hole and the characteristic information of hole on the heat exchanger front end tube sheet, the computer carries out processing through software these information, automatic production the coordinate information of heat exchanger front end tube sheet target hole controls servo horizontal migration mechanism and servo vertical migration mechanism and moves gyro wheel drive poling and push tube device and get tub and forced delivery device to with the concentric position of heat exchanger front end tube sheet's target hole.
The roller driving pipe penetrating and pushing device comprises a driving mechanism mounting frame, a first connecting flange is arranged at the rear end of the driving mechanism mounting frame, two third linear guide rails are arranged at the front lower end of the driving mechanism mounting frame, third sliding blocks are symmetrically arranged in the middle of the two third linear guide rails, two sliding plates are symmetrically arranged on the third sliding blocks symmetrically arranged in the middle of the two third linear guide rails, two lug plates are arranged at the two sides of the upper end of each sliding plate, lifting plates are arranged between the lug plates at the two sides, symmetrical lug plates are arranged at the two sides of each lifting plate, a chain plate is arranged between each lifting plate and each lug plate on each sliding plate, the lifting plates are connected with piston rod end pushing plates of two first guide rod cylinders, the two first guide rod cylinders are connected with middle guide rod cylinder mounting plates, the guide rod cylinder mounting plates are connected with the driving mechanism mounting frame, arc-shaped driving wheels are symmetrically arranged below the sliding plates, a speed reducer is connected with the brushless direct current motor and the arc-shaped driving wheels, the two sliding plates are arranged above the sliding plates, the two first guide rod cylinders move up and down, and the two guide rod cylinders drive the two guide rod cylinders to move symmetrically, and drive the two guide rod cylinders to move horizontally, and clamp the two sliding plates to move horizontally, and drive the arc-shaped driving wheels, and drive the sliding plates move horizontally and drive the sliding plates and change the sliding plates are horizontally; the brushless direct-current brushless motor is characterized in that a bearing mounting hole is formed in the sliding plate, a flange which is in contact with an outer ring of the radial thrust ball bearing is arranged below the bearing mounting hole, two radial thrust ball bearings are placed above the bearing mounting hole and are in contact with the flange at the lower end of the bearing mounting hole, 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 bearing at the upper end, a key slot is formed at the lower end of the transmission shaft and is mounted on the transmission shaft, a hole matched with the transmission shaft and the key slot are formed in the middle of the arc-shaped driving wheel, the arc-shaped driving wheel penetrates from the lower end of the transmission shaft and is fixed by a nut, a circular ring bulge is arranged at the upper end of the arc-shaped driving wheel hole and is in contact with an inner ring of the radial thrust ball bearing at the lower end, a bearing gland is arranged above the sliding plate bearing hole and is in contact with an outer ring of the radial thrust ball bearing at the upper end, the bearing gland is connected with the sliding plate by a bolt, a hole is formed in the middle of the bearing gland, the transmission shaft upper end penetrates through a hole in the middle of the bearing gland, the transmission shaft, the lower end of the transmission shaft is provided with a key slot, and a brushless direct-current brushless motor is mounted on the motor and is connected with a brushless direct-current brushless driving shaft by the speed reducing motor and the brushless direct-current brushless motor;
the roller driving pipe penetrating and pushing device further comprises a pushing pipe cylinder fixing frame which is arranged above the middle of the driving mechanism mounting frame and provided with a guide rod lifting cylinder, a pushing pipe cylinder pushing plate is arranged on the end portion of a piston rod of the guide rod lifting cylinder, a pushing pipe cylinder is horizontally arranged on the pushing pipe cylinder fixing frame, a pushing pipe cylinder piston rod and a pushing plate are arranged at the end portion of a piston rod of the pushing pipe cylinder, and the lower end of the pushing pipe cylinder fixing frame is of a C-shaped structure and provided with a first V-shaped passive roller and a support.
Still further, get tub and forced delivery device includes the crossbeam, the crossbeam both ends are provided with the second flange, a plurality of forced delivery device C type support and passive gyro wheel C type support are installed to the crossbeam below forced delivery device C type support below rear end, install forced delivery device brushless motor and reduction gear forced delivery device C type support below install V-arrangement initiative gyro wheel and support, forced delivery device C type support 7d top, install the third and take the guide arm cylinder, third and take the guide arm cylinder piston rod tip push pedal to pass forced delivery device C type support top and be connected with second V-arrangement passive gyro wheel and support, third and take the guide arm cylinder to drive second V-arrangement passive gyro wheel and support and be in forced delivery device C type support up-and-down motion, passive gyro wheel C type support inside below, install third V-arrangement passive gyro wheel and support, V-arrangement initiative gyro wheel and support and the high and that form of support keep etc. forced delivery device C type support, take the guide arm cylinder rod tip push pedal to be equipped with the inclined guide arm cylinder, take the guide arm cylinder tip to take the guide arm cylinder to take off the inclined tube and take the guide arm cylinder to be close to the inclined tube and install the inclined guide arm cylinder, take off the guide arm cylinder tip to the cylinder to take out the guide arm cylinder tip to be equipped with inclined tube tip and take off the guide arm cylinder, take the guide arm cylinder tip to the cylinder tip to take the tip to the tip is equipped with the cylinder.
Still further, pipe automatic feeding device includes the framework that has the inclined plane and has planar framework, the framework that has the inclined plane is used for the heat transfer pipe is arranged on the inclined plane and automatic roll down, the framework that has the planar is used for depositing whole bundle the heat transfer pipe, the striker plate is installed to the inclined plane lower extreme of framework that has the inclined plane is used for preventing at the inclined plane ordered the heat transfer pipe gliding, is provided with the rotation round pin axle below the framework that has the inclined plane and the framework corner that has the planar, the rotation round pin axle is articulated with the one end of turning over the flitch, the turning over the flitch can revolute round pin axle rotation, turning over the flitch rear end and cylinder piston rod forked joint connection, be connected with shaped steel between the turning over the flitch, be equipped with the cylinder support below the pillar framework that has the plane, the cylinder support articulates with turning over the material cylinder rear end, cylinder piston rod forked joint flexible drive turning over the flitch and rotates.
Furthermore, the roller driving pipe penetrating device and the pipe pushing device are installed on the installation support of the servo vertical movement mechanism in a turnover mode by 180 degrees, the bottom of the C-shaped support of the forced conveying device and the C-shaped support of the driven roller are respectively fixed with the upper surface of the cross beam through bolts, the V-shaped driving roller, the support, the third V-shaped driven roller and the support above the cross beam are kept at the same height, a roller path is formed, the roller path, the roller driving pipe penetrating device and the arc-shaped driving wheel on the pipe pushing device are kept concentric, and the upper surfaces of the C-shaped support of the forced conveying device and the C-shaped support of the driven roller are kept.
Still further, the roller drives the pipe penetrating and forced feeding device at the front end of the pipe pushing device, a plurality of forced feeding device C-shaped brackets are installed below the driving mechanism installation frame, a forced feeding device brushless motor and a speed reducer are installed at the rear end below the forced feeding device C-shaped brackets, a V-shaped driving roller and a support are installed below the forced feeding device C-shaped brackets, a third belt guide rod cylinder is installed above the forced feeding device C-shaped brackets, a push plate at the end part of a piston rod of the third belt guide rod cylinder penetrates through the top of the forced feeding device C-shaped brackets and is connected with the second V-shaped driven roller and the support, the third belt guide rod cylinder drives the second V-shaped driven roller and the support to move up and down in the forced feeding device C-shaped brackets, the third belt guide rod cylinder is started, the second V-shaped driven roller and the support are driven to move downwards to press the heat exchange tube, and the forced feeding device and the speed reducer are started to enable the heat exchange tube to move forwards.
Compared with the prior art, the invention provides an intelligent automatic pipe penetrating production line for a heat exchanger, which has the following beneficial effects:
1. The pipe penetrating equipment disclosed by the invention adopts the vision system to assist in controlling the pipe penetrating, so that higher precision and convenience in use can be obtained, the position of a workpiece does not need to be finely adjusted after the workpiece is placed, the size of holes on a tube plate can be changed randomly, 2D or 3D drawings of the workpiece do not need to be imported, programming for different workpieces does not need to be conducted, a great number of arrangement rules of the holes do not need to be input, and continuous pipe penetrating can be realized in an intelligent mode.
2. 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.
3. The invention directly installs two bases and servo horizontal moving mechanisms which are distributed in a front-back symmetrical way on the ground, installs the servo vertical moving mechanism on a sliding plate of the servo horizontal moving mechanism, and installs the same pipe grabbing and pipe penetrating driving device on two servo vertical moving mechanisms positioned on the same side, thus simplifying the structure, being convenient for manufacturing, installing and debugging, and reducing the equipment investment cost.
4. The invention can automatically grasp a plurality of pipes, automatically find the hole sites of the pipe plates, automatically turn the grasped pipes into the rollaway nest one by one and penetrate into the hole sites of the pipe plates, and automatically push the pipes in place one by one, thereby realizing the numerical control continuous pipe penetrating process.
5. The invention installs the tube turning device at the rear end of the automatic tube feeding device, after the top plate and one side plate of the whole box heat exchange tube are removed, then the whole box heat exchange tube is lifted to the rear end of the automatic tube feeding device by a crane, and the tube turning device is started, so that the heat exchange tube can be poured out of the packaging box and can slide down along the inclined plane of the automatic tube feeding device.
6. The invention is suitable for two modes of 'open threading' and 'blind threading' of a tube core of a heat exchanger, and before the tube threading machine, the tube plate and the baffle plate can be rapidly positioned and fixed by means of 'a tube type heat exchanger tube core rapid assembly fixture and an assembly method', so that the rapid assembly of the tube core of the heat exchanger is completed, and then the tube threading machine is directly utilized for tube threading.
7. After the tube penetrating of the tube core of the heat exchanger is completed, the hydraulic assembly adjustable roller frame is arranged right behind a tube array type heat exchanger tube core quick assembly tool, the heat exchanger tube body is placed on the hydraulic assembly adjustable roller frame, the heat exchanger tube body and the heat exchanger tube core are concentric through the hydraulic assembly adjustable roller frame, the heat exchanger tube core is positioned on the movable support and can slide horizontally along the roller path, and the movable support supports the heat exchanger tube core to translate and gradually insert into the heat exchanger tube body through the traction of the chain block or the traction of the winch.
Drawings
FIG. 1 is a schematic view of a pipe threading apparatus according to embodiment 1 of the present invention;
FIG. 2 is a schematic view of a part of a servo horizontal movement mechanism of a pipe threading device according to embodiment 1 of the present invention;
FIG. 3 is a schematic view showing a partial structure of a servo vertical movement mechanism of a pipe threading apparatus according to embodiment 1 of the present invention;
FIG. 4 is a schematic view showing a partial structure of a roller-driven pipe threading and pushing device of a pipe threading apparatus according to embodiment 1 of the present invention;
FIG. 5 is a schematic view of the pipe taking and forced feeding device in the pipe threading apparatus according to embodiment 1 of the present invention;
FIG. 6 is a schematic view showing the structure of an automatic pipe feeding apparatus in a pipe threading device according to embodiment 1 of the present invention;
FIG. 7 is a schematic view of the visual system of the pipe threading apparatus according to embodiment 1 of the present invention;
FIG. 8 is a schematic view showing the construction of a pipe threading apparatus according to embodiment 2 of the present invention;
Fig. 9 is a schematic structural diagram of a pipe taking and forced feeding device in a pipe penetrating apparatus according to embodiment 2 of the present invention.
In the figure: wherein: 1. a heat exchanger; 2. a deflection roller frame; 3. a heat exchanger tube core; 3a, a heat exchanger baffle; 3b, a front end tube plate of the heat exchanger; 4. a servo horizontal movement mechanism; 4a, a base; 4b, a first linear guide rail; 4c, a first rack; 4d, limiting blocks; 4e, a horizontal sliding plate; 4f, a first sliding block; 4g, a first servo motor; 4h, a speed reducer and a driving gear; 4i, a driving gear; 4j, a first tow chain; 4k, supporting legs; 5. a servo vertical movement mechanism; 5a, vertical columns; 5b, a second sliding block; 5c, a vertical sliding plate; 5d, a second linear guide rail; 5e, a second rack; 5f, a second servo motor; 5g, a worm and gear reducer and a driving gear; 5h, mounting a support; 5i, a second drag chain; 6. the roller drives the pipe penetrating and pushing device; 6a, a driving mechanism mounting frame; 6b, a third linear guide rail; 6c, a third slide block; 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, a cylinder mounting plate with a guide rod; 6j, a first belt guide rod cylinder; 6k, lifting plate; 6l, a push tube cylinder piston rod and a push plate; 6m, pushing the tube cylinder; 6n, lifting air cylinders with guide rods; 6o, a push tube cylinder fixing frame; 6p, a first V-shaped passive roller and a support; 6q, a first connecting flange; 7. a tube taking and forced feeding device; 7a, a cross beam; 7b, a second connecting flange; 7c, a brushless motor of the forced transmission device and a speed reducer; 7d, a strong conveying device C-shaped bracket; 7e, a second V-shaped passive roller and a support; 7f, V-shaped driving rollers and supports; 7g, a passive roller C-shaped bracket; 7h, a third V-shaped passive roller and a support; 7i, a second cylinder with a guide rod; 7j, a top plate; 7k, taking a tube bracket; 7l, adjustable baffles; 7m, connecting section steel; 7n, a third cylinder with a guide rod; 8. automatic pipe feeding device; 8a, a striker plate; 8b, a frame with an inclined surface; 8c, rotating the pin shaft; 8d, a frame with a plane; 8e, turning the material plate; 8f, a fork joint of a cylinder piston rod; 8g, a material turning cylinder; 8h, a cylinder support; 8i, section steel; 8j, heightening the support; 9. a vision system; 9a, a visual sensor; 9b, a light source; 9c, a vision system mounting support; 10. a guide head; 11. a heat exchange tube; 12. quick assembly fixture for heat exchanger tube cores.
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:
1-7, an intelligent automatic tube penetrating production line for a heat exchanger comprises a heat exchanger 1, a deflection roller frame 2, a heat exchanger tube core rapid assembly tool 12, 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 and pushing device 6, a tube taking and forced feeding device 7, a tube automatic feeding device 8, a vision system 9, a guide head 10 and a heat exchange tube 11;
The deflection roller frame 2 comprises a mounting frame, wherein the mounting frame is hinged with two driving rollers and two driving roller driving mechanisms, and the driving roller driving mechanisms drive the driving rollers to rotate so as to drive the heat exchanger 1 to rotate;
The front end of the surface of the heat exchanger tube core rapid assembly tooling 12 is provided with a heat exchanger front end tube plate 3b, a plurality of heat exchanger baffle plates 3a are arranged behind the heat exchanger front end tube plate 3b, the heat exchanger front end tube plate 3b and the plurality of heat exchanger baffle plates 3a are fixed with a pull rod through distance tubes, a small number of heat exchange tubes 11 penetrate through the heat exchanger front end tube plate 3b and the plurality of heat exchanger baffle plates 3a, so that the hole systems on the heat exchanger front end tube plate 3b and the plurality of heat exchanger baffle plates 3a keep a basically concentric structure;
The front end of the heat exchanger 1 or the heat exchanger tube core 3 is provided with two bases 4a and a servo horizontal moving mechanism 4 which are symmetrically distributed back and forth, a horizontal sliding plate 4e of the servo horizontal moving mechanism 4 is provided with a servo vertical moving mechanism 5, a tube taking and forced feeding device 7 is arranged between the two servo vertical moving mechanisms 5 positioned on the same side, a roller driving tube penetrating and pushing device 6 is arranged on the servo vertical moving mechanism 5 which is close to one end of the heat exchanger 1 or the heat exchanger tube core 3, the side surface of the front end of the roller driving tube penetrating and pushing device 6 is provided with a visual system 9, one side of the two bases 4a and the servo horizontal moving mechanism 4 is symmetrically provided with a tube automatic 8, the servo horizontal moving mechanism 4 and the servo vertical moving mechanism 5 move the tube taking and forced feeding device 7 and the roller driving tube penetrating and pushing device 6 to the lower part of the front end of the tube automatic feeding device 8, the translation is with getting the pipe support 7k on getting pipe and the forced draught device 7 inserts pipe automatic feed device 8 front end below, when vertical migration mechanism 5 rises, get away many heat transfer tubes 11 that are located pipe automatic feed device 8 front end under the assistance of vision system 9, servo horizontal migration mechanism 4 and servo vertical migration mechanism 5 drive gyro wheel drive poling and push tube device 6 and get the hole site that pipe and forced draught device 7 reached arbitrary appointed heat exchanger front end tube sheet 3b, make the heat transfer tube 11 that is snatched concentric with the hole site of heat exchanger front end tube sheet 3b, start in proper order get pipe and forced draught device 7 and gyro wheel drive poling and push tube device 6 accomplish automatic poling 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 first linear guide rails 4b are installed on the bases 4a, a first rack 4c is installed between the two first linear guide rails 4b, a first sliding block 4f is installed on the first linear guide rails 4b, a horizontal sliding plate 4e is installed on the first 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 upper part of the speed reducer and the driving gear 4h is provided with a first servo motor 4g, the first servo motor 4g is connected with the speed reducer and the driving gear 4h, the front end of the speed reducer 4 is provided with a driving gear 4i, the driving gear 4i is meshed with a first rack 4c and connected with the first rack, the horizontal sliding plate 4e is provided with a servo vertical moving mechanism 5, two ends of the base 4a are provided with limiting blocks 4d, and the side surface of the base 4a is provided with a first drag chain 4j.
The servo vertical movement mechanism 5 is provided with a vertical column 5a, the vertical column 5a is mounted on the upper surface of the horizontal sliding plate 4e and fixedly connected with the horizontal sliding plate by bolts, two second linear guide rails 5d are mounted on the side surface of the vertical column 5a, a second rack 5e is mounted between the two second linear guide rails 5d, a second sliding block 5b is mounted on the second linear guide rails 5d, a vertical sliding plate 5c is mounted on the surface of the second 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 and a driving gear 5g, a second servo motor 5f is arranged above the worm and gear reducer and the driving gear 5g, the second servo motor 5f is connected with the worm and gear reducer and the driving gear 5g, and the worm and gear reducer is meshed with the driving gear 5g and a second rack 5 e; limiting blocks 4d are installed at two ends of the vertical upright post 5a, a second drag chain 5i is installed on the side face of the vertical upright post 5a, the front end of the mounting support 5h is fixedly connected with a first connecting flange 6q on the roller driving pipe penetrating and pushing device 6 through bolts, and the rear end of the mounting support 5h is fixedly connected with a second connecting flange 7b at two ends of the pipe taking and forced conveying device 7 through bolts.
The vision system 9 is arranged at the front end of the roller-driven pipe penetrating and pushing device 6, the vision system 9 comprises a vision sensor 9a, a light source 9b and a vision system mounting support 9c, the vision sensor 9a and the light source 9b are arranged on the vision system mounting support 9c, the light source 9b is arranged outside the vision sensor 9a, the vision sensor 9a scans along a planned path, reads the spatial position information of the baffle plate 3a of the heat exchanger and the spatial position of a target pipe hole and the characteristic information of a hole on the pipe plate 3b at the front end of the heat exchanger, and a computer processes the information through software to automatically generate coordinate information of the target hole of the pipe plate 3b at the front end of the heat exchanger, and controls the servo horizontal moving mechanism 4 and the servo vertical moving mechanism 5 to move the roller-driven pipe penetrating and pushing device 6 and the pipe taking and the forced conveying device 7 to the concentric position with the target hole of the pipe plate 3b at the front end of the heat exchanger.
The roller driving pipe penetrating and pushing device 6 comprises a driving mechanism mounting frame 6a, a first connecting flange 6q is arranged at the rear end of the driving mechanism mounting frame 6a, two third linear guide rails 6b are arranged at the lower end in front of the driving mechanism mounting frame 6a, third sliding blocks 6c are symmetrically arranged in the middle of the two third linear guide rails 6b, two sliding plates 6e are symmetrically arranged on the third sliding blocks 6c symmetrically arranged in the middle of the two third linear guide rails 6b, lug plates 6g are arranged at the two sides of the upper end of the two sliding plates 6e, lifting plates 6k are arranged between the lug plates 6g at the two sides, symmetrical lug plates 6g are arranged at the two sides of the lifting plates 6k, a chain plate 6h is arranged between the lifting plates 6k and the lug plates 6g on the sliding plates 6e, the lifting plates 6k are connected with piston rod end pushing plates of the two first belt air cylinders 6j, the two first belt air cylinders 6j are connected with a middle belt air cylinder mounting plate 6i, the belt air cylinders 6i are connected with a driving mechanism 6a motor 6a, lifting plates 6k are arranged at the two sides of the lifting plates, a driving wheel 6d are symmetrically arranged below the two driving wheels 6d, the driving wheels 11 d are driven by the two driving wheels 11 d and do arc-shaped driving wheels and do arc-shaped motion, and do arc-shaped driving wheels are driven by the two driving wheels 11 d and do arc-shaped and move, and do horizontal driving wheels and move, and do arc-shaped and do horizontal driving wheels and move; the sliding plate 6e is provided with bearing mounting holes, flanges which are contacted with the outer rings of the radial thrust ball bearings are arranged below the bearing mounting holes, the two radial thrust ball bearings are placed above the bearing mounting holes and are contacted with the flanges at the lower ends of the bearing mounting holes, the inner rings of the two radial thrust ball bearings are provided with transmission shafts, the upper ends of the transmission shafts are provided with shaft shoulders which are contacted with the inner rings of the radial thrust ball bearings at the upper ends, the lower ends of the transmission shafts are provided with key grooves and are provided with keys, the middle of the arc-shaped driving wheels 6d are provided with holes matched with the transmission shafts and the key grooves, the arc-shaped driving wheels 6d penetrate from the lower ends of the transmission shafts and are fixed by nuts, the upper ends of the holes of the arc-shaped driving wheels 6d are provided with circular ring bulges, the annular bulge contacts with the inner ring of the radial thrust ball bearing at the lower end, a bearing gland is arranged above the bearing hole of the sliding plate 6e, the bearing gland presses the outer ring of the radial thrust ball bearing at the upper end, the bearing gland is connected with the sliding plate 6e through bolts, a hole is formed in the middle of the bearing gland, the upper end of the transmission shaft penetrates through the hole in the middle of the bearing gland, a key slot is formed in the upper end of the transmission shaft and is provided with a key, the upper end of the transmission shaft penetrates into a speed reducer and the brushless direct current motor 6f, the lower flange of the speed reducer and the lower flange of the brushless direct current motor 6f are connected with the bearing gland through bolts, and the speed reducer and the brushless direct current motor 6f can drive the transmission shaft and the arc-shaped driving wheel 6d to rotate;
The roller driving pipe penetrating and pushing device 6 also comprises a pushing pipe cylinder fixing frame 6o which is arranged on the middle upper part of a driving mechanism mounting frame 6a, a pushing pipe cylinder fixing frame 6o which is arranged on a pushing plate at the end part of a piston rod of the pushing pipe lifting cylinder 6n, a pushing pipe cylinder 6m which is horizontally arranged on the pushing pipe cylinder fixing frame 6o, a pushing pipe cylinder rod and a pushing plate 6l which are arranged at the end part of a piston rod of the pushing pipe cylinder 6m, a C-shaped structure at the lower end of the pushing pipe cylinder fixing frame 6o and provided with a first V-shaped driven roller and a support 6p, the first V-shaped driven roller and the support 6p keep the same height as a part of a roller path with the V-shaped driving roller, a support 7f and a third V-shaped driven roller and a support 7h, the lifting cylinder 6n with the guide rod can drive the push tube cylinder 6m to descend, the push tube cylinder 6m is started to push the heat exchange tube 11 to advance, a compressed air hole is formed in the middle of the push plate 6l, the contact part of the push plate and the heat exchange tube 11 is a conical surface, the conical surface enables the center of the heat exchange tube 11 to be aligned with the middle of the push plate 6l during pushing, compressed air is introduced after pushing, the compressed air is introduced into the heat exchange tube 11, the guide head 10 at the front end of the heat exchange tube 11 can be pushed out, a collecting bag is arranged at the end part of the heat exchanger 1, and the blown guide head 10 can be collected for recycling.
The pipe taking and forced feeding device 7 comprises a cross beam 7a, two ends of the cross beam 7a are provided with second connecting flanges 7b, a plurality of forced feeding device C-shaped brackets 7d and passive roller C-shaped brackets 7g are arranged below the cross beam 7a, a forced feeding device brushless motor and a speed reducer 7C are arranged at the rear end below the forced feeding device C-shaped brackets 7d, V-shaped driving rollers and a support 7f are arranged below the forced feeding device C-shaped brackets 7d, a third belt guide rod cylinder 7n is arranged above the forced feeding device C-shaped brackets 7d, a push plate at the end part of a piston rod of the third belt guide rod cylinder 7n penetrates through the top of the forced feeding device C-shaped brackets 7d and is connected with the second V-shaped driven rollers and the support 7e, the third belt guide rod cylinder 7n drives the second V-shaped driven rollers and the support 7e to move up and down in the forced feeding device C-shaped brackets 7d, rollers are arranged below the passive C-shaped brackets 7g, the third V-shaped driven roller and the support 7h are arranged, the V-shaped driving roller and the support 7f and the third V-shaped driven roller and the support 7h are kept at the same height and form a rollaway, the side surfaces of the V-shaped driving roller and the support 7f and the side surfaces of the third V-shaped driven roller and the support 7h are provided with an inclined pipe taking support 7k, the upper surface of the inclined pipe taking support 7k is close to the rollaway, an adjustable baffle 7l is arranged on the upper surface of the inclined pipe taking support 7k, round holes are arranged below the adjustable baffle 7l and are connected with the upper surface of the inclined pipe taking support 7k through bolts, the side surface of the inclined pipe taking support 7k is provided with a second guide rod cylinder 7i, a top plate 7j is arranged on a piston rod end pushing plate of the second guide rod cylinder 7i, the second guide rod cylinder 7i drives the top plate 7j to move up and down, the lower surfaces of the forced conveying device C-shaped support 7d and the driven roller C-shaped support 7g, the connecting section steel 7m is adopted for series connection and is connected by bolts, so that the bending resistance of the cross beam 7a is increased.
The automatic pipe feeding device 8 comprises a frame 8b with an inclined plane and a frame 8d with a plane, wherein the frame 8b with the inclined plane is used for arranging heat exchange pipes 11 on the inclined plane and automatically rolling downwards, the frame 8d with the plane is used for storing and bundling the heat exchange pipes 11, a baffle plate 8a is arranged at the lower end of the inclined plane of the frame 8b with the inclined plane and used for preventing the heat exchange pipes 11 orderly arranged on the inclined plane from sliding downwards, a rotating pin 8c is arranged below the corner of the frame 8b with the inclined plane and the frame 8d with the plane, the rotating pin 8c is hinged with one end of a turning plate 8e, the turning plate 8e can rotate around the rotating pin 8c, the rear end of the turning plate 8e is connected with a fork joint 8f of a cylinder piston rod, the turning plate 8e is connected with a section steel 8i, a cylinder support 8h is arranged below a column of the frame 8d with the inclined plane, and the cylinder support 8h is hinged with the turning plate 8g, and the turning plate 8e drives the piston rod 8f to rotate around the fork joint.
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 front end tube plate 3b of the heat exchanger by using the deflection roller frame 2, and scanning the front end tube plate 3b of the heat exchanger by using an automatic program driving vision system without fine adjustment of the position of a workpiece after placing the workpiece, so as to obtain the spatial position of the front end tube plate 3b of the heat exchanger and the spatial position of a target hole on the front end tube plate 3b of the heat exchanger, or quickly positioning and fixing the front end tube plate 3b of the heat exchanger and a baffle plate 3a of the heat exchanger on a tube type heat exchanger tube core quick assembly tool 12, thereby completing the quick assembly of the heat exchanger tube core 3;
S2, replacing an arc-shaped driving wheel 6d consistent with the outer diameter of the heat exchange tube 11; the distance between the adjustable baffle 7l on the tube taking support 7k and the side surface of the top plate 7j is adjusted to be consistent with the tube diameter of the heat exchange tube 11;
S3, after the packaging top plate and one side plate of the whole box of heat exchange tubes 11 are removed, the whole box of heat exchange tubes 11 is lifted above a frame 8d with a plane at the rear end of the automatic tube feeding device 8 by a crane, a tube turning device is started, the heat exchange tubes 11 can be poured out of a packaging box and slide down to the position of a stop plate 8a along the inclined plane of the automatic tube feeding device 8, the heat exchange tubes 11 are made to be fully paved on the inclined plane of the automatic tube feeding device 8, and a guide head 10 is placed at the tube end of the heat exchange tubes 11;
S4: starting a tube penetrating program, wherein the servo horizontal moving mechanism 4 and the servo vertical moving mechanism 5 drive the tube penetrating and pushing device 7 and the roller to drive the tube penetrating and pushing device 6 to move below the front end of the tube automatic feeding device 8, then translate to insert a tube taking support 7k on the tube penetrating and pushing device 7 below the front end of the tube automatic feeding device 8, when the vertical moving mechanism 5 ascends, a plurality of heat exchange tubes 11 positioned at the front end of the tube automatic feeding device 8 can be taken away, with the help of the vision system 9, the servo horizontal moving mechanism 4 and the servo vertical moving mechanism 5 drive the roller to drive the tube penetrating and pushing device 6 and the tube penetrating and pushing device 7 to reach the hole position of a tube plate 3b at the front end of a heat exchanger, so that the grasped heat exchange tubes 11 are concentric with the hole position of the tube plate 3b at the front end of the heat exchanger, sequentially starting a second cylinder 7i with a guide rod to enable a top plate 7j to rise, jacking a heat exchange tube 11 contacted with an adjustable baffle 7l, enabling the heat exchange tube 11 to roll into a roller path formed by a V-shaped driving roller, a support 7f, a third V-shaped driven roller and a support 7h along the inclined plane of the top plate 7j and the inclined plane of the adjustable baffle 7l, starting a third cylinder 7n with the guide rod, driving the second V-shaped driven roller and the support 7e to move downwards to press the heat exchange tube 11, starting a brushless motor and a speed changer 7c to enable the heat exchange tube 11 to move forwards, detecting and confirming that the front end of the heat exchange tube 11 is provided with a guide head 10 through a light curtain sensor, starting two cylinders 6j with the guide rod to move upwards, driving a slide 6e to generate symmetrical horizontal movement through symmetrical chain plates 6h, enabling two slide plates 6e to drive an arc-shaped driving wheel 6d to fold and clamp the heat exchange tube 11, starting a speed reducer and a brushless DC motor 6f, moving the heat exchange tube 11 forward;
S5, when the tail end of the heat exchange tube 11 reaches the arc-shaped driving wheel 6d, stopping the rotation of the speed reducer and the brushless direct current motor 6f, starting two first guide rod carrying cylinders 6j to move downwards, driving the sliding plates 6e to generate symmetrical horizontal movement through symmetrical chain plates 6h, driving the arc-shaped driving wheel 6d to open by the two sliding plates 6e, starting the guide rod carrying lifting cylinder 6n to drive the push tube cylinder 6m to descend, starting the push tube cylinder 6m to push the heat exchange tube 11 to advance, introducing compressed air after pushing the tube, starting the push plate 6l to compress air in the middle, introducing the compressed air into the heat exchange tube 11, pushing out the guide heads 10 at the front end of the heat exchange tube 11, and installing a collecting bag at the end part of the heat exchanger 1, so that the blown guide heads 10 can be collected for recycling;
s6: repeating the S3-S5 cycle;
S7: after the heat exchanger tube core 3 is penetrated, arranging a hydraulic assembly adjustable roller frame right behind a heat exchanger tube core quick assembly tool 12, placing a heat exchanger tube body on the hydraulic assembly adjustable roller frame, enabling the heat exchanger tube body to be concentric with the heat exchanger tube core 3 through the hydraulic assembly adjustable roller frame, enabling the heat exchanger tube core 3 to be positioned on a movable support and capable of sliding horizontally along a roller path, and enabling the movable support to support the heat exchanger tube core 3 to translate and gradually insert into the heat exchanger tube body through traction of a chain block or traction of a winch;
example 2:
as shown in fig. 8-9: the roller driving pipe penetrating device 6 is turned over by 180 degrees and is arranged on the mounting support 5h of the servo vertical moving mechanism 5, the bottom of the forced conveying device C-shaped support 7d and the driven roller C-shaped support 7g are respectively fixed with the upper surface of the cross beam 7a by bolts, the V-shaped driving roller, the support 7f, the third V-shaped driven roller and the support 7h above the cross beam 7a keep the same height and form a roller path, the roller path is kept concentric with the arc-shaped driving wheel 6d on the roller driving pipe penetrating device 6, and the upper surfaces of the forced conveying device C-shaped support 7d and the driven roller C-shaped support 7g are connected in series by adopting connecting section steel 7m and are connected by bolts, so that the bending resistance of the cross beam 7a is improved, and the rest is identical with the embodiment 1.
Example 3:
The servo horizontal movement mechanism 4 adopts a ball screw transmission mode instead of a gear rack transmission mode, 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 adopts a lead screw nut pair transmission mode to replace a gear rack transmission mode, and the rest is completely the same as the embodiment 1-3.
Example 5:
The roller drives the pipe penetrating and forced feeding device at the front end of the pipe pushing device 6, a plurality of forced feeding device C-shaped brackets 7d are installed below the driving mechanism installation frame 6a, a forced feeding device brushless motor and a speed reducer 7C are installed at the rear end below the forced feeding device C-shaped brackets 7d, a V-shaped driving roller and a support 7f are installed below the forced feeding device C-shaped brackets 7d, a third belt guide rod cylinder 7n is installed above the forced feeding device C-shaped brackets 7d, a push plate at the end of a piston rod of the third belt guide rod cylinder 7n penetrates through the top of the forced feeding device C-shaped brackets 7d and is connected with a second V-shaped driven roller and the support 7e, the third belt guide rod cylinder 7n drives the second V-shaped driven roller and the support 7e to move up and down in the forced feeding device C-shaped brackets 7d, the second V-shaped driven roller and the support 7e are driven to move down to press the heat exchange tube 11, and the forced feeding device C-shaped driven roller and the support 7e are started to move completely the same as the other heat exchange tubes 11, and the heat exchange tubes are completely and the other heat exchange tubes are completely and the heat exchange tubes are completely and 4 and are completely conducted.
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 (7)
1. An automatic poling production line of heat exchanger intelligence, its characterized in that: the device comprises a heat exchanger (1), a deflection roller frame (2), a heat exchanger tube core rapid assembly tool (12), a heat exchanger tube core (3), a servo horizontal movement mechanism (4), a servo vertical movement mechanism (5), a roller driving tube penetrating and pushing device (6), a tube taking and forced feeding device (7), a tube automatic feeding device (8), a vision system (9), a guide head (10) and a heat exchange tube (11);
The deflection roller frame (2) comprises a mounting frame, wherein the mounting frame is connected with two driving rollers and two driving roller driving mechanisms, and the driving roller driving mechanisms drive the driving rollers to rotate so as to drive the heat exchanger (1) to rotate;
The front end of the surface of the heat exchanger tube core rapid assembly tool (12) is provided with a heat exchanger front end tube plate (3 b), a plurality of heat exchanger baffle plates (3 a) are arranged behind the heat exchanger front end tube plate (3 b), the heat exchanger front end tube plate (3 b) and the plurality of heat exchanger baffle plates (3 a) are fixed with a pull rod through distance tubes, a small number of heat exchange tubes (11) penetrate through the heat exchanger front end tube plate (3 b) and the plurality of heat exchanger baffle plates (3 a), and the hole systems on the heat exchanger front end tube plate (3 b) and the plurality of heat exchanger baffle plates (3 a) keep a basic concentric structure;
the utility model provides a heat exchanger, heat exchanger tube core (3) front end is installed base (4 a) and servo horizontal migration mechanism (4) of two front and back symmetry distributions, install servo vertical migration mechanism (5) on horizontal slide (4 e) of servo horizontal migration mechanism (4), be located two of homonymy servo vertical migration mechanism (5) between install get tub and forced delivery device (7), be close to install gyro wheel drive poling and push tube device (6) on servo vertical migration mechanism (5) of heat exchanger (1) or heat exchanger tube core (3) one end, gyro wheel drive poling and push tube device (6) front end side-mounting vision system (9), at two base (4 a) and servo horizontal migration mechanism (4) one side symmetry install tube automatic feed device (8), servo horizontal migration mechanism (4) and servo vertical migration mechanism (5) will get tub and forced delivery device (7) and forced delivery device (6) are moved to automatic feed device (8) place in front end side of taking tub and push tube device (8) and take off tub 7) and take off tub and move the feed device (8) and insert the feed device (8) in front of the side of the top of taking tub (7) and the top of tube (8) and the top of the horizontal migration mechanism (8), under the assistance of the vision system (9), the servo horizontal movement mechanism (4) and the servo vertical movement mechanism (5) drive the roller to drive the pipe penetrating and pushing device (6) and the pipe taking and forced feeding device (7) to reach the hole site of the tube plate (3 b) at the front end of the heat exchanger, so that the grabbed heat exchange pipe (11) is concentric with the hole site of the tube plate (3 b) at the front end of the heat exchanger, and the pipe taking and forced feeding device (7) and the roller to drive the pipe penetrating and pushing device (6) are sequentially started to complete the automatic pipe penetrating process;
The tube taking and forced feeding device (7) comprises a cross beam (7 a), second connecting flanges (7 b) are arranged at two ends of the cross beam (7 a), a plurality of forced feeding device C-shaped brackets (7 d) and passive roller C-shaped brackets (7 g) are arranged below the cross beam (7 a), a forced feeding device brushless motor and a speed reducer (7C) are arranged at the rear end below the forced feeding device C-shaped brackets (7 d), V-shaped driving rollers and a support (7 f) are arranged below the forced feeding device C-shaped brackets (7 d), a third belt guide rod cylinder (7 n) is arranged above the forced feeding device C-shaped brackets (7 d), a pushing plate at the end part of a piston rod of the third belt guide rod cylinder (7 n) penetrates through the top of the forced feeding device C-shaped brackets (7 d) and is connected with a second V-shaped passive roller and a support (7 e), the third belt guide rod cylinder (7 n) drives the second V-shaped driven roller and the support (7 e) to move up and down in the forced conveying device C-shaped support (7 d), the third V-shaped driven roller and the support (7 h) are arranged below the inside of the driven roller C-shaped support (7 g), the V-shaped driving roller, the support (7 f), the third V-shaped driven roller and the support (7 h) keep equal height and form a roller path, the side surfaces of the V-shaped driving roller, the support (7 f) and the third V-shaped driven roller and the support (7 h) are provided with the inclined pipe taking support (7 k), the adjustable baffle (7 l) is installed on the upper surface of the inclined pipe taking support (7 k) near the raceway, a round hole is formed below the adjustable baffle (7 l), the round hole is connected with the upper surface of the inclined pipe taking support (7 k) through a bolt, a second belt guide rod cylinder (7 i) is installed on the side face of the inclined pipe taking support (7 k), a top plate (7 j) is installed on a piston rod end push plate of the second belt guide rod cylinder (7 i), and the second belt guide rod cylinder (7 i) drives the top plate (7 j) to move up and down.
2. The intelligent automatic heat exchanger tube penetrating production line according to claim 1, wherein: 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 is arranged on the horizontal sliding plate (4 e), and a speed reducer in the speed reducer and the driving gear (4 h) is fixedly connected with the installation seat through bolts; the automatic transmission is characterized in that a first servo motor (4 g) is arranged above the speed reducer and a driving gear (4 h), the first servo motor (4 g) is connected with the speed reducer, the driving gear (4 i) is arranged at the front end of the speed reducer and the driving gear (4 h), the driving gear (4 i) is meshed with a first rack (4 c), a servo vertical moving mechanism (5) is arranged on a horizontal sliding plate (4 e), limiting blocks (4 d) are arranged at two ends of a base (4 a), and a first drag chain (4 j) is arranged on the side face of the base (4 a).
3. The intelligent automatic heat exchanger tube penetrating production line according to claim 1, wherein: the servo vertical movement mechanism (5) is provided with a vertical column (5 a), the vertical column (5 a) is arranged on the upper surface of a horizontal sliding plate (4 e), two second linear guide rails (5 d) are arranged on the side face 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 rail (5 d), a vertical sliding plate (5 c) is arranged on the surface of the second sliding block (5 b), and a mounting support (5 h) is connected to the vertical sliding plate (5 c); the upper surface of the mounting support (5 h) is provided with a worm and gear reducer and a driving gear (5 g), a second servo motor (5 f) is arranged above the worm and gear reducer and the driving gear (5 g), the second servo motor (5 f) is connected with the worm and gear reducer, and the worm and gear reducer in the worm and gear reducer and the driving gear (5 g) is meshed and connected with a second rack (5 e); limiting blocks (4 d) are arranged at two ends of the vertical upright post (5 a), a second drag chain (5 i) is arranged on the side face of the vertical upright post (5 a), the front end of the mounting support (5 h) is fixedly connected with a first connecting flange (6 q) on the roller driving pipe penetrating and pushing device (6) through bolts, and the rear end of the mounting support (5 h) is fixedly connected with a second connecting flange (7 b) at two ends of the pipe taking and forced feeding device (7) through bolts.
4. The intelligent automatic heat exchanger tube penetrating production line according to claim 1, wherein: the vision system (9) is arranged at the front end of the roller-driven pipe penetrating and pushing device (6), the vision system (9) comprises a vision sensor (9 a), a light source (9 b) and a vision system mounting support (9 c), the vision system mounting support (9 c) is provided with the vision sensor (9 a) and the light source (9 b), the light source (9 b) is arranged outside the vision sensor (9 a), the vision sensor (9 a) in the vision system (9) scans along a planned path, the spatial position information of a baffle plate (3 a) of a heat exchanger and the spatial position of a target pipe hole and the characteristic information of the hole on a pipe plate (3 b) at the front end of the heat exchanger are read, a computer processes the information through software and automatically generates the coordinate information of the target hole at the front end of the heat exchanger, and controls a servo horizontal moving mechanism (4) and a servo vertical moving mechanism (5) to move the roller-driven pipe penetrating and pushing device (6) and a pipe taking device and a forced conveying device (7) to the target position of the front end of the heat exchanger (3 b);
The roller driving pipe penetrating and pushing device (6) comprises a driving mechanism mounting frame (6 a), a first connecting flange (6 q) is arranged at the rear end of the driving mechanism mounting frame (6 a), two third linear guide rails (6 b) are arranged at the front 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), lug plates (6 g) are arranged at the 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 the two sides, the two sides of the lifting plate (6 k) are provided with symmetrical lug plates (6 g), a chain plate (6 h) is arranged between the lifting plate (6 k) and the lug plates (6 g) on the sliding plate (6 e), the lifting plate (6 k) is connected with piston rod end pushing plates of two first guide rod cylinder (6 j), the two first guide rod cylinder (6 j) are connected with a middle guide rod cylinder mounting plate (6 i), the guide rod cylinder mounting plate (6 i) is connected with a driving mechanism mounting frame (6 a), an arc-shaped driving wheel (6 d) is symmetrically arranged below the sliding plate (6 e), a speed reducer in the speed reducer and the brushless direct current motor (6 f) is connected with the arc-shaped driving wheel (6 d), the two first guide rod carrying cylinders (6 j) are arranged above the sliding plate (6 e) to move up and down, the sliding plate (6 e) is driven by symmetrical chain plates (6 h) 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 heat exchange tube (11) and drive the heat exchange tube (11) to do forward movement; the sliding plate (6 e) is provided with bearing mounting holes, flanges which are contacted with the outer rings of the radial thrust ball bearings are arranged below the bearing mounting holes, the two radial thrust ball bearings are put in from the upper parts of the bearing mounting holes and are contacted with the flanges at the lower ends of the bearing mounting holes, the inner rings of the two radial thrust ball bearings are provided with transmission shafts, the upper ends of the transmission shafts are provided with shaft shoulders which are contacted with the inner rings of the radial thrust ball bearings at the upper ends, the lower ends of the transmission shafts are provided with key grooves and are provided with keys, the middle of the arc-shaped driving wheel (6 d) is provided with holes matched with the transmission shafts and the key grooves, the arc-shaped driving wheel (6 d) penetrates from the lower ends of the transmission shafts and is fixed by nuts, the upper end of the hole of the arc-shaped driving wheel (6 d) is provided with a circular ring bulge, the circular ring bulge contacts with the inner ring of the radial thrust ball bearing at the lower end, a bearing cover is arranged above the bearing hole of the sliding plate (6 e) and presses the outer ring of the radial thrust ball bearing at the upper end, the bearing cover is connected with the sliding plate (6 e) by a bolt, a hole is formed in the middle of the bearing cover, the upper end of the transmission shaft passes through the hole in the middle of the bearing cover, a key slot is formed in the upper end of the transmission shaft and is provided with a key, the upper end of the transmission shaft penetrates into a speed reducer and a brushless direct current motor (6 f), the lower flange of the speed reducer and the lower flange of the brushless direct current motor (6 f) are connected with the bearing cover by a bolt, the speed reducer and the brushless direct current motor (6 f) can drive the transmission shaft and drive the arc-shaped driving wheel (6 d) to rotate;
Roller drive poling and push away pipe device (6) still include in the middle top of actuating mechanism mounting bracket (6 a), install and take guide arm lift cylinder (6 n), take guide arm lift cylinder (6 n) piston rod tip push pedal to install on push away pipe cylinder mount (6 o) push away pipe cylinder (6 m) are installed to level on push away pipe cylinder mount (6 o), push away pipe cylinder piston rod and push pedal (6 l) are installed to the piston rod tip of push away pipe cylinder (6 m) push away pipe cylinder mount (6 o) lower extreme is C shape structure and installs first V-arrangement passive roller and support (6 p).
5. The intelligent automatic heat exchanger tube penetrating production line according to claim 1, wherein: the automatic pipe feeding device (8) comprises a frame (8 b) with an inclined plane and a frame (8 d) with a plane, wherein the frame (8 b) with the inclined plane is used for arranging and automatically rolling downwards on the inclined plane, the frame (8 d) with the plane is used for storing and bundling the heat exchange pipe (11), a baffle plate (8 a) is arranged at the lower end of the inclined plane of the frame (8 b) with the inclined plane and used for preventing the heat exchange pipe (11) from sliding downwards in an orderly manner, a rotating pin (8 c) is arranged below the corner of the frame (8 b) with the inclined plane and the frame (8 d) with the plane, the rotating pin (8 c) is hinged with one end of the material turning plate (8 e), the material turning plate (8 e) can rotate around the rotating pin (8 c), the rear end of the material turning plate (8 e) is connected with a cylinder joint (8 f), a fork-shaped steel plate (8 i) is connected between the frame (8 e) with the cylinder joint (8 e), and the cylinder joint (8 h) is arranged below the cylinder joint (8 h) of a cylinder support.
6. The intelligent automatic heat exchanger tube penetrating production line according to claim 1, wherein: the roller driving pipe penetrating device and the pipe pushing device (6) are installed on an installation support (5 h) of the servo vertical moving mechanism (5) in a turnover mode by 180 degrees, the bottom of the forced conveying device C-shaped support (7 d) and the driven roller C-shaped support (7 g) are fixed with the upper surface of a cross beam (7 a) through bolts respectively, the V-shaped driving roller, the support (7 f) and the third V-shaped driven roller and the support (7 h) above the cross beam (7 a) are kept at equal heights, a roller path is formed, and the roller path and an arc-shaped driving wheel (6 d) on the roller driving pipe penetrating device and the pipe pushing device (6) are kept concentric.
7. The intelligent automatic heat exchanger tube penetrating production line according to claim 4, wherein: the roller drives a pipe penetrating forced feeding device at the front end of the pipe penetrating device and the pipe pushing device (6), a plurality of forced feeding device C-shaped brackets (7 d) are arranged below the driving mechanism mounting frame (6 a), a forced feeding device brushless motor and a speed reducer (7C) are arranged at the rear end below the forced feeding device C-shaped brackets (7 d), a V-shaped driving roller and a support (7 f) are arranged below the forced feeding device C-shaped brackets (7 d), a third guide rod cylinder (7 n) is arranged above the forced feeding device C-shaped brackets (7 d), the push plate at the end part of a piston rod of the third belt guide rod cylinder (7 n) penetrates through the top of the forced feeding device C-shaped bracket (7 d) and is connected with the second V-shaped passive roller and the support (7 e), the third belt guide rod cylinder (7 n) drives the second V-shaped passive roller and the support (7 e) to move up and down in the forced feeding device C-shaped bracket (7 d), the third belt guide rod cylinder (7 n) is started, the second V-shaped passive roller and the support (7 e) are driven to move downwards to press the heat exchange tube (11), and the forced feeding device brushless motor and the speed reducer (7C) are started to enable the heat exchange tube (11) to move forwards.
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| CN202210965494.1A CN115106764B (en) | 2022-08-11 | 2022-08-11 | Intelligent automatic tube penetrating production line for heat exchanger |
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| CN202210965494.1A CN115106764B (en) | 2022-08-11 | 2022-08-11 | Intelligent automatic tube penetrating production line for heat exchanger |
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