CN117245363A - Automatic tube penetrating machine of self-adaptive bionic heat exchanger and tube penetrating method thereof - Google Patents
Automatic tube penetrating machine of self-adaptive bionic heat exchanger and tube penetrating method thereof Download PDFInfo
- Publication number
- CN117245363A CN117245363A CN202311252276.4A CN202311252276A CN117245363A CN 117245363 A CN117245363 A CN 117245363A CN 202311252276 A CN202311252276 A CN 202311252276A CN 117245363 A CN117245363 A CN 117245363A
- Authority
- CN
- China
- Prior art keywords
- guide head
- pipe
- tube
- heat exchange
- pushing
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Withdrawn
Links
- 230000000149 penetrating effect Effects 0.000 title claims abstract description 47
- 239000011664 nicotinic acid Substances 0.000 title claims abstract description 15
- 238000011378 penetrating method Methods 0.000 title description 3
- 230000007246 mechanism Effects 0.000 claims abstract description 140
- 210000000078 claw Anatomy 0.000 claims abstract description 43
- 230000000007 visual effect Effects 0.000 claims abstract description 23
- 210000001503 joint Anatomy 0.000 claims description 25
- 238000000034 method Methods 0.000 claims description 21
- 230000008569 process Effects 0.000 claims description 18
- 238000003825 pressing Methods 0.000 claims description 12
- 229910000831 Steel Inorganic materials 0.000 claims description 7
- 239000010959 steel Substances 0.000 claims description 7
- 238000003032 molecular docking Methods 0.000 claims description 5
- 238000009434 installation Methods 0.000 claims description 3
- 230000009916 joint effect Effects 0.000 claims description 3
- 239000000463 material Substances 0.000 claims description 3
- 238000002360 preparation method Methods 0.000 claims description 3
- 238000013519 translation Methods 0.000 claims description 3
- 230000035515 penetration Effects 0.000 claims description 2
- 230000003044 adaptive effect Effects 0.000 claims 1
- 238000004080 punching Methods 0.000 description 5
- 230000009471 action Effects 0.000 description 4
- 238000010586 diagram Methods 0.000 description 4
- 238000004519 manufacturing process Methods 0.000 description 3
- 230000006872 improvement Effects 0.000 description 2
- 238000012423 maintenance Methods 0.000 description 2
- 238000003860 storage Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
Classifications
-
- 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
- B23P19/02—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 connecting objects by press fit or for detaching same
- B23P19/022—Extracting or inserting relatively long parts
- B23P19/024—Extracting or inserting relatively long parts tube bundles
-
- 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
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Automatic Assembly (AREA)
Abstract
The invention discloses an automatic tube penetrating machine of a self-adaptive bionic heat exchanger, which comprises a base and a control device, wherein a plurality of tracks are transversely arranged on the base, a main frame assembly capable of transversely moving is arranged on the tracks, a lifting platform is erected on the main frame assembly, a heat exchange tube feeding mechanism and a plurality of hosting mechanisms are longitudinally arranged on the main frame assembly, and a guide head feeding mechanism and a guide head butting mechanism are further arranged at the tail end of the main frame assembly; the lifting platform is also provided with a rotary pipe pushing mechanism and a visual positioning system, the rotary pipe pushing mechanism comprises a torque sensor capable of sensing resistance born by the heat exchange pipe, and the control device is connected with the main frame assembly, the lifting platform, the hosting mechanism, the guide head feeding mechanism, the guide head butting mechanism, the rotary pipe pushing mechanism and the resistance sensor in a wired or wireless mode; the rotary pushing claw assembly, the torque sensor and the guide head are arranged, so that the principle and the state of manual pipe threading work are simulated, pipe threading stagnation or dislocation is effectively reduced, and pipe threading efficiency is improved.
Description
Technical Field
The invention belongs to the field of mechanical equipment, and particularly relates to an automatic tube penetrating machine of a self-adaptive bionic heat exchanger and a tube penetrating method thereof.
Background
Along with the continuous refinement of the automatic policy of mill, most enterprises are optimizing the manufacturing process of products, and in the prior art, the pipe penetrating work inside the shell-and-tube heat exchanger mainly depends on manpower at present, so that the problems of high labor intensity and low efficiency exist. Some manufacturers design automatic pipe penetrating machines, but the problems of complex mechanisms, relatively complex maintenance and operation, high price and high requirements on maintenance and operation staff exist, and the number of links is small, so that manual operation is still needed in a plurality of links to influence the productivity.
In addition, the prior art also has the problems that the heat exchanger tube bundle cannot quickly and accurately enter corresponding tube holes in the tube penetrating process, errors exist in assembly, the tube holes are not concentric, the reworking rate is greatly improved, the production efficiency is reduced, and the production progress is influenced.
Disclosure of Invention
Aiming at the defects or improvement demands of the prior art, the invention aims to solve the problems of easy assembly error, high reworking rate, high labor intensity and low efficiency in the pipe penetrating work in the shell-and-tube heat exchanger in the prior art.
The technical scheme of the invention is as follows: the self-adaptive bionic heat exchanger automatic pipe penetrating machine is characterized by comprising a base and a control device, wherein a plurality of tracks are transversely arranged on the base, a main frame assembly capable of transversely moving is arranged on the tracks, a lifting platform is erected on the main frame assembly, a heat exchange pipe feeding mechanism and a plurality of pipe supporting mechanisms are longitudinally arranged on the main frame assembly, and a guide head feeding mechanism and a guide head butt joint mechanism are further arranged at the tail end of the main frame assembly;
the lifting platform is also provided with a rotary pipe pushing mechanism and a visual positioning system, and the rotary pipe pushing mechanism comprises a torque sensor capable of sensing resistance born by the heat exchange pipe; the heat exchange tube is sent to the clamping part of the rotary tube pushing mechanism by the tube supporting mechanism, the visual positioning system and the lifting platform are driven together, the visual field of the visual positioning system covers the local areas of a plurality of holes in front of and behind the current perforation position of the perforated plate to be perforated, and the control device is connected with the main frame assembly, the lifting platform, the tube supporting mechanism, the guide head feeding mechanism, the guide head butting mechanism, the rotary tube pushing mechanism, the visual positioning system and the resistance sensor in a wired or wireless mode.
Further, the main frame assembly comprises a main frame erected on the track and frame driving devices erected on two sides of the base, and the frame driving devices drive the main frame to slide left and right on the track.
Further, the lifting platform comprises a plurality of telescopic supporting legs arranged on the main frame assembly, and the supporting legs are provided with channel steel frames capable of moving up and down; the heat exchange tube feeding mechanism, the pipe supporting mechanism and the rotary pipe pushing mechanism are all erected on the channel steel frame.
Further, the supporting mechanism comprises a plurality of quick lifting electric cylinders longitudinally arranged on the main frame assembly, a heat exchange tube guiding supporting roller device arranged on the pushing end of the quick lifting electric cylinders, and a tube pressing cylinder arranged on one side of the heat exchange tube guiding supporting roller device, wherein a tube pressing pulley is arranged at the telescopic end of the tube pressing cylinder, and the heat exchange tube is arranged on the heat exchange tube guiding supporting roller device after being fed.
Further, the guide head feeding mechanism comprises a push plate feeding mechanism, a guide head bin vibrating cylinder, a guide head slideway and a guide head jacking cylinder; one end of the push plate feeding mechanism is hinged to the main frame assembly, the guide head bin is fixedly arranged at the upper end of the push plate feeding mechanism, the guide head bin vibrating cylinder is fixedly arranged at the lower end of the guide head bin, the guide head slideway is communicated with the tail end of the push plate feeding mechanism, and the guide head jacking cylinder is arranged below the tail end of the guide head slideway.
Furthermore, a guide head positive and negative recognition device is also erected on the guide head slideway.
Further, the rotary pushing pipe mechanism comprises a pushing table, a rotary pushing claw assembly, a longitudinal pushing driving assembly and a longitudinal rail, the pushing table is arranged on the longitudinal rail and can move back and forth along the longitudinal rail under the driving of the longitudinal pushing driving assembly, the rotary pushing claw assembly and the longitudinal pushing driving assembly are fixedly arranged on the pushing table, the rotary pushing claw assembly comprises a claw rotary driving motor and a claw arranged at the output end of the claw rotary driving motor, and the claw can clamp the end part of a pipe clamped by the pipe supporting mechanism.
Further, the control device is characterized by comprising an electric control cabinet and a handheld wireless remote controller.
Further, the method is characterized in that a worker firstly loads the heat exchange tube into the heat exchange tube storage bin, and then loads the guide head into the guide head storage bin.
In the heat exchange tube feeding mechanism, the pipe jacking mechanism performs pipe taking operation under the control of the control system, and the heat exchange tube is taken into a clamping cylinder on a platform of the heat exchange tube and guide head butting mechanism to be fixed, and is waited to be in butt joint with the guide head; the butt joint process is as follows: after the heat exchange tube enters the butt joint station, the clamping cylinder acts to clamp the heat exchange tube, and the guide head pushes the heat exchange tube through the pushing cylinder.
In the guide head feeding mechanism, the push plate feeding mechanism performs the lifting operation of the guide head under the control of the control system, pushes the guide head into the slideway, and performs positive and negative identification of the guide head, if the guide head is positive, the guide head is released; if the direction is reverse, pushing the guide head back to the guide head bin through the air cylinder;
the guiding head with the correct direction enters the jacking channel, and is sent to the docking platform by the guiding head jacking cylinder;
when the photoelectric sensor detects that the heat exchanger and the guide head are in place, the control system instructs the heat exchange tube and the guide head to be in butt joint.
After the butt joint is finished, the pipe jacking mechanism acts under the control of the control system again, the heat exchange pipes after the butt joint is finished are pushed into the guide pipe supporting rollers of the pipe supporting mechanism, meanwhile, one heat exchange pipe is taken out from the heat exchange pipe bin for material preparation, and the butt joint action with the guide head is repeated.
After the heat exchange tube is clamped by a tube pressing cylinder on the tube supporting mechanism, the heat exchange tube is aligned to the center of a claw, the claw clamps and fastens the tube, and at the moment, a longitudinal pushing driving assembly is used for driving a pushing table to push the tube by longitudinal pushing force, so that a rotary pushing claw assembly is driven to push the tube along the longitudinal direction according to the positioning coordinates of the perforation given by the visual positioning system; the visual positioning system is arranged on the lifting platform and follows the lifting platform, the visual field of the visual positioning system covers the local areas of a plurality of holes before and after the current perforation position of the tube plate to be perforated, the current perforation action is completed, the CCD shoots in the process of resetting the perforation mechanism to identify the accurate position of the next hole, and the accurate position is sent to the perforation mechanism to execute the next perforation action; the CCD is adopted for following and positioning, so that the shooting area is small, and the positioning precision is high; each perforation is independently and visually positioned, and offset coordinates relative to the current position are calculated, so that the accumulated error of the mechanism can be well eliminated; the CCD shoots and identifies the next tube penetrating position in the tube penetrating process, so that the time of the whole tube penetrating process is not influenced;
when the tube and the hole position of the tube plate of the heat exchanger are aligned and blocked, the torque feedback is carried out through the torque sensor, and the claw rotary driving motor simultaneously supplies rotary driving force to the heat exchange tube to provide auxiliary rotary force, so that the tube penetrating stagnation can be effectively reduced, and the tube penetrating efficiency is improved.
In the advancing process of the pushing table, the hosting mechanism can rapidly descend to avoid the advancing movement track of the pushing table; after the installation of one heat exchange tube is completed, the pushing table is retreated to the initial position, and the hosting mechanism can quickly rise to return to the original position; the guide wheel in the pipe supporting mechanism is lifted to the center position of the air claw of the rotary pipe pushing mechanism for clamping;
the translation mechanism is driven by the control system to enable the claw assembly to move to the corresponding position of the next hole site, and waiting for the pipe penetrating operation of the next heat exchange pipe;
the hand-held wireless remote controller can be used for inching the push tube, so that the position of the lifting platform and the position of the hosting mechanism can be flexibly fine-tuned, and the alignment accuracy and efficiency of the tube passing are improved.
In general, the above technical solutions conceived by the present invention, compared with the prior art, enable the following beneficial effects to be obtained:
1. according to the automatic tube penetrating machine of the tube-type heat exchanger, the rotary pushing claw assembly and the torque sensor are arranged, so that the principle and the state of manual tube penetrating work are simulated, when the tube penetrating resistance exceeds a set value, auxiliary rotating force is provided, tube penetrating stagnation or dislocation can be effectively reduced, and tube penetrating efficiency is improved;
2. the automatic tube penetrating machine of the tube type heat exchanger is provided with the guide head feeding, positive and negative identification and butt joint mechanisms, so that the tube bundle of the heat exchanger can rapidly and accurately enter the corresponding tube hole in the tube penetrating process.
Drawings
FIG. 1 is a schematic view of the whole structure of a preferred embodiment of the present invention;
FIG. 2 is a schematic view of the overall structure of FIG. 1 at another angle;
FIG. 3 is a schematic structural view of an automatic feeding mechanism according to a preferred embodiment of the present invention;
FIG. 4 is a schematic view of a loading mechanism of a heat exchange tube according to a preferred embodiment of the present invention;
FIG. 5 is a schematic diagram of a guiding head feeding mechanism according to a preferred embodiment of the present invention;
FIG. 6 is a schematic view of a heat exchange tube and guide head docking mechanism according to a preferred embodiment of the present invention;
FIG. 7 is a schematic diagram of a hosting mechanism according to a preferred embodiment of the present invention;
FIG. 8 is a schematic view of a rotary pushing jaw assembly according to a preferred embodiment of the present invention;
FIG. 9 is a schematic view of a rotary pushing jaw assembly according to another embodiment of the present invention;
FIG. 10 is a schematic diagram illustrating the operation of the vision positioning system of the preferred embodiment of the present invention;
like reference numerals denote like technical features throughout the drawings, in particular: the system comprises a 1-base, a 2-track, a 3-main frame assembly, a 31-main frame, a 32-frame driving device, a 4-lifting platform, a 41-supporting leg, a 42-channel steel frame, a 5-heat exchange tube feeding mechanism, a 51-heat exchange tube bin, a 52-push tube cylinder, a 53-push tube cylinder, a 54-push tube long rod, a 55-double-station push tube plate, a 6-hosting mechanism, a 61-quick lifting electric cylinder, a 62-heat exchange tube guide hosting roller, a 63-push tube cylinder, a 631-push tube pulley, a 7-guide head feeding mechanism, a 71-push plate feeding mechanism, a 72-guide head bin, a 73-guide head bin vibrating cylinder, a 74-guide head slideway, a 75-guide head positive and negative identification device, a 76-guide head lifting cylinder, a 81-push table, a 82-rotary jaw assembly, a 821-jaw rotary driving motor, a 822-jaw, a 83-longitudinal push driving assembly, a 9-control device, a 91-electric control cabinet, a 92-handheld wireless remote controller, a 10-heat exchange tube clamp, a 11-docking platform, a 111-heat exchange tube holding cylinder, a 112-guide head pushing cylinder, a 12-guide head, a 13-positioning system and a visual penetrating system.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
Referring to fig. 1-2, the invention relates to an automatic tube penetrating machine of a self-adaptive bionic heat exchanger, which is characterized by comprising a base 1 and a control device 9, wherein a plurality of tracks 2 are transversely arranged on the base 1, a main frame assembly 3 capable of transversely moving is arranged on the tracks 2, a lifting platform 4 is erected on the main frame assembly 3, a heat exchange tube feeding mechanism 5 and a plurality of hosting mechanisms 6 are longitudinally arranged on the main frame assembly 3, and a guide head feeding mechanism 7 and a guide head butting mechanism 8 are further arranged at the tail end of the main frame assembly 3;
the lifting platform 4 is also provided with a rotary pipe pushing mechanism 10, and the rotary pipe pushing mechanism 8 comprises a torque sensor capable of sensing resistance applied to the heat exchange pipe; the control device 9 is connected with the main frame assembly 3, the lifting platform 4, the hosting mechanism 6, the guide head feeding mechanism 7, the guide head butting mechanism 8, the rotary pushing mechanism 10 and the resistance sensor in a wired or wireless mode.
The main frame assembly 3 comprises a main frame 31 erected on the track 2 and frame driving devices 32 erected on two sides of the base, and the frame driving devices 32 drive the main frame 31 to slide left and right on the track 2.
The lifting platform 4 comprises a plurality of telescopic supporting legs 41 arranged on the main frame assembly 3, and the supporting legs 41 are provided with channel steel frames 42 which can move up and down; the heat exchange tube feeding mechanism 5, the pipe supporting mechanism 6 and the rotary pushing mechanism 8 are all erected on the channel steel frame 42.
Referring to fig. 4 to 7, the supporting mechanism 6 includes a plurality of fast lifting cylinders 61 longitudinally arranged on the main frame assembly 3, a heat exchange tube guiding supporting roller device 62 installed on a pushing end of the fast lifting cylinders 61, and a tube pressing cylinder 63 disposed at one side of the heat exchange tube guiding supporting roller device 62, wherein a tube pressing pulley 631 is disposed at a telescopic end of the tube pressing cylinder 63.
The guide head feeding mechanism 7 comprises a push plate feeding mechanism 71, a guide head stock bin 72, a guide head stock bin vibrating cylinder 73, a guide head slideway 74 and a guide head jacking cylinder 76; one end of the push plate feeding mechanism 71 is hinged to the main frame assembly 3, a guide head bin 72 is fixedly arranged at the upper end of the push plate feeding mechanism 71, a guide head bin vibrating cylinder 73 is fixedly arranged at the lower end of the guide head bin 72, a guide head slideway 74 is communicated with the tail end of the push plate feeding mechanism 71, and a guide head jacking cylinder 76 is arranged below the tail end of the guide head slideway 74.
Preferably, the guide head slide 74 is further provided with a guide head forward/reverse recognition device 75.
The rotary pushing pipe mechanism 8 comprises a pushing table 81, a rotary pushing claw assembly 82, a longitudinal pushing driving assembly 83 and a longitudinal rail 84, wherein the pushing table 81 is erected on the longitudinal rail 84 and can move back and forth along the longitudinal rail under the driving of the longitudinal pushing driving assembly, the rotary pushing claw assembly 82 and the longitudinal pushing driving assembly 83 are fixedly arranged on the pushing table 81, the rotary pushing claw assembly 82 comprises a claw rotary driving motor 821 and a claw 822 arranged at the output end of the claw rotary driving motor, and the claw can clamp the end part of a pipe clamped by the pipe supporting mechanism 6; when the pipe penetrating resistance is large, the claw can provide auxiliary rotating force for the pipe under the driving of the claw rotary driving motor 821, so that pipe penetrating stagnation can be effectively reduced, and pipe penetrating efficiency is improved.
The working process of the invention is as follows: the staff loads the heat exchange tube into the heat exchange tube stock bin (11) first, then loads the guide head into the guide head stock bin.
In the heat exchange tube feeding mechanism, a tube taking operation is carried out by a tube pushing mechanism under the control of a control system (firstly, a tube pushing cylinder 52 acts to jack up the heat exchange tubes in a heat exchange tube bin 51 and then to pile the heat exchange tubes towards a tube pushing cylinder 53 side, then, the tube pushing cylinder 53 acts to jack up a tube pushing long rod 54, a double-station tube pushing plate 55 is arranged on the tube pushing long rod 54, the heat exchange tubes firstly enter a first station, namely a station for butt joint with a guide head, when the tube pushing cylinder 53 acts again, the heat exchange tubes which are completed in butt joint with the guide head firstly enter a second station, namely a guide wheel 62 of the tube pushing mechanism, then the heat exchange tubes in a bin are continuously jacked up and enter the first station, namely a station for butt joint with the guide head, and the heat exchange tubes are fixed in a clamping cylinder on a platform of the heat exchange tubes and the guide head butt joint mechanism, and wait for butt joint with the guide head; the butt joint process is as follows: after the heat exchange tube enters the butt joint station, the clamping cylinder acts to clamp the heat exchange tube, and the guide head pushes the heat exchange tube through the pushing cylinder.
In the guide head feeding mechanism 7, the push plate feeding mechanism performs the lifting operation of the guide head under the control of the control system, pushes the guide head into the slideway, and performs positive and negative identification of the guide head, if the guide head is positive, the guide head is released; if the direction is reverse, pushing the guide head back to the guide head bin through the air cylinder;
the guiding head with the correct direction enters the jacking channel, and is sent to the docking platform 11 by the guiding head jacking cylinder 76;
when the photoelectric sensor detects that the heat exchanger and the guide head are in place, the control system instructs the heat exchange tube and the guide head to be in butt joint.
After the butt joint is finished, the pipe jacking mechanism acts under the control of the control system again, the heat exchange pipes after the butt joint is finished are pushed into the guide pipe supporting rollers of the pipe supporting mechanism, meanwhile, one heat exchange pipe is taken out from the heat exchange pipe bin for material preparation, and the butt joint action with the guide head is repeated.
After the heat exchange tube is clamped by a tube pressing cylinder on the tube supporting mechanism, the heat exchange tube is aligned to the center of a claw 822, the claw 822 clamps and fastens the tube, and at the moment, a longitudinal pushing driving assembly 83 drives a pushing table 81 to longitudinally push the tube 10 by driving a rotary pushing claw assembly 82 to longitudinally push the tube according to the positioning coordinates of the perforation given by the visual positioning system 12; the visual positioning system 12 is arranged on the lifting platform 4 and follows the lifting platform 4, the visual field of the visual positioning system 12 covers the partial areas of a plurality of holes before and after the current punching position of the tube plate 13 to be punched, the current punching action is finished, the CCD shoots in the resetting process of the punching mechanism to identify the accurate position of the next hole, and the accurate position is sent to the punching mechanism to execute the next punching action; the sequence and logic of the pipe is shown in the circuit of figure 10. The CCD is adopted for following and positioning, so that the shooting area is small, and the positioning precision is high; each perforation is independently and visually positioned, and offset coordinates relative to the current position are calculated, so that the accumulated error of the mechanism can be well eliminated; the CCD shoots and identifies the next tube penetrating position in the tube penetrating process, so that the time of the whole tube penetrating process is not influenced;
when the tube and the hole position of the heat exchanger tube plate are aligned and blocked, torque feedback is performed through the torque sensor, and the claw rotary driving motor 821 simultaneously supplies rotary driving force to the heat exchange tube to provide auxiliary rotary force, so that tube penetrating stagnation can be effectively reduced, and tube penetrating efficiency is improved.
In the advancing process of the pushing table, the hosting mechanism can rapidly descend to avoid the advancing movement track of the pushing table 81; after the installation of one heat exchange tube is completed, the pushing table 81 is retreated to the leftmost end in the initial position diagram, and the hosting mechanism is quickly lifted to return to the original position in sequence; the guide wheel in the pipe supporting mechanism is lifted to the center position of the air claw of the rotary pipe pushing mechanism for clamping;
the translation mechanism is driven by the control system to enable the claw assembly 82 to move to the corresponding position of the next hole site, and waiting for the pipe penetrating operation of the next heat exchange pipe;
the pipe is pushed through the hand-held wireless remote controller 92 in a inching way, the position of the lifting platform and the position of the hosting mechanism are finely adjusted flexibly, and the accuracy and the efficiency of pipe penetration alignment are improved.
It will be readily appreciated by those skilled in the art that the foregoing description is merely a preferred embodiment of the invention and is not intended to limit the invention, but any modifications, equivalents, improvements or alternatives falling within the spirit and principles of the invention are intended to be included within the scope of the invention.
Claims (9)
1. The self-adaptive bionic heat exchanger automatic pipe penetrating machine is characterized by comprising a base (1) and a control device (9), wherein a plurality of tracks (2) are transversely arranged on the base (1), a main frame assembly (3) capable of transversely moving is arranged on the tracks (2), a lifting platform (4) is erected on the main frame assembly (3), a heat exchange pipe feeding mechanism (5) and a plurality of pipe supporting mechanisms (6) are longitudinally arranged on the main frame assembly (3), and a guide head feeding mechanism (7) and a guide head butt joint mechanism (8) are further arranged at the tail end of the main frame assembly (3);
the lifting platform (4) is also provided with a rotary pipe pushing mechanism (10) and a visual positioning system (11), and the rotary pipe pushing mechanism (8) comprises a torque sensor capable of sensing resistance of the heat exchange pipe; the heat exchange tube is sent to a clamping part of the rotary tube pushing mechanism (10) by the tube supporting mechanism (6), the visual positioning system (11) and the lifting platform (4) follow up, the visual positioning system (11) covers the local areas of a plurality of holes in front of and behind the current perforation position of the perforation plate (12), and the control device (9) is connected with the main frame assembly (3), the lifting platform (4), the tube supporting mechanism (6), the guide head feeding mechanism (7), the guide head abutting mechanism (8) rotary tube pushing mechanism (10), the visual positioning system (11) and the resistance sensor in a wired or wireless mode.
2. The self-adaptive bionic heat exchanger automatic pipe penetrating machine according to claim 1, wherein the main frame assembly (3) comprises a main frame (31) erected on the track (2) and frame driving devices (32) erected on two sides of the base, and the frame driving devices (32) drive the main frame (31) to slide left and right on the track (2).
3. The self-adaptive bionic heat exchanger automatic pipe penetrating machine according to claim 1, wherein the lifting platform (4) comprises a plurality of telescopic supporting legs (41) arranged on the main frame assembly (3), and the supporting legs (41) are provided with channel steel frames (42) capable of moving up and down; the heat exchange tube feeding mechanism (5), the hosting mechanism (6) and the rotary pushing mechanism (8) are all erected on the channel steel frame (42).
4. The self-adaptive bionic heat exchanger automatic pipe penetrating machine according to claim 1, wherein the pipe supporting mechanism (6) comprises a plurality of quick lifting electric cylinders (61) longitudinally arranged on the main frame assembly (3), a heat exchange pipe guide supporting roller device (62) arranged on the pushing end of the quick lifting electric cylinders (61) and a pipe pressing cylinder (63) arranged on one side of the heat exchange pipe guide supporting roller device (62), a pipe pressing pulley (631) is arranged at the telescopic end of the pipe pressing cylinder (63), and the heat exchange pipe is placed on the heat exchange pipe guide supporting roller device (62) after being fed.
5. The self-adaptive bionic heat exchanger automatic pipe penetrating machine according to claim 1, wherein the guide head feeding mechanism (7) comprises a push plate feeding mechanism (71), a guide head stock bin (72), a guide head stock bin vibrating cylinder (73), a guide head slideway (74) and a guide head jacking cylinder (76); one end of the push plate feeding mechanism (71) is hinged to the main frame assembly (3), the guide head bin (72) is fixedly arranged at the upper end of the push plate feeding mechanism (71), the guide head bin vibrating cylinder (73) is fixedly arranged at the lower end of the guide head bin (72), the guide head slideway (74) is communicated with the tail end of the push plate feeding mechanism (71), and the guide head jacking cylinder (76) is arranged below the tail end of the guide head slideway (74).
6. The self-adaptive bionic heat exchanger automatic pipe penetrating machine according to claim 5, wherein a guide head positive and negative recognition device (75) is further arranged on the guide head slideway (74).
7. The self-adaptive bionic heat exchanger automatic pipe penetrating machine according to claim 1, wherein the rotary pipe pushing mechanism (8) comprises a pushing table (81), a rotary pushing claw assembly (82), a longitudinal pushing driving assembly (83) and a longitudinal rail (84), the pushing table (81) is arranged on the longitudinal rail (84) in a erected mode and can move back and forth along the longitudinal rail under the driving of the longitudinal pushing driving assembly, the rotary pushing claw assembly (82) and the longitudinal pushing driving assembly (83) are fixedly arranged on the pushing table (81), the rotary pushing claw assembly (82) comprises a claw rotary driving motor (821) and a claw (822) arranged at the output end of the claw rotary driving motor, and the claw can clamp the end portion of a pipe clamped by the pipe supporting mechanism (6).
8. The method for automatically penetrating the tube of the self-adaptive bionic heat exchanger according to claim 1, wherein the control device comprises an electric control cabinet and a handheld wireless remote controller.
9. The tube threading method of the automatic tube threading machine of the adaptive bionic heat exchanger according to claim 1, comprising the following steps: the staff firstly loads the heat exchange tube into a heat exchange tube stock bin (11), and then loads the guide head into a guide head stock bin;
in the heat exchange tube feeding mechanism, the pipe jacking mechanism performs pipe taking operation under the control of the control system, and the heat exchange tube is taken into a clamping cylinder on a platform of the heat exchange tube and guide head butting mechanism to be fixed, and is waited to be in butt joint with the guide head; the butt joint process is as follows: after the heat exchange tube enters the butt joint station, the clamping cylinder acts to clamp the heat exchange tube, and the guide head pushes the heat exchange tube through the pushing cylinder;
in the guide head feeding mechanism (7), the push plate feeding mechanism performs the lifting operation of the guide head under the control of the control system, pushes the guide head into the slideway, and performs positive and negative identification of the guide head, if the guide head is positive, the guide head is released; if the direction is reverse, pushing the guide head back to the guide head bin through the air cylinder;
the guiding head with the correct direction enters the jacking channel, and is sent to the docking platform (11) by the guiding head jacking cylinder 76;
when the photoelectric sensor detects that the heat exchanger and the guide head are in place, the control system instructs the heat exchange tube and the guide head to be in butt joint;
after the butt joint is finished, the pipe jacking mechanism acts under the control of the control system again, the heat exchange pipe after the butt joint is finished is pushed into the guide pipe supporting roller of the pipe supporting mechanism, meanwhile, the heat exchange pipe is taken out from the heat exchange pipe bin for material preparation, and the butt joint action with the guide head is repeated;
after the heat exchange tube is clamped by a tube pressing cylinder on the tube supporting mechanism, the heat exchange tube is aligned to the center of a claw (822), the claw (822) clamps and fastens the tube, and at the moment, a longitudinal pushing driving assembly (83) drives a pushing table (81) to push the tube (10) along the longitudinal direction by driving a rotary pushing claw assembly (82) according to the positioning coordinates of the perforation given by the visual positioning system (12); the visual positioning system (12) is arranged on the lifting platform (4) and follows the lifting platform (4) together, the visual field of the visual positioning system (12) covers the partial areas of a plurality of holes in front of and behind the current perforation position of the tube plate (13) to be perforated, the current perforation is completed, the CCD is used for shooting and identifying the accurate position of the next hole in the return process of the perforation mechanism, and the accurate position is sent to the perforation mechanism to execute the next perforation; the CCD is adopted for following and positioning, so that the shooting area is small, and the positioning precision is high; each perforation is independently and visually positioned, and offset coordinates relative to the current position are calculated, so that the accumulated error of the mechanism can be well eliminated; the CCD shoots and identifies the next tube penetrating position in the tube penetrating process, so that the time of the whole tube penetrating process is not influenced;
when the tube and the tube plate hole position of the heat exchanger are aligned and blocked, torque feedback is carried out through a torque sensor, and the claw rotary driving motor (821) simultaneously supplies rotary driving force to the heat exchange tube to provide auxiliary rotary force, so that tube penetrating stagnation can be effectively reduced, and tube penetrating efficiency is improved;
in the advancing process of the pushing table, the hosting mechanism can rapidly descend to avoid the advancing movement track of the pushing table (81); after the installation of one heat exchange tube is completed, the pushing table (81) is retreated to the initial position, and the hosting mechanism can quickly ascend to return to the original position; the guide wheel in the pipe supporting mechanism is lifted to the center position of the air claw of the rotary pipe pushing mechanism for clamping;
the translation mechanism is driven by the control system to enable the claw assembly (82) to move to the corresponding position of the next hole site, and waiting for the pipe penetrating operation of the next heat exchange pipe;
the pipe is pushed through the hand-held wireless remote controller (92), the position of the lifting platform and the position of the hosting mechanism are finely adjusted flexibly, and the accuracy and the efficiency of pipe penetration alignment are improved.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202311252276.4A CN117245363A (en) | 2023-09-26 | 2023-09-26 | Automatic tube penetrating machine of self-adaptive bionic heat exchanger and tube penetrating method thereof |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202311252276.4A CN117245363A (en) | 2023-09-26 | 2023-09-26 | Automatic tube penetrating machine of self-adaptive bionic heat exchanger and tube penetrating method thereof |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN117245363A true CN117245363A (en) | 2023-12-19 |
Family
ID=89129007
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202311252276.4A Withdrawn CN117245363A (en) | 2023-09-26 | 2023-09-26 | Automatic tube penetrating machine of self-adaptive bionic heat exchanger and tube penetrating method thereof |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN117245363A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN120055770A (en) * | 2025-04-14 | 2025-05-30 | 江西方舟流体科技有限公司 | Automatic tube penetrating machine for heat exchanger tube bundles |
-
2023
- 2023-09-26 CN CN202311252276.4A patent/CN117245363A/en not_active Withdrawn
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN120055770A (en) * | 2025-04-14 | 2025-05-30 | 江西方舟流体科技有限公司 | Automatic tube penetrating machine for heat exchanger tube bundles |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN109520721B (en) | Motor worm and performance test equipment | |
| CN106984703A (en) | One kind wheel chair leg tube punching bending automatic forming equipment | |
| CN110977418B (en) | Large-scale multipoint synchronous precise lifting pipe penetrating platform device | |
| CN210208503U (en) | Hydraulic riveting device for large-sized workpiece | |
| CN207534245U (en) | The positioning fixture of people's air defense door frame angle steel automatic welding | |
| CN105171368A (en) | Automatic fin assembly long U-pipe insertion system and use method thereof | |
| CN116275722A (en) | Automatic production line for section steel arch centering | |
| CN112296656B (en) | Automatic pipe penetrating method and production line of air conditioner heat exchanger without pipe supplementing process | |
| CN117245363A (en) | Automatic tube penetrating machine of self-adaptive bionic heat exchanger and tube penetrating method thereof | |
| CN114669891B (en) | A smart automatic focusing laser plasma multi-channel circular tube cutting device | |
| CN109128350B (en) | Automatic pipe cutting equipment | |
| CN219966957U (en) | Welding device for metal corrugated pipe | |
| CN110732868A (en) | Automatic screw equipment of beating of work piece | |
| CN219379479U (en) | Automatic production line for section steel arch centering | |
| CN216227686U (en) | Welding device for mine ladder beam | |
| CN106624503A (en) | Jacking positioning device, oil heater sheet conveying equipment and oil heater welding system | |
| CN213672351U (en) | Automatic welding device for civil air defense door frame | |
| CN221474000U (en) | Robot welding workstation for welding electrode cylinder rib plates | |
| CN218694958U (en) | Copper pipe surface radium carving device | |
| CN114273697B (en) | A drilling and tapping device for special-shaped workpieces | |
| CN205085608U (en) | Always grow up supporting platform of automatic intubate system of U type pipe intubate unit of fin | |
| CN210476250U (en) | Square pipe centering adjusting device and square pipe processing system with same | |
| CN115351425A (en) | An automatic welding production line | |
| CN223862575U (en) | Automatic identification machine for internal weld seams of scaffolding round pipes | |
| CN120862376B (en) | Angle steel bracket drilling and bending processing equipment |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| WW01 | Invention patent application withdrawn after publication |
Application publication date: 20231219 |
|
| WW01 | Invention patent application withdrawn after publication |