CN218284414U - Numerical control full-automatic pipe penetrating equipment for tube type heat exchanger - Google Patents

Abstract

The utility model discloses a full-automatic poling equipment of shell and tube heat exchanger numerical control, it is rotatory to be used for placing and drive the heat exchanger including the gyro wheel frame that shifts, the servo horizontal migration mechanism of symmetric distribution around two is installed in heat exchanger front end tube sheet the place ahead, install servo vertical migration mechanism on servo horizontal migration mechanism's the horizontal slide, it grabs a tub device to be located to install between two servo vertical migration mechanisms of homonymy, install ejector sleeve device on the servo vertical migration mechanism who is close to the heat exchanger end in proper order, servo drive rotary device, and gyro wheel drive poling device, install visual sensor and light source at gyro wheel drive poling device front end side, pipe automatic feed device and heat exchange tube automatic installation seeker device are installed to servo horizontal migration mechanism both sides symmetry, under visual sensor's assistance, the utility model discloses poling equipment can realize from pipe material loading, automatic pipe overturning, automatic installation seeker, automatic pipe grabbing, automatic pipe, automatic seeking the pipe orifice puts in place the pipe propelling movement to automation, realize poling process full automatization.

Description

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

Technical Field

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

Background

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

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

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

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

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

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

SUMMERY OF THE UTILITY MODEL

An object of the utility model is to overcome above-mentioned defect, provide a full-automatic poling equipment of shell and tube heat exchanger numerical control, be applicable to different length, different diameters, different tube hole distribution state's heat exchanger to and the poling of the heat exchange tube of different pipe diameters, different wall thicknesses, different materials, can realize from the pipe material loading, turn over the pipe automatically, snatch the pipe automatically, look for the tube plate hole automatically, put in place the pipe propelling movement automatically, realize poling process automation.

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

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

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

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

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

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

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

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

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

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

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

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

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

Furthermore, the roller driving pipe penetrating device is provided with a driving mechanism mounting frame, two second linear guide rails are arranged at the lower end of the driving mechanism mounting frame, second sliders are symmetrically mounted between the two second linear guide rails, two second sliding plates are symmetrically mounted on the sliders symmetrically mounted between the two second linear guide rails, ear plates are arranged on two sides of the upper ends of the two sliding plates, lifting plates are mounted between the ear plates on two sides, the ear plates are symmetrically mounted on two sides of the lifting plates, chain plates are mounted between the lifting plates and the ear plates on the sliding plates, lifting plate guide columns are mounted on the lifting plates, the middle of each lifting plate is connected with the end portion of a piston rod of a clamping cylinder through a floating joint, the clamping cylinder is mounted above the driving mechanism mounting frame and fixed with the driving mechanism mounting frame through a flange of the clamping cylinder, arc driving wheels are symmetrically mounted below the sliding plates, a speed reducer and a brushless direct current motor are connected with the arc driving wheels and mounted above the sliding plates, the cylinder rod of the clamping cylinder drives the two sliding plates to symmetrically move horizontally, and the arc driving wheels clamp and drive the heat exchange tubes to move forwards.

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

Further, the drive rotary device is a rotary servo drive device, the front end connecting plate of the rotary servo drive device is connected with the rear end of the drive mechanism mounting frame through a bolt, the front end connecting plate is arc-shaped, the arc center of the front end connecting plate coincides with the heat exchange tube center, a ring gear is installed on the front end connecting plate, the arc center of the ring gear coincides with the heat exchange tube center, an arc guide rail is installed below the front end connecting plate ring gear, the arc center of the arc guide rail coincides with the heat exchange tube center, the inner side and the outer side of the arc guide rail are respectively provided with a V-shaped cross section, a plurality of V-shaped rollers are installed on the inner side and the outer side of the arc guide rail and closely matched with the inner side and the outer side of the arc guide rail, the plurality of V-shaped rollers slide along the arc guide rail, the plurality of V-shaped rollers are installed on the roller and the reducer mounting plate, the roller and the reducer mounting plate are connected with the rear end connecting plate through a connecting arc plate, the rear end connecting plate is connected with the front end of the pipe pushing device through a bolt, the reducer connecting plate is connected with the second rotary motor, the front end connecting plate and the second heat exchange tube motor are connected with the heat exchange tube through a second heat exchange tube.

Furthermore, the driving and rotating device is an air cylinder driving and rotating device, the front end connecting support of the air cylinder driving and rotating device is connected with the rear end of the driving mechanism mounting frame through a bolt, the front end connecting support is arc-shaped, the arc center of the front end connecting support coincides with the center of the heat exchange tube, a first arc-shaped guide rail is installed on the rear end connecting arc plate of the air cylinder driving and rotating device, lug plates are arranged below two sides of the first arc-shaped guide rail, the arc center of the first arc-shaped guide rail coincides with the center of the heat exchange tube, the inner side and the outer side of the first arc-shaped guide rail are respectively provided with a V-shaped cross section, a plurality of first V-shaped rollers are installed on the inner side and the outer side of the first arc-shaped guide rail, and the plurality of first V-shaped rollers are in close fit with the inner side and the outer side of the first arc-shaped guide rail, the multiple first V-shaped idler wheels can slide along the first arc-shaped guide rail, the multiple first V-shaped idler wheels are installed on the front end connecting support, the rear end connecting arc-shaped plate is connected with the front end of the pipe pushing device through a bolt, a Y-shaped air cylinder installing support is arranged above the middle of the front end connecting support, two ends of the Y-shaped air cylinder installing support are hinged to the rear ends of the two first air cylinders, the fork frames at the end parts of the piston rods of the first air cylinders are hinged to lug plate holes below the two sides of the first arc-shaped guide rail through pin shafts, reciprocating motion of the first air cylinders can drive the front end connecting support to rotate around the center of the heat exchange pipe in a positive-negative mode, and accordingly the idler wheel driving pipe penetrating device is driven to rotate around the center of the heat exchange pipe in a positive-negative mode.

Compared with the prior art, the utility model provides a full-automatic poling equipment of shell and tube heat exchanger numerical control possesses following beneficial effect:

1. the utility model discloses poling equipment has adopted the automatic installation seeker device, through setting up the automatic installation seeker device no longer need at the artifical guide head of installing of pipe front end, has realized the full automatization poling.

2. The utility model discloses the poling equipment adopts visual system, and this visual system is for through the vision sensor with signal transmission for visual system's control system, and control system is connected with each actuating mechanism electricity, and the last drive arrangement of each actuating mechanism of control makes and is snatched the heat exchange tube with the hole site of heat exchanger front end tube sheet is concentric.

3. The utility model discloses poling equipment is applicable to the heat exchanger of different length, different diameters, different tube hole distribution state to and the poling of the heat exchange tube of different pipe diameters, different wall thicknesses, different materials, can realize from pipe material loading-automatic pipe that turns over-snatchs the pipe automatically-seeks the tube sheet hole-puts in place the pipe propelling movement automatically, realizes poling process automation, increases substantially poling efficiency, saves manufacturing cost.

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

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

Drawings

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

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

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

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

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

FIG. 6 is a schematic structural view of the automatic pipe installation seeker device in the pipe penetrating apparatus of the present invention;

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

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

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

fig. 10 is a schematic view of a partial structure of a rotary cylinder driving device in embodiment 2 of the pipe penetrating apparatus of the present invention.

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

Detailed Description

The preferred embodiments of the present invention will be described in conjunction with the accompanying drawings, and it is to be understood that the preferred embodiments described herein are merely for purposes of illustration and explanation, and are not intended to limit the present invention, and that the features of the embodiments and examples may be combined without conflict.

Example 1:

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

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

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

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

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

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

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

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

the heat exchange tube heat exchanger comprises a heat exchange tube, a baffle plate, an eccentric plate 11k, a cylinder 11j, a plurality of tube taking turning plates 11i, a connecting long shaft 11h, a plurality of tube taking turning plates 11i, a pin shaft, a cylinder support 11l, a connecting long shaft 11f and a connecting long shaft 11h, wherein the baffle plate is arranged at the lower end of the inclined surface of the framework 11f with the inclined surface and used for preventing the heat exchange tube 14 orderly arranged on the inclined surface from sliding downwards; the tube taking turning plate 11i is of an eccentric wheel structure and is provided with a long arm, a V-shaped conveying roller path 11a is mounted at the front end of the tube taking turning plate 11i, a transmission chain 11c, a driving motor and a speed reducer 11b are mounted on the V-shaped conveying roller path 11a, an automatic installation guide head device 12 is mounted at the front end of the V-shaped conveying roller path 11a, the tube taking turning plate 11i takes out a heat exchange tube 14 and guides the heat exchange tube into the V-shaped conveying roller path 11a, and the V-shaped conveying roller path 11a conveys the heat exchange tube 14 to a guide head bracket 12h of the automatic installation guide head device 12 at the end.

The automatic installation guide head device 12 is installed at the end part of the V-shaped conveying raceway 11a, a base of the automatic installation guide head device 12 and an installation support 12a are installed on the ground, a guide head hopper 12b is arranged at the upper end of the installation support 12a, a plurality of longitudinal partition plates are arranged on a bin at the upper end of the guide head hopper 12b to partition the bin at the upper end into a plurality of small bin units, a guide cylinder and a hopper gate 12d are installed at a necking part at the lower end of the guide head hopper 12b, the guide cylinder and the hopper gate 12d are installed on the side surface of the installation support 12a and connected through bolts, the hopper gate 12d is connected with a piston rod end bolt of the guide cylinder, a guide head hopper outlet inclined slideway 12c is connected below the guide cylinder and the hopper gate 12d, and a guide head bracket 12h is positioned at an outlet end below the guide head hopper outlet inclined slideway 12c, a guide head lifting guide cylinder 12i is arranged below a guide head bracket 12h and is connected with the lower part of the guide head bracket 12h through a bolt, the guide head lifting guide cylinder 12i is connected with a mounting bracket 12a through a bolt, a guide groove is arranged in the middle of the guide head bracket 12h, the guide head bracket 12h can move up and down under the action of the guide head lifting guide cylinder 12i, the guide head bracket 12h is provided with an adjustable mechanical limit, the upper limit position of the guide head bracket 12h is connected with the lower end of an inclined slideway 12c at the outlet of a guide head hopper, the lower limit position of the guide head bracket 12h is connected with the center of a heat exchange tube 14, a guide head push plate 12g can move back and forth along the guide groove, the rear end of the guide head push plate 12g is connected with a piston rod end bolt of a guide head pushing guide cylinder 12f through a bolt, the guide head bracket 12h is symmetrical with the heat exchange tube 14 left and right, and the guide head pushing guide cylinder 12f is connected with the mounting bracket 12a support through a bolt, the device comprises pipe parallel clamps 12j, a guide head bracket 12h, a guide head 12e, a hopper gate 12d, a guide head push plate 12g, a guide head hopper, a guide head inclined slide way 12c, a guide head bracket 12h, a guide head push plate 12g and a V-shaped conveying roller path 11a, wherein the pipe parallel clamps 12j are symmetrically arranged at the front ends of the guide head bracket 12h, the jaw center of each pipe parallel clamp 12j is concentric with a heat exchange pipe 14 on a V-shaped conveying roller path 11a, the front end of the guide head 12e is conical, is connected with the conical shape, is cylindrical with the outer diameter of the heat exchange pipe 14, then is reduced into a cylinder with the inner diameter of the heat exchange pipe 14 or with elasticity, and the rear end of the guide head 12e is chamfered, the guide head 12e is placed into the small bin units above the guide head hopper 12b according to a specified direction, enters the guide head hopper outlet inclined slide way 12c of the guide head hopper through the lower part of the hopper gate 12d and falls on the guide head bracket 12h, the guide head bracket 12h descends to enable the guide head 12e to be concentric with the heat exchange pipe 14, and the guide head push plate 12g to advance to push the end of the heat exchange pipe 14.

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

The roller driving pipe penetrating device 6 is provided with a driving mechanism mounting frame 6a, the lower end of the driving mechanism mounting frame 6a is provided with two second linear guide rails 6b, second sliders 6c are symmetrically mounted between the two second linear guide rails 6b, two sliding plates 6e are symmetrically mounted on the second sliders 6c symmetrically mounted between the two second linear guide rails 6b, two side edges of the upper ends of the two sliding plates 6e are provided with lug plates 6g, a lifting plate 6k is mounted between the lug plates 6g on the two sides, lug plates 6g are symmetrically mounted on the two sides of the lifting plate 6k, a chain plate 6h is mounted between the lifting plate 6k and the lug plates 6g on the sliding plates 6e, a lifting plate guide column 6l is mounted on the lifting plate 6k, the middle of the lifting plate 6k is connected with the end part of a piston rod of a driving wheel clamping cylinder 6i through a floating joint 6j, the clamping cylinder 6i is mounted above the driving mechanism mounting frame 6a and fixed with the driving mechanism mounting frame 6a through a flange of the clamping cylinder 6i, an arc-shaped driving wheel clamping cylinder 6f and a brushless direct flow sliding plate 6e, two heat exchange tubes are symmetrically mounted above the driving cylinder 6e and used as a horizontal movement, and used as a heat exchange tube 14, two heat exchange tube is symmetrically mounted above the heat exchange tube, the heat exchange tube 6 e; be provided with the bearing mounting hole on the slide 6e, the below of bearing mounting hole is equipped with the flange with the contact of radial thrust ball bearing outer lane, two radial thrust ball bearing is put into from the top of bearing mounting hole and with the flange contact of bearing mounting hole lower extreme, two the transmission shaft is installed to radial thrust ball bearing's inner circle, the transmission shaft upper end is equipped with the radial thrust ball bearing inner circle contact of shaft shoulder and upper end, the transmission shaft lower extreme is opened there is the keyway and is installed the key, open in the middle of the arc drive wheel 6d has hole and keyway that matches with the transmission shaft, arc drive wheel 6d penetrates and fixes with the nut from the lower extreme of transmission shaft the upper end in the arc drive wheel 6d hole is equipped with the ring arch, ring arch contact lower extreme radial thrust ball bearing's inner ring, slide 6e bearing hole top is equipped with a bearing cover, the outer lane of radial thrust ball bearing of bearing cover upper end is pushed down, bearing cover and slide 6e adopt bolted connection, open the hole in the middle of bearing cover, the transmission shaft upper end is opened the keyway and is installed the key, pass on the shaft upper end of brushless direct current motor 6f and brushless direct current motor reducer and brushless direct current motor 6f drive shaft and brushless direct current motor drive motor direct current reduction gear.

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

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

The automatic pipe penetrating working process comprises the following steps:

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

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

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

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

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

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

s7, pausing after the vision sensor 13a finds the target hole, taking a picture again by the vision sensor 13a, transmitting a signal to a control system by the vision sensor 13a, electrically connecting the control system with each actuating mechanism, controlling the start and stop of a driving device on each actuating mechanism, and enabling the control system to move the grabbed heat exchange tube 14 to be concentric with the target hole position of the tube plate 3 at the front end of the heat exchanger;

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

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

and S10, repeating the cycle of S4-S9.

Example 2:

as shown in fig. 9 to 10, the automatic pipe threading operation process S8 in embodiment 1 is different from the other automatic pipe threading operation processes, and based on embodiment 1, a technical solution of driving the rotation device 10 by the air cylinder instead of driving the rotation servo device 10 can be adopted.

The driving and rotating device is a cylinder driving and rotating device 10, a front end connecting support 10a of the cylinder driving and rotating device 10 is connected with the rear end of a driving mechanism mounting frame 6a through a bolt, the front end connecting support 10a is arc-shaped, the arc center of the cylinder driving and rotating device 10 coincides with the center of a heat exchange tube 14, a first arc-shaped guide rail 10d is mounted on a rear end connecting arc-shaped plate 10e of the cylinder driving and rotating device 10, a plurality of first V-shaped rollers 10c are mounted on the inner side and the outer side of the first arc-shaped guide rail 10d, the inner side and the outer side of the first arc-shaped rollers 10c are closely matched with the V-shaped cross section of the first arc-shaped guide rail 10d, the first V-shaped rollers 10c can slide along the first arc-shaped guide rail 10d, the first V-shaped rollers 10c are mounted on the front end connecting support 10a, the front end connecting support 10a is hinged to the front end connecting support 10a of the cylinder driving and rotating device 10b, the front end connecting support 10a is hinged to the front end connecting support 10a of the cylinder driving device 10a, the cylinder driving and the front end connecting support 10b, the cylinder driving device 10b is hinged to drive the cylinder driving device 10a through a, the front end connecting support 10b and the front end connecting support 10b, the front end connecting cylinder driving device 10b and the heat exchange tube 14 and the front end connecting cylinder driving device 10b, the heat exchange tube 14 b.

The working process is as follows:

s1 to S7 are the same as in example 1

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

S9 to S10 are the same as in example 1

Example 3:

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

Example 4:

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

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

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

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

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

Claims (10)

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

the heat exchanger comprises a heat exchanger body (1), a heat exchange pipe penetrating device (6), a vision system (13) arranged on the front end side of the heat exchanger body (6), automatic pipe feeding devices (11) symmetrically arranged on two sides of the two bases (4 a) and the two servo horizontal moving mechanisms (4), a heat exchange pipe guide head (12) and an automatic heat exchange pipe guide head (14) arranged on the automatic pipe feeding devices (11), wherein the heat exchanger body (1) is driven to rotate, the two bases (1) which are required to penetrate through the heat exchanger body are arranged on a front end tube plate (3) of the heat exchanger body, the servo horizontal moving mechanisms (4) are symmetrically arranged on a horizontal sliding plate (4 e) of each servo horizontal moving mechanism (4), the servo vertical moving mechanisms (5) are arranged on the horizontal sliding plate, the servo vertical moving mechanisms (4 e) on the same side, the pipe grabbing devices (8) are arranged between the two servo vertical moving mechanisms (5) on the same side, the servo vertical moving mechanisms (7) on the same side, the front ends of the driving rotating devices are provided with the roller driving rotating devices (6), the roller driving pipe penetrating devices, the driving rotating devices (11), the automatic pipe feeding devices (11) are symmetrically arranged on two sides of the two bases (4 a heat exchange pipe and the servo horizontal moving mechanisms on the two sides of the two bases (4 a heat exchange pipe guide head (14), the automatic heat exchange pipe guide head (12) arranged on the automatic heat exchange pipe feeding devices (12), and the automatic heat exchange pipe guide head (12) arranged on the automatic heat exchange pipe guide head (11), the automatic installation guide head device (12) automatically installs a guide head (12 e) at the end part of a heat exchange tube (14), the servo horizontal moving mechanism (4) and the servo vertical moving mechanism (5) move the tube grabbing device (8) and the roller driving tube penetrating device (6) to the position above a V-shaped conveying roller path (11 a), so that the tube grabbing V-shaped rollers (8 c) on the tube grabbing device (8) are positioned at two sides of the heat exchange tube (14), after the heat exchange tube (14) is grabbed from the automatic tube feeding device (11), under the assistance of a visual sensor (13 a) in the visual system (13), the servo horizontal moving mechanism (4) and the servo vertical moving mechanism (5) drive the tube grabbing device (8) and the roller driving tube penetrating device (6) to reach any specified tube plate (3) at the front end of the heat exchanger, so that the grabbed heat exchange tube (14) is concentric with the front end (3) of the heat exchanger, and the roller driving tube penetrating device (6), the starting driving device and the pushing device (7) to complete the automatic tube penetrating process;

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

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

2. The numerical control full-automatic pipe penetrating equipment for the shell and tube heat exchanger according to claim 1, characterized in that: 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 legs (4 k), two linear guide rails (4 b) are installed on the bases (4 a), a rack (4 c) is installed between the two linear guide rails (4 b), a sliding block (4 f) is installed on the linear guide rails (4 b), a horizontal sliding plate (4 e) is installed on the sliding block (4 f), a speed reducer (4 h) installation seat is arranged on the horizontal sliding plate (4 e), and the speed reducer (4 h) is fixedly connected with the installation seat through bolts;

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

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

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

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

the heat exchange tube heat exchanger comprises a heat exchange tube, a baffle plate, an eccentric plate (11 k), at least one air cylinder (11 j) driving the connecting long shaft (11 h) to rotate, a plurality of tube taking turning plates (11 i) fixedly mounted on the connecting long shaft (11 h), an air cylinder rod of the air cylinder (11 j) is connected with the eccentric plate (11 k) through a pin shaft, an air cylinder support (11 l) is connected with the framework (11 f) with the inclined plane, the rear end of the air cylinder (11 j) is mounted on the air cylinder support (11 l), the air cylinder support (11 l) is mounted on the side face of the framework (11 f) with the inclined plane, and the air cylinder (11 j) drives the long shaft (11 h) to rotate so as to drive all the tube taking turning plates (11 i) to rotate;

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

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

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

7. The numerical control full-automatic pipe penetrating equipment for the shell and tube heat exchanger according to claim 1, characterized in that: the roller driving pipe penetrating device (6) is provided with a driving mechanism mounting frame (6 a), the lower end of the driving mechanism mounting frame (6 a) is provided with two second linear guide rails (6 b), second sliders (6 c) are symmetrically mounted in the middle of the two second linear guide rails (6 b), two sliding plates (6 e) are symmetrically mounted on the second sliders (6 c) symmetrically mounted in the middle of the two second linear guide rails (6 b), two lugs (6 g) are arranged on two sides of the upper end of each sliding plate (6 e), lifting plates (6 k) are mounted between the lugs (6 g) on the two sides, the lugs (6 g) are symmetrically mounted on the lifting plates (6 k), chain plates (6 h) are mounted between the lifting plates (6 k) and the lugs (6 g) on the sliding plates (6 e), lifting plate guide columns (6 l) are mounted on the lifting plates (6 k), piston rod end portions of the clamping cylinders (6 i) in the middle of the lifting plates (6 k) are connected through floating joints (6 j), the clamping cylinders (6 i) are mounted above the driving wheels (6 i), and a motor mounting frame (6 d) and a brushless motor (6 d) are mounted below the arc-shaped sliding plates (6 e), the air cylinder rod of the clamping air cylinder (6 i) drives the two sliding plates (6 e) to move symmetrically and horizontally, the two sliding plates (6 e) drive the arc-shaped driving wheel (6 d) to move symmetrically and horizontally, and the arc-shaped driving wheel (6 d) clamps the heat exchange tube (14) and drives the heat exchange tube (14) to move forwards.

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

9. The numerical control full-automatic pipe penetrating equipment for the shell and tube heat exchanger according to claim 7, characterized in that: the driving and rotating device is a rotary servo driving device (9), a front end connecting plate (9 a) of the rotary servo driving device (9) is connected with the rear end of a driving mechanism mounting frame (6 a) through a bolt, the front end connecting plate (9 a) is arc-shaped, the arc center of the front end connecting plate coincides with the center of a heat exchange tube (14), an annular gear (9 b) is installed on the front end connecting plate (9 a), the arc center of the annular gear (9 b) coincides with the center of the heat exchange tube (14), a plurality of V-shaped rollers (9 j) are installed below the front end connecting plate (9 a) and the annular gear (9 b), the arc center of the arc-shaped rollers (9 i) coincides with the center of the heat exchange tube (14), the inner side and the outer side of the arc-shaped rollers (9 i) are respectively provided with a V-shaped cross section, the inner side and the outer side of the arc-shaped rollers (9 i) are provided with a plurality of V-shaped rollers (9 j), the plurality of V-shaped rollers (9 j) are closely matched with the inner side and the outer side and the inner side and the outer side of the arc-shaped rails (9 i) through a plurality of V-shaped rollers (9 h) and are installed on the front end connecting plate (9 h) connected with a speed reducer (9 h) through a plurality of a sliding connection plate (9 h) and a speed reducer connection plate (9 h, there is reduction gear mounting panel (9 f) rear end connecting plate (9 h) upper end, reduction gear mounting panel (9 f) and reduction gear (9 d) and gyro wheel bolted connection, gyro wheel and reduction gear mounting panel (9 f) are passed to the axle of reduction gear (9 d) epaxial second driving gear (9 c) of installing of reduction gear (9 d), second driving gear (9 c) are connected with ring gear (9 b) meshing, reduction gear (9 d) rear end is connected with second servo motor (9 e), second servo motor (9 e) drive front end connecting plate (9 a) are around heat exchange tube (14) center plus-minus 90 degrees rotation, thereby drive gyro wheel drive poling device (6) are around heat exchange tube (14) center plus-minus 90 degrees is rotatory.

10. The numerical control full-automatic pipe penetrating equipment for the shell and tube heat exchanger according to claim 7, characterized in that: the driving and rotating device is an air cylinder driving and rotating device (10), a front end connecting support (10 a) of the air cylinder driving and rotating device (10) is connected with the rear end of a driving mechanism mounting frame (6 a) through a bolt, the front end connecting support (10 a) is arc-shaped, the center of an arc is overlapped with the center of a heat exchange tube (14), a first arc-shaped guide rail (10 d) is installed on a rear end connecting arc-shaped plate (10 e) of the air cylinder driving and rotating device (10), first lug plates (10 g) are arranged below two sides of the first arc-shaped guide rail (10 d), the center of an arc of the first arc-shaped guide rail (10 d) is overlapped with the center of the heat exchange tube (14), the inner side and the outer side of the first arc-shaped guide rail (10 d) are respectively provided with a V-shaped cross section, a plurality of first V-shaped rollers (10 c) are installed on the inner side and the outer side of the first arc-shaped guide rail (10 d), the plurality of the first V-shaped rollers (10 c) are closely matched with the inner side and the outer side of the first arc-shaped guide rail (10 d) through a plurality of first V-shaped guide rail (10 c) and a plurality of first arc-shaped guide rail (10 c) and a plurality of first support (10 b) which is connected with the front end connecting support (10 a front end connecting cylinder driving and a front end connecting device mounting frame (7 b) through a bolt, the cylinder driving mechanism mounting frame, the air cylinder driving and a plurality of the air cylinder driving mechanism mounting frame (10 b), two first cylinders (10 f) piston rod end fork frames (10 h) are hinged with lug plate holes below two sides of a first arc-shaped guide rail (10 d) through pin shafts, and reciprocating motion of the two first cylinders (10 f) can drive the front end connecting support (10 a) to rotate around the center of a heat exchange tube (14) at a positive and negative angle of 45 degrees, so that the roller is driven to drive the tube penetrating device (6) to rotate around the center of the heat exchange tube (14) at a positive and negative angle of 45 degrees.

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