Automatic tube penetrating system and tube penetrating method for heat exchange tube of tubular heat exchanger

Abstract

The invention relates to the field of automatic welding of tubular heat exchangers, and provides an automatic tube penetrating system for a heat exchange tube of a tubular heat exchanger, which comprises a robot unit, and the robot unit comprises a guide rail, a robot moving back and forth on the guide rail and a heat exchanger tube penetrating machine head device fixed on the robot and capable of realizing lifting and translation by controlling a mechanical arm of the robot. The heat exchanger pipe penetrating machine head device comprises a clamping mechanism, a conveying mechanism and a recognition structure, the recognition mechanism recognizes the position of a penetrating hole in a heat exchanger, the clamping mechanism clamps a guide cone to penetrate into a heat exchange pipe, and according to the position information of the penetrating hole, the conveying mechanism grabs the guide cone to drive the heat exchange pipe to penetrate into the penetrating hole. And if not, completing the penetration of one heat exchange tube, and so on until the penetration of the heat exchange tube is completed. The device has the beneficial effect that the heat exchange tube of a complex heat exchanger can be automatically inserted.

Description

technical field [0001] The invention relates to the field of automatic welding of tubular heat exchangers, in particular to an automatic pipe threading system and a pipe threading method for the heat exchange pipes of the tubular heat exchanger. Background technique [0002] The applicant is an enterprise that provides customized large-scale production equipment, storage tanks, heat exchangers and other products for petroleum and petrochemical chemical enterprises. It is the largest heat exchanger production base in North China. With the continuous progress and development of science and technology, Automation has gradually penetrated into various fields to replace manual operation, and has the advantages of high work efficiency, manpower saving, and low work intensity. [0003] For the manufacture of large-scale heat exchangers, due to the large structure and complex process, the current general production situation in China is that most of the processes require manual oper...

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Problems solved by technology

[0003] For the manufacture of large-scale heat exchangers, due to the large structure and complex process, the current domestic production status is that most of the processes need to be manually operated, requiring many workers, high labor intensity, and unstable quality control. At present, there is an automatic pipe threading on the market technology, but it is aimed at such as patent application number 202010925689.4, the application name is the heat exchanger tube bundle intelligent automatic tube threading machine: the heat exchange tubes have a simple horizontal and vertical position relationship, and the heat exchange tubes are arranged in parallel with multiple rows and rows. , for the high-purity ferritic stainless steel heat exchanger independently developed by our company, the patent number is: 202010261568.4, this kind of tubular heat exchanger ( figure 2 The heat exchange tubes in ) are irregular, non-parallel, and unequally spaced. It is impossible to realize automatic tube threading by simply moving the height and horizontal position of the existing automatic tube threader. At present, there is no set of automatic production in China. In order to improve the automation level and scale of the company and lay the foundation for future intelligent manufacturing, it is urgent to develop a method and production line for automatic tube insertion of tube heat exchangers.

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