Pipe penetrating robot of pipe bundle type heat exchanger

Abstract

The invention relates to the technical field of heat exchanger manufacturing, in particular to a tube penetrating robot for a tube bundle type heat exchanger, which comprises a tube penetrating workbench, a tube placing assembly is arranged at the rear part of the table top of the tube penetrating workbench, a heat exchange tube to be penetrated is placed on the tube placing assembly, and a robot body is arranged in the middle of the tube penetrating workbench. The end of a mechanical arm of the robot body is provided with a tube grabbing and conveying assembly used for grabbing and conveying a heat exchange tube, and the end of the heat exchange tube is provided with a detection assembly used for detecting the tube penetrating state when the heat exchange tube passes through a tube plate hole. Through the arrangement of the detection assembly, in the pipe penetrating process, when the guiding inclined face of the detection assembly corresponds to a pipe plate hole, the heat exchange pipe can be corrected through guiding of the inclined face, control over the tolerance skewness degree is achieved, and when the pipe opening of the heat exchange pipe excessively deflects, shutdown of the robot body can be controlled through a signal so that deflection correction can be carried out, and the working efficiency is improved. Damage to the robot body, the heat exchange tube and the tube plate caused by continuous tube penetrating is avoided, and the stability, safety and efficiency of tube penetrating operation are improved.

Description

Technical Field

[0001] The invention relates to the technical field of heat exchanger manufacturing, and in particular to a tube-threading robot for a tube bundle heat exchanger. Background Art

[0002] Straight tube bundle heat exchangers are common products in heat exchangers and are used in many industries such as petrochemicals, thermal power generation, and food processing. Pipe threading in a bundle heat exchanger is a labor-intensive task. During the threading process, due to the presence of multiple tube sheets, the threading resistance is large, and the tubes are easily deflected during the threading process, and are not aligned with the holes on the next tube sheet and are blocked by the tube sheet bracket. Therefore, threading is not only a complicated task, but also requires a lot of physical strength. Therefore, automation is very necessary.

[0003] There are some pipe-threading robots, but they can only find the hole of the first tube sheet. Since the coaxiality between the multiple tube sheet holes is not very good, including the sinking of the heat exchange tube head, sometimes the heat exchange tube does not penetrate into the corresponding hole of the next tube sheet, but slightly deviates and hits the tube sheet, resulting in pipe threading failure. During the pipe threading process, if the resistance increases, it is impossible to determine whether it is caused by resistance or due to the obstruction of the tube sheet, which is not practical.

[0004] For this purpose, a tube-threading robot for a tube bundle heat exchanger is proposed. Summary of the invention

[0005] In order to overcome the deficiencies of the prior art, the present invention provides a tube-threading robot for a tube bundle heat exchanger.

[0006] In order to solve the above technical problems, the present invention provides the following technical solutions: it includes a pipe threading workbench, a pipe placing assembly is arranged at the rear part of the table top of the pipe threading workbench, the pipe placing assembly includes a placing rack, the placing rack is V-shaped, the table top of the pipe threading workbench is fixedly connected with a base below the placing rack, the top end of the base is opened and sleeved with a guide rod, the top end of the guide rod is connected to the placing rack, the table top of the pipe threading workbench is also equipped with a lifting control device, the end of the transmission rod of the lifting control device is connected to the placing rack, the table top of the pipe threading workbench is connected with a pipe storage platform on one side of the placing rack, the surface of the pipe storage platform is inclined toward the placing rack, a plurality of through holes are opened on the side of the pipe storage platform near the placing rack, and baffles are sleeved in the through holes, the bottom ends of the plurality of baffles are connected to each other by a connecting plate, and a contraction control device is installed on the bottom surface of the pipe storage platform, and the end of the transmission rod of the contraction control device is connected to the connecting plate.

[0007] Heat exchange tubes to be threaded are placed on the tube placement assembly, and a robot body is arranged in the middle of the tube threading workbench. The robot body includes a gantry, which is fixedly mounted on the table top of the tube threading workbench and is located in front of the tube placement assembly. A connecting platform is arranged on the crossbeam of the gantry through a roller set, and left and right displacement mechanisms are arranged on the gantry and the connecting platform. A machine arm is arranged on the connecting platform through a roller set, and up and down displacement mechanisms are arranged on the connecting platform and the machine arm. The tube grabbing and feeding assembly is arranged at the bottom end of the machine arm. The number of the connecting platform, the left and right displacement mechanism, the up and down displacement mechanism and the machine arm can be more than two, all of which are connected to the gantry, and the number of the tube placement assemblies and the tube grabbing and feeding assemblies is changed accordingly.

[0008] The end of the mechanical arm of the robot body is provided with a grabbing and conveying tube assembly for grabbing and conveying heat exchange tubes. The grabbing and conveying tube assembly includes a grabbing frame, which is connected to the bottom end of the mechanical arm. A clamping control device is installed on one side of the grabbing frame. The transmission shaft of the clamping control device is connected to a double-headed screw. Both ends of the double-headed screw are respectively threadedly connected to sliders. A sliding hole sleeved on the slider is opened on the side of the grabbing frame. The side of the slider is connected to a clamping frame. The two clamping frames have openings on corresponding surfaces, and a conveyor belt is installed on the inner side of the clamping frame. A number of modules are arranged and connected on the surface of the conveyor belt. The surface of the module is provided with grooves suitable for the heat exchange tube. A conveying control device for driving the conveyor belt is installed on the clamping frame. A push tube conveying assembly is installed on the rear side of the placement frame. The transmission shaft of the push tube conveying assembly is connected to a push tube plate. A push tube column is sleeved on the push tube plate. The push tube column contacts the rear end of the heat exchange tube. A buffer damping spring is connected between the push tube column and the push tube plate.

[0009] A detection component for detecting the tube penetration status when passing through the tube sheet hole is provided at the end of the heat exchange tube. The detection component includes a detection head, which is fixed to the end of the heat exchange tube by plugging, welding and bonding, and corresponds to the forward direction of the heat exchange tube when the tube is inserted. A guide slope is provided at the front end of the detection head, a groove is provided at the center of the outer end of the detection head, and a trigger head is installed in the groove. The trigger head sends a signal when the detection component is misplaced in the tube sheet hole and touches the tube sheet. An electrical compartment is also provided in the detection head, and the inner end of the detection head is connected to a back cover.

[0010] As a preferred technical solution of the present invention, a control device is also provided on one side of the table top of the pipe threading workbench. The control device is provided with a program to record the orifice plate number during the pipe threading process to realize automatic planning and statistics of the pipe threading situation. A wireless receiving module is provided on the robot body. When the trigger head belonging to the pipe threading number sends a signal during the pipe threading process, the robot body receives the signal through the wireless receiving module and suspends the pipe threading.

[0011] As a preferred technical solution of the present invention, the front table top of the tube threading workbench is installed with a plate placement assembly for fixing the tube sheet of the heat exchanger, the plate placement assembly includes a tube sheet bed, a plurality of fixed clamps are fixedly connected to the left side of the table top of the tube sheet bed, a sliding guide rail is fixedly connected to the right side of the table top of the tube sheet bed, a sliding control device is sleeved on the sliding guide rail, a sliding control device is installed at a position of the table top of the tube sheet bed corresponding to the sliding guide rail, a transmission shaft of the sliding control device is connected to the sliding clamps at the corresponding position, and a card slot adapted to the tube sheet is provided on the tube sheet bed and on the clamping ends of the fixed clamps and the sliding clamps.

[0012] As a preferred technical solution of the present invention, the detection assembly also includes a resistance increasing cylinder, which is connected to the outer end of the rear cover, a plurality of through holes are opened on the surface of the resistance increasing cylinder, and a pressure plate is sleeved in the through holes, an insertion rod is provided at one end of the resistance increasing cylinder, and a sliding column is sleeved on the insertion rod, a hinged plate is hinged between the surface of the sliding column and the pressure plate on the corresponding side, a permanent magnet is connected to one end of the sliding column, and a reset spring for reset is connected between the sliding column and the resistance increasing cylinder.

[0013] As a preferred technical solution of the present invention, the table top of the pipe threading workbench is equipped with an installation component for installing the detection component on the end of the heat exchange tube to be threaded, the installation component is located between the tube placement component and the robot body, the installation component includes a transmission rack, the transmission rack is connected to the table top of the pipe threading workbench, a conveyor belt for conveying the detection component is installed on the transmission rack, a notch is provided on the top surface of the transmission rack corresponding to the tube placement component on one side for the tail end of the detection component to pass through, and it fits on the outer wall of the tail end, a top plate is connected to the top of the transmission rack, the two ends of the top plate fit on both sides of the top surface of the conveyor belt, the top plate is used to prevent the detection component from falling from the two ends of the conveyor belt and the detection components from being stacked, and a transmission rack is installed on the transmission rack for driving A transmission control device for the operation of the conveyor belt, a push hole is provided on the top surface of the transmission frame corresponding to one side of the robot body, a positioning cylinder is installed on the transmission frame, the transmission shaft of the positioning cylinder is connected to a push plate, one end of the push plate is connected to a positioning sleeve, the positioning sleeve corresponds to the push hole, a groove is provided on a side of the positioning sleeve corresponding to the push hole and is matched with the head end of the detection component, an electromagnet is installed on the side of the positioning sleeve away from the push hole, a slot is provided on the surface of one end of the top plate away from the push hole, and a storage tube for stacking several detection components is inserted in the slot, the storage tube is connected up and down and the inner wall is in a convex shape adapted to the detection component, and one side of the storage tube and the slot corresponding to the tube assembly are both opened for the tail end of the detection component to pass through.

[0014] As a preferred technical solution of the present invention, a recovery component for recovering the detection component from the end of the heat exchange tube after tube insertion is installed on the front side of the table of the heat exchange tube, and the recovery component is located on the front side of the plate assembly. The recovery component includes a recovery table, which is installed on the table top of the tube insertion workbench, and an electric cross guide is installed on the side of the recovery table corresponding to the plate assembly. A placement rack is connected to the motion module of the electric cross guide, and the placement rack is L-shaped and has a socket adapted to a storage tube at the bottom end. A protrusion is provided on the outer side of the top surface of the storage tube for being inserted into the placement rack. An insertion control device is installed on the top of the placement rack, and a transmission shaft of the insertion control device is connected to a recovery sleeve. A groove adapted to the head end of the detection component is opened on the side of the recovery sleeve corresponding to the tube assembly, and the bottom end of the recovery sleeve is open, and an electromagnet is installed at the front end of the recovery sleeve.

[0015] Compared with the prior art, the present invention can achieve the following beneficial effects:

[0016] 1. Through the setting of the detection component, during the pipe threading process, when the guiding bevel of the detection component corresponds to the tube sheet hole, the heat exchange tube can be straightened through the guiding of the bevel to achieve the control of the tolerance of deflection. When the tube mouth of the heat exchange tube is too deflected, the robot body can be stopped by signal control to correct the deflection, so as to avoid damage to the robot body, heat exchange tube and tube sheet caused by continuing to thread the tube, thereby improving the stability, safety and efficiency of the pipe threading operation.

[0017] 2. Through the setting of multiple sets of connection platforms - robot arms, tube placement components and grabbing and feeding components, the tube threading process can be allocated to different areas of the tube sheet for separate tube threading operations, thereby realizing automatic tube threading and further improving the efficiency of tube threading.

[0018] 3. Through the function setting of the placement rack lifting, when laying the heat exchange tubes, the heat exchange tubes can be laid on the lower pipe storage platform to avoid excessive labor consumption or reduced efficiency caused by manual or mechanical handling of the heat exchange tubes. The process can be staggered with the pipe threading steps, and the materials can be connected while the pipe is being threaded, which is beneficial to reduce waiting time and improve pipe threading efficiency.

[0019] 4. By setting the plate assembly, the stability of the tube sheet position is ensured, the stability of the tube penetration is improved, and the axial direction of the tube sheet hole is ensured to correspond to the heat exchange tube, further avoiding the problem of misalignment between the tube sheet hole and the heat exchange tube.

[0020] 5. By setting up the installation components and the pressure plate, the detection component can be automatically installed on the heat exchange tube during the waiting process before the tube is inserted, eliminating the installation steps of the detection component and the heat exchange tube, thereby further improving the tube insertion efficiency. The pressure plate can control the extension and contraction, which reduces the installation difficulty during installation and improves the installation stability after installation to prevent the detection component from falling off the heat exchange tube.

[0021] 6. Through the setting of the recovery component, after the pipe threading is completed, the pressure plate is stored and adsorbed into the recovery sleeve by using magnetic force, and then the detection component is easily pulled out from the heat exchange tube, and then the detection component is dropped into the storage tube for storage for subsequent direct use. First, it avoids the detection component staying on the heat exchange tube, causing damage during subsequent use and adverse effects on the use of the heat exchange tube. Secondly, the easy disassembly and recovery of the detection component can further improve the overall pipe threading efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] Figure 1 This is a schematic diagram of the structure of Embodiment 1 of the present invention;

[0023] Figure 2 For the present invention Figure 1 A magnified image of point A;

[0024] Figure 3 For the present invention Figure 1 The enlarged view of point B;

[0025] Figure 4 It is a structural schematic diagram of the tube placement assembly and the tube pushing part of the tube grabbing and feeding assembly of the present invention;

[0026] Figure 5 It is a structural schematic diagram of the pipe clamping part of the pipe grabbing and feeding assembly of the present invention;

[0027] Figure 6 It is a schematic cross-sectional structural diagram of the detection assembly of the present invention;

[0028] Figure 7 This is a schematic diagram of the structure of Embodiment 2 of the present invention;

[0029] Figure 8 For the present invention Figure 7 Enlarged view of point C;

[0030] Fig. 9 This is a schematic diagram of the structure of Embodiment 3 of the present invention;

[0031] Fig.10 This is a schematic diagram of the structure of a detection component according to Embodiment 3 of the present invention;

[0032] Fig.11 This is a schematic cross-sectional structural diagram of a detection assembly according to Embodiment 3 of the present invention;

[0033] Fig.12 It is a schematic diagram of the front structure of the installation assembly of the present invention;

[0034] Fig.13 It is a schematic diagram of the rear structure of the installation assembly of the present invention;

[0035] Fig.14 It is a schematic diagram of the partial cross-sectional structure of the rear side of the recovery component of the present invention.

[0036] Among them: 1. Pipe threading workbench; 2. Pipe placement assembly; 201. Placement rack; 202. Base; 203. Guide rod; 204. Lifting control device; 205. Pipe storage platform; 206. Baffle; 207. Contraction control device; 3. Robot body; 301. Gantry; 302. Connecting platform; 303. Left and right displacement mechanism; 304. Up and down displacement mechanism; 305. Robot arm; 4. Grab and deliver pipe assembly; 401. Grab rack; 402. Clamping control device; 403. Double-headed screw; 404. Conveyor belt; 405. Conveying control device; 406. Push pipe conveying assembly; 407. Push pipe plate; 408. Push pipe column; 409. Slider; 4010. Clamping frame; 5. Detection assembly; 501. Detection head; 502. Guide ramp; 503. Trigger head; 504 , electrical warehouse; 505, rear cover; 506, resistance increasing cylinder; 507, sliding column; 508, permanent magnet; 509, pressure plate; 5010, hinged plate; 5011, return spring; 6, plate placement assembly; 601, tube plate bed; 602, fixed clamp; 603, sliding clamp; 604, sliding guide; 605, sliding control device; 7, installation assembly; 701, transmission rack; 702, transmission belt; 703, top plate; 704, transmission control device; 705, positioning cylinder; 706, push plate; 707, positioning sleeve; 708, storage cylinder; 709, electromagnet; 8, recovery assembly; 801, recovery table; 802, electric cross guide; 803, placement rack; 804, insertion control device; 805, recovery sleeve; 9, control device; 10, heat exchange tube. DETAILED DESCRIPTION

[0037] In order to make the technical means, creative features, objectives and effects achieved by the present invention easy to understand, the present invention is further described below in conjunction with specific embodiments, but the following embodiments are only preferred embodiments of the present invention, not all. Based on the embodiments in the implementation mode, other embodiments obtained by those skilled in the art without creative work are all within the scope of protection of the present invention. The experimental methods in the following embodiments, unless otherwise specified, are conventional methods, and the materials, reagents, etc. used in the following embodiments, unless otherwise specified, can be obtained from commercial channels.

[0038] Embodiment 1:

[0039] like Figure 1-6As shown, a tube-bundle heat exchanger pipe threading robot comprises a pipe threading workbench (1), a pipe placing assembly (2) is arranged at the rear of the workbench (1), a heat exchange pipe (10) to be threaded is placed on the pipe placing assembly (2), a robot body (3) is arranged in the middle of the pipe threading workbench (1), a gripping and conveying assembly (4) for gripping and conveying the heat exchange pipe (10) is arranged at the end of the robot arm of the robot body (3), and a probe for detecting the threading state of the heat exchange pipe (10) when passing through the tube sheet hole is arranged at the end of the heat exchange pipe (10). The detection assembly (5) comprises a detection head (501), the detection head (501) is fixed to the end of the heat exchange tube (10) by plugging, welding or bonding, and corresponds to the forward direction of the heat exchange tube (10) when the tube is inserted, the front end of the detection head (501) is provided with a guide inclined surface (502), the center part of the outer end of the detection head (501) is provided with a groove, and a trigger head (503) is installed in the groove, and the trigger head (503) is an electric device that generates a signal in the form of pressure, such as a pressure sensor, a touch switch, etc. The device comprises a trigger head (503) which sends a signal when the detection component (5) is misplaced in the tube sheet hole and contacts the tube sheet. The detection head (501) is also provided with an electrical compartment (504). The electrical compartment (504) is provided with power supply components such as batteries and a wireless transmission module for transmitting the signal of the trigger head (503) in a wireless form. The inner side end of the detection head (501) is connected to a rear cover (505). A control device (9) is also provided on one side of the table of the tube threading workbench (1). The control device (9) includes an electrical control cabinet. and computer equipment, and programming and controlling the tube placement component (2), the robot body (3) and the grabbing and delivering tube component (4); the control device (9) is provided with a program, and the orifice plate number is recorded during the tube insertion process to realize automatic planning and statistics of the tube insertion situation; the robot body (3) is provided with a wireless receiving module, and when the trigger head (503) belonging to the tube insertion number sends a signal during the tube insertion process, the robot body (3) receives the signal through the wireless receiving module and suspends the tube insertion; the robot body (3) is also provided with an alarm.

[0040] The tube placement assembly (2) comprises a placement rack (201), the placement rack (201) is V-shaped, the table top of the tube threading workbench (1) is fixedly connected to a base (202) below the placement rack (201), the top end of the base (202) is opened and sleeved with a guide rod (203), the top end of the guide rod (203) is connected to the placement rack (201), the table top of the tube threading workbench (1) is also installed with a lifting control device (204), the end of the transmission rod of the lifting control device (204) is connected to the placement rack (201), the table top of the tube threading workbench (1) is connected to a tube storage platform (205) on one side of the placement rack (201), and the tube storage platform (205) is located on the placement rack (201). ), a slope inclined toward the placement slot is provided on the top surface of the placement rack (201) corresponding to the side of the pipe storage platform (205), the surface of the pipe storage platform (205) is inclined toward the placement rack (201), a plurality of through holes are opened on the side of the pipe storage platform (205) near the placement rack (201), and baffles (206) are sleeved in the through holes, the bottom ends of the plurality of baffles (206) are connected to each other through connecting plates, a contraction control device (207) is installed on the bottom surface of the pipe storage platform (205), the end of the transmission rod of the contraction control device (207) is connected to the connecting plate, and the lifting control device (204) and the contraction control device (207) are both one of a hydraulic cylinder, a pneumatic cylinder and a telescopic motor.

[0041] The robot body (3) comprises a gantry (301), the gantry (301) is fixedly mounted on the tabletop of the pipe threading workbench (1) and is located at the front side of the pipe placing assembly (2), a connecting platform (302) is provided on the crossbeam of the gantry (301) via a roller set, a left-right displacement mechanism (303) is provided on the gantry (301) and the connecting platform (302), specifically a rack connected to the gantry (301) and a motor connected to the connecting platform (302), a transmission shaft of the motor is connected to a gear 1 which meshes with a rack 1, the gear 1 is driven to rotate by the motor, the gear 1 moves along the rack 1 to push the connecting platform (302) to move left-right, a machine arm (305) is provided on the connecting platform (302) via a roller set, the connecting platform (302) and the machine arm (303) are connected to the connecting platform (302) and the machine arm (305 ... 5) is provided with an up-and-down displacement mechanism (304), specifically a rack 2 connected to the robot arm (305) and a motor connected to the connecting platform (302), the transmission shaft of the motor is connected to a gear 2 and meshes with the rack 2, thereby controlling the up-and-down movement of the robot arm (305), the robot body (3) is an existing well-known technology, and further connection methods and structures are not described here, the grabbing and delivering pipe assembly (4) is arranged at the bottom end of the robot arm (305), the connecting platform (302), the left-right displacement mechanism (303), the up-and-down displacement mechanism (304) and the robot arm (305) can be more than two in number, all of which are connected to the gantry (301) to improve the efficiency of pipe threading, and the number of the pipe placement assembly (2) and the grabbing and delivering pipe assembly (4) is also increased or decreased accordingly.

[0042] The grabbing and conveying pipe assembly (4) comprises a grabbing frame (401), the grabbing frame (401) is connected to the bottom end of the robot arm (305), a clamping control device (402) is installed on one side of the grabbing frame (401), the clamping control device (402) adopts a self-locking motor model, the transmission shaft of the clamping control device (402) is connected to a double-headed screw (403), and the two ends of the double-headed screw (403) are respectively threadedly connected to a slider (409), the side of the grabbing frame (401) is provided with a sliding hole sleeved on the slider (409), the side of the slider (409) is connected to a clamping frame (4010), the two clamping frames (4010) have corresponding surface openings, and a conveyor belt is installed inside the clamping frame (4010), and the conveyor belt can adopt a chain plate conveyor A conveyor belt is provided, and a plurality of modules are arranged and connected on the surface of the conveyor belt. A groove suitable for the heat exchange tube (10) is provided on the surface of the module. A conveying control device (405) for driving the conveyor belt (404) to operate is installed on the clamping frame (4010). The conveying control device (405) adopts a motor. A tube pushing conveying assembly (406) is installed on the rear side of the placement rack (201). The tube pushing conveying assembly (406) adopts a cylinder or a telescopic motor. The transmission shaft of the tube pushing conveying assembly (406) is connected to a tube pushing plate (407). A tube pushing column (408) is sleeved on the tube pushing plate (407). The tube pushing column (408) abuts against the rear end of the heat exchange tube (10). A buffer damping spring is connected between the tube pushing column (408) and the tube pushing plate (407).

[0043] Working principle:

[0044] Before use: lay the heat exchange tube (10) to be threaded on the tube storage platform (205), start the lifting control device (204) to pull the placement rack (201) down to a lower position corresponding to the tube storage platform (205), place the tube sheet on the front side of the robot body (3) parallel to the axis of the heat exchange tube (10), and drive the robot arm (305) to drive the grabbing and delivering tube assembly (4) to return to the initial position.

[0045] When in use: In the first step, the contraction control device (207) pulls the baffle (206) down, and after a heat exchange tube (10) passes through, it quickly rises to block the subsequent heat exchange tubes (10). The passed heat exchange tube (10) slides along the inclined surface of the tube storage platform (205) to the central depression of the placement rack (201), and the lifting control device (204) is started to drive the heat exchange tube (10) to be lifted to correspond to the grabbing and feeding tube assembly (4).

[0046] In the second step, the tube pusher conveying assembly (406) is started to push out the heat exchange tube (10) through the tube pusher plate (407) and the tube pusher column (408). The pushed out heat exchange tube (10) enters between the two conveyor belts (404). Then the clamping control device (402) is started to bring the two clamping frames (4010) closer together, so that the conveyor belt (404) clamps the heat exchange tube (10). At this time, the tube storage platform (205) descends to repeat the first step of receiving the material.

[0047] In the third step, the program on the control device (9) arranges the left and right displacement mechanism (303) and the up and down displacement mechanism (304) to start to adjust the position of the robot arm (305) so that the heat exchange tube (10) corresponds to the tube sheet holes at different positions, and records it when the tube is inserted. The conveying control device (405) starts to operate the conveyor belt (404), and the conveyor belt (404) pushes the heat exchange tube (10) forward and passes through the tube sheet hole to achieve tube insertion. After the tube is inserted, the second step is repeated.

[0048] The fourth step is that during the pipe threading process, when the guiding bevel of the detection component (5) corresponds to the tube sheet hole, the heat exchange tube (10) can be straightened by the guiding of the bevel to achieve the control of the tolerance of the deflection. When the head end of the detection component (5) contacts the tube sheet, it means that the heat exchange tube (10) has a large deflection. At this time, the trigger head (503) is compressed and sends a signal. When the wireless receiving module on the robot body (3) receives the signal, it stops in time, and then the heat exchange tube (10) is straightened by manual intervention. After straightening, the pipe threading action continues.

[0049] Embodiment 2: Figure 7-8 As shown, a plate placement assembly (6) for fixing the tube sheet of the heat exchanger is installed on the front table of the tube threading workbench (1), and the plate placement assembly (6) includes a tube sheet bed (601), and a plurality of fixed clamps (602) are fixedly connected to the left side of the table of the tube sheet bed (601), and a sliding guide rail (604) is fixedly connected to the right side of the table of the tube sheet bed (601). A sliding control device (605) is sleeved on the sliding guide rail (604), and a sliding control device (605) is installed at a position of the table of the tube sheet bed (601) corresponding to the sliding guide rail (604). The sliding control device (605) adopts one of a cylinder, a hydraulic cylinder and a telescopic motor, and the transmission shaft of the sliding control device (605) is connected to the sliding clamp (603) at the corresponding position. The tube sheet bed (601) and the clamping ends of the fixed clamp (602) and the sliding clamp (603) are all provided with a card slot adapted to the tube sheet.

[0050] Working principle:

[0051] Before use: the tube sheet to be threaded is placed vertically on the tube sheet bed (601), and then the sliding control device (605) is started to drive the sliding clamp (603) to approach the tube sheet, and the fixed clamp (602) is used to clamp the tube sheet from both ends.

[0052] After use: start the sliding control device (605) to drive the sliding clamp (603) away from the tube sheet, and then move the tube sheet with completed tube penetration out of the tube sheet bed (601).

[0053] Embodiment 3: Figure 9-14 As shown, a mounting assembly (7) for mounting a detection assembly (5) on the end of a heat exchange tube (10) to be threaded is installed on the table top of the tube threading workbench (1), and the mounting assembly (7) is located between the tube placement assembly (2) and the robot body (3). A recovery assembly (8) for recovering the detection assembly (5) from the end of the heat exchange tube (10) after threading is installed on the front side of the table top of the heat exchange tube (10), and the recovery assembly (8) is located on the front side of the plate placement assembly (6).

[0054] The detection assembly (5) also includes a resistance-increasing cylinder (506), which is connected to the outer end of the rear cover (505), a plurality of through holes are opened on the surface of the resistance-increasing cylinder (506), and a pressure plate (509) is sleeved in the through holes, an insertion rod is provided at one end of the resistance-increasing cylinder (506), and a sliding column (507) is sleeved on the insertion rod, a hinge plate (5010) is hinged between the surface of the sliding column (507) and the pressure plate (509) on the corresponding side, a permanent magnet (508) is connected to one end of the sliding column (507), and a reset spring (5011) for reset is connected between the sliding column (507) and the resistance-increasing cylinder (506).

[0055] The installation component (7) comprises a transmission frame (701), the transmission frame (701) is connected to the table surface of the pipe threading workbench (1), a conveyor belt (702) for conveying the detection component (5) is installed on the transmission frame (701), a notch is provided on the top surface of the transmission frame (701) on the side corresponding to the pipe placement component (2) for the rear end of the detection component (5) to pass through, and the notch is fitted to the outer wall of the rear end, a top plate (703) is connected to the top of the transmission frame (701), and the two ends of the top plate (703) are fitted to the two sides of the top surface of the conveyor belt (702), and the top plate (703) is used to prevent the detection component (5) from falling from the two ends of the conveyor belt (702) and the detection components (5) from being stacked up, and a transmission control device (704) for driving the transmission belt (702) to operate is installed on the transmission frame (701), and the transmission control device (704) adopts a motor, and a notch is provided on the top surface of the transmission frame (701) on the side corresponding to the robot body (3) A push hole is provided, and the push hole corresponds to the depression of the placement frame (201). A positioning cylinder (705) is installed on the transmission frame (701). The transmission shaft of the positioning cylinder (705) is connected to a push plate (706). One end of the push plate (706) is connected to a positioning sleeve (707). The positioning sleeve (707) corresponds to the push hole. A groove is provided on a side of the positioning sleeve (707) corresponding to the push hole and is adapted to the head end of the detection component (5). An electromagnet (709) is installed on a side of the positioning sleeve (707) away from the push hole. A slot is provided on the surface of the end of the top plate (703) away from the push hole, and a storage cylinder (708) for stacking a plurality of detection components (5) is inserted in the slot. The storage cylinder (708) is connected from top to bottom and the inner wall is in a convex shape adapted to the detection component (5). The storage cylinder (708) and a side of the slot corresponding to the tube assembly (2) are both opened for the tail end of the detection component (5) to pass through.

[0056] The recycling assembly (8) comprises a recycling table (801), which is mounted on the tabletop of the pipe threading workbench (1). An electric cross guide rail (802) is mounted on one side of the recycling table (801) corresponding to the plate assembly (6). A placement rack (803) is connected to the motion module of the electric cross guide rail (802). The placement rack (803) is L-shaped and has a socket adapted to the storage cylinder (708) at its bottom. A protrusion is provided on the outer side of the top surface of the storage cylinder (708) for being inserted into the placement rack (803). A cover plate can be plugged into the bottom of the storage tube (708), and an insertion control device (804) is installed on the top of the placement rack (803). The insertion control device (804) adopts a cylinder or a telescopic motor. The transmission shaft of the insertion control device (804) is connected to a recovery sleeve (805). A groove adapted to the head end of the detection component (5) is provided on one side of the recovery sleeve (805) corresponding to the tube assembly (2), and the bottom end of the recovery sleeve (805) is open. An electromagnet (709) is installed at the front end of the recovery sleeve (805).

[0057] Working principle:

[0058] Before use: insert the storage tube (708) stacked with the detection components (5) onto the top plate (703), remove the cover plate at the bottom of the storage tube (708), and the detection components (5) in the storage tube (708) fall down and are placed on the transmission rack (701). In addition, it should be noted that the robot body (3) is started and stopped only through the wireless signal in the pipe number.

[0059] When in use: the first step is to start the transmission control device (704) to drive the transmission belt (702) to operate, and the transmission belt (702) pushes the stacked detection components (5) to lay flat on the surface.

[0060] In the second step, the positioning cylinder (705) pushes the positioning sleeve (707) to be inserted into the top plate (703) through the push plate (706), and the detection component (5) located on one side of the conveyor belt (702) is received in the positioning sleeve (707). The storage cylinder (708) is started to generate a magnetic attraction to the permanent magnet (508), and the detection component (5) received in the positioning sleeve (707) cannot move. The permanent magnet (508) compresses the reset spring (5011) through magnetic force and pulls the slide column (507), and the hinge plate (5010) changes from a vertical state to an inclined state, thereby pulling the pressure plate (509) to be received in the resistance increasing cylinder (506).

[0061] In the third step, the positioning sleeve (707) pushes the detection assembly (5) to be inserted into the corresponding position of the heat exchange tube (10), and then the storage cylinder (708) is stopped, the magnetic attraction disappears, the reset spring (5011) rebounds and pushes the slide column (507) to reset, and the hinge plate (5010) changes from an inclined state to a vertical state, thereby pushing the pressure plate (509) to extend out and contact the inner wall of the heat exchange tube (10), so that the detection assembly (5) is stably fixed on the heat exchange tube (10).

[0062] In the fourth step, after the heat exchange tube (10) is threaded, the electric cross guide (802) drives the placement rack (803) to move to the threading position according to the threading number, and the insertion control device (804) controls the recovery sleeve (805) to extend and insert the detection component (5), and then the electromagnet (709) on the recovery sleeve (805) is started, and the pressure plate (509) moves inductively and pulls the pressure plate (509) to be stored. Then the insertion control device (804) controls the recovery sleeve (805) to be retracted, and the detection component (5) is adsorbed in the recovery sleeve (805) by magnetic force and retracted together and separated from the heat exchange tube (10), and then the electromagnet (709) is stopped. After the magnetic attraction of the permanent magnet (508) disappears, it falls from the opening at the bottom of the recovery sleeve (805) into the placed storage cylinder (708).

[0063] It should be noted that the determination of the structural position and the acquisition of the state in this solution can be achieved by setting up sensors, which is an existing well-known technology and will not be elaborated here.

[0064] The embodiments of the present invention are described in detail above with reference to the accompanying drawings, but the present invention is not limited thereto, and various changes can be made within the knowledge scope of technicians in the relevant technical field without departing from the purpose of the present invention.

Claims

1. A tube-threading robot for a tube bundle heat exchanger, characterized in that: The invention comprises a pipe threading workbench (1), wherein a pipe placing assembly (2) is arranged at the rear of the workbench (1), a heat exchange pipe (10) to be threaded is placed on the pipe placing assembly (2), a robot body (3) is arranged in the middle of the pipe threading workbench (1), a gripping and conveying assembly (4) for gripping and conveying the heat exchange pipe (10) is arranged at the end of the robot arm of the robot body (3), and a detection assembly (5) for detecting the threading state when the heat exchange pipe (10) passes through the tube sheet hole is arranged at the end of the heat exchange pipe (10); The detection assembly (5) comprises a detection head (501), which is fixed to the end of the heat exchange tube (10) by means of plugging, welding or bonding, and corresponds to the forward direction of the heat exchange tube (10) when the tube is inserted. A guide inclined surface (502) is arranged at the front end of the detection head (501), a groove is arranged at the center of the outer end of the detection head (501), and a trigger head (503) is installed in the groove. The trigger head (503) sends a signal when the detection assembly (5) is misplaced in the tube sheet hole and contacts the tube sheet. An electrical compartment (504) is also arranged in the detection head (501), and the inner end of the detection head (501) is connected to a rear cover (505); A control device (9) is also provided on one side of the table top of the pipe threading workbench (1), and a program is provided on the control device (9) to record the orifice plate number during the pipe threading process, thereby realizing automatic planning and statistics of the pipe threading situation; The robot body (3) is provided with a wireless receiving module. When the trigger head (503) belonging to the pipe threading number sends a signal during the pipe threading process, the robot body (3) receives the signal through the wireless receiving module and pauses the pipe threading.

2. A tube-threading robot for a tube bundle heat exchanger according to claim 1, characterized in that: The tube placement assembly (2) comprises a placement rack (201), the placement rack (201) is V-shaped, the table top of the tube threading workbench (1) is fixedly connected to a base (202) below the placement rack (201), the top end of the base (202) is opened and sleeved with a guide rod (203), the top end of the guide rod (203) is connected to the placement rack (201), the table top of the tube threading workbench (1) is also installed with a lifting control device (204), the end of the transmission rod of the lifting control device (204) is connected to the placement rack (201), The table top of the pipe threading workbench (1) is connected to a pipe storage platform (205) on one side of the placement rack (201), the surface of the pipe storage platform (205) is inclined toward the placement rack (201), a plurality of through holes are opened on the side of the pipe storage platform (205) near the placement rack (201), and baffles (206) are sleeved in the through holes, the bottom ends of the plurality of baffles (206) are connected to each other through a connecting plate, a contraction control device (207) is installed on the bottom surface of the pipe storage platform (205), and the end of the transmission rod of the contraction control device (207) is connected to the connecting plate.

3. The tube-threading robot for a tube bundle heat exchanger according to claim 1, characterized in that: The robot body (3) comprises a gantry (301), the gantry (301) is fixedly mounted on the tabletop of the pipe threading workbench (1) and is located in front of the pipe placing assembly (2), a connecting platform (302) is provided on the crossbeam of the gantry (301) via a roller set, a left-right displacement mechanism (303) is provided on the gantry (301) and the connecting platform (302), a machine arm (305) is provided on the connecting platform (302) via a roller set, an up-down displacement mechanism (304) is provided on the connecting platform (302) and the machine arm (305), a pipe grabbing and delivering assembly (4) is provided at the bottom end of the machine arm (305), the number of the connecting platform (302), the left-right displacement mechanism (303), the up-down displacement mechanism (304) and the machine arm (305) can be more than two, all of which are connected to the gantry (301), and the number of the pipe placing assembly (2) and the pipe grabbing and delivering assembly (4) is also changed accordingly.

4. The tube-threading robot for a tube bundle heat exchanger according to claim 1, characterized in that: The grabbing and conveying pipe assembly (4) comprises a grabbing frame (401), the grabbing frame (401) is connected to the bottom end of the robot arm (305), a clamping control device (402) is installed on one side of the grabbing frame (401), a transmission shaft of the clamping control device (402) is connected to a double-headed screw (403), both ends of the double-headed screw (403) are respectively threadedly connected to sliders (409), a sliding hole sleeved on the slider (409) is opened on the side of the grabbing frame (401), a clamping frame (4010) is connected to the side of the slider (409), the two clamping frames (4010) have corresponding surface openings, and a conveyor belt (4010) is installed inside the clamping frame (4010). 404), a plurality of modules are arranged and connected on the surface of the conveyor belt (404), a groove adapted to the heat exchange tube (10) is opened on the surface of the module, a conveying control device (405) for driving the conveyor belt (404) is installed on the clamping frame (4010), a tube pushing conveying assembly (406) is installed on the rear side of the placement rack (201), a transmission shaft of the tube pushing conveying assembly (406) is connected to a tube pushing plate (407), a tube pushing column (408) is sleeved on the tube pushing plate (407), the tube pushing column (408) is in contact with the rear end of the heat exchange tube (10), and a buffer damping spring is connected between the tube pushing column (408) and the tube pushing plate (407).

5. The tube-threading robot for a tube bundle heat exchanger according to claim 1, characterized in that: The front side table surface of the tube threading workbench (1) is equipped with a plate mounting assembly (6) for fixing the tube sheet of the heat exchanger; The plate placement assembly (6) comprises a tube sheet bed (601), a plurality of fixed clamps (602) are fixedly connected to the left side of the table of the tube sheet bed (601), a sliding guide rail (604) is fixedly connected to the right side of the table of the tube sheet bed (601), a sliding control device (605) is sleeved on the sliding guide rail (604), a sliding control device (605) is installed at a position of the table of the tube sheet bed (601) corresponding to the sliding guide rail (604), a transmission shaft of the sliding control device (605) is connected to a sliding clamp (603) at a corresponding position, and a clamping groove adapted to the tube sheet is provided on the tube sheet bed (601) and at the clamping ends of the fixed clamp (602) and the sliding clamp (603).

6. The tube-threading robot for a tube bundle heat exchanger according to claim 5, characterized in that: The table top of the pipe threading workbench (1) is equipped with a mounting assembly (7) for mounting the detection assembly (5) on the end of the heat exchange pipe (10) to be threaded, the mounting assembly (7) is located between the pipe placement assembly (2) and the robot body (3), and the front side of the table top of the heat exchange pipe (10) is equipped with a recovery assembly (8) for recovering the detection assembly (5) from the end of the heat exchange pipe (10) after the pipe threading, the recovery assembly (8) is located on the front side of the plate placement assembly (6); The detection assembly (5) also includes a resistance-increasing cylinder (506), which is connected to the outer end of the rear cover (505), and a plurality of through holes are opened on the surface of the resistance-increasing cylinder (506), and a pressure plate (509) is sleeved in the through holes, and an insertion rod is provided at one end of the resistance-increasing cylinder (506), and a sliding column (507) is sleeved on the insertion rod, and a hinge plate (5010) is hinged between the surface of the sliding column (507) and the pressure plate (509) on the corresponding side, and a permanent magnet (508) is connected to one end of the sliding column (507), and a reset spring (5011) for reset is connected between the sliding column (507) and the resistance-increasing cylinder (506).

7. The tube-threading robot for a tube bundle heat exchanger according to claim 6, characterized in that: The installation component (7) comprises a transmission frame (701), the transmission frame (701) is connected to the table top of the pipe threading workbench (1), a conveyor belt (702) for conveying the detection component (5) is installed on the transmission frame (701), a top surface of the transmission frame (701) corresponding to the pipe placement component (2) is provided with a notch for the tail end of the detection component (5) to pass through, and is fitted to the outer wall of the tail end, the top of the transmission frame (701) is connected to a top plate (703), the two ends of the top plate (703) are fitted to the two sides of the top surface of the conveyor belt (702), the top plate (703) is used to prevent the detection component (5) from falling from the two ends of the conveyor belt (702) and the detection components (5) are stacked up, a transmission control device (704) for driving the conveyor belt (702) to operate is installed on the transmission frame (701), the top surface of the transmission frame (701) corresponding to the robot body (3) is provided with a notch. A push hole is provided, a positioning cylinder (705) is installed on the transmission frame (701), a transmission shaft of the positioning cylinder (705) is connected to a push plate (706), one end of the push plate (706) is connected to a positioning sleeve (707), the positioning sleeve (707) corresponds to the push hole, a groove is provided on a side of the positioning sleeve (707) corresponding to the push hole and is adapted to the head end of the detection component (5), an electromagnet (709) is installed on a side of the positioning sleeve (707) away from the push hole, a slot is provided on the surface of one end of the top plate (703) away from the push hole, and a storage tube (708) for stacking a plurality of detection components (5) is inserted in the slot, the storage tube (708) is connected up and down and the inner wall is in a convex shape adapted to the detection component (5), and the storage tube (708) and the side of the slot corresponding to the tube assembly (2) are both opened for the tail end of the detection component (5) to pass through.

8. The tube-threading robot for a tube bundle heat exchanger according to claim 7, characterized in that: The recycling assembly (8) comprises a recycling table (801), which is mounted on the tabletop of the pipe threading workbench (1), and an electric cross guide rail (802) is mounted on one side of the recycling table (801) corresponding to the plate assembly (6), and a placing rack (803) is connected to the motion module of the electric cross guide rail (802), and the placing rack (803) is L-shaped and has a socket adapted to the storage cylinder (708) at the bottom, and the outer side of the top surface of the storage cylinder (708) is A protrusion is provided for being inserted into a placement rack (803), an insertion control device (804) is installed at the top of the placement rack (803), a transmission shaft of the insertion control device (804) is connected to a recovery sleeve (805), a groove adapted to the head end of the detection assembly (5) is provided on a side of the recovery sleeve (805) corresponding to the tube placement assembly (2), and the bottom end of the recovery sleeve (805) is open, and an electromagnet (709) is installed at the front end of the recovery sleeve (805).

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