Automatic tube threading equipment for shell-and-tube heat exchanger

Abstract

The present invention discloses an automatic tube threading device for a shell-and-tube heat exchanger, including a displacement roller frame for placing and driving the heat exchanger to rotate, two gantry frames symmetrically distributed front and back are installed in front of the front end tube sheet of the heat exchanger, the gantry frames are installed with two horizontal and vertical moving driving mechanisms, lifting columns are installed on the driving mechanisms, and the lower ends of the lifting columns are installed with tube grabbing and tube threading driving devices; automatic tube feeding devices are installed on the left and right sides between the two gantry frames, the tube grabbing and tube threading driving devices grab the heat exchange tubes and convey them forward, and the horizontal and vertical moving driving mechanisms drive the tube grabbing and tube threading driving devices to any designated hole position of the front end tube sheet of the heat exchanger, so that the grabbed heat exchange tube is concentric with the hole position of the front end tube sheet of the heat exchanger. The tube threading device of the present invention can realize the automation of the tube threading process from tube feeding - automatic tube turning - automatic tube grabbing - automatic search for tube sheet holes - automatic pushing of tubes into place.

Description

Technical Field

[0001] The invention belongs to the technical field of shell-and-tube heat exchanger manufacturing, and in particular relates to automatic tube threading equipment for shell-and-tube heat exchangers. Background Art

[0002] Shell and tube heat exchangers are commonly used equipment in the petroleum, chemical, nuclear power, special boiler systems, light industry, food and other industries. Shell and tube heat exchangers are mainly composed of shells, tube bundles, tube sheets, baffles and heads. The shell is generally round, and the tube bundles have at least hundreds of tubes and at most thousands of tubes. The two ends of the tube bundle are fixed on the tube sheet, and the middle passes through the small holes on the baffles. Due to the slender tubes, the large number of tubes and the large number of baffles, the resistance when the tubes are inserted is large. It is necessary for multiple operators to lift a tube and align the end of the tube with the tube sheet hole, and then push the tube by manpower, which requires a lot of physical strength, the labor intensity of the operators is high, and the production efficiency is low, which seriously restricts the manufacturing speed of the heat exchanger. In the manufacture of fixed tube sheet shell and tube heat exchangers, the tube bundle threading is an important process that affects the production efficiency.

[0003] The existing technology generally uses some simple mechanical devices to assist in pipe threading, which can reduce the labor intensity of manual pipe threading to a certain extent, but it still needs to rely on manual adjustment of the mechanical device to align it with the holes on the tube sheet, and then thread the tube by reciprocating feeding or roller forced feeding. Its production efficiency is low, and it is especially not suitable for the pipe threading of large-diameter and long-length large-scale shell-and-tube heat exchangers. Summary of the invention

[0004] The purpose of the present invention is to overcome the above-mentioned defects and provide an automatic tube threading device for a shell-and-tube heat exchanger, which is suitable for heat exchangers with different lengths, different diameters, and different tube hole distribution states, as well as the threading of heat exchange tubes with different tube diameters, different wall thicknesses, and different materials. It can realize the automation of the tube threading process from tube loading - automatic tube turning - automatic tube grabbing - automatic search for tube sheet holes - automatic pushing of tubes into place.

[0005] In order to achieve the above object, the present invention adopts the following technical solutions:

[0006] An automatic tube threading device for a tube-in-tube heat exchanger comprises a position-changing roller frame, the position-changing roller frame is used to place a heat exchanger to be threaded and drive the heat exchanger to rotate, two gantry frames symmetrically distributed front and back are installed in front of the front end tube sheet of the heat exchanger, two horizontal and vertical moving drive mechanisms are installed on the crossbeam of the gantry frame, and lifting columns are installed on the horizontal and vertical moving drive mechanisms, and the lower ends of the two lifting columns located on the same side are installed with the same tube grabbing and tube threading drive device;

[0007] An automatic tube feeding device is installed on the left and right sides between the two gantry frames, the tube grabbing and tube threading driving device grabs the heat exchange tube from the automatic tube feeding device and conveys it forward, and the horizontal and vertical moving driving mechanisms drive the tube grabbing and tube threading driving device to any designated hole position of the front end tube sheet of the heat exchanger, so that the grabbed heat exchange tube is concentric with the hole position of the front end tube sheet of the heat exchanger;

[0008] A laser scanning sensor is installed at the front end of the pipe grabbing and pipe threading drive device. The pipe threading equipment also includes a control system. The laser scanning sensor transmits a signal to the control system. The control system is electrically connected to each actuator to control the start and stop of the drive device on each actuator.

[0009] Furthermore, the pipe grabbing and pipe threading driving device comprises a first pipe grabbing device and a roller driven pipe threading device, the roller driven pipe threading device comprises a first cross beam, the lower end of the first cross beam is a steel plate plane, the two sides are reinforcement plates, the middle is a hollow structure, and a first lifting column connecting plate is respectively provided at the front and rear ends above the first cross beam, and the lifting column is bolted to the first cross beam;

[0010] A driving mechanism mounting frame is installed at the front end of the first crossbeam, and two arc-shaped driving wheel guide grooves are provided at the lower end of the driving mechanism mounting frame, and an arc-shaped driving wheel guide slider is symmetrically installed in the middle of the two arc-shaped driving wheel guide grooves, and ear plates are provided on both sides of the upper end of the arc-shaped driving wheel guide slider, and a long pin is installed between the ear plates on both sides, and chain plates coaxial with the long pin are respectively provided on the outer sides of the ear plates on both sides, and the other end of the chain plate is connected to the push-pull plate through a pin, and the push-pull plate is symmetrically connected with four chain plates, and the push-pull plate is connected to the cylinder rod of the push-pull cylinder, and the front flange of the push-pull cylinder is connected to the upper plane of the driving mechanism mounting frame, and the cylinder rod of the push-pull cylinder drives the two arc-shaped driving wheel guide sliders to produce symmetrical horizontal movements;

[0011] A bearing mounting hole is provided in the middle of the arc-shaped driving wheel guide slider, and a flange in contact with the outer ring of the radial thrust ball bearing is provided below the bearing mounting hole. Two radial thrust ball bearings are placed from above the bearing mounting hole and in contact with the flange at the lower end of the bearing mounting hole. A transmission shaft is installed on the inner rings of the two radial thrust ball bearings. A shoulder is provided at the upper end of the transmission shaft in contact with the inner ring of the radial thrust ball bearing at the upper end. A hole and a keyway are provided in the middle of the transmission shaft, and a key is provided on the outer circle of the arc-shaped driving wheel at the lower end of the transmission shaft. A threaded column for pressing the arc-shaped driving wheel is provided at the lowest end of the transmission shaft. The arc-shaped driving wheel is inserted from the lower end of the transmission shaft and fixed with a nut. A threaded column in contact with the arc-shaped driving wheel is provided in the middle of the arc-shaped driving wheel. The transmission shaft has a hole and a keyway matching the hole, and a circular protrusion is provided at the upper end of the arc-shaped driving wheel hole, and the circular protrusion contacts the inner ring of the radial thrust ball bearing at the lower end, and a bearing cover is provided above the bearing hole of the arc-shaped driving wheel guide slider, and the bearing cover presses the outer ring of the radial thrust ball bearing at the upper end, and the bearing cover is connected to the arc-shaped driving wheel guide slider by bolts, and a hole is opened in the middle of the bearing cover, and the lower flange of the brushless motor and the planetary reducer is connected to the bearing cover by bolts, and the shafts with keys of the brushless motor and the planetary reducer pass through the hole in the middle of the bearing cover and are inserted into the hole with keyways in the middle of the transmission shaft, and the brushless motor and the planetary reducer can drive the transmission shaft and drive the arc-shaped driving wheel to rotate;

[0012] A lifting cylinder mounting plate is installed at the rear end of the mounting bracket, a lifting cylinder with a front flange is installed in the middle of the lifting cylinder mounting plate, guide columns are installed on both sides of the lifting cylinder, a tube pushing cylinder mounting plate is installed on the axis of the lifting cylinder and the lower end of the guide column, a tube pushing cylinder is installed under the tube pushing cylinder mounting plate, the lifting cylinder drives the tube pushing cylinder to rise and fall, and the tube pushing cylinder rod extends forward to push the heat exchange tube.

[0013] The steel plate below the first crossbeam is evenly distributed with a plurality of holes, and a plurality of the first pipe grabbing devices are symmetrically and evenly arranged along the symmetrical center line of the lower plane of the first crossbeam and the opening position, and the first pipe grabbing device comprises a V-shaped roller guide groove symmetrically installed on the lower surface of the first crossbeam, and the V-shaped roller guide slider is installed in the V-shaped roller guide groove, and guide flanges are arranged on both sides of the V-shaped roller guide slider, and a bearing hole is opened in the middle of the V-shaped roller guide slider, and a flange is arranged at the lower end of the bearing hole, and two radial thrust ball bearings are installed in the bearing hole, and the outer ring of the radial thrust ball bearing at the lower end contacts with the flange of the bearing hole, and a roller core shaft is installed between the two radial thrust ball bearings, and the upper end of the roller core shaft is provided with a flange in contact with the inner ring of the radial thrust ball bearing at the upper end, and a key is installed on the outer circle of the lower end of the roller core shaft, and the lower end of the roller core shaft is provided with a key. The end is also provided with a stud, and the upper end of the bearing hole is provided with a bearing pressure cover which contacts the outer ring of the centripetal thrust ball bearing at the upper end and is fixed to the upper surface of the V-shaped roller guide slider with bolts, and the first V-shaped roller with a bearing is installed at the lower end of the roller core shaft and fixed with a roller locking nut, and a driving shaft is installed in the middle of the upper surface of the V-shaped roller guide slider, and a driving chain plate is installed above the driving shaft, and the other end of the driving chain plate is connected with the linkage push-pull plate, and the linkage push-pull plate can move along the linkage push-pull plate guide groove plate, and the end of the linkage push-pull plate is connected to the cylinder rod of the linkage push-pull cylinder, and the front flange of the linkage push-pull cylinder is connected to the linkage push-pull cylinder mounting plate, and the linkage push-pull cylinder mounting plate is connected to the end of the first crossbeam, and the linkage push-pull plate drives all the first V-shaped rollers to open and close along the symmetry center for clamping the heat exchange tube.

[0014] Furthermore, the pipe grabbing and pipe threading driving device comprises a second pipe grabbing device and a sprocket driven pipe threading device, the sprocket driven pipe threading device comprises a second cross beam, the second cross beam is welded by steel plate or steel section, the lower end of the second cross beam is a steel plate plane, the two sides are reinforcement plates, the middle is a hollow structure, and a second lifting column connecting plate is respectively provided at the front and rear ends above the second cross beam, and the lifting column is bolted to the second cross beam;

[0015] A linear guide mounting seat is installed in the middle below the second crossbeam, and a linear guide and a linear guide slider that pass through the front and back are installed on the linear guide mounting seat, and an L-shaped push tube arm is installed on the linear guide slider, and two wing plates are provided on both sides of the L-shaped push tube arm and are connected to the chain respectively. A hydraulic motor and reducer mounting support and a hydraulic motor and reducer are provided at the rear end of the second crossbeam, and two rear end sprockets are symmetrically installed on both sides of the hydraulic motor and reducer, and a front end sprocket support is provided at the front end of the second crossbeam, and two front end sprockets are symmetrically installed on both sides of the front end sprocket support, and a chain tensioning wheel and a tensioning wheel adjustment locking mechanism are installed above the middle of the second crossbeam, and U-shaped grooves are opened on both sides of the second crossbeam, and the chain tensioning wheel can be adjusted upward to tension the chain and locked and fixed with nuts, and the two chains are respectively installed in the front end sprocket, the rear end sprocket and the chain tensioning wheel, and chain guides are installed on both sides of the chain, and driving the hydraulic motor and reducer can drive the L-shaped push tube arm to move forward and backward along the linear guide.

[0016] A plurality of second pipe grabbing devices are installed at intervals in the middle below the second cross beam, and the second pipe grabbing devices include a pneumatic wide-mouth clamp installed below the linear guide rail, the upper surface of the pneumatic wide-mouth clamp is connected to the lower surface of the second cross beam by bolts, L-shaped extended grabbing arms are symmetrically installed on both sides of the pneumatic wide-mouth clamp, and second V-shaped rollers with bearings are installed on the L-shaped extended grabbing arms, and the pneumatic wide-mouth clamp drives the second V-shaped rollers to open and close symmetrically, and a sensor is installed near each of the second pipe grabbing devices, and the sensor is electrically connected to the control system, and when the sensor detects that the L-shaped pipe pushing arm approaches from the rear end, the control system controls the second pipe grabbing device to open, and the L-shaped pipe pushing arm passes through the second pipe grabbing device.

[0017] Furthermore, the automatic tube feeding device includes a frame with an inclined surface for arranging the heat exchange tubes on the inclined surface and automatically rolling down, and a frame with a flat surface for storing and bundling the heat exchange tubes;

[0018] A material baffle is installed at the lower end of the inclined surface of the frame with an inclined surface to prevent the heat exchange tubes arranged in an orderly manner on the inclined surface from sliding down, and a connecting shaft that passes through the frame with an inclined surface is installed behind the material baffle, and a support of the connecting shaft is installed at the end of the frame with an inclined surface, an eccentric plate is fixedly installed on the connecting shaft, and at least one cylinder that drives the connecting shaft to rotate is installed on the eccentric plate, and a plurality of tube-taking flaps are fixedly installed on the connecting shaft, and the cylinder rod of the cylinder is connected to the eccentric plate through a pin shaft, and the cylinder support is connected to the frame with an inclined surface, and the cylinder is installed on the cylinder support, and the cylinder drives the connecting shaft to rotate, thereby driving all the tube-taking flaps to rotate;

[0019] The tube taking flap is an eccentric wheel structure with a long arm, a V-shaped conveying roller is installed at the front end of the tube taking flap, a transmission chain, a driving motor and a reducer are installed on the V-shaped conveying roller, an end baffle is installed at the front end of the V-shaped conveying roller, the tube taking flap takes out the heat exchange tube and guides it into the V-shaped conveying roller, and the V-shaped conveying roller conveys the heat exchange tube to the end baffle.

[0020] Furthermore, the arc-shaped driving wheel on one side of the roller-driven tube threading device is slightly tilted forward, and the arc-shaped driving wheel on the other side is slightly tilted backward, and the bearing hole in the middle of the roller guide slider is tilted accordingly, and the pair of arc-shaped driving wheels tilted against each other squeeze and spirally feed the heat exchange tube.

[0021] Furthermore, a plurality of groups of conical rollers with bearings are staggeredly installed on the first pipe grasping device, the conical rollers are connected to the conical roller supports through the roller core shafts and the roller locking nuts, the conical roller supports are connected to the roller guide sliders, and when the roller guide sliders are closed, the conical rollers support the heat exchange tubes from below the two sides of the heat exchange tubes to complete the grasping of the heat exchange tubes.

[0022] Furthermore, an internal expansion type pipe threading guide head is installed at the front end of the heat exchange tube, and the internal expansion type pipe threading guide head includes a guide head and a screw with a conical surface;

[0023] The guide head has a hole in the middle, the front end is a conical surface transitioning to a cylindrical surface, the diameter of the cylindrical surface is the same as the outer diameter of the heat exchange tube, the rear end is a cylinder, the inner diameter of which is close to the inner diameter of the heat exchange tube, and the rear end surface is a conical surface;

[0024] The front end of the screw with a conical surface is a screw, the middle is a cylinder, and the rear end is a cylinder with a conical surface, and the outer diameter of the cylinder is similar to the inner diameter of the heat exchange tube;

[0025] A high-elastic polyurethane ring is installed between the conical screw and the guide head, and its outer diameter is close to the inner diameter of the heat exchange tube. A ring with conical surfaces at both ends is installed between the two high-elastic polyurethane rings.

[0026] A nut is installed at the front end of the guide head. When the nut is tightened, the high-elastic polyurethane ring is squeezed by the conical surfaces on both sides to expand and deform in the diameter direction, so that the internal expansion type pipe-threading guide head and the heat exchange tube are expanded and connected.

[0027] The beneficial effects of the present invention are as follows: the tube threading equipment of the present invention is suitable for heat exchangers of different lengths, different diameters, and different tube hole distribution states, as well as the tube threading of heat exchange tubes of different tube diameters, different wall thicknesses, and different materials. It can realize the automation of the tube threading process from tube loading - automatic tube turning - automatic tube grabbing - automatic search for tube sheet holes - automatic pushing of the tube into place, greatly improving the tube threading efficiency and saving manufacturing costs. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] Figure 1 It is a schematic diagram of the structure of the pipe threading equipment of the present invention;

[0029] Figure 2 It is a schematic diagram of the structure of the automatic pipe feeding device in the pipe threading equipment of the present invention;

[0030] Figure 3 It is a schematic diagram of the partial structure of the first pipe grasping device and the front end of the roller-driven pipe threading device of the pipe threading device embodiment 1 of the present invention;

[0031] Figure 4 It is a schematic diagram of the partial structure of the first pipe grasping device and the rear end of the roller-driven pipe threading device of Example 1 of the pipe threading equipment of the present invention;

[0032] Figure 5 It is a partial structural schematic diagram of the first pipe grabbing device of the pipe threading equipment embodiment 1 of the present invention;

[0033] Figure 6 It is a schematic diagram of the structure of the second pipe grasping device and the sprocket driven pipe threading device of the pipe threading equipment embodiment 2 of the present invention;

[0034] Figure 7 2 is a schematic diagram of the rear end structure of the second pipe grasping device and the sprocket-driven pipe threading device of the pipe threading device embodiment 2 of the present invention;

[0035] Figure 8 2 is a schematic diagram of the front end structure of the second pipe grasping device and the sprocket-driven pipe threading device of the pipe threading device embodiment 2 of the present invention;

[0036] Fig. 9 It is a schematic diagram of the structure of the internal expansion type pipe threading guide head in the pipe threading equipment of the present invention;

[0037] Among them: 1. heat exchanger; 2. displacement roller frame; 3. front end tube sheet of heat exchanger; 4. gantry frame; 5. horizontal and vertical movement drive mechanism; 6. CNC lifting column; 7. sprocket drive pipe threading device; 7a. second crossbeam; 7b. hydraulic motor and reducer mounting support; 7c. hydraulic motor and reducer; 7d. rear end sprocket; 7e. chain; 7f. chain tensioner; 7g. front end sprocket support; 7h. front end sprocket; 7i. linear guide; 7j. linear guide slider; 7k. L-shaped tube push arm; 7l. chain guide; 7m. second lifting column connecting plate; 7n. Linear guide rail mounting seat; 7o, tension wheel adjustment locking mechanism; 8, first pipe grabbing device; 8a, first V-shaped roller; 8b, roller guide slider; 8c, V-shaped roller guide groove; 8d, driving shaft; 8e, driving chain plate; 8f, linkage push-pull plate; 8g, linkage push-pull plate guide groove plate; 8k, linkage push-pull cylinder; 8l, linkage push-pull cylinder mounting plate; 8m, roller mandrel; 8n, roller locking nut; 9, automatic pipe feeding device; 9a, frame with inclined surface; 9b, frame with flat surface; 9c, end baffle; 9d, connecting shaft; 9e, pipe taking flap; 9g , eccentric plate; 9h, cylinder; 9i, cylinder support; 9j, V-shaped conveying roller; 9k, driving motor and reducer; 9l, transmission chain; 10, heat exchange tube; 11, internal expansion tube guide head; 11a, nut; 11b, guide head; 11c, high elastic polyurethane ring; 11d, cone-shaped rings at both ends; 11e, cone-shaped screw; 12, roller-driven tube-threading device; 12a, first crossbeam; 12b, driving mechanism mounting frame; 12c, arc-shaped driving wheel; 12d, long pin shaft; 12e, arc-shaped driving wheel guide slider; 12f, arc-shaped driving wheel guide groove; 1 2g, ear plate; 12h, chain plate; 12i, first lifting column connecting plate; 12j, push-pull plate; 12k, push-pull cylinder; 12l, mounting bracket; 12m, brushless motor and planetary reducer; 12q, lifting cylinder mounting plate; 12r, guide column; 12s, lifting cylinder; 12t, push-tube cylinder; 12u, push-tube cylinder mounting plate; 12v, push-tube cylinder rod; 13, second pipe grabbing device; 13a, L-shaped extended grabbing arm; 13b, second V-shaped roller; 13c, pneumatic wide-mouth clamp; 14, laser scanning sensor; 15, tapered roller; 16, tapered roller support. DETAILED DESCRIPTION

[0038] In order to better illustrate the purpose, technical solutions and advantages of the present invention, the present invention will be further described below in conjunction with specific embodiments. The present invention can be implemented in many different forms and should not be construed as being limited to the embodiments set forth herein. On the contrary, these embodiments are provided so that this disclosure will be thorough and complete, and the concept of the present invention will be fully conveyed to those skilled in the art, and the present invention will only be limited by the claims.

[0039] like Figure 1-9 As shown, an automatic tube-threading device for a shell-and-tube heat exchanger comprises a position-changing roller frame 2 placed on the ground, wherein the position-changing roller frame 2 is used for placing a heat exchanger 1 to be threaded and driving the heat exchanger 1 to rotate.

[0040] As one embodiment, the displacement roller frame 2 includes a mounting frame, on which two active rollers are hingedly arranged, and an active roller driving mechanism is also arranged on the mounting frame. The active roller driving mechanism drives the active roller to rotate, thereby driving the heat exchanger 1 to rotate.

[0041] At least one heat exchanger 1 that needs to be threaded is placed on the displacement roller frame 2, and two symmetrically distributed gantry frames 4 are installed in front of the front end tube sheet 3 of the heat exchanger. A guide rail is provided on the crossbeam of the gantry frame 4, and two horizontal and vertical movement drive mechanisms 5 are installed on the guide rail. The horizontal and vertical movement drive mechanisms 5 are installed with lifting columns 6, and the lower ends of the two lifting columns 6 on the same side are installed with the same pipe grabbing and pipe threading drive device.

[0042] An automatic tube feeding device 9 is installed on the left and right sides between the two gantry frames 4. The tube grabbing and tube threading driving device grabs the heat exchange tube 10 from the automatic tube feeding device 9 and conveys it forward. The horizontal movement and vertical movement driving mechanism 5 drives the tube grabbing and tube threading driving device to any specified hole position of the front end tube sheet 3 of the heat exchanger, so that the grabbed heat exchange tube 10 is concentric with the hole position of the front end tube sheet 3 of the heat exchanger.

[0043] A laser scanning sensor 14 is installed at the front end of the pipe grabbing and pipe threading drive device. The pipe threading equipment also includes a control system. The laser scanning sensor 14 transmits signals to the control system. The control system is electrically connected to each actuator to control the start and stop of the drive device on each actuator.

[0044] In this application, if Figure 2 As shown, the automatic tube feeding device 9 includes a frame 9a with an inclined surface for arranging the heat exchange tubes 10 on the inclined surface and automatically rolling down, and a frame 9b with a flat surface for storing the bundled heat exchange tubes 10.

[0045] A baffle plate is installed at the lower end of the inclined surface of the frame 9a with an inclined surface to prevent the heat exchange tubes 10 arranged in an orderly manner on the inclined surface from sliding down, and a connecting shaft 9d that passes through the frame 9a with an inclined surface is installed behind the baffle plate, and a support of the connecting shaft 9d is installed at the end of the frame 9a with an inclined surface, an eccentric plate 9g is fixedly installed on the connecting shaft 9d, and at least one cylinder 9h is installed on the eccentric plate 9g to drive the connecting shaft 9d to rotate, and a plurality of tube removal flaps 9e are fixedly installed on the connecting shaft 9d, the cylinder rod of the cylinder 9h is connected to the eccentric plate 9g by a pin shaft, the cylinder support 9i is connected to the frame 9a with an inclined surface, and the cylinder 9h is installed on the cylinder support 9i. The cylinder 9h drives the connecting shaft 9d to rotate, thereby driving all the tube removal flaps 9e to rotate.

[0046] The tube taking flap 9e is an eccentric wheel structure with a long arm. A V-shaped conveying roller 9j is installed at the front end of the tube taking flap 9e. A transmission chain 9l, a driving motor and a reducer 9k are installed on the V-shaped conveying roller 9j. An end baffle 9c is installed at the front end of the V-shaped conveying roller 9j. The tube taking flap 9e takes out the heat exchange tube 10 and introduces it into the V-shaped conveying roller 9j. The V-shaped conveying roller 9j conveys the heat exchange tube 10 to the end baffle 9c.

[0047] In the present application, the function of the tube grabbing and tube threading driving device is to grab the heat exchange tube 10 from the tube automatic feeding device 9 and convey it forward. The tube grabbing and tube threading driving device can be implemented by using different tube grabbing structures and different tube threading driving modes.

[0048] Example 1 (such as Figure 3-5 (shown)

[0049] The pipe grabbing and pipe threading driving device includes a first pipe grabbing device 8 and a roller-driven pipe threading device 12. The roller-driven pipe threading device 12 includes a first crossbeam 12a. The lower end of the first crossbeam 12a is a steel plate plane, the two sides are reinforcement plates, and the middle is a hollow structure. A first lifting column connecting plate 12i is respectively provided at the front and rear ends above the first crossbeam 12a, and the lifting column 6 is bolted to it.

[0050] A driving mechanism mounting frame 12b is installed at the front end of the first crossbeam 12a, and two arc-shaped driving wheel guide grooves 12f are provided at the lower end of the driving mechanism mounting frame 12b, and an arc-shaped driving wheel guide slider 12e is symmetrically installed in the middle of the two arc-shaped driving wheel guide grooves 12f, and ear plates 12g are provided on both sides of the upper end of the arc-shaped driving wheel guide slider 12e, and a long pin shaft 12d is installed between the ear plates 12g on both sides, and chain plates 12h coaxial with the long pin shaft 12d are respectively provided on the outer sides of the ear plates 12g on both sides, and the other end of the chain plate 12h is connected to the push-pull plate 12j through a pin shaft, and the push-pull plate 12j is symmetrically connected with four chain plates 12h, and the push-pull plate 12j is connected to the cylinder rod of the push-pull cylinder 12k, and the front flange of the push-pull cylinder 12k is connected to the upper plane of the driving mechanism mounting frame 12b, and the cylinder rod of the push-pull cylinder 12k drives the two arc-shaped driving wheel guide sliders 12e to produce symmetrical horizontal movements.

[0051] A bearing mounting hole is provided in the middle of the arc-shaped driving wheel guide slider 12e, and a flange in contact with the outer ring of the radial thrust ball bearing is provided below the bearing mounting hole. Two radial thrust ball bearings are inserted from the top of the bearing mounting hole and in contact with the flange at the lower end of the bearing mounting hole. A transmission shaft is installed on the inner rings of the two radial thrust ball bearings. A shoulder is provided at the upper end of the transmission shaft in contact with the inner ring of the upper radial thrust ball bearing. A hole and a keyway are provided in the middle of the transmission shaft. A key is provided on the outer circle of the arc-shaped driving wheel 12c at the lower end of the transmission shaft. A threaded column for pressing the arc-shaped driving wheel 12c is provided at the lowest end of the transmission shaft. The arc-shaped driving wheel 12c is inserted from the lower end of the transmission shaft and fixed with a nut. A threaded column in contact with the transmission shaft is provided in the middle of the arc-shaped driving wheel 12c. A circular ring protrusion is provided at the upper end of the arc-shaped driving wheel 12c hole, and the circular ring protrusion contacts the inner ring of the lower end radial thrust ball bearing. A bearing pressure cover is provided above the bearing hole of the arc-shaped driving wheel guide slider 12e, and the bearing pressure cover presses the outer ring of the upper end of the radial thrust ball bearing. The bearing pressure cover and the arc-shaped driving wheel guide slider 12e are connected by bolts, and a hole is opened in the middle of the bearing pressure cover. The lower flange of the brushless motor and the planetary reducer 12m is connected to the bearing pressure cover by bolts. The keyed shaft of the brushless motor and the planetary reducer 12m passes through the hole in the middle of the bearing pressure cover and is inserted into the hole with the keyway in the middle of the transmission shaft. The brushless motor and the planetary reducer 12m can drive the transmission shaft and drive the arc-shaped driving wheel 12c to rotate.

[0052] A lifting cylinder mounting plate 12q is installed at the rear end of the mounting bracket 12l, a lifting cylinder 12s with a front flange is installed in the middle of the lifting cylinder mounting plate 12q, guide columns 12r are installed on both sides of the lifting cylinder 12s, a tube pushing cylinder mounting plate 12u is installed on the axis of the lifting cylinder 12s and the lower end of the guide column 12r, a tube pushing cylinder 12t is installed below the tube pushing cylinder mounting plate 12u, the lifting cylinder 12s drives the tube pushing cylinder 12t to rise and fall, and the tube pushing cylinder rod 12v extends forward to push the heat exchange tube 10.

[0053] A plurality of holes are evenly distributed on the steel plate below the first crossbeam 12a. A plurality of first pipe grabbing devices 8 are symmetrically and evenly arranged along the symmetrical center line of the lower plane of the first crossbeam 12a and the openings. The first pipe grabbing device 8 comprises a V-shaped roller guide groove 8c symmetrically installed on the lower surface of the first crossbeam 12a. The V-shaped roller guide slider 8b is installed in the V-shaped roller guide groove 8c. Guide flanges are provided on both sides of the V-shaped roller guide slider 8b. A bearing hole is opened in the middle of the V-shaped roller guide slider 8b. A flange is provided at the lower end of the bearing hole. Two radial thrust ball bearings are installed in the bearing hole. The outer ring of the radial thrust ball bearing at the lower end contacts with the flange of the bearing hole. A roller core shaft 8m is installed between the two radial thrust ball bearings. The upper end of the roller core shaft 8m is provided with a flange in contact with the inner ring of the radial thrust ball bearing at the upper end. A key is installed on the outer circle of the lower end of the roller core shaft 8m. A stud is also provided at the lower end of the roller core shaft 8m. A bearing pressure cover is provided at the upper end, which contacts the outer ring of the centripetal thrust ball bearing at the upper end and is fixed to the upper surface of the V-shaped roller guide slider 8b with bolts. The first V-shaped roller 8a with a bearing is installed at the lower end of the roller core shaft 8m and fixed with a roller locking nut 8n. A driving shaft 8d is installed in the middle of the upper surface of the V-shaped roller guide slider 8b, and a driving chain plate 8e is installed above the driving shaft 8d. The other end of the driving chain plate 8e is connected to the linkage push-pull plate 8f, and the linkage push-pull plate 8f can move along the linkage push-pull plate guide groove plate 8g. The end of the linkage push-pull plate 8f is connected to the cylinder rod of the linkage push-pull cylinder 8k, and the front flange of the linkage push-pull cylinder 8k is connected to the linkage push-pull cylinder mounting plate 8l, and the linkage push-pull cylinder mounting plate 8l is connected to the end of the first crossbeam 12a. The linkage push-pull plate 8f drives all the first V-shaped rollers 8a to open and close in linkage along the center of symmetry, so as to clamp the heat exchange tube 10.

[0054] Working process:

[0055] S1: Install at least one heat exchanger 1 on the displacement roller frame 2, adjust the distance between the heat exchanger 1 and the automatic tube threading equipment, use the displacement roller frame 2 to adjust the horizontal and vertical states of the hole system of the front end tube sheet 3 of the heat exchanger, and use the horizontal movement function of the automatic tube threading equipment in conjunction with the laser scanning sensor 14 to detect the spatial position state of the hole system of the front end tube sheet 3 of the heat exchanger;

[0056] S2: Input the relevant design information of the hole system of the front end tube sheet 3 of the heat exchanger into the automatic tube threading equipment, define the tube threading sequence, and replace the arc-shaped driving wheel 12c that is consistent with the outer diameter of the heat exchange tube 10;

[0057] S3: According to the pipe diameter, adjust the position of the end baffle 9c at the front end of the automatic pipe feeding device 9 to make it associated with the position of the pipe taking flap 9e, put the whole bundle of heat exchange pipes 10 on the frame 9b with a plane, and manually roll the heat exchange pipes 10 down along the frame 9a with an inclined surface, so that the heat exchange pipes 10 are evenly arranged on the inclined surface and automatically roll down. The baffle can prevent the heat exchange pipes 10 from continuing to slide down, and install the inner expansion pipe threading guide heads 11 at the ends of the heat exchange pipes 10 in turn;

[0058] S4: Start the cylinder 9h that drives the connecting shaft 9d to rotate, thereby driving the multiple tube taking flaps 9e on the connecting shaft 9d to rotate, and the tube taking flap 9e lifts a heat exchange tube 10, and then rolls it down along the long arm of the tube taking flap 9e to the V-shaped conveying roller 9j, and the V-shaped conveying roller 9j is started to convey the heat exchange tube 10 to the end baffle 9c, and then the tube taking flap 9e is reset;

[0059] S5: Start the linkage push-pull cylinder 8k of the first pipe grabbing device 8, drive the linkage push-pull plate 8f to translate backward, drive the driving chain plate 8e and the driving shaft 8d and the roller guide slider 8b to link, so that all the first V-shaped rollers 8a for grabbing pipes are opened, and at the same time start the push-pull cylinder 12k installed on the driving mechanism mounting frame 12b to drive the push-pull plate 12j to move downward, and drive the guide slider 12e to link through the chain plate 12h, so that all the arc-shaped driving wheels 12c are opened, and the horizontal and vertical moving driving mechanism 5 automatically moves the roller-driven pipe threading device 12 to the top of the V-shaped conveying roller 9j, and makes the center of the first V-shaped roller 8a and the arc-shaped driving wheel 12c coincide with the center of the heat exchange tube 10 located in the V-shaped conveying roller 9j, and reversely start the linkage push-pull cylinder 8k and the push-pull cylinder 12k, and the first V-shaped roller 8a and the arc-shaped driving wheel 12c close to grab the heat exchange tube 10 from the V-shaped conveying roller 9j;

[0060] S6: The horizontal and vertical moving drive mechanism 5 automatically moves the roller driven pipe threading device 12 to the hole position set by the program, starts the brushless motor and the planetary reducer 12m, drives the arc driving wheel 12c to rotate, thereby driving the heat exchange tube 10 to move forward until the heat exchange tube 10 leaves the arc driving wheel 12c, starts the push-pull cylinder 12k installed above the drive mechanism mounting frame 12b to drive the push-pull plate 12j to move downward, and drives the guide slider 12e to link through the chain plate 12h, so that all the front end arc driving wheels 12c are opened; starts the lifting cylinder 12s to drive the tube pushing cylinder 12t to descend, so that the center line of the piston rod of the tube pushing cylinder 12t coincides with the center line of the heat exchange tube 10, starts the tube pushing cylinder 12t, and the piston rod end of the tube pushing cylinder 12t pushes the heat exchange tube 10 forward and reaches the specified position to complete the tube threading, and starts the linkage push-pull cylinder 8k to drive all the first tube grasping devices 8 to open;

[0061] S7: Repeat the above process to complete all pipe threading tasks.

[0062] Example 2 (such as Figure 6-8 (shown)

[0063] The pipe grabbing and pipe threading driving device includes a second pipe grabbing device 13 and a sprocket-driven pipe threading device 7. The sprocket-driven pipe threading device 7 includes a second crossbeam 7a. The second crossbeam 7a is welded with steel plates or steel sections. The lower end of the second crossbeam 7a is a steel plate plane, the two sides are reinforcing plates, and the middle is a hollow structure. A second lifting column connecting plate 7m is respectively provided at the front and rear ends above the second crossbeam 7a, and the lifting column 6 is bolted to it.

[0064] A linear guide mounting seat 7n is installed in the middle below the second cross beam 7a, a linear guide 7i and a linear guide slider 7j are installed on the linear guide mounting seat 7n, an L-shaped push tube arm 7k is installed on the linear guide slider 7j, two wing plates are provided on both sides of the L-shaped push tube arm 7k and are respectively connected to the chain 7e, a hydraulic motor and reducer mounting support 7b and a hydraulic motor and reducer 7c are provided at the rear end of the second cross beam 7a, two rear end sprockets 7d are symmetrically installed on both sides of the hydraulic motor and reducer 7c, and a front end sprocket support 7g is provided at the front end of the second cross beam 7a. Two front end sprockets 7h are symmetrically installed on both sides of the front end sprocket support 7g, a chain tensioning wheel 7f and a tensioning wheel adjustment locking mechanism 7o are installed in the middle and upper part of the second crossbeam 7a, and U-shaped grooves are opened on both sides of the second crossbeam 7a, and the chain tensioning wheel 7f can be adjusted upward to tension the chain 7e and locked and fixed with nuts. The two chains 7e are respectively installed in the front end sprocket 7h, the rear end sprocket 7d and the chain tensioning wheel 7f, and chain guides 7l are installed on both sides of the chain 7e. The driving hydraulic motor and the reducer 7c can drive the L-shaped push pipe arm 7k to move forward and backward along the linear guide 7i.

[0065] A plurality of second pipe grabbing devices 13 are installed at intervals in the middle below the second cross beam 7a. The second pipe grabbing devices 13 include a pneumatic wide-mouth clamp 13c installed below the linear guide rail 7i. The upper surface of the pneumatic wide-mouth clamp 13c is connected to the lower surface of the second cross beam 7a by bolts. L-shaped extended grab arms 13a are symmetrically installed on both sides of the pneumatic wide-mouth clamp 13c. A second V-shaped roller 13b with a bearing is installed on the L-shaped extended grab arm 13a. The pneumatic wide-mouth clamp 13c drives the second V-shaped roller 13b to open and close symmetrically. A sensor is installed near each second pipe grabbing device 13. The sensor is electrically connected to the control system. When the sensor detects that the L-shaped pipe pushing arm 7k approaches from the rear end, the control system controls the second pipe grabbing device 13 to open, and the L-shaped pipe pushing arm 7k passes through the second pipe grabbing device 13.

[0066] Working process:

[0067] S1-S4 are the same as in Example 1

[0068] S5: Start the pneumatic wide-mouth clamp 13c on the second pipe grabbing device 13 to make the second V-shaped roller 13b open symmetrically, start the hydraulic motor and reducer 7c, drive the L-shaped pipe pushing arm 7k to move to the rear end along the linear guide 7i, start the horizontal and vertical movement drive mechanism 5 to automatically move the sprocket-driven pipe threading device 7 to the top of the V-shaped conveying roller 9j, and then descend until the center of the second V-shaped roller 13b coincides with the center of the heat exchange tube 10 on the V-shaped conveying roller 9j, and start the pneumatic wide-mouth clamp 13c in the reverse direction to make the second V-shaped roller 13b close symmetrically and grab the heat exchange tube 10 from the V-shaped conveying roller 9j;

[0069] S6: The horizontal and vertical moving drive mechanism 5 drives the sprocket to drive the tube threading device 7 to automatically move to the hole position set by the program, starts the hydraulic motor and the reducer 7c to drive the L-shaped tube pushing arm 7k to move forward along the linear guide rail 7i to push the tail end of the heat exchange tube 10. When the L-shaped tube pushing arm 7k approaches the second tube grabbing device 13 from the rear end, the pneumatic wide-mouth clamp 13c of the second tube grabbing device 13 opens to allow the L-shaped tube pushing arm 7k to pass through. The L-shaped tube pushing arm 7k pushes the tail end of the heat exchange tube 10 to the specified position of the front end tube sheet 3 of the heat exchanger to complete the tube threading, and starts the hydraulic motor and the reducer 7c to return the L-shaped tube pushing arm 7k to the tail end;

[0070] S7: Repeat the above process to complete all pipe threading tasks.

[0071] In the present application, the arc-shaped driving wheel 12c on one side of the roller-driven tube threading device 12 is slightly tilted forward, and the arc-shaped driving wheel 12c on the other side is slightly tilted backward, and the bearing hole in the middle of the roller guide slider 8b is tilted accordingly, and the pair of arc-shaped driving wheels 12c tilted to each other squeeze and spirally feed the heat exchange tube 10.

[0072] In the present application, a plurality of groups of conical rollers 15 with bearings are staggeredly installed on the first tube grasping device 8. The conical rollers 15 are connected to the conical roller supports 16 through the roller core shaft 8m and the roller locking nut 8n. The conical roller supports 16 are connected to the roller guide slider 8b. When the roller guide slider 8b is closed, the conical rollers 15 support the heat exchange tubes 10 from below the two sides of the heat exchange tubes 10 to complete the grasping of the heat exchange tubes 10.

[0073] In this application, if Fig. 9 As shown, an internal expansion type pipe penetration guide head 11 is installed at the front end of the heat exchange tube 10. The internal expansion type pipe penetration guide head 11 includes a guide head 11b and a screw with a conical surface 11e.

[0074] The guide head 11b has a hole in the middle, and the front end is a conical surface transitioning to a cylindrical surface, the diameter of the cylindrical surface is the same as the outer diameter of the heat exchange tube 10, and the rear end is cylindrical, and its inner diameter is close to the inner diameter of the heat exchange tube 10, and the rear end surface is a conical surface.

[0075] The front end of the screw rod 11 e with a tapered surface is a screw rod, the middle is a cylinder, and the rear end is a cylinder with a tapered surface. The outer diameter of the cylinder is similar to the inner diameter of the heat exchange tube 10 .

[0076] A high elastic polyurethane ring 11c is installed between the conical screw 11e and the guide head 11b, and its outer diameter is close to the inner diameter of the heat exchange tube 10. A ring 11d with conical surfaces at both ends is installed between the two high elastic polyurethane rings 11c.

[0077] A nut 11a is installed at the front end of the guide head 11b. When the nut 11a is tightened, the high-elastic polyurethane ring 11c is squeezed by the conical surfaces on both sides to expand and deform in the diameter direction, so that the internal expansion type pipe-penetrating guide head 11 and the heat exchange tube 10 are expanded and connected.

[0078] In the present application, the linked push-pull cylinder 8k, cylinder 9h, push-pull cylinder 12k, lifting cylinder 12s, tube push cylinder 12t, and pneumatic wide-mouth clamp 13c can all be replaced with hydraulic drive.

[0079] The hydraulic motor and reducer 7c can be replaced with a high-torque motor and reducer drive.

[0080] Obviously, the above embodiments are merely examples for the purpose of clear explanation, and are not intended to limit the implementation methods. For those skilled in the art, other different forms of changes or modifications can be made based on the above description. It is not necessary and impossible to list all the implementation methods here. The obvious changes or modifications derived therefrom are still within the scope of protection of the invention.

Claims

1. An automatic tube threading device for a shell-and-tube heat exchanger, characterized in that: It comprises a displacement roller frame (2), the displacement roller frame (2) is used to place a heat exchanger (1) that needs to be threaded with a tube and drive the heat exchanger (1) to rotate, two gantry frames (4) symmetrically distributed front and back are installed in front of the front end tube sheet (3) of the heat exchanger, two horizontal movement and vertical movement drive mechanisms (5) are installed on the crossbeam of the gantry frame (4), and a lifting column (6) is installed on the horizontal movement and vertical movement drive mechanism (5), and the lower ends of the two lifting columns (6) located on the same side are installed with the same tube grabbing and threading drive device; An automatic tube feeding device (9) is installed on the left and right sides between the two gantry frames (4); the tube grabbing and tube threading driving device grabs the heat exchange tube (10) from the automatic tube feeding device (9) and conveys it forward; the horizontal and vertical moving driving mechanism (5) drives the tube grabbing and tube threading driving device to any designated hole position of the front end tube sheet (3) of the heat exchanger, so that the grabbed heat exchange tube (10) is concentric with the hole position of the front end tube sheet (3) of the heat exchanger; A laser scanning sensor (14) is installed at the front end of the pipe grabbing and pipe threading driving device, and the pipe threading equipment also includes a control system. The laser scanning sensor (14) transmits a signal to the control system, and the control system is electrically connected to each actuator to control the start and stop of the driving device on each actuator; The pipe grabbing and pipe threading driving device comprises a first pipe grabbing device (8) and a roller driven pipe threading device (12), wherein the roller driven pipe threading device (12) comprises a first cross beam (12a), wherein the lower end of the first cross beam (12a) is a steel plate plane, the two sides are reinforcement plates, and the middle is a hollow structure, and a first lifting column connecting plate (12i) is respectively provided at the front and rear ends above the first cross beam (12a), and the lifting column (6) is bolted to the first cross beam (12a); The pipe grabbing and pipe threading driving device comprises a second pipe grabbing device (13) and a sprocket driven pipe threading device (7), wherein the sprocket driven pipe threading device (7) comprises a second cross beam (7a), wherein the second cross beam (7a) is welded from steel plates or steel sections, wherein the lower end of the second cross beam (7a) is a steel plate plane, the two sides are reinforcement plates, and the middle is a hollow structure, and a second lifting column connecting plate (7m) is respectively arranged at the front and rear ends above the second cross beam (7a), and the lifting column (6) is bolted to the second cross beam (7a).

2. According to claim 1, the automatic tube threading equipment for shell-and-tube heat exchangers is characterized in that: A driving mechanism mounting frame (12b) is installed at the front end of the first crossbeam (12a), two arc-shaped driving wheel guide grooves (12f) are arranged at the lower end of the driving mechanism mounting frame (12b), an arc-shaped driving wheel guide slider (12e) is symmetrically installed between the two arc-shaped driving wheel guide grooves (12f), ear plates (12g) are arranged on both sides of the upper end of the arc-shaped driving wheel guide slider (12e), a long pin shaft (12d) is installed between the ear plates (12g) on ​​both sides, and outer sides of the ear plates (12g) on ​​both sides are respectively provided with A chain plate (12h) coaxial with a long pin shaft (12d), the other end of the chain plate (12h) is connected to a push-pull plate (12j) via a pin shaft, the push-pull plate (12j) is symmetrically connected to four chain plates (12h), the push-pull plate (12j) is connected to a cylinder rod of a push-pull cylinder (12k), the front flange of the push-pull cylinder (12k) is connected to a plane on the drive mechanism mounting frame (12b), and the cylinder rod of the push-pull cylinder (12k) drives the two arc-shaped drive wheel guide sliders (12e) to produce symmetrical horizontal movements; A bearing mounting hole is provided in the middle of the arc-shaped driving wheel guide slider (12e), and a flange is provided below the bearing mounting hole to contact the outer ring of the radial thrust ball bearing. The two radial thrust ball bearings are inserted from the top of the bearing mounting hole and contact the flange at the lower end of the bearing mounting hole. A transmission shaft is installed on the inner rings of the two radial thrust ball bearings. A shaft shoulder is provided at the upper end of the transmission shaft to contact the inner ring of the radial thrust ball bearing at the upper end. A hole and a keyway are provided in the middle of the transmission shaft. A key is provided on the outer circle of the arc-shaped driving wheel (12c) at the lower end of the transmission shaft. A threaded column for pressing the arc-shaped driving wheel (12c) is provided at the lowest end of the transmission shaft. The arc-shaped driving wheel (12c) is inserted from the lower end of the transmission shaft and fixed with a nut. A threaded column matching the transmission shaft is provided in the middle of the arc-shaped driving wheel (12c). A hole and a keyway are formed on the upper end of the hole of the arc-shaped driving wheel (12c), and a circular protrusion is provided, and the circular protrusion contacts the inner ring of the radial thrust ball bearing at the lower end. A bearing cover is provided above the bearing hole of the arc-shaped driving wheel guide slider (12e), and the bearing cover presses the outer ring of the radial thrust ball bearing at the upper end. The bearing cover and the arc-shaped driving wheel guide slider (12e) are connected by bolts. A hole is opened in the middle of the bearing cover. The lower flange of the brushless motor and the planetary reducer (12m) are connected to the bearing cover by bolts. The shafts with keys of the brushless motor and the planetary reducer (12m) pass through the hole in the middle of the bearing cover and are inserted into the hole with keyways in the middle of the transmission shaft. The brushless motor and the planetary reducer (12m) can drive the transmission shaft and drive the arc-shaped driving wheel (12c) to rotate; A lifting cylinder mounting plate (12q) is installed at the rear end of the mounting bracket (12l), a lifting cylinder (12s) with a front flange is installed in the middle of the lifting cylinder mounting plate (12q), guide columns (12r) are installed on both sides of the lifting cylinder (12s), a tube pushing cylinder mounting plate (12u) is installed on the axis of the lifting cylinder (12s) and the lower end of the guide column (12r), a tube pushing cylinder (12t) is installed below the tube pushing cylinder mounting plate (12u), the lifting cylinder (12s) drives the tube pushing cylinder (12t) to rise and fall, and the tube pushing cylinder rod (12v) extends forward to push the heat exchange tube (10).

3. According to claim 2, the automatic tube threading equipment for shell-and-tube heat exchangers is characterized in that: A plurality of holes are evenly distributed on the steel plate below the first cross beam (12a), and a plurality of first pipe grabbing devices (8) are symmetrically and evenly arranged along the symmetric center line of the lower plane of the first cross beam (12a) and the opening position, and the first pipe grabbing device (8) comprises a V-shaped roller guide groove (8c) symmetrically installed on the lower surface of the first cross beam (12a), a V-shaped roller guide slider (8b) is installed in the V-shaped roller guide groove (8c), and guide flanges are provided on both sides of the V-shaped roller guide slider (8b), and the V-shaped roller A bearing hole is opened in the middle of the guide slider (8b), a flange is provided at the lower end of the bearing hole, two radial thrust ball bearings are installed in the bearing hole, the outer ring of the radial thrust ball bearing at the lower end contacts the flange of the bearing hole, a roller core shaft (8m) is installed between the two radial thrust ball bearings, a flange is provided at the upper end of the roller core shaft (8m) contacts the inner ring of the radial thrust ball bearing at the upper end, a key is installed on the outer circle of the lower end of the roller core shaft (8m), a stud is also provided at the lower end of the bearing hole, and a flange is provided at the upper end of the roller core shaft (8m) to contact the inner ring of the radial thrust ball bearing at the upper end. A bearing pressure cover is provided at the end, which contacts the outer ring of the radial thrust ball bearing at the upper end and is fixed to the upper surface of the V-shaped roller guide slider (8b) by bolts. A first V-shaped roller (8a) with a bearing is installed at the lower end of the roller core shaft (8m) and fixed by a roller locking nut (8n). A driving shaft (8d) is installed in the middle of the upper surface of the V-shaped roller guide slider (8b). A driving chain plate (8e) is installed above the driving shaft (8d). The other end of the driving chain plate (8e) is connected to the linkage push-pull plate (8f). The movable push-pull plate (8f) can move along the linkage push-pull plate guide groove plate (8g), the end of the linkage push-pull plate (8f) is connected to the cylinder rod of the linkage push-pull cylinder (8k), the front flange of the linkage push-pull cylinder (8k) is connected to the linkage push-pull cylinder mounting plate (8l), the linkage push-pull cylinder mounting plate (8l) is connected to the end of the first crossbeam (12a), and the linkage push-pull plate (8f) drives all the first V-shaped rollers (8a) to open and close in a linkage manner along the symmetry center, so as to clamp the heat exchange tube (10).

4. The automatic tube threading equipment for shell-and-tube heat exchangers according to claim 1, characterized in that: A linear guide rail mounting seat (7n) is installed in the middle below the second crossbeam (7a), and a linear guide rail (7i) and a linear guide slider (7j) that pass through the front and back are installed on the linear guide rail mounting seat (7n). An L-shaped push tube arm (7k) is installed on the linear guide slider (7j). Two wing plates are provided on both sides of the L-shaped push tube arm (7k) and are respectively connected to the chain (7e). A hydraulic motor and reducer mounting support (7b) and a hydraulic motor and reducer (7c) are provided at the rear end of the second crossbeam (7a). Two rear end sprockets (7d) are symmetrically installed on both sides of the hydraulic motor and reducer (7c). A front end sprocket support (7g) is provided at the front end of the second crossbeam (7a). Two front sprockets (7h) are symmetrically installed on both sides of the wheel support (7g); a chain tensioning wheel (7f) and a tensioning wheel adjustment locking mechanism (7o) are installed in the middle and upper part of the second crossbeam (7a); U-shaped grooves are opened on both sides of the second crossbeam (7a); the chain tensioning wheel (7f) can be adjusted upward to tension the chain (7e) and locked and fixed with nuts; the two chains (7e) are respectively installed in the front sprocket (7h), the rear sprocket (7d) and the chain tensioning wheel (7f); chain guide rails (7l) are installed on both sides of the chain (7e); driving the hydraulic motor and the reducer (7c) can drive the L-shaped push pipe arm (7k) to move forward and backward along the linear guide rail (7i).

5. The automatic tube threading equipment for shell-and-tube heat exchangers according to claim 4 is characterized in that: A plurality of second pipe grabbing devices (13) are installed at intervals in the middle below the second cross beam (7a). The second pipe grabbing devices (13) include a pneumatic wide-mouth clamp (13c) installed below the linear guide rail (7i). The upper surface of the pneumatic wide-mouth clamp (13c) is connected to the lower surface of the second cross beam (7a) by bolts. L-shaped extended gripping arms (13a) are symmetrically installed on both sides of the pneumatic wide-mouth clamp (13c). A second V-shaped roller (13b) with a bearing is installed on the L-shaped extended gripping arm (13a). The pneumatic wide-mouth clamp (13c) drives the second V-shaped roller (13b) to open and close symmetrically. A sensor is installed near each of the second pipe grabbing devices (13). The sensor is electrically connected to the control system. When the sensor detects that the L-shaped pipe pushing arm (7k) approaches from the rear end, the control system controls the second pipe grabbing device (13) to open. The L-shaped pipe pushing arm (7k) passes through the second pipe grabbing device (13).

6. The automatic tube threading equipment for shell-and-tube heat exchangers according to claim 1, characterized in that: The automatic tube feeding device (9) comprises a frame (9a) with an inclined surface for arranging the heat exchange tubes (10) on the inclined surface and automatically rolling downward, and a frame (9b) with a flat surface for storing and bundling the heat exchange tubes (10); A material blocking plate is installed at the lower end of the inclined surface of the frame (9a) with an inclined surface to prevent the heat exchange tubes (10) arranged in an orderly manner on the inclined surface from sliding down, and a connecting shaft (9d) penetrating the frame (9a) with an inclined surface is installed behind the material blocking plate. The support of the connecting shaft (9d) is installed at the end of the frame (9a) with an inclined surface, and an eccentric plate (9g) is fixedly installed on the connecting shaft (9d). At least one driving member for driving the connecting shaft (9d) is installed on the eccentric plate (9g). A cylinder (9h) is connected to a connecting shaft (9d) and is provided with a plurality of pipe-taking flaps (9e). The cylinder rod of the cylinder (9h) is connected to the eccentric plate (9g) via a pin shaft. The cylinder support (9i) is connected to the frame (9a) with an inclined surface. The cylinder (9h) is installed on the cylinder support (9i). The cylinder (9h) drives the connecting shaft (9d) to rotate, thereby driving all the pipe-taking flaps (9e) to rotate. The tube taking flap (9e) is an eccentric wheel structure with a long arm. A V-shaped conveying roller (9j) is installed at the front end of the tube taking flap (9e). A transmission chain (9l) and a drive motor and a reducer (9k) are installed on the V-shaped conveying roller (9j). An end baffle (9c) is installed at the front end of the V-shaped conveying roller (9j). The tube taking flap (9e) takes out the heat exchange tube (10) and guides it into the V-shaped conveying roller (9j). The V-shaped conveying roller (9j) conveys the heat exchange tube (10) to the end baffle (9c).

7. The automatic tube threading equipment for shell-and-tube heat exchangers according to claim 3 is characterized by: The arc-shaped driving wheel (12c) on one side of the roller-driven tube-threading device (12) is slightly tilted forward, and the arc-shaped driving wheel (12c) on the other side is slightly tilted backward, and the bearing hole in the middle of the roller guide slider (8b) is tilted accordingly, and the pair of arc-shaped driving wheels (12c) tilted toward each other squeeze and spirally feed the heat exchange tube (10).

8. The automatic tube threading equipment for shell-and-tube heat exchangers according to claim 3 is characterized by: A plurality of groups of conical rollers (15) with bearings are staggeredly installed on the first pipe grasping device (8); the conical rollers (15) are connected to the conical roller supports (16) via the roller core shafts (8m) and the roller locking nuts (8n); the conical roller supports (16) are connected to the roller guide sliders (8b); when the roller guide sliders (8b) are closed, the conical rollers (15) hold the heat exchange tubes (10) from below both sides of the heat exchange tubes (10) to complete grasping of the heat exchange tubes (10).

9. The automatic tube threading equipment for shell-and-tube heat exchangers according to claim 1, characterized in that: An internal expansion type pipe threading guide head (11) is installed at the front end of the heat exchange tube (10), and the internal expansion type pipe threading guide head (11) comprises a guide head (11b) and a screw with a conical surface (11e); The guide head (11b) has a hole in the middle, a front end that is a conical surface transitioning to a cylindrical surface, the diameter of the cylindrical surface being the same as the outer diameter of the heat exchange tube (10), a rear end that is cylindrical, the inner diameter of which is close to the inner diameter of the heat exchange tube (10), and a rear end surface that is a conical surface; The front end of the screw with a tapered surface (11e) is a screw, the middle is a cylinder, and the rear end is a cylinder with a tapered surface, and the outer diameter of the cylinder is similar to the inner diameter of the heat exchange tube (10); A high-elastic polyurethane ring (11c) is installed at intervals between the conical screw (11e) and the guide head (11b), and its outer diameter is close to the inner diameter of the heat exchange tube (10); and a ring (11d) with conical surfaces at both ends is installed between the two high-elastic polyurethane rings (11c); A nut (11a) is installed at the front end of the guide head (11b). When the nut (11a) is tightened, the high-elastic polyurethane ring (11c) is squeezed by the conical surfaces on both sides to produce expansion deformation in the diameter direction, so that the internal expansion type pipe-threading guide head (11) and the heat exchange tube (10) are expanded and connected.

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