A cutting method

Abstract

The invention discloses a cutting method, which belongs to the technical field of heat exchanger processing and is applied to a heat exchanger with heat exchange tubes on a tube sheet. The method comprises a multi-axis machining center with a main shaft and a feed assembly, wherein the feed assembly can drive the main shaft to move in space; the main shaft is connected to a first drive assembly; a tool is arranged on the main shaft; a multi-dimensional force sensor is arranged between the main shaft and the feed assembly or between the tool and the main shaft; a three-dimensional scanning assembly and an alignment and positioning assembly are both arranged on the feed assembly; before cutting, the invention performs three-dimensional reconstruction calculation on the heat exchanger tube sheet and the heat exchange tube through the three-dimensional scanning assembly, determines the distance between the tool and the tube sheet and the diameter of the tube sheet, measures the alignment and positioning between the tool and the heat exchange tube through the alignment and positioning assembly, and determines the position, height and cutting length of the heat exchange tube; during the cutting process, the multi-dimensional force sensor measures the force and torque of the tool in multiple directions in real time, and fits the center of the tool with the center of the circle of the heat exchange tube hole.

Description

Technical Field

[0001] The invention relates to the technical field of pressure vessel shell-and-tube heat exchanger processing, and in particular to a cutting method. Background Art

[0002] The shell and tube heat exchanger is a type of heat exchanger widely used in chemical production. It is mainly composed of a shell, a tube sheet, heat exchange tubes, a head, a baffle, etc. During heat exchange, one fluid flows in the heat exchange tubes, which is called the tube side; the other fluid flows in the shell, which is called the shell side.

[0003] At present, cutting the heat exchange tube heads of shell-and-tube heat exchangers is an important process in the manufacturing process of shell-and-tube heat exchangers. Usually, the operator manually operates a special flattening machine for heat exchange tubes for semi-automatic cutting. Due to the huge number of heat exchange tubes and the long cutting length of each heat exchange tube, the manually operated special flattening machine for heat exchange tubes is prone to deviations during the semi-automatic cutting process, resulting in different distances between the heat exchange tubes and the tube sheet, which in turn makes it easy for quality problems to occur in the welding between the heat exchange tubes and the tube sheet, that is, the cutting process of the heat exchange tubes is poorly controllable. At the same time, the iron filings generated during the cutting process of the heat exchange tubes are hot and easy to cause burns. Manual operations are difficult, time-consuming, labor-intensive, and low in efficiency, which seriously affects the production progress.

[0004] Therefore, it is an urgent problem to be solved at this stage to develop and design a cutting method that can automatically determine the height of each heat exchange tube and its position relative to the tube sheet, automatically cut the heat exchange tubes, ensure the distance between each heat exchange tube and the tube sheet during the cutting process, ensure product quality, improve production efficiency and reduce tool wear. Summary of the invention

[0005] In order to solve the problems existing in the prior art, the present invention provides a cutting method. Before cutting the heat exchanger, the three-dimensional scanning component can perform three-dimensional reconstruction and calculation on the tube sheet and the heat exchange tube of the heat exchanger to determine the distance between the tool and the tube sheet and the diameter of the tube sheet. The alignment and positioning component can measure the alignment and positioning between the tool and the heat exchange tube to determine the position, height and length of each heat exchange tube to be cut. During the cutting process, the multi-dimensional force sensor can measure the force and torque of the tool in multiple directions in real time, and according to the information of the force and torque, fit the center of the tool with the center of the circle of the heat exchange tube hole, automatically complete the cutting of the heat exchange tube, ensure the cutting effect, improve the production efficiency, and avoid damage to the tool.

[0006] In order to achieve the above object, the technical solution adopted by the present invention is as follows:

[0007] The present invention provides a cutting method, which is implemented by a heat exchange tube head cutting device. The heat exchange tube head cutting device is applied to a heat exchanger with a tube sheet, on which a plurality of heat exchange tubes are arranged. The heat exchange tube head cutting device comprises:

[0008] A multi-axis machining center, the multi-axis machining center comprising a spindle and a feed assembly, the feed assembly being capable of driving the spindle to move in space; the spindle being connected to a first drive assembly capable of driving the spindle to rotate;

[0009] a tool, the tool being arranged on the spindle;

[0010] A multi-dimensional force sensor, which is disposed between the spindle and the feed assembly or between the tool and the spindle, and is used to measure the force and torque of the tool in multiple directions;

[0011] A three-dimensional scanning component, the three-dimensional scanning component is arranged on the feeding component, and the three-dimensional scanning component is used to perform three-dimensional reconstruction calculation on the tube sheet and the heat exchange tube;

[0012] An alignment and positioning assembly, the alignment and positioning assembly is arranged on the feeding assembly, and the alignment and positioning assembly is used to measure the alignment and positioning between the tool and the heat exchange tube;

[0013] A controller, wherein the controller is respectively connected to the feeding assembly, the first driving assembly, the multi-dimensional force sensor, the three-dimensional scanning assembly and the alignment and positioning assembly;

[0014] The following steps are involved:

[0015] S1: the feeding component drives the three-dimensional scanning component (22) to take a photo of the heat exchanger (9) to determine the distance between the tool (2) and the tube sheet (91) and the diameter of the tube sheet (91);

[0016] S2: the feeding component drives the alignment and positioning component (23) to scan the tube sheet (91) and the heat exchange tubes (92) to determine the position, height and length to be cut of each heat exchange tube (92);

[0017] S3: The feed component drives the tool (2) to move to the center of the hole of the heat exchange tube (92), the first drive component (11) drives the main shaft (1) and the tool (2) to rotate, and the feed component drives the tool (2) to feed and interpolate in a circle to achieve cutting of the heat exchange tube (92); during the cutting process, the multi-dimensional force sensor (21) detects the force and torque of the tool (2) in multiple directions. During the process of the main shaft (1) rotating around the wall of the heat exchange tube (92) for one circle, the multi-dimensional force sensor (21) collects multiple groups of data, and the center of the hole of the heat exchange tube (92) is fitted through the multiple groups of data. The controller (3) adjusts the center of the tool (2) in real time through the feed component according to the fitted center of the hole of the heat exchange tube (92).

[0018] As a preferred technical solution, the multi-axis machining center is configured as a three-axis machining center, the feed assembly includes a base, the base is provided with a column that can move along the X-axis, the column is provided with a spindle slide that can move along the Y-axis, the spindle slide is provided with a spindle seat that can move along the Z-axis, and the spindle and the first drive assembly are both arranged on the spindle seat.

[0019] As a preferred technical solution, the base is provided with a first servo motor and a first guide rail extending along the X-axis direction, the first guide rail is provided with a first slider that can slide along the first guide rail, the first slider is provided with a first ram, the first servo motor is connected to the first ram through a ball screw, and the column is fixed on the first ram;

[0020] And / or, the column is provided with a second servo motor and a second guide rail extending along the Y-axis direction, the second guide rail is provided with a second slider capable of sliding along the second guide rail, the second slider is provided with a second ram, the second servo motor is connected to the second ram via a ball screw, and the spindle ram is fixed on the second ram;

[0021] And / or, the spindle seat is provided with a third servo motor and a third guide rail extending along the Z-axis direction, the third guide rail is provided with a third slider capable of sliding along the third guide rail, the third slider is fixed on the spindle slide, and the third servo motor is connected to the spindle slide via a ball screw.

[0022] As a preferred technical solution, the controller is arranged on the column;

[0023] And / or, a display is provided on the column, and the display is connected to the controller;

[0024] And / or, the controller is configured as a PLC.

[0025] As a preferred technical solution, the multi-dimensional force sensor is configured as a six-dimensional force sensor;

[0026] And / or, the three-dimensional scanning component is configured as a structured light measuring instrument;

[0027] And / or, the alignment and positioning component is configured as a line laser measuring instrument.

[0028] As a preferred technical solution, the spindle is provided with an elastic chuck matching the tool;

[0029] And / or, the cutting tool is a high-speed steel cutting tool;

[0030] And / or, a centering bearing is installed on the tip of the tool.

[0031] As a preferred technical solution, it also includes a clamping platform, which is located on one side of the multi-axis machining center. The heat exchanger can be fixed on the clamping platform. The clamping platform includes a base frame and a plurality of movable saddles. The base frame is provided with a fourth guide rail, and the fourth guide rail is provided with a fourth slider that can slide along the fourth guide rail. The movable saddle is fixed on the fourth slider, and the base frame is provided with a fourth servo motor. The fourth servo motor is connected to at least one of the movable saddles through a ball screw, and the fourth servo motor is connected to the controller.

[0032] As a preferred technical solution, a tensioner is provided on the movable saddle.

[0033] As a preferred technical solution, in step S3, the multi-dimensional force sensor can measure the force in the tool feed direction. When the force in the tool feed direction measured by the multi-dimensional force sensor is greater than a preset maximum threshold, the feed component reduces the feed amount; when the force in the tool feed direction measured by the multi-dimensional force sensor is not greater than a preset minimum threshold, the feed component and the first drive component suspend operation.

[0034] The beneficial effects of the present invention are as follows:

[0035] 1. In the present invention, before cutting the heat exchanger, the three-dimensional scanning component can be used to perform three-dimensional reconstruction calculation on the tube sheet and the heat exchange tube of the heat exchanger to determine the distance between the tool and the tube sheet and the diameter of the tube sheet; then the alignment and positioning component can measure the alignment and positioning between the tool and the heat exchange tube to determine the position, height and length of each heat exchange tube to be cut, thereby ensuring the cutting accuracy; during the cutting process, the multi-dimensional force sensor can measure the force and torque of the tool in multiple directions in real time, and according to the information of the force and torque measured by the multi-dimensional force sensor, the center of the tool is fitted with the center of the circle of the heat exchange tube hole in real time, and the cutting of the heat exchange tube is automatically completed, thereby ensuring the cutting effect, improving production efficiency, and avoiding damage to the tool.

[0036] 2. The present invention utilizes a clamping platform to conveniently place and position the heat exchanger, and the movable saddle can adjust the position according to the specifications of the heat exchanger. After the heat exchanger is placed on the movable saddle, the heat exchanger can be fixed by a tensioner, thereby effectively ensuring the positioning and fixing effect of the heat exchanger. BRIEF DESCRIPTION OF THE DRAWINGS

[0037] Figure 1 It is a schematic diagram of the overall structure of an embodiment of a cutting method of the present invention;

[0038] Figure 2 for Figure 1 A magnified image of area A;

[0039] Figure 3 for Figure 1 A schematic diagram of the structure of the feed assembly base;

[0040] Figure 4 for Figure 1 A schematic diagram of the structure of the feed assembly column;

[0041] Figure 5 for Figure 1 A schematic diagram of the structure of the feed assembly spindle seat;

[0042] Figure 6 for Figure 1 A schematic diagram of the structure of the clamping platform;

[0043] Figure 7 for Figure 1 Schematic diagram of the tool structure.

[0044] In the figure: 1-spindle, 11-first drive assembly, 2-tool, 21-multidimensional force sensor, 22-three-dimensional scanning assembly, 23-alignment and positioning assembly, 24-elastic chuck, 25-centering bearing, 3-controller, 4-base, 41-first servo motor, 42-first guide rail, 43-first slider, 44-first slide, 5-column, 51-second servo motor, 52-second guide rail, 53-second slider, 54-second slide, 55-display, 6-spindle slide, 61-third slider, 7-spindle seat, 71-third servo motor, 72-third guide rail, 81-base, 82-movable saddle, 83-fourth guide rail, 84-fourth slider, 85-tensioner, 9-heat exchanger, 91-tube sheet, 92-heat exchange tube. DETAILED DESCRIPTION

[0045] In order to facilitate understanding by those skilled in the art, the present invention is further described below with reference to the accompanying drawings.

[0046] Please refer to Figure 1-Figure 7, is an embodiment of a cutting method provided by the present invention, the present invention is implemented by a heat exchange tube head cutting device, the heat exchange tube head cutting device is applied to a heat exchanger 9 having a tube sheet 91, a plurality of heat exchange tubes 92 are arranged on the tube sheet 91, the heat exchange tube head cutting device comprises a multi-axis machining center, the multi-axis machining center comprises a spindle 1 and a feeding assembly, a tool 2 is arranged on the spindle 1, the feeding assembly can drive the spindle 1 to move in space, and realize the feeding of the tool 2 relative to the heat exchange tube 92; the spindle 1 is connected to a first driving assembly 11 that can drive it to rotate, and the tool 2 rotates accordingly to realize the cutting of the heat exchange tube 92;

[0047] The three-dimensional scanning component 22 is arranged on the feeding component. Before cutting the heat exchange tube 92, the three-dimensional scanning component 22 can perform three-dimensional reconstruction calculation on the tube sheet 91 and the heat exchange tube 92, and can determine the distance between the tool 2 and the tube sheet 91 and the diameter of the tube sheet 91; the alignment and positioning component 23 is arranged on the feeding component. After the three-dimensional scanning component 22 scans, the alignment and positioning component 23 can measure the alignment and positioning between the tool 2 and the heat exchange tube 92, determine the position, height and length of each heat exchange tube 92 to be cut, and ensure the cutting accuracy;

[0048] The multi-dimensional force sensor 21 is arranged between the spindle 1 and the feed assembly. In the process of cutting and switching the heat exchange tube 92, the multi-dimensional force sensor 21 can measure the force and torque of the tool 2 in multiple directions in real time. According to the information of the force and torque measured by the multi-dimensional force sensor 21, the center of the tool 2 can be fitted with the center of the hole of the heat exchange tube 92 in real time to ensure the cutting effect and avoid damage to the tool 2.

[0049] The controller 3 is respectively connected to the feeding assembly, the first driving assembly 11, the multi-dimensional force sensor 21, the three-dimensional scanning assembly 22 and the alignment and positioning assembly 23. The controller 3 can receive measurement information of the multi-dimensional force sensor 21, the three-dimensional scanning assembly 22 and the alignment and positioning assembly 23, and control the switch and working intensity of the feeding assembly and the first driving assembly 11 according to the above measurement information to realize automatic cutting of the heat exchanger 9.

[0050] In other embodiments, the multi-dimensional force sensor 21 may also be disposed between the tool 2 and the spindle 1 so as to accurately measure the forces and moments of the tool 2 in multiple directions.

[0051] Specifically, the three-dimensional scanning component 22 is preferably configured as a structured light meter. The structured light meter is a system structure composed of a group of projectors and cameras. After the projector projects specific light information onto the surface and background of the object, the camera collects the information and calculates the position and depth of the object based on the changes in the light signal caused by the object, thereby restoring the entire three-dimensional space.

[0052] Correspondingly, the alignment and positioning component 23 is preferably configured as a line laser measuring instrument, which adopts the principle of laser triangulation measurement and uses a transmitter to project laser onto the surface of the object to be measured. The complete contour measurement result can be obtained by moving the sensor and / or the object to be measured.

[0053] It should be noted that the multi-dimensional force sensor 21 is preferably set as a six-dimensional force sensor. The six-dimensional force sensor can measure three force components and three torque components. The directions of the three force components and the three torque components are respectively set to the X-axis, Y-axis and Z-axis directions, and can accurately measure the force information of the tool 2. At the same time, based on the measurement information, the center of the tool 2 can be accurately fitted with the center of the hole of the heat exchange tube 92 in real time, thereby ensuring the cutting effect while avoiding damage to the tool 2; in other embodiments, on the premise that the center of the tool 2 can be accurately fitted with the center of the hole of the heat exchange tube 92 in real time, a two-dimensional force sensor or a four-dimensional force sensor can also be used.

[0054] In this embodiment, please refer to Figure 1-Figure 5 The multi-axis machining center is configured as a three-axis machining center, the feeding assembly includes a base 4, a column 5 movable along the X-axis is provided on the base 4, a spindle ram 6 movable along the Y-axis is provided on the column 5, a spindle seat 7 movable along the Z-axis is provided on the spindle ram 6, the spindle seat 7 movable along the Z-axis is provided on the spindle ram 6, the spindle 1 and the first driving assembly 11 are both arranged on the spindle seat 7, and the spindle 1 and the tool 2 can be driven to move in space through the cooperation of the column 5 moving along the X-axis direction, the spindle ram 6 moving along the Y-axis direction, and the spindle seat 7 moving along the Z-axis direction, so as to realize the feeding of the tool 2; in other embodiments, the multi-axis machining center can also be a four-axis machining center or a five-axis machining center, based on the ability to accurately drive the spindle 1 to move in space.

[0055] For details, please refer to Figure 1 and Figure 3 A first servo motor 41 and three first guide rails 42 extending along the X-axis direction are provided on the base 4, a first slider 43 capable of sliding along the first guide rail 42 is provided on the first slider 43, a first slide 44 is provided on the first slide 43, the first servo motor 41 is connected to the first slide 44 through a ball screw and can drive the first slide 44 to move along the first guide rail 42, and the column 5 is fixed to the first slide 44 and can move in the X-axis direction with the first slide 44.

[0056] For further information, please refer to Figure 1 and Figure 4A second servo motor 51 and two second guide rails 52 extending along the Y-axis direction are provided on the column 5, a second slider 53 capable of sliding along the second guide rail 52 is provided on the second guide rail 52, a second slide 54 is provided on the second slide 53, the second servo motor 51 is connected to the second slide 54 through a ball screw and can drive the second slide 54 to move along the second guide rail 52, and the spindle slide 6 is fixed on the second slide 54 and can move in the Y-axis direction with the second slide 54.

[0057] For further information, please refer to Figure 1 and Figure 5 A third servo motor 71 and two third guide rails 72 extending along the Z-axis direction are provided on the spindle seat 7. A third slider 61 capable of sliding along the third guide rail 72 is provided on the third guide rail 72. The third slider 61 is fixed on the spindle slide 6. The third servo motor 71 is connected to the spindle slide 6 through a ball screw and can drive the spindle seat 7 to move along the third guide rail 72, thereby realizing the movement of the spindle seat 7 along the Z-axis.

[0058] In this embodiment, please refer to Figure 1 and Figure 4 , the controller 3 is directly set on the column 5 for easy operation; specifically, the controller 3 is preferably set as a PLC.

[0059] For further information, please refer to Figure 1 and Figure 5 A display 55 is also provided on the column 5, and the display 55 is connected to the controller 3. The display 55 can display the detection information received by the controller 3, which is convenient for operators to view.

[0060] In this embodiment, please refer to Figure 7 The spindle 1 is preferably provided with an elastic chuck 24 that matches the tool 2. The elastic chuck 24 can adapt to tools 2 of different sizes and shapes due to its elastic design. Specifically, a spring is provided inside the elastic chuck 24. The compression amount of the spring can be changed by rotating the elastic chuck 24, thereby clamping the tool 2. It can be suitable for tools 2 of various specifications, simplifies the tool 2 replacement process, and improves production flexibility and production efficiency.

[0061] For further information, please refer to Figure 7The tool 2 is preferably set as a high-speed steel tool. Since the heat exchange tube 92 is required to be free of burrs after cutting and has shock resistance, the high-speed steel tool can keep the cutting edge sharp for a long time during the cutting process, and the heat exchange tube 92 can be guaranteed to be free of burrs after cutting; since the heat exchange tube 92 will shake slightly during the cutting process, the high-speed steel tool 2 has good wear resistance, can maintain cutting performance during long-term cutting, reduce the wear of the tool 2, and also has a certain toughness, can withstand a certain impact load during the cutting process, reduce the risk of the tool 2 breaking, and the tool 2 can be reused after being repaired when worn, which reduces the cost of the tool 2 and extends the service life of the tool 2.

[0062] For further information, please refer to Figure 7 A centering bearing 25 is installed on the tip of the tool 2. The centering bearing 25 is coaxially arranged with the axis of the tool 2. Since there is a gap between the heat exchange tube 92 and the tube sheet 91 after installation, the heat exchange tube 92 will shake slightly during the cutting process. The outer ring of the centering bearing 25 contacts the inner wall of the heat exchange tube 92 to limit the radial movement of the heat exchange tube 92. The inner ring of the centering bearing 25 rotates synchronously with the tip of the tool 2, which can reduce the vibration of the heat exchange tube 92 during the cutting process, ensure the stability and accuracy of the tool 2 when rotating at high speed, and reduce the vibration and wear of the tool 2 during rotation.

[0063] In this embodiment, please refer to Figure 1 and Figure 6 The present invention also includes a clamping platform, which is located on one side of the multi-axis machining center. The heat exchanger 9 can be fixed on the clamping platform. Specifically, the clamping platform includes a base frame 81 and a plurality of movable saddles 82. The base frame 81 is provided with a fourth guide rail 83, and the fourth guide rail 83 is provided with a fourth slider 84 that can slide along the fourth slider 84. The movable saddle 82 is fixed on the fourth slider 84. The base frame 81 is provided with a fourth servo motor. The fourth servo motor is connected to a movable saddle 82 through a ball screw and can drive the movable saddle 82 to move along the fourth guide rail 83. The position of the movable saddle 82 can be adjusted to facilitate the placement of heat exchangers 9 of different specifications; the fourth servo motor is connected to the controller 3, and the specification parameters of the heat exchanger 9 are input into the controller 3. The controller 3 can automatically adjust the position of the movable saddle 82 according to the specification parameters.

[0064] For further information, please refer to Figure 1 and Figure 6 A tensioner 85 is provided on the movable saddle 82. After the heat exchanger 9 is placed on the movable saddle 82, the fixing belt is wound around the heat exchanger 9 and tightened by the tensioner 85, so that the heat exchanger 9 can be further fixed.

[0065] Please refer to Figure 1-Figure 7 , the present invention comprises the following steps:

[0066] S1: The feeding component drives the 3D scanning component 22 to take pictures of the heat exchanger 9, performs 3D reconstruction calculation on the tube sheet 91 and the heat exchange tube 92, and determines the distance between the tool 2 and the tube sheet 91 and the diameter of the tube sheet 91;

[0067] S2: The feeding assembly drives the alignment assembly 23 to scan the tube sheet 91 and the heat exchange tube 92 to be processed, measures the alignment between the tool 2 and the heat exchange tube 92, determines the position, height and length of each heat exchange tube 92 to be cut, and ensures the cutting accuracy;

[0068] S3: The feed assembly drives the tool 2 to move to the center of the hole of the heat exchange tube 92, the first drive assembly 11 drives the spindle 1 and the tool 2 to rotate, the spindle seat 7 in the feed assembly moves along the Z axis to drive the tool 2 to feed, the column 5 moves along the X axis and the spindle slide 6 moves along the Y axis to cooperate with each other to realize interpolation and circular movement, and automatically cut the heat exchange tube 92; since there is a gap between the heat exchange tube 92 and the tube sheet 91, it is easy to cause the heat exchange tube 92 to vibrate during the cutting process and damage the tool 2. The multi-dimensional force sensor 21 detects the force and torque of the tool 2 in multiple directions. During the process of the spindle 1 rotating 360° around the wall of the heat exchange tube 92, the multi-dimensional force sensor 21 collects data every 45°, and a total of eight sets of data are collected. According to eight sets of data, the center of the hole of the heat exchange tube 92 is fitted, and the controller 3 adjusts the rotation speed of the tool 2 through the first drive component 11 according to the fitted center of the hole of the heat exchange tube 92. The controller 3 adjusts the spatial position of the spindle 1 through the feed component to improve the force on the tool 2, so that the center of the tool 2 matches the center of the hole of the heat exchange tube 92, and the force on the tool 2 is more uniform, thereby avoiding damage to the tool 2; for example, when the multi-dimensional force sensor 21 detects that the force of the tool 2 is offset from the center of the hole of the heat exchange tube 92 and is located at 45° in the first quadrant, the tool 2 is controlled to compensate at 225° in the third quadrant relative to the center, so that the force of the tool 2 is fitted at the center of the hole of the heat exchange tube 92.

[0069] Furthermore, in step S3, when performing cutting processing in the length direction of the heat exchange tube 92, the multi-dimensional force sensor 21 can measure the force in the feed direction of the tool 2. When the force in the feed direction of the tool 2 measured by the multi-dimensional force sensor 21 is greater than a preset maximum threshold value (for example, 20N), the feed component reduces the feed amount; when the force in the feed direction of the tool 2 measured by the multi-dimensional force sensor 21 is not greater than a preset minimum threshold value (for example, 5N), it is determined that the tool 2 cannot be used. At this time, the feed component and the first drive component 11 are suspended, and a reminder is given that the tool 2 needs to be replaced.

[0070] Furthermore, after the interpolation and rotation cutting of a heat exchange tube 92 is completed, the feed assembly drives the tool 2 to retreat to a distance where it can be safely moved, and the column 5X-axis movement and the spindle slide 6Y-axis movement interpolation drive the tool 2 to move to the position of the next heat exchange tube 92 hole, and then repeat step S3 until all the heat exchange tubes 92 are cut, effectively ensuring that the length of the heat exchange tube 92 extending out of the tube sheet 91 is consistent, laying a good foundation for the next welding step.

[0071] It should be noted that before step S1, the diameter, length and other specification parameters of the heat exchanger 9 cylinder are input into the controller 3. The controller 3 drives the movable saddle 82 to a suitable position through the fourth servo motor, and the heat exchanger 9 can be conveniently hoisted onto the movable saddle 82 of the base frame 81.

[0072] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. For those skilled in the art, the present invention may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. A cutting method, implemented by a heat exchange tube head cutting device, wherein the heat exchange tube head cutting device is applied to a heat exchanger (9) having a tube sheet (91), wherein a plurality of heat exchange tubes (92) are provided on the tube sheet (91), and wherein: The heat exchange tube head cutting device comprises: A multi-axis machining center, the multi-axis machining center comprising a main shaft (1) and a feed assembly, the feed assembly being capable of driving the main shaft (1) to move in space; the main shaft (1) being connected to a first drive assembly (11) capable of driving the main shaft (1) to rotate; A tool (2), the tool (2) being arranged on the spindle (1); A multi-dimensional force sensor (21), the multi-dimensional force sensor (21) being arranged between the spindle (1) and the feed assembly or between the tool (2) and the spindle (1), the multi-dimensional force sensor (21) being used to measure the forces and moments of the tool (2) in multiple directions; a three-dimensional scanning component (22), the three-dimensional scanning component (22) being arranged on the feeding component, and the three-dimensional scanning component (22) being used to perform three-dimensional reconstruction calculations on the tube sheet (91) and the heat exchange tube (92); an alignment and positioning component (23), the alignment and positioning component (23) being arranged on the feeding component, the alignment and positioning component (23) being used to measure the alignment and positioning between the tool (2) and the heat exchange tube (92); a controller (3), the controller (3) being respectively connected to the feeding assembly, the first driving assembly (11), the multi-dimensional force sensor (21), the three-dimensional scanning assembly (22), and the alignment and positioning assembly (23); The following steps are involved: S1: the feeding component drives the three-dimensional scanning component (22) to take a photo of the heat exchanger (9) to determine the distance between the tool (2) and the tube sheet (91) and the diameter of the tube sheet (91); S2: the feeding component drives the alignment and positioning component (23) to scan the tube sheet (91) and the heat exchange tubes (92) to determine the position, height and length to be cut of each heat exchange tube (92); S3: The feed component drives the tool (2) to move to the center of the hole of the heat exchange tube (92), the first drive component (11) drives the main shaft (1) and the tool (2) to rotate, and the feed component drives the tool (2) to feed and interpolate in a circle to achieve cutting of the heat exchange tube (92); during the cutting process, the multi-dimensional force sensor (21) detects the force and torque of the tool (2) in multiple directions. During the process of the main shaft (1) rotating around the wall of the heat exchange tube (92) for one circle, the multi-dimensional force sensor (21) collects multiple groups of data, and the center of the hole of the heat exchange tube (92) is fitted through the multiple groups of data. The controller (3) adjusts the center of the tool (2) in real time through the feed component according to the fitted center of the hole of the heat exchange tube (92).

2. A cutting method according to claim 1, characterized in that: The multi-axis machining center is configured as a three-axis machining center, the feed assembly comprises a base (4), the base (4) is provided with a column (5) capable of moving along an X-axis, the column (5) is provided with a spindle ram (6) capable of moving along a Y-axis, the spindle ram (6) is provided with a spindle seat (7) capable of moving along a Z-axis, and the spindle (1) and the first drive assembly (11) are both provided on the spindle seat (7).

3. A cutting method according to claim 2, characterized in that: The base (4) is provided with a first servo motor (41) and a first guide rail (42) extending in the X-axis direction; the first guide rail (42) is provided with a first slide block (43) capable of sliding along the first guide rail; the first slide block (43) is provided with a first ram (44); the first servo motor (41) is connected to the first ram (44) via a ball screw; and the column (5) is fixed to the first ram (44); And / or, the column (5) is provided with a second servo motor (51) and a second guide rail (52) extending along the Y-axis direction, the second guide rail (52) is provided with a second slider (53) capable of sliding along the second guide rail, the second slider (53) is provided with a second ram (54), the second servo motor (51) is connected to the second ram (54) via a ball screw, and the spindle ram (6) is fixed on the second ram (54); And / or, the spindle seat (7) is provided with a third servo motor (71) and a third guide rail (72) extending along the Z-axis direction, the third guide rail (72) is provided with a third slider (61) capable of sliding along the third guide rail, the third slider (61) is fixed on the spindle ram (6), and the third servo motor (71) is connected to the spindle ram (6) via a ball screw.

4. A cutting method according to claim 2, characterized in that: The controller (3) is arranged on the column (5); And / or, a display (55) is provided on the column (5), and the display (55) is connected to the controller (3); And / or, the controller (3) is configured as a PLC.

5. A cutting method according to claim 1, characterized in that: The multi-dimensional force sensor (21) is configured as a six-dimensional force sensor; And / or, the three-dimensional scanning component (22) is configured as a structured light measuring instrument; And / or, the alignment and positioning component (23) is configured as a line laser measuring instrument.

6. A cutting method according to claim 1, characterized in that: The spindle (1) is provided with an elastic chuck (24) matching the tool (2); And / or, the cutting tool (2) is a high-speed steel cutting tool; And / or, a centering bearing (25) is mounted on the tip of the tool (2).

7. A cutting method according to claim 1, characterized in that: The multi-axis machining center further comprises a clamping platform, the clamping platform being located on one side of the multi-axis machining center, the heat exchanger (9) being capable of being fixed on the clamping platform, the clamping platform comprising a base frame (81) and a plurality of movable saddles (82), the base frame (81) being provided with a fourth guide rail (83), the fourth guide rail (83) being provided with a fourth slider (84) capable of sliding along the fourth guide rail, the movable saddle (82) being fixed on the fourth slider (84), the base frame (81) being provided with a fourth servo motor, the fourth servo motor being connected to at least one of the movable saddles (82) via a ball screw, and the fourth servo motor being connected to the controller (3).

8. A cutting method according to claim 7, characterized in that: The movable saddle (82) is provided with a tensioner (85).

9. A cutting method according to claim 1, characterized in that: In step S3, the multi-dimensional force sensor (21) is capable of measuring the force in the feeding direction of the tool (2), and when the force in the feeding direction of the tool (2) measured by the multi-dimensional force sensor (21) is greater than a preset maximum threshold, the feeding component reduces the feeding amount; When the force in the feeding direction of the tool (2) measured by the multi-dimensional force sensor (21) is not greater than a preset minimum threshold value, the feeding component and the first driving component (11) are suspended.

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