Tube plate hole slotting tool for robot and slotting method

Abstract

The invention provides a pipe plate hole grooving tool for a robot and a grooving method.The pipe plate hole grooving tool comprises a connector mechanism, a positioning adjusting mechanism and a grooving mechanism, the positioning adjusting mechanism comprises a middle shaft fixed to the top end of the interior of a spring mounting hole and an outer shaft sleeve movably arranged outside the middle shaft in a sleeving mode, and the top of the outer shaft sleeve is connected with a middle shaft return spring; the grooving mechanism comprises an adjusting sleeve and a blade which are detachably arranged outside the outer shaft sleeve in a sleeving mode. The grooving tool structure is adjusted, longitudinal movement of the middle shaft is converted into lateral movement of the blade through sliding fit between the blade and the middle shaft as well as between the blade and the outer shaft sleeve, so that the blade laterally slides out when the middle shaft moves downwards relative to the outer shaft sleeve, and the blade laterally slides into the outer shaft sleeve when the middle shaft moves upwards; and the blade moves more stably, and the grooving precision is high.

Description

Technical Field

[0001] The present invention relates to the field of mechanical processing automation, and in particular to a robot-used tube plate hole grooving tool and a grooving method. Background Art

[0002] The tube sheet is one of the core components of the heat exchanger. The main connection methods between the heat exchange tube and the tube sheet include expansion joints, welding, and a combination of expansion welding. The expansion joint method has the advantages of being simple, quick, and having good corrosion resistance. It is currently the most commonly used connection method between the heat exchange tube and the tube sheet. In order to improve the connection strength and ensure the sealing, the tube sheet usually needs to be grooved. Existing tube sheet grooving tools are mainly divided into two types: spiral eccentric type and slope push type. The spiral eccentric type adopts an eccentric tool rod and a spiral groove structure. When the main shaft is pressed down, the sliding pin drives the tool rod to rotate to the set angle to achieve feed. The groover of this structure has the advantages of simple structure and high grooving efficiency. The slope push type uses the slope of the front of the core shaft to cooperate with the leaf spring to push the grooving knife to swing radially to complete the grooving.

[0003] The spiral eccentric slotting mechanism relies on manual blade adjustment, resulting in low efficiency. The blade lift in this mechanism is determined by the eccentricity between the mandrel and the sleeve, which cannot be adjusted. Therefore, this slotting mechanism can only process one groove depth, resulting in poor adaptability. Furthermore, the tool bar is a cantilever structure, which poses a risk of deformation during operation, resulting in poor consistency in the processed groove depth. Furthermore, the slotting tool with this structure is complex to operate, especially since after the groove depth is completed, the sliding pin must be rotated to withdraw the blade before the spindle can be raised. Otherwise, the blade will scratch the inside of the hole, causing the tube sheet to be scrapped.

[0004] The slope push grooving tool has optimized the blade adjustment mechanism to address the problem that the spiral eccentric structure blade is difficult to adjust accurately. The blade lift amount can be accurately adjusted through the rear adjustment sleeve. However, this structure is relatively complex and requires multiple manual adjustments and tests to meet the processing accuracy requirements. At the same time, the blade of this structure feeds in a swinging manner, and the blade running trajectory is a micro-arc. Since the swing radius of the lower blade is larger than that of the upper blade, this determines that the feed amount of the lower blade will be slightly greater than that of the upper blade. Therefore, the initial extension amount of the upper and lower blades needs to be trimmed to ensure that the upper and lower groove depths are consistent during the grooving process. The blade reset relies on a leaf spring, and the elasticity may decay after frequent use, resulting in incomplete return or jamming of the digging tool.

[0005] In the existing technology, the spiral eccentric and slope push grooving mechanisms are designed for radial drills and cannot be applied to robot grooving. Many processes in radial drill operations require manual operation. When there are many tube sheet holes, the labor intensity is high, the efficiency is low, and the quality consistency is poor. Summary of the Invention

[0006] The present invention provides a robot-based tube sheet hole grooving tool and a grooving method, which are used to solve the problems that the existing grooving tools are not suitable for robot operation and require much manual intervention.

[0007] A first aspect of the present invention is to provide a robot-based tube sheet hole grooving tool, comprising a joint mechanism, a positioning and adjustment mechanism, and a grooving mechanism. The joint mechanism is connected to the robot at its upper end, and has a spring mounting hole for mounting a central axis return spring at its lower end. A blocking piece is provided at the bottom of the spring mounting hole.

[0008] The positioning adjustment mechanism includes a central shaft fixed to the top end of the spring mounting hole, an outer shaft sleeve movably sleeved on the outside of the central shaft, and the top of the outer shaft sleeve is connected to the central shaft return spring;

[0009] The slotting mechanism includes an adjustment sleeve and a blade that are detachably mounted on the outside of the outer sleeve. The slotting depth is determined by adjusting the relative position of the adjustment sleeve and the outer sleeve. The blade is disposed between the outer sleeve and the central shaft, and slotting is achieved by adjusting the length of the blade extending from the outer sleeve.

[0010] The blade includes a sliding surface and two cutting heads arranged on the sliding surface. The sliding surface is an inclined surface, which slides with the inclined groove at the lower part of the central shaft. The outer sleeve is provided with a knife hole consistent with the cross-sectional shape of the cutting head. A blade return spring is provided between the blade and the outer sleeve.

[0011] Furthermore, the joint mechanism is connected to the spring mounting hole via a bearing.

[0012] Furthermore, the joint mechanism is an HSK or TB interface mechanism.

[0013] Furthermore, the spring mounting hole is a hollow annular structure, a through hole is provided at the top of the spring mounting hole, and the central axis is fixed together with the top of the spring mounting hole.

[0014] Furthermore, a threaded hole is provided on the top of the central shaft, and the joint mechanism is fixed to the central shaft through the through hole on the top of the spring mounting hole.

[0015] Furthermore, the blocking piece is annular, and its outer diameter is consistent with the outer diameter of the spring mounting hole, and its inner diameter is consistent with the outer diameter of the outer sleeve.

[0016] Furthermore, a sliding block is provided on the upper part of the outer sleeve, and the outer diameter of the sliding block is equal to the inner diameter of the spring mounting hole, so that the outer sleeve above the sliding block is sleeved on the inside of the central axis return spring, and the sliding block is arranged between the central axis return spring and the baffle; a limiting block is provided on the sliding block protruding outward to limit the rotation of the outer sleeve along the central axis.

[0017] Furthermore, a sliding groove corresponding to the limiting block is provided at the lower portion of the spring mounting hole, so that the limiting block moves up and down along the sliding groove.

[0018] Furthermore, the inner diameter of the outer sleeve is consistent with the outer diameter of the central shaft, so that the outer sleeve slides up and down along the outer wall of the central shaft.

[0019] Furthermore, the lower outer wall of the outer sleeve protrudes outward to form an adjustment portion, and the surface of the adjustment portion is provided with a thread; the inner wall of the adjustment sleeve is provided with a thread, which is threadedly connected to the adjustment portion.

[0020] Furthermore, a thrust bearing is sleeved on the outer shaft sleeve under the adjusting part, and a support sleeve is fixed under the thrust bearing; the support sleeve includes a large diameter end and a small diameter end, and the large diameter end is connected to the thrust bearing.

[0021] Furthermore, a retaining spring is provided at the lower portion of the large diameter end of the support sleeve.

[0022] Furthermore, the thrust bearing, the large diameter end of the support sleeve, and the retaining spring are embedded in the interior of the adjustment sleeve.

[0023] Furthermore, a top screw thread hole is provided on the wall of the adjustment sleeve.

[0024] Furthermore, a second spring mounting groove is provided between the two cutter heads, one end of the blade return spring is provided in the second spring mounting groove, and the other end is fixed in the first spring mounting groove between the two cutter holes of the outer sleeve.

[0025] Furthermore, a scraping groove is provided on the outer sleeve on one side of the knife hole.

[0026] Furthermore, a blade mounting hole is provided on the outer sleeve, and a blade movement groove is provided on the inner wall of the outer sleeve at a position opposite to the blade hole.

[0027] Furthermore, there is the following relationship between the lifting distance of the central axis and the extension and retraction of the blade: Δs1 = Δs2 / tanθ, where Δs1 represents the distance the central axis moves upward or downward, Δs2 represents the distance the blade extends or retracts, and θ represents the inclination angle of the inclined slot at the lower part of the central axis.

[0028] A second aspect of the present invention is to provide a method for grooving a tube sheet hole, comprising the following steps:

[0029] S1. Adjust the relative position of the adjusting sleeve and the adjusting part according to the position of the groove to be cut and fix them. Install the groove tool on the robot operating arm and move it to the top of the plate and tube hole to be grooved.

[0030] S2. The robot drives the slotting tool down to the plate tube hole position and then continues to descend, causing the outer sleeve to descend along the plate tube hole wall until the lower end of the support sleeve is in close contact with the upper end surface of the tube plate;

[0031] S3. The robot drives the central shaft to continue to descend. Under the action of the support sleeve, the support sleeve, the adjustment sleeve, and the outer shaft sleeve are stationary. The central shaft return spring is compressed, and the inclined groove at the lower end of the central shaft is exposed. The sliding surface of the blade rises along the inclined groove, and the cutter head is exposed from the outer shaft sleeve until the cutter head moves to the required grooving depth and stops descending.

[0032] S4, the robot drives the spindle to rotate to realize slotting;

[0033] After the slotting is completed, the robot drives the main shaft to stop rotating and rise, and the sliding surface of the blade descends along the inclined slide, so that the cutter head gradually retracts into the inner part of the outer sleeve under the action of the blade return spring. At the same time, the outer sleeve and the support sleeve remain in position under the elastic action of the middle shaft return spring until the middle shaft return spring returns to its normal state.

[0034] S5. The robot drives the main shaft to continue to rise. The support sleeve, adjustment sleeve and outer shaft sleeve rise together with the main shaft and leave the tube sheet hole, completing a grooving operation.

[0035] Compared with the prior art, the beneficial technical effects of the present invention are:

[0036] The present invention adjusts the structure of the slotting tool and utilizes two sliding fits between the blade, the central shaft and the outer sleeve to convert the longitudinal movement of the central shaft into the lateral movement of the blade, so that the blade slides out laterally when the central shaft moves downward relative to the outer sleeve, and slides into the outer sleeve laterally when the central shaft moves upward; the blade moves more smoothly and the slotting accuracy is high.

[0037] The present invention adjusts the slotting position by adjusting the relative position of the sleeve and the adjustment portion, and adjusts the slotting depth by lowering the robot. By setting the robot's lowering height, the slotting depth can be freely adjusted, resulting in greater accuracy and more convenient adjustment than current manual slotting depth adjustments. The slotting tool and robot interface of the present invention uses a standard HSK or TB interface, making it compatible with various types of CNC machine tools and robots. It also enables automatic tool replacement, allowing the robot to simultaneously perform chamfering, reaming, and other tasks by replacing the tool head while slotting.

[0038] The above description is only an overview of the technical solution of the present invention. In order to more clearly understand the technical means of the present invention, it can be implemented in accordance with the contents of the specification. In order to make the above and other purposes, features and advantages of the present invention more obvious and easy to understand, the specific implementation methods of the present invention are specifically listed below. BRIEF DESCRIPTION OF THE DRAWINGS

[0039] Various other advantages and benefits will become apparent to those skilled in the art upon reading the detailed description of the preferred embodiment below. The accompanying drawings are for illustration purposes only and are not to be considered as limiting the present invention. The same reference symbols are used throughout the drawings to represent the same components. In the drawings:

[0040] Figure 1 It is a cross-sectional view of the grooving tool of the present invention.

[0041] Figure 2 It is a cross-sectional view of the joint mechanism and positioning adjustment mechanism of the present invention.

[0042] Figure 3 It is a structural schematic diagram of the outer shaft sleeve of the present invention.

[0043] Figure 4 Schematic diagram of the structure of the baffle of the present invention.

[0044] Figure 5 It is a structural schematic diagram of the central axis of the present invention.

[0045] Figure 6 It is a cross-sectional view of the adjustment sleeve of the present invention.

[0046] Figure 7 It is a structural schematic diagram of the support sleeve of the present invention.

[0047] Figure 8 It is a structural schematic diagram of the blade of the present invention.

[0048] Figure 9 Schematic diagram of the motion relationship between the shaft and the blade in the present invention.

[0049] Figure 10 Schematic diagram of the movement of the grooving tool during the tube sheet hole grooving process of the present invention.

[0050] In the accompanying drawings, 1 is a bearing, 2 is a central shaft return spring, 3 is a baffle, 4 is an outer sleeve, 5 is a central shaft, 6 is an adjusting sleeve, 7 is a thrust bearing, 8 is a support sleeve, 9 is a blade, 10 is a blade return spring, 11 is a retaining spring, 101 is a joint mechanism, 102 is a through hole, 103 is a spring mounting hole, 104 is a slide groove, 105 is a bolt hole, 401 is a threaded hole, 402 is a sliding block, 403 is an adjusting portion, 404 is a scraping groove, 405 is a knife hole, 406 is a blade movement groove, 407 is a first spring mounting groove, 408 is a blade mounting hole, 409 is an inclined slide groove, 602 is a top screw threaded hole, 603 is a large diameter end, 604 is a small diameter end, 901 is a cutter head, 902 is a sliding surface, and 903 is a second spring mounting groove. DETAILED DESCRIPTION

[0051] Exemplary embodiments of the present disclosure will be described in more detail below with reference to the accompanying drawings. Although exemplary embodiments of the present disclosure are shown in the accompanying drawings, it should be understood that the present disclosure can be implemented in various forms and should not be limited by the embodiments set forth herein. Rather, these embodiments are provided to enable a more thorough understanding of the present disclosure and to fully convey the scope of the present disclosure to those skilled in the art.

[0052] It should be understood that the terms "upper", "lower", "outside", "inside", "upper end", "lower end", "bottom", etc. indicate orientations or positional relationships based on the orientations or positional relationships during use. They are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation. Therefore, they should not be understood as limiting the scope of protection of the present invention.

[0053] The present invention provides a robot-use tube sheet hole slotting tool, comprising a joint mechanism 101, a positioning adjustment mechanism, and a slotting mechanism. The upper end of the joint mechanism 101 is connected to the robot, and the lower end is provided with a spring mounting hole 103 for mounting a return spring 2 of a central shaft 5. A baffle 3 is provided at the bottom of the spring mounting hole 103.

[0054] The positioning adjustment mechanism includes a central axis 5 fixed to the top of the spring mounting hole 103, an outer sleeve 4 movably sleeved on the outside of the central axis 5, and the top of the outer sleeve 4 is connected to the return spring 2 of the central axis 5;

[0055] The slotting mechanism includes a detachable adjustment sleeve 6 and a blade that is mounted on the outside of the outer sleeve 4. The slotting depth is determined by adjusting the relative position of the adjustment sleeve 6 and the outer sleeve 4. The blade is arranged between the outer sleeve 4 and the central axis 5, and slotting is achieved by adjusting the length of the blade extending from the outer sleeve 4.

[0056] The blade includes a sliding surface 902 and two cutting heads 901 arranged on the sliding surface 902. The sliding surface 902 is an inclined surface, which slides with the inclined groove 409 at the lower part of the central axis 5. A cutting hole 405 with the same cross-sectional shape as the cutting head 901 is provided on the outer sleeve 4, and a blade return spring 10 is provided between the blade and the outer sleeve 4.

[0057] The present invention adjusts the slotting position by adjusting the relative position of the adjusting sleeve 6 and the adjusting portion 403 in the slotting mechanism, and adjusts the slotting depth by lowering the robot. By setting the robot's lowering height, the slotting depth can be freely adjusted. Compared to current manual slotting depth adjustment, the present invention provides greater precision and more convenient adjustment. By utilizing two sliding fits between the blade, the central axis 5, and the outer sleeve 4, the longitudinal movement of the central axis 5 is converted into lateral movement of the blade. This allows the cutter head 901 to slide out laterally when the central axis 5 moves downward relative to the outer sleeve 4, and to slide laterally into the outer sleeve 4 when the central axis 5 moves upward. This results in smoother blade movement and higher slotting accuracy.

[0058] In order to more conveniently connect the slotting tool to the robot arm and keep the joint mechanism 101 firmly connected to the slotting tool body, the joint mechanism 101 is connected to the spring mounting hole 103 through a bearing. The joint mechanism 101 is an HSK or TB interface mechanism.

[0059] In order to achieve relative sliding between the central axis 5 and the outer sleeve 4 and to achieve automatic position restoration after the slotting is completed, the spring mounting hole 103 is a hollow annular structure, and a through hole 102 is provided at the top of the spring mounting hole 103. The central axis 5 is fixed to the top of the spring mounting hole 103. A threaded hole 401 is provided at the top of the central axis 5, and the joint mechanism 101 is fixed to the central axis 5 through the through hole 102 at the top of the spring mounting hole 103. The baffle 3 is annular, and its outer diameter is consistent with the outer diameter of the spring mounting hole 103, and its inner diameter is consistent with the outer diameter of the outer sleeve 4. The preferred baffle 3 is two semi-annular shapes, which are assembled into a ring and fixed to the bottom of the spring mounting hole 103. Bolt holes 105 are provided on the wall of the spring mounting hole 103, and the baffle 3 is fixed to the spring mounting hole 103 by bolts.

[0060] The upper portion of the outer sleeve 4 is disposed within the center shaft return spring 2, supporting and preventing deformation of the center shaft return spring 2, and preventing the center shaft return spring 2 from popping out via the baffle 3. The center shaft 5 is fixedly connected to the joint mechanism 101 and the spring mounting hole 103 to ensure structural stability during the slotting operation.

[0061] To prevent the outer sleeve 4 from rotating relative to the spindle during operation, a sliding block 402 is provided above the outer sleeve 4. The outer diameter of the sliding block 402 is equal to the inner diameter of the spring mounting hole 103. The outer sleeve 4 above the sliding block 402 fits within the center shaft return spring 2, with the sliding block 402 positioned between the center shaft return spring 2 and the retaining plate 3. A limit block protrudes outward from the sliding block 402 to limit the rotation of the outer sleeve 4 along the center shaft 5. A sliding groove 104 corresponding to the limit block is provided below the spring mounting hole 103, allowing the limit block to move up and down along the groove 104. The inner diameter of the outer sleeve 4 matches the outer diameter of the center shaft 5, allowing the outer sleeve 4 to slide up and down along the outer wall of the center shaft 5.

[0062] When the center shaft return spring 2 is compressed and rebounds, the stopper on the outer sleeve 4 slides up and down along the slide groove 104. Under the limit of the stopper, the outer sleeve 4 can only move up and down relative to the center shaft 5, and cannot achieve circumferential rotation. The sliding block 402 is arranged between the center shaft 5 return spring 2 and the stopper 3. It not only fixes the spring but also limits the outer sleeve 4 under the action of the stopper 3.

[0063] To achieve the desired positioning of the slot, the lower outer wall of the outer sleeve 4 protrudes outward to form an adjustment portion 403, the surface of which is provided with threads. The inner wall of the adjustment sleeve 6 is provided with threads, which are threadedly connected to the adjustment portion 403. The wall of the adjustment sleeve 6 is provided with a top screw thread hole 602. The distance between the support sleeve 8 and the knife hole 405 is adjusted by rotating the thread, thereby adjusting the slot position. After the distance is fixed, the adjustment sleeve 6 is fixed to the adjustment portion 403 by a top screw to prevent the adjustment sleeve 6 from rotating. Preferably, there are four top screw thread holes 602, and the adjustment sleeve 6 is fixed by four top screws.

[0064] To prevent the support sleeve 8 from rotating with the center shaft 5 during the grooving process and causing scratches on the tube sheet surface, a thrust bearing 7 is mounted on the outer sleeve 4 below the adjustment portion 403, with the support sleeve 8 secured beneath the thrust bearing 7. The support sleeve 8 includes a large-diameter end 603 and a small-diameter end 604, with the large-diameter end 603 connected to the thrust bearing 7. A retaining spring 11 is provided beneath the large-diameter end 603 of the support sleeve 8. The thrust bearing 7, the large-diameter end 603 of the support sleeve 8, and the retaining spring 11 are embedded within the adjustment sleeve 6. The large-diameter end 603 of the support sleeve 8 is secured to the bottom of the thrust bearing 7, and the retaining spring 11 secures the support sleeve 8 axially.

[0065] The present invention can also adjust the slotting position by replacing the small-diameter end 604 of the support sleeve 8 with different lengths to adapt to different slotting positions.

[0066] To ensure that the cutter head 901 can automatically retract after slotting, a second spring mounting slot 903 is provided between the two cutter heads 901. One end of the blade return spring 10 is disposed in the second spring mounting slot 903, and the other end is fixed in the first spring mounting slot 407 between the two cutter holes 405 of the outer sleeve 4. The blade return spring 10 is fixed by the first spring mounting slot 407 and the second spring mounting slot 903. After slotting is completed, the robot drives the central shaft 5 upward. Due to the elastic action of the return spring 2 of the central shaft 5, the position of the outer sleeve 4 remains unchanged, and the central shaft 5 rises. The inclined groove 409 at the bottom of the central shaft 5 slides upward relative to the sliding surface 902 of the blade, increasing the distance between the inclined groove 409 and the outer sleeve 4. Under the elastic action of the blade return spring 10, the blade's sliding surface 902 contacts the inclined groove 409 at the bottom of the central shaft 5, thereby gradually retracting the cutter head 901 from the cutter hole 405.

[0067] To prevent debris from scratching the inner wall of the plate tube hole, a scraper groove 404 is provided on the outer sleeve 4 on one side of the cutter hole 405. During the grooving process, the scraper groove 404 rotates to scrape away falling debris, which then enters the scraper groove 404 and is stored in the inclined chute 409 at the bottom of the central shaft 5. Preferably, the scraper groove 404 is located behind the cutter hole 405.

[0068] In order to facilitate the installation of the blade, a blade mounting hole 408 is also provided on the outer sleeve 4, and a blade movement groove 406 is provided on the inner wall of the outer sleeve 4 opposite to the knife hole 405. The blade movement groove 406 ensures that there is a certain advancement space when the blade is advanced, and the advancement process is not interfered by the outer sleeve 4.

[0069] There is the following relationship between the lifting distance of the middle axis 5 and the extension and retraction of the blade: Δs1 = Δs2 / tanθ, where Δs1 represents the distance the middle axis 5 moves upward or downward, Δs2 represents the distance the blade extends or retracts, and θ represents the inclination angle of the inclined slide groove 409 at the lower part of the middle axis 5.

[0070] A method for grooving a tube sheet hole comprises the following steps:

[0071] S1. Adjust the relative position of the adjusting sleeve and the adjusting part according to the required slotting position and slotting depth and fix them. Install the slotting tool on the robot operating arm and move it to the top of the plate and tube hole to be slotted.

[0072] S2. The robot drives the slotting tool down to the plate tube hole position and then continues to descend, causing the outer sleeve to descend along the plate tube hole wall until the lower end of the support sleeve is in close contact with the upper end surface of the tube plate;

[0073] S3. The robot drives the central shaft to continue to descend. Under the action of the support sleeve, the support sleeve, the adjustment sleeve, and the outer shaft sleeve are stationary. The central shaft return spring is compressed, and the inclined groove at the lower end of the central shaft is exposed. The sliding surface of the blade rises along the inclined groove, and the cutter head is exposed from the outer shaft sleeve until the cutter head moves to the position where the groove is required and stops descending.

[0074] S4, the robot drives the spindle to rotate to realize slotting;

[0075] After the slotting is completed, the robot drives the main shaft to stop rotating and rise, and the sliding surface of the blade descends along the inclined slide, so that the cutter head gradually retracts into the inner part of the outer sleeve under the action of the blade return spring. At the same time, the outer sleeve and the support sleeve remain in position under the elastic action of the middle shaft return spring until the middle shaft return spring returns to its normal state.

[0076] S5. The robot drives the main shaft to continue to rise. The support sleeve, adjustment sleeve and outer shaft sleeve rise together with the main shaft and leave the tube sheet hole, completing a grooving operation.

[0077] A method for grooving a tube sheet hole comprises the following steps:

[0078] S1. Select an outer shaft sleeve with an outer diameter that is consistent with the inner diameter of the plate or tube hole to be grooved. According to the required groove depth, use the relationship between the middle shaft lifting distance and the blade extension and retraction amount to set the middle shaft lifting distance parameter in the robot system: Δs1 = Δs2 / tanθ, where Δs1 represents the distance the middle shaft moves upward or downward, Δs2 represents the distance the blade extends or retracts, and θ represents the inclination angle of the inclined slide groove at the lower part of the middle shaft; adjust the relative position of the adjustment sleeve and the adjustment part according to the required groove position and fix them so that the groove position is equal to the distance between the cutter head and the bottom of the support sleeve; then install the groove tool on the robot operating arm, and control the robot system to move the groove tool to the top of the plate or tube hole to be grooved;

[0079] S2. The robot drives the slotting tool down to the plate tube hole position and then continues to descend, causing the outer sleeve to descend along the plate tube hole wall until the lower end of the support sleeve is in close contact with the upper end surface of the tube plate;

[0080] S3. The robot drives the central shaft to continue to descend. Under the action of the support sleeve, the support sleeve, the adjustment sleeve, and the outer sleeve are stationary. The central shaft return spring is compressed, causing the central shaft to move downward relative to the outer sleeve, exposing the inclined slot at the lower end of the central shaft. The sliding surface of the blade slides upward along the inclined slot, causing the cutter head to gradually emerge from the cutter hole and the outer sleeve. The blade return spring is compressed until the cutter head moves to the required slotting depth and stops descending.

[0081] S4. The robot drives the main shaft and joint mechanism to rotate. The outer shaft sleeve and the adjustment sleeve rotate along with the main shaft due to the limiting action of the limit block. The support sleeve does not rotate due to the action of the thrust bearing. During the rotation, the cutter head realizes grooving inside the tube sheet hole.

[0082] After the slotting is completed, the spindle stops rotating, the robot drives the spindle to rise, and the sliding surface of the blade drops relatively along the inclined slide groove, so that the cutter head gradually retracts into the inner part of the outer sleeve under the action of the blade return spring. At the same time, the outer sleeve and the support sleeve remain in position under the elastic action of the middle shaft return spring until the middle shaft return spring returns to its normal state.

[0083] S5. The robot drives the main shaft to continue to rise. The support sleeve, adjustment sleeve and outer shaft sleeve rise together with the main shaft and leave the tube sheet hole, completing a grooving operation.

[0084] It should be noted that, in this document, the terms "comprises," "includes," or any other variations thereof are intended to encompass non-exclusive inclusion, such that a process, method, article, or apparatus comprising a series of elements includes not only those elements but also other elements not explicitly listed, or elements inherent to such process, method, article, or apparatus. In the absence of further limitations, an element defined by the phrase "comprising a ..." does not exclude the presence of other identical elements in the process, method, article, or apparatus comprising the element.

[0085] The serial numbers of the above embodiments of the present invention are for description only and do not represent the advantages or disadvantages of the embodiments.

[0086] The embodiments of the present invention are described above in conjunction with the accompanying drawings, but the present invention is not limited to the above-mentioned specific implementation methods. The above-mentioned specific implementation methods are merely illustrative and not restrictive. Under the guidance of the present invention, ordinary technicians in this field can also make many forms without departing from the scope of protection of the present invention and the claims, all of which are protected by the present invention.

Claims

1. A robot-based tube sheet hole grooving tool, characterized by: It includes a joint mechanism, a positioning adjustment mechanism and a slotting mechanism. The upper end of the joint mechanism is connected to the robot, and the lower end is provided with a spring mounting hole for installing the central axis return spring. The bottom of the spring mounting hole is provided with a blocking piece. The positioning adjustment mechanism includes a central shaft fixed to the top end of the spring mounting hole, an outer shaft sleeve movably sleeved on the outside of the central shaft, and the top of the outer shaft sleeve is connected to the central shaft return spring; The slotting mechanism includes an adjustment sleeve and a blade that are detachably mounted on the outside of the outer sleeve. The slotting depth is determined by adjusting the relative position of the adjustment sleeve and the outer sleeve. The blade is disposed between the outer sleeve and the central shaft, and slotting is achieved by adjusting the length of the blade extending from the outer sleeve. The blade includes a sliding surface and two cutting heads arranged on the sliding surface. The sliding surface is an inclined surface, which slides with the inclined groove at the lower part of the central shaft. The outer sleeve is provided with a knife hole consistent with the cross-sectional shape of the cutting head. A blade return spring is provided between the blade and the outer sleeve.

2. A robot-based tube sheet hole grooving tool as claimed in claim 1, characterized in that: The spring mounting hole is a hollow annular structure, a through hole is provided at the top of the spring mounting hole, and the central axis is fixed together with the top of the spring mounting hole.

3. The robot tube sheet hole grooving tool according to claim 1, characterized in that: A sliding block is provided on the upper part of the outer sleeve, and the outer diameter of the sliding block is equal to the inner diameter of the spring mounting hole, so that the outer sleeve above the sliding block is sleeved on the inside of the central shaft return spring, and the sliding block is provided between the central shaft return spring and the baffle; a limit block is provided on the sliding block protruding outward to limit the rotation of the outer sleeve along the central shaft.

4. A robot-based tube sheet hole grooving tool as claimed in claim 3, characterized in that: A sliding groove corresponding to the limiting block is provided at the lower portion of the spring mounting hole, so that the limiting block moves up and down along the sliding groove.

5. The robot tube sheet hole grooving tool according to claim 1, characterized in that: The lower outer wall of the outer sleeve protrudes outward to form an adjusting portion, and the surface of the adjusting portion is provided with a thread; the inner wall of the adjusting sleeve is provided with a thread, which is threadedly connected to the adjusting portion.

6. A robot-based tube sheet hole grooving tool as claimed in claim 5, characterized in that: A thrust bearing is mounted on the outer shaft sleeve under the adjusting part, and a support sleeve is fixed under the thrust bearing; the support sleeve includes a large diameter end and a small diameter end, and the large diameter end is connected to the thrust bearing; the thrust bearing, the large diameter end of the support sleeve, and the retaining spring are embedded in the interior of the adjusting sleeve.

7. The robot tube sheet hole grooving tool according to claim 1, characterized in that: A second spring mounting groove is provided between the two cutter heads. One end of the blade return spring is provided in the second spring mounting groove, and the other end is fixed in the first spring mounting groove between the two cutter holes of the outer sleeve.

8. The robot tube sheet hole grooving tool according to claim 1, characterized in that: A scraping groove is provided on the outer shaft sleeve on one side of the knife hole.

9. A method for grooving tube sheet holes using the grooving tool according to any one of claims 1 to 8, characterized in that: The following steps are involved: S1. Adjust the relative position of the adjusting sleeve and the adjusting part according to the position of the groove to be cut and fix them. Install the groove tool on the robot operating arm and move it to the top of the plate and tube hole to be grooved. S2. The robot drives the slotting tool down to the plate tube hole position and then continues to descend, causing the outer sleeve to descend along the plate tube hole wall until the lower end of the support sleeve is in close contact with the upper end surface of the tube plate; S3. The robot drives the central shaft to continue to descend. Under the action of the support sleeve, the support sleeve, the adjustment sleeve, and the outer shaft sleeve are stationary. The central shaft return spring is compressed, and the inclined groove at the lower end of the central shaft is exposed. The sliding surface of the blade rises along the inclined groove, and the cutter head is exposed from the outer shaft sleeve until the cutter head moves to the required grooving depth and stops descending. S4, the robot drives the spindle to rotate to realize slotting; After the slotting is completed, the robot drives the main shaft to stop rotating and rise, and the sliding surface of the blade descends along the inclined slide, so that the cutter head gradually retracts into the inner part of the outer sleeve under the action of the blade return spring. At the same time, the outer sleeve and the support sleeve remain in position under the elastic action of the middle shaft return spring until the middle shaft return spring returns to its normal state. S5. The robot drives the main shaft to continue to rise. The support sleeve, adjustment sleeve and outer shaft sleeve rise together with the main shaft and leave the tube sheet hole, completing a grooving operation.

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