Pressure vessel tube plate hole grooving, chamfering and reaming robot system and machining method

Abstract

The invention provides a pressure vessel tube plate hole grooving, chamfering and reaming robot system and a machining method.The pressure vessel tube plate hole grooving, chamfering and reaming robot system comprises a robot body, a robot base for fixing the robot body, a workbench, a tool magazine and a control system.The robot body comprises a mechanical arm, and an electric spindle support is arranged at the tail end of the mechanical arm; the motorized spindle support is connected with a visual positioning system and a manipulator assembly which are used for identifying the position of a plate tube hole; the manipulator assembly comprises an electric spindle and a cutter arranged below the electric spindle. According to the full-automatic pipe plate hole chamfering and reaming robot, full-automatic grooving, chamfering and reaming work of pipe plate holes is achieved, and operation tasks such as pipe plate hole accurate recognition and positioning, pipe plate hole grooving, automatic tool switching and pipe plate hole chamfering and reaming are automatically executed through the robot.

Description

Technical Field

[0001] The present invention relates to the field of mechanical processing automation, and in particular to a robot system and a processing method for grooving, chamfering and reaming holes in a tube plate of a pressure vessel. Background Art

[0002] The tube sheet is one of the core components of the heat exchanger. In order to improve the connection strength between the condenser tube and the tube sheet and ensure the sealing, it is usually necessary to groove the tube sheet holes. In existing processing, radial drills or CNC machine tools are generally used to groove the tube holes. The radial drill requires manual movement of the radial drill machine so that the grooving tool on the spindle is aligned with the tube hole, and then the spindle is pressed down to insert the tool into the tube hole. After pressing down to a certain distance, the blade extends to achieve grooving. After grooving is completed, the spindle is manually lifted to withdraw the tool from the tube hole. CNC machine tools require programmers to perform CNC programming and clamp the parts. After completing the tool alignment, the CNC program is imported and the CNC machine tool completes the grooving operation.

[0003] In the existing technology, chamfering and reaming are mostly performed manually after grooving. Some automated equipment also uses different CNC machine tools for grooving, chamfering, reaming, etc. This alternating operation mode not only has a long operation process, but also the uncontrollable factors of manual operation lead to reduced processing accuracy, heavy work tasks and low work efficiency. Summary of the Invention

[0004] The present invention provides a robot system and processing method for grooving, chamfering and reaming holes in a pressure vessel tube sheet, which is used to solve the problems in the prior art of being unable to realize fully automatic grooving, chamfering and reaming work and having a low degree of automation.

[0005] A first aspect of the present invention is to provide a robot system for grooving, chamfering, and reaming holes in a tube sheet of a pressure vessel, comprising a robot body, a robot base for fixing the robot body, a workbench, a tool library, and a control system.

[0006] The robot body includes a robotic arm, at the end of which is provided an electric spindle support, the electric spindle support being connected to a visual positioning system for identifying the position of plate and tube holes and a robotic arm assembly; the robotic arm assembly includes an electric spindle and a tool arranged below the electric spindle;

[0007] The workbench includes a work support platform and a clamping mechanism arranged on the top of the work support platform for fixing the tube sheet;

[0008] The tool magazine is arranged on one side of the workbench and is used to place cutting tools, wherein the cutting tools include grooving tools, chamfering tools or reaming tools;

[0009] The control system is connected to the robot body and the electric spindle, and is used for collecting signals and outputting signals to the robot and the electric spindle.

[0010] Furthermore, the electric spindle support forms a connecting surface and a supporting surface through a vertical bending structure, the connecting surface is connected to the end of the robotic arm, and the supporting surface is provided with an electric spindle mounting hole for installing the electric spindle, and the bottom of the supporting surface away from the electric spindle mounting hole is connected to a camera bracket, and the camera bracket is used to fix the visual positioning system.

[0011] Furthermore, a first through hole is provided on the connecting surface, and the electric spindle support is connected to the flange at the end of the robotic arm by bolts.

[0012] Furthermore, a support ring is provided on the outer wall of the electric spindle. After the electric spindle passes through the electric spindle mounting hole, it is supported on the support surface by the support ring and fixed by the first threaded hole; the camera bracket is fixed on the support surface by the second threaded hole.

[0013] Furthermore, the visual positioning system is selected from an area array camera, a line array camera, a 3D camera, and a laser scanner.

[0014] Furthermore, the electric spindle includes a motor for driving the tool to rotate and a clamping mechanism for clamping the tool. The clamping mechanism includes a pull rod and a pull claw. The pull rod drives the pull claw to open and contract, and the tool is tightened and replaced through the force between the pull claw and the tool joint mechanism.

[0015] Furthermore, the electric spindle is further provided with a cooling pipe and a cylinder for pushing the pull rod up and down, the cooling pipe is connected to a cooling system, and the cylinder is connected to a pneumatic device. Preferably, the cylinder can be replaced by a hydraulic cylinder, and the pneumatic device can be replaced by a hydraulic device.

[0016] Furthermore, the cooling system includes a coolant tank, a coolant pump and a filtering and purifying device. The coolant pump filters the coolant in the coolant tank through the filtering and purifying device and then pumps the coolant into the cooling pipe, and then returns it to the coolant tank to form a coolant circulation.

[0017] Furthermore, the clamping mechanism includes an upper pressure plate, a lower pressure plate, a pressure plate gasket and a pressure plate fastener. The workbench surface is provided with a number of through holes for the pressure plate fasteners to pass through. The lower pressure plate and the workbench surface are connected through the pressure plate fasteners, and then the pressure plate fasteners pass through the upper pressure plate, so that the tube plate is arranged between the upper pressure plate and the workbench surface; a pressure plate gasket is also provided between the upper pressure plate and the workbench surface.

[0018] Furthermore, a tube sheet pad is provided between the tube sheet and the workbench surface.

[0019] Furthermore, there are four clamping mechanisms, and the positions of the clamping mechanisms on the workbench surface can be moved according to the size of the tube sheet, so that the clamping mechanisms fix the four corners of the tube sheet.

[0020] Furthermore, the tool magazine includes a tool rack, which is provided with a linear bearing seat for placing the tool, and the linear bearing seat is fixed to the tool rack by bolts. A step hole for fixing the linear bearing is provided in the middle of the linear bearing seat; a tool detection sensor is provided at the bottom of the tool rack at a position corresponding to the linear bearing, and the tool detection sensor is fixed by a sensor bracket.

[0021] Furthermore, there are three linear bearing seats, which are used to place grooving tools, chamfering tools and reaming tools respectively.

[0022] Furthermore, the grooving tool includes a joint mechanism, a positioning and adjustment mechanism and a grooving mechanism, the joint mechanism is provided with a spring mounting hole for installing a central axis return spring, and a baffle is provided at the bottom of the spring mounting hole; the positioning and adjustment mechanism includes a central axis fixed to the top end of the spring mounting hole, an outer sleeve movably mounted on the outside of the central axis, and the top of the outer sleeve is connected to the central axis return spring; the grooving mechanism includes a detachable adjustment sleeve and a blade mounted on the outside of the outer sleeve, the grooving depth is limited by adjusting the relative position of the adjustment sleeve and the outer sleeve, the blade is arranged between the outer sleeve and the central axis, and grooving is achieved by adjusting the length of the blade extending out of the outer sleeve.

[0023] Furthermore, 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, and a blade return spring is provided between the blade and the outer sleeve.

[0024] Furthermore, the lower outer wall of the outer sleeve protrudes outward to form an adjustment part, and the surface of the adjustment part is provided with a thread; the inner wall of the adjustment sleeve is provided with a thread, which is threadedly connected to the adjustment part; the outer sleeve under the adjustment part is provided with a thrust bearing, 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 large diameter ends of the thrust bearing and the support sleeve are embedded in the interior of the adjustment sleeve.

[0025] Furthermore, the chamfering tool includes a joint mechanism and a chamfering cutter.

[0026] Furthermore, the reaming tool includes a joint mechanism and a reamer.

[0027] Furthermore, the robot body is a six-axis industrial robot.

[0028] Furthermore, the robot system also includes a visual image processing system, which is connected to the visual positioning system and the control system. The image captured by the visual positioning system is analyzed by the visual image processing system to form position information, which is transmitted to the control system.

[0029] Furthermore, the robot system also includes a safety fence that encloses the robot body, robot base, workbench, and tool library.

[0030] A second aspect of the present invention is to provide a robot system processing method for grooving, chamfering, and reaming holes in a tube sheet of a pressure vessel, comprising the following steps:

[0031] S1. Place the tube sheet on the workbench, fix it with the clamping mechanism, and then turn on the start button;

[0032] S2: The control system controls the movement of the robotic arm so that the visual positioning system is located directly above the tube sheet. The position information of the tube sheet holes is collected and uploaded to the visual image processing system for processing. The information is then transmitted to the control system. The control system automatically adjusts the movement path of the robotic arm according to the position coordinates to complete the grooving, chamfering, and reaming operations.

[0033] S3. The robot arm moves to the top of the tool library, so that the clamping mechanism of the electric spindle clamps the joint mechanism of the slotting tool, and then moves to the top of the tube sheet to slot each tube sheet hole that needs to be slotted in turn until all the tube sheet holes on the tube sheet are slotted;

[0034] S4. The robotic arm drives the electric spindle back to the top of the tool library, places the slotting tool in the empty linear bearing, releases the clamping mechanism, and moves the electric spindle to the top of the chamfering tool, so that the clamping mechanism of the electric spindle clamps the joint mechanism of the chamfering mechanism. Then, the robot moves to the top of the tube sheet and chamfers each tube sheet hole that needs to be chamfered in turn until all the tube sheet holes on the tube sheet are chamfered.

[0035] S5. The robotic arm drives the electric spindle back to the top of the tool library, places the chamfering tool in the empty linear bearing, releases the clamping mechanism, and moves the electric spindle to the top of the reaming tool, so that the clamping mechanism of the electric spindle clamps the joint mechanism of the reaming mechanism. Then, the robotic arm moves to the top of the tube sheet and reams each tube sheet hole that needs to be reamed in turn until all the tube sheet holes are reamed.

[0036] S6. Turn off the switch to complete the grooving, chamfering and reaming of the tube sheet.

[0037] Furthermore, when clamping the tool, the clamping mechanism of the electric spindle is positioned according to the corresponding position set in the control system; when releasing the tool, the tool detection sensor at the bottom of the tool library detects whether the tool is in position, and the tool detection sensor that cannot detect the tool information transmits a signal to the control system. Under the control of the control system, the robotic arm accurately finds the corresponding position and places the tool.

[0038] Compared with the prior art, the beneficial technical effects of the present invention are:

[0039] The present invention realizes the fully automatic grooving, chamfering and reaming of tube sheet holes. The robot automatically performs tasks such as accurate identification and positioning of tube sheet holes, grooving of tube sheet holes, automatic tool switching, chamfering and reaming of tube sheet holes. There is no need for manual tool setting and tool replacement, which greatly improves the processing accuracy and operation efficiency of tube sheet grooving and saves labor costs.

[0040] 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.

[0041] The design of the present invention and the robot interface are standard HSK or TB interfaces, which can be applied to various types of CNC machine tools and robots, and realize automatic replacement of tools, making it convenient for the robot to perform chamfering, reaming and other tasks by replacing the working tools while performing grooving operations.

[0042] 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

[0043] 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:

[0044] Figure 1 Schematic diagram of the structure of the robot system of the present invention.

[0045] Figure 2 It is a structural schematic diagram of the robot base of the present invention.

[0046] Figure 3It is a structural schematic diagram of the robot body of the present invention.

[0047] Figure 4 It is a structural schematic diagram of the electric spindle support of the present invention.

[0048] Figure 5 It is a structural schematic diagram of the camera bracket of the present invention.

[0049] Figure 6 It is a structural schematic diagram of the electric spindle of the present invention.

[0050] Figure 7 It is a cross-sectional view of the grooving tool of the present invention.

[0051] Figure 8 It is a structural schematic diagram of the clamping mechanism of the present invention.

[0052] Figure 9 It is a structural schematic diagram of the tool magazine of the present invention.

[0053] Figure 10 It is a structural schematic diagram of the linear bearing seat of the present invention.

[0054] Figure 11 Schematic diagram of the structure of the sensor bracket of the present invention.

[0055] Figure 12 It is a structural schematic diagram of the reaming tool of the present invention.

[0056] Figure 13 It is a structural schematic diagram of the chamfering tool of the present invention.

[0057] In the accompanying drawings, 1 is the robot base, 2 is the robot body, 3 is the electric spindle support, 4 is the camera bracket, 5 is the visual positioning system, 6 is the electric spindle, 7 is the slotting tool, 8 is the clamping mechanism, 9 is the tube plate pad, 10 is the tube plate, 11 is the workbench, 12 is the tool library, 13 is the reaming tool, 14 is the chamfering tool, 15 is the joint mechanism, 301 is the connecting surface, 302 is the supporting surface, 303 is the electric spindle mounting hole, 304 is the first threaded hole, 701 is the spindle joint, 702 is the center shaft return spring, 703 is the center shaft return spring, 704 is the first threaded hole, 705 is the first threaded hole, 706 is the first threaded hole, 707 is the first threaded hole, 708 is the first threaded hole, 709 is the first threaded hole, 710 is the first threaded hole, 711 is the first threaded hole, 712 is the first threaded hole, 713 is the first threaded hole, 714 is the first threaded hole, 715 is the first threaded hole, 716 is the first threaded hole, 717 is the first threaded hole, 718 is the first threaded hole, 719 is the first threaded hole, 719 is the first threaded hole, 711 is the first threaded hole, 711 is the first threaded hole, 712 is the first threaded hole, 713 is the first threaded hole, 714 is the first threaded hole, 715 is the first threaded hole, 716 is the first threaded hole, 717 is the first threaded hole, 718 is the first threaded hole, 719 is the first threaded hole, 719 is the first threaded hole, is a baffle, 704 is an outer sleeve, 705 is a center shaft, 706 is an adjusting sleeve, 707 is a thrust bearing, 708 is a support sleeve, 709 is a blade, 710 is a blade return spring, 711 is a retaining spring, 801 is an upper pressure plate, 802 is a pressure plate gasket, 803 is a pressure plate fastener, 804 is a lower pressure plate, 1201 is a tool holder, 1202 is a linear bearing seat, 1203 is a linear bearing, 1204 is a sensor bracket, 1205 is a tool detection sensor, 1301 is a reamer, and 1401 is a chamfering knife. DETAILED DESCRIPTION

[0058] 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.

[0059] 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.

[0060] Example 1

[0061] See attached Figure 1-13 A robot system for grooving, chamfering, and reaming holes in a pressure vessel tube sheet includes a robot body 2, a robot base 1 for fixing the robot body 2, a workbench 11, a tool library 12, and a control system.

[0062] The robot body 2 includes a robotic arm, at the end of which is provided an electric spindle support 3, to which is connected a visual positioning system 5 for identifying the position of plate and tube holes and a robotic arm assembly; the robotic arm assembly includes an electric spindle 6 and a tool disposed below the electric spindle 6;

[0063] The workbench 11 includes a work support platform and a clamping mechanism 8 disposed on the top of the work support platform for fixing the tube sheet 10;

[0064] The tool magazine 12 is provided on one side of the workbench 11 and is used to place cutting tools, including grooving tools 7, chamfering tools 14 or reaming tools 13;

[0065] The control system is connected to the robot body 2 and the electric spindle 6 and is used for collecting signals and outputting signals to the robot and the electric spindle 6.

[0066] The present invention uses a robotic system to automatically complete the grooving, chamfering, and reaming of tube sheet holes. During operation, a robotic arm first drives a visual positioning system 5 to move above the tube sheet 10, takes a picture of the tube sheet hole's position, and then identifies and locates it. The robotic arm then drives an electric spindle 6 to automatically clamp a grooving tool 7 and groove the tube sheet hole. After grooving is complete, the robotic arm drives the electric spindle 6 to release the grooving tool 7 and clamp a chamfering tool 14 to chamfer the hole. The reaming process then proceeds. The entire process is automatically performed by the robotic system, eliminating the need for manual intervention such as tool setting and tool switching, resulting in a high degree of automation.

[0067] To secure the visual positioning system 5 and the tool, and to maintain their position relative to each other, the electric spindle support 3 is formed with a vertically bent structure into a connecting surface 301 and a supporting surface 302. The connecting surface 301 is connected to the end of the robotic arm, and the supporting surface 302 is provided with an electric spindle mounting hole 303 for mounting the electric spindle 6. A camera bracket 4 is connected to the bottom of the supporting surface 302, away from the electric spindle mounting hole 303. The camera bracket 4 is used to secure the visual positioning system 5. A first through-hole is provided on the connecting surface 301, and the electric spindle support 3 is bolted to the flange at the end of the robotic arm. A support ring is provided on the outer wall of the electric spindle 6. After passing through the electric spindle mounting hole 303, the electric spindle 6 is supported on the supporting surface 302 by the support ring and secured via a first threaded hole 304. The camera bracket 4 is secured to the supporting surface 302 via a second threaded hole.

[0068] The connecting surface 301 is fixed to the end of the robot arm through the first through-hole, which fixes the electric spindle support 3 and prevents the visual positioning system 5 and the tool from moving during operation. A circle of first threaded holes 304 is provided on the support surface 302 around the electric spindle mounting hole 303. Bolts are passed through the first threaded holes 304 to fix the support ring of the electric spindle 6 to the support surface 302, maintaining the stability of the tool during operation and making the processing more precise. A second threaded hole is also provided on the support surface 302 away from the first threaded hole 304. The camera bracket 4 is fixed through the second threaded hole, so that the visual positioning system 5 is connected to the camera bracket 4 and fixed through the camera bracket 4.

[0069] The visual positioning system 5 is selected from an area array camera, a line array camera, a 3D camera, and a laser scanner. The visual positioning system 5 is used to identify the plane position and depth position of the tube sheet hole.

[0070] To ensure a better connection between the electric spindle 6 and the tool and prevent the tool from shaking or falling during operation, which would affect machining accuracy, the electric spindle 6 includes a motor that drives the tool and a clamping mechanism that holds the tool. The clamping mechanism includes a pull rod and a pull claw. The pull rod drives the pull claw to open and retract, and the force between the pull claw and the tool joint mechanism 15 enables the tool to be tightened and replaced.

[0071] The electric spindle 6 is also provided with a cooling pipe and a cylinder that pushes the pull rod to move up and down. The cooling pipe is connected to the cooling system, and the cylinder is connected to the pneumatic device. Preferably, the cylinder can be replaced by a hydraulic cylinder, and the pneumatic device is replaced by a hydraulic device. The motor is connected to the cylinder, and the pneumatic device is connected to the pull rod of the clamping mechanism. When in use, under the pressure of the cylinder, the pneumatic device pulls the pull rod in turn, driving the pull claw to retract, connecting the clamping mechanism of the electric spindle 6 with the tool joint mechanism 15 to be used, and pulling the pull rod in the opposite direction under the pull of the starting device, driving the pull claw to open. After the pull claw opens, the protruding block on the pull claw engages the clamping point inside the joint mechanism 15, and the pull rod squeezes the pull claw to fix it, thereby realizing the connection and fixation of the tool.

[0072] In a preferred embodiment, to facilitate connection between the tool and the electric spindle 6, the tool connector 15 utilizes an HSK or TB interface. HSK and TB are standard tool change interfaces for CNC machine tool spindles, facilitating tool replacement, installation, and maintenance. The electric spindle 6 also provides torque sufficient for slotting, chamfering, and reaming operations. It also features collision detection and X, Y, and Z-axis floating capabilities.

[0073] To prevent overheating during operation and thus reduce the service life of the electric spindle 6, a cooling system is provided inside the electric spindle 6. The cooling system includes a coolant tank, a coolant pump, and a filter and purification device. The coolant pump filters the coolant in the coolant tank through the filter and purification device, pumps it into the cooling pipe, and then returns it to the coolant tank to form a coolant circulation system.

[0074] The clamping mechanism 8 includes an upper pressure plate 801, a lower pressure plate 804, a pressure plate gasket 802 and a pressure plate fastener 803. A plurality of through holes for the pressure plate fasteners 803 to pass through are provided on the surface of the workbench 11. The lower pressure plate 804 is connected to the surface of the workbench 11 through the pressure plate fasteners 803. Then the pressure plate fasteners 803 pass through the upper pressure plate 801, so that the tube sheet 10 is set between the upper pressure plate 801 and the surface of the workbench 11; a pressure plate gasket 802 is also provided between the upper pressure plate 801 and the surface of the workbench 11.

[0075] To prevent scratches on the tubesheet during machining, tubesheet spacers 9 are installed between the tubesheet 10 and the workbench 11. Four tubesheet spacers 9 are located at the four corners of the tubesheet 10. During use, the tubesheet spacers 9 align with the position of the clamping mechanism 8, so that when the clamping mechanism 8 is secured, the tubesheet spacers 9 are positioned below the tubesheet 10 where the upper platen 801 is secured.

[0076] There are four clamping mechanisms 8. The positions of the clamping mechanisms 8 on the workbench 11 can be adjusted according to the size of the tubesheet 10, allowing the clamping mechanisms 8 to secure the four corners of the tubesheet 10. To secure the tubesheet 10, the tubesheet 10 is placed on the workbench 11. First, the lower pressing plate 804 is secured to the through-holes on the workbench 11 near the four corners of the tubesheet 10 using the pressing plate fasteners 803, based on the position of the tubesheet 10. The upper pressing plate 801 is then passed through the pressing plate fasteners 803, one end of which rests on the pressing plate gasket 802 and the other end rests on the tubesheet 10. The pressing plate fasteners 803 are then secured with nuts to secure the tubesheet 10. In a preferred embodiment, to facilitate securing the tubesheet 10, the holes in the upper and lower pressing plates 801, 804, through which the pressing plate fasteners 803 pass, are strip-shaped.

[0077] The tool library 12 includes a tool holder 1201, which is provided with a linear bearing seat 1202 for placing a tool. The linear bearing seat 1202 is fixed to the tool holder 1201 by bolts. The central portion of the linear bearing seat 1202 is provided with a stepped hole for fixing a linear bearing 1203. A tool detection sensor 1205 is provided at the bottom of the tool holder 1201 at a position corresponding to the linear bearing 1203. The tool detection sensor 1205 is fixed by a sensor bracket 1204. When the tool is placed on the tool holder 1201, the tool passes through the linear bearing 1203 and just contacts the tool detection sensor 1205, which is used to detect whether the tool is in place. When the tool is placed after processing is completed, if the tool is not in place and the tool cannot contact the tool detection sensor 1205, the system will not detect the tool. The system will instruct the robot arm to re-place the tool until the tool detection sensor 1205 detects the tool.

[0078] In order to avoid taking the wrong tool during work, there are three linear bearing seats 1202, which are used to place the grooving tool 7, the chamfering tool 14 and the reaming tool 13 respectively.

[0079] The slotting tool 7 includes a joint mechanism 15, a positioning and adjustment mechanism and a slotting mechanism. The joint mechanism 15 is connected to the electric spindle 6 through the spindle joint 701. The joint mechanism 15 is provided with a spring mounting hole for installing the central axis return spring 702, and a baffle 703 is provided at the bottom of the spring mounting hole; the positioning and adjustment mechanism includes a central axis 705 fixed to the top end of the spring mounting hole, an outer sleeve 704 movably sleeved on the outside of the central axis 705, and the top of the outer sleeve 704 is connected to the central axis return spring 702; the slotting mechanism includes a detachable adjustment sleeve 706 and a blade 709 that is detachably sleeved on the outside of the outer sleeve 704. The slotting depth is limited by adjusting the relative position of the adjustment sleeve 706 and the outer sleeve 704. The blade 709 is arranged between the outer sleeve 704 and the central axis 705, and slotting is achieved by adjusting the length of the blade 709 extending out of the outer sleeve 704.

[0080] The slotting position is adjusted by adjusting the relative position of the adjusting sleeve 706 in the slotting mechanism and the external thread of the outer sleeve 704. The slotting depth is adjusted by lowering the robot. By setting the robot's lowering height, the slotting depth can be freely adjusted. Compared with the current manual adjustment of the slotting depth, the accuracy is better and the adjustment is more convenient. The two sliding fits between the blade 709, the central axis 705 and the outer sleeve 704 are used to convert the longitudinal movement of the central axis 705 into the lateral movement of the blade 709. When the central axis 705 moves downward relative to the outer sleeve 704, the blade head slides out laterally, and when the central axis 705 moves upward, the blade head slides into the outer sleeve 704 laterally. The blade 709 moves more smoothly and the slotting accuracy is high.

[0081] The blade 709 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 bottom of the central axis 705. A cutting hole consistent with the cross-sectional shape of the cutting head is provided on the outer sleeve 704. A blade return spring 710 is provided between the blade 709 and the outer sleeve 704.

[0082] To accurately position the slot, the lower outer wall of the outer sleeve 704 protrudes outward to form an adjustment portion, which is threaded. The inner wall of the adjustment sleeve 706 is threaded and threadedly connected to the adjustment portion. The adjustment sleeve 706 has a screw threaded hole. By rotating the threaded hole, the distance between the support sleeve 708 and the knife hole is adjusted, thereby adjusting the slot position. Once the distance is fixed, the adjustment sleeve 706 is fixed to the adjustment portion with a screw thread to prevent rotation.

[0083] To prevent the support sleeve 708 from rotating with the center shaft 705 during the grooving process and causing scratches on the tube sheet surface, a thrust bearing 707 is mounted on the outer sleeve 704 under the adjustment section, with the support sleeve 708 secured beneath the thrust bearing 707. The support sleeve 708 includes a large-diameter end and a small-diameter end, with the large-diameter end connected to the thrust bearing 707. A retaining spring 711 is positioned beneath the large-diameter end of the support sleeve 708. The thrust bearing 707, the large-diameter end of the support sleeve 708, and the retaining spring 711 are embedded within the adjustment sleeve 706. The large-diameter end of the support sleeve 708 is secured to the bottom of the thrust bearing 707, and the retaining spring 711 secures the support sleeve 708 axially.

[0084] The present invention can also adjust the slotting position by replacing the small-diameter end of the support sleeve 708 of different lengths to adapt to different slotting positions.

[0085] The chamfering tool 14 includes a joint mechanism 15 and a chamfering cutter 1401. The chamfering cutter 1401 is used to cut metal materials and perform chamfering operations. The chamfering cutter 1401 is fixedly connected to the output end of the electric spindle 6 through the joint mechanism 15 to transmit the torque of the electric spindle 6 and realize automatic switching of the cutter through the joint mechanism 15.

[0086] The reaming tool 13 includes a joint mechanism 15 and a reamer 1301. The reamer 1301 is used to cut metal materials and realize reaming work. The reamer 1301 is fixedly connected to the output end of the electric spindle 6 through the joint mechanism 15 to transmit the torque of the electric spindle 6 and realize automatic switching of the tool through the joint mechanism 15.

[0087] The robot body 2 is a six-axis industrial robot.

[0088] The robot system also includes a visual image processing system, which is connected to the visual positioning system 5 and the control system. The image captured by the visual positioning system 5 is analyzed by the visual image processing system to form position information, which is then transmitted to the control system.

[0089] The robot system also includes a safety fence that encloses the robot body 2, the robot base 1, the workbench 11, and the tool library 12.

[0090] Example 2

[0091] A pressure vessel tube sheet hole grooving, chamfering, and reaming robot system processing method includes the following steps:

[0092] S1. Place the tube sheet on the workbench, fix it with the clamping mechanism, and then turn on the start button;

[0093] S2. The control system controls the movement of the robotic arm so that the visual positioning system is located directly above the tube sheet. The position information of the tube sheet holes on the tube sheet is collected and uploaded to the visual image processing system for processing. The visual image processing system analyzes the image collected by the visual positioning system to form position information, which is transmitted to the control system. The control system automatically adjusts the movement path of the robotic arm according to the position coordinates to complete the grooving, chamfering, and reaming work.

[0094] S3. The robot arm moves to the top of the tool library, so that the clamping mechanism of the electric spindle clamps the joint mechanism of the slotting tool, and then moves to the top of the tube sheet to slot each tube sheet hole that needs to be slotted in turn until all the tube sheet holes on the tube sheet are slotted;

[0095] S4. The robotic arm drives the electric spindle back to the top of the tool library, places the slotting tool in the empty linear bearing, releases the clamping mechanism, and moves the electric spindle to the top of the chamfering tool, so that the clamping mechanism of the electric spindle clamps the joint mechanism of the chamfering mechanism. Then, the robot moves to the top of the tube sheet and chamfers each tube sheet hole that needs to be chamfered in turn until all the tube sheet holes on the tube sheet are chamfered.

[0096] S5. The robotic arm drives the electric spindle back to the top of the tool library, places the chamfering tool in the empty linear bearing, releases the clamping mechanism, and moves the electric spindle to the top of the reaming tool, so that the clamping mechanism of the electric spindle clamps the joint mechanism of the reaming mechanism. Then, the robotic arm moves to the top of the tube sheet and reams each tube sheet hole that needs to be reamed in turn until all the tube sheet holes are reamed.

[0097] S6. Turn off the switch to complete the grooving, chamfering and reaming of the tube sheet.

[0098] When clamping the tool, the clamping mechanism of the electric spindle is positioned according to the corresponding position set in the control system; when releasing the tool, the tool detection sensor at the bottom of the tool library detects whether the tool is in position. If the tool detection sensor cannot detect the tool information, it will transmit the signal to the control system. Under the control of the control system, the robotic arm accurately finds the corresponding position and places the tool.

[0099] The processing method of the slotting tool includes the following steps:

[0100] The robotic arm moves to the top of the tool library, so that the clamping mechanism of the electric spindle clamps the joint mechanism of the slotting tool, and then moves to the top of the tube sheet. The robotic arm drives the slotting tool down to the position of the plate tube hole and continues to descend, so that the outer shaft sleeve descends along the plate tube hole wall until the lower end of the support sleeve is close to the upper end surface of the tube sheet;

[0101] The robotic arm 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 slot at the lower end of the central shaft is exposed, causing the sliding surface of the blade to rise along the inclined slot, exposing the cutter head to the outer shaft sleeve until the cutter head moves to the position where the slotting is required and stops descending. The electric spindle drives the spindle to rotate to realize the slotting.

[0102] After the grooving is completed, the electric spindle drives the main shaft to stop rotating and rise, and the sliding surface of the blade descends 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 position of the outer sleeve and the support sleeve remains unchanged under the elastic action of the middle shaft return spring until the middle shaft return spring returns to normal state.

[0103] In a preferred embodiment, the processing method of the grooving tool includes the following steps:

[0104] The robotic arm moves to the top of the tool library, so that the clamping mechanism of the electric spindle clamps the joint mechanism of the slotting tool, and then moves to the top of the tube sheet. The robotic arm drives the slotting tool down to the position of the plate tube hole and continues to descend, so that the outer shaft sleeve descends along the plate tube hole wall until the lower end of the support sleeve is close to the upper end surface of the tube sheet;

[0105] The mechanical arm drives the central shaft to continue to descend. Under the action of the supporting sleeve, the supporting sleeve, the adjusting sleeve and the outer shaft sleeve are stationary. The central shaft return spring is compressed, causing the central shaft to move downward relative to the outer shaft sleeve, exposing the inclined groove at the lower end of the central shaft, causing the sliding surface of the blade to slide upward along the inclined groove, causing the cutter head to gradually expose the outer shaft sleeve from the cutter hole. The blade return spring is compressed until the cutter head moves to the required slotting depth and stops descending.

[0106] The electric spindle drives the main shaft and joint mechanism to rotate. The outer sleeve and the adjustment sleeve rotate with the main shaft due to the limiting effect 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 slotting inside the tube sheet hole.

[0107] After the grooving 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 groove, so that the cutter head gradually retracts into 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 normal.

[0108] 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.

[0109] 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.

[0110] 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 system for grooving, chamfering, and reaming holes in tube sheets of pressure vessels, characterized by: It includes a robot body, a robot base for fixing the robot body, a workbench, a tool library and a control system. The robot body includes a robotic arm, at the end of which is provided an electric spindle support, the electric spindle support being connected to a visual positioning system for identifying the position of plate and tube holes and a robotic arm assembly; the robotic arm assembly includes an electric spindle and a tool arranged below the electric spindle; The workbench includes a work support platform and a clamping mechanism arranged on the top of the work support platform for fixing the tube sheet; The tool magazine is arranged on one side of the workbench and is used to place cutting tools, wherein the cutting tools include grooving tools, chamfering tools or reaming tools; The control system is connected to the robot body and the electric spindle, and is used for collecting signals and outputting signals to the robot and the electric spindle.

2. A robot system for grooving, chamfering, and reaming holes in tube sheets of pressure vessels according to claim 1, characterized in that: The electric spindle support forms a connecting surface and a supporting surface through a vertical bending structure, the connecting surface is connected to the end of the robotic arm, and the supporting surface is provided with an electric spindle mounting hole for installing the electric spindle. The bottom of the supporting surface away from the electric spindle mounting hole is connected to a camera bracket, and the camera bracket is used to fix the visual positioning system.

3. A robot system for grooving, chamfering, and reaming holes in tube sheets of pressure vessels as claimed in claim 2, characterized in that: A support ring is provided on the outer wall of the electric spindle. After the electric spindle passes through the electric spindle mounting hole, it is supported on the support surface by the support ring and fixed by the first threaded hole; the camera bracket is fixed on the support surface by the second threaded hole.

4. A robot system for grooving, chamfering, and reaming holes in tube sheets of pressure vessels as claimed in claim 1, characterized in that: The clamping mechanism includes an upper pressure plate, a lower pressure plate, a pressure plate gasket and a pressure plate fastener. The workbench surface is provided with a number of through holes for the pressure plate fasteners to pass through. The lower pressure plate is connected to the workbench surface through the pressure plate fasteners, and then the pressure plate fasteners pass through the upper pressure plate, so that the tube plate is arranged between the upper pressure plate and the workbench surface; a pressure plate gasket is also provided between the upper pressure plate and the workbench surface.

5. The robot system for grooving, chamfering, and reaming holes in tube sheets of pressure vessels according to claim 1, characterized in that: The tool magazine includes a tool rack, which is provided with a linear bearing seat for placing the tool. The linear bearing seat is fixed to the tool rack by bolts, and a step hole for fixing the linear bearing is provided in the middle of the linear bearing seat; a tool detection sensor is provided at the bottom of the tool rack at a position corresponding to the linear bearing, and the tool detection sensor is fixed by a sensor bracket.

6. A robot system for grooving, chamfering, and reaming holes in tube sheets of pressure vessels as claimed in claim 1, characterized in that: The grooving tool includes a joint mechanism, a positioning and adjustment mechanism and a slotting mechanism. The joint mechanism is provided with a spring mounting hole for installing a central axis return spring, and a blocking piece is provided at the bottom of the spring mounting hole; the positioning and adjustment mechanism includes a central axis fixed to the top end of the spring mounting hole, an outer sleeve movably sleeved on the outside of the central axis, and the top of the outer sleeve is connected to the central axis return spring; the slotting mechanism includes a detachable adjustment sleeve and a blade that are detachably sleeved on the outside of the outer sleeve, and the slotting depth is limited by adjusting the relative position of the adjustment sleeve and the outer sleeve, and the blade is arranged between the outer sleeve and the central axis, and slotting is achieved by adjusting the length of the blade extending out of the outer sleeve.

7. A robot system for grooving, chamfering, and reaming holes in a tube sheet of a pressure vessel according to claim 6, characterized in that: 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.

8. The robot system for grooving, chamfering, and reaming holes in tube sheets of pressure vessels according to claim 1, characterized in that: The robot system also includes a visual image processing system, which is connected to the visual positioning system and the control system. The image collected by the visual positioning system is analyzed by the visual image processing system to form position information, which is transmitted to the control system.

9. A processing method for grooving, chamfering and reaming holes in a tube sheet of a pressure vessel using the robot system according to any one of claims 1 to 8, characterized in that: The following steps are involved: S1. Place the tube sheet on the workbench, fix it with the clamping mechanism, and then turn on the start button; S2: The control system controls the movement of the robotic arm so that the visual positioning system is located directly above the tube sheet. The position information of the tube sheet holes is collected and uploaded to the visual image processing system for processing. The information is then transmitted to the control system. The control system automatically adjusts the movement path of the robotic arm according to the position coordinates to complete the grooving, chamfering, and reaming operations. S3. The robot arm moves to the top of the tool library, so that the clamping mechanism of the electric spindle clamps the joint mechanism of the slotting tool, and then moves to the top of the tube sheet to slot each tube sheet hole that needs to be slotted in turn until all the tube sheet holes on the tube sheet are slotted; S4. The robotic arm drives the electric spindle back to the top of the tool library, places the slotting tool in the empty linear bearing, releases the clamping mechanism, and moves the electric spindle to the top of the chamfering tool, so that the clamping mechanism of the electric spindle clamps the joint mechanism of the chamfering mechanism. Then, the robot moves to the top of the tube sheet and chamfers each tube sheet hole that needs to be chamfered in turn until all the tube sheet holes on the tube sheet are chamfered. S5. The robotic arm drives the electric spindle back to the top of the tool library, places the chamfering tool in the empty linear bearing, releases the clamping mechanism, and moves the electric spindle to the top of the reaming tool, so that the clamping mechanism of the electric spindle clamps the joint mechanism of the reaming mechanism. Then, the robotic arm moves to the top of the tube sheet and reams each tube sheet hole that needs to be reamed in turn until all the tube sheet holes are reamed. S6. Turn off the switch to complete the grooving, chamfering and reaming of the tube sheet.

10. The processing method according to claim 9, characterized in that: When clamping the tool, the clamping mechanism of the electric spindle is positioned according to the corresponding position set in the control system; when releasing the tool, the tool detection sensor at the bottom of the tool library detects whether the tool is in position. If the tool detection sensor cannot detect the tool information, it transmits the signal to the control system. Under the control of the control system, the robotic arm accurately finds the corresponding position and places the tool.

Images