Automatic pipe winding machine for winding pipe type heat exchanger

Abstract

The invention relates to an automatic pipe winding machine for a winding pipe type heat exchanger. An automatic pipe winding machine for a winding pipe type heat exchanger comprises a base, a pipe winding assembly used for winding a heat exchange pipe of the heat exchanger is arranged on the base, a ground rail is arranged on the portion, on one side of the pipe winding assembly, of the base, and a pipe releasing assembly capable of moving in a reciprocating mode is arranged on the ground rail and comprises a bottom plate matched with the ground rail. One side of the top of the bottom plate is provided with a pipe placing and tensioning unit used for achieving pipe placing and tensioning a heat exchange pipe in the pipe placing process, and the other side of the top of the bottom plate is provided with a multi-angle pipe winding guide unit matched with the pipe placing and tensioning unit; the pipe winding assembly comprises a pipe winding shaft and a fixing base which is provided with the pipe winding shaft and can support and rotate the pipe winding shaft. And the production efficiency and the product quality are obviously improved.

Description

TECHNICAL FIELD

[0001] The present application relates to a winding pipe heat exchanger automatic pipe winding machine. BACKGROUND

[0002] The winding pipe heat exchanger is a kind of heat exchanger, which is wound in spiral shape according to the direction of the heat exchanger pipe. The winding pipe heat exchanger has the advantages of wide temperature range, heat shock resistance, heat stress self-elimination, high heat transfer efficiency, compact structure and the like due to the special structure of the heat exchanger pipe. Compared with the ordinary tube heat exchanger, it has great advantages.

[0003] In the manufacturing process of the winding pipe heat exchanger, the bending of the steel pipe is one of the key processes. The heat pipe bundle, as the core component of the winding pipe heat exchanger, its production process will play a decisive role in the performance of the heat exchanger. At present, the winding process of the heat pipe bundle mostly adopts manual method, which has no obvious disadvantage for small heat pipe bundle, but the market demand of the winding pipe heat exchanger has a trend of large-scale, the pipe bundle diameter is several meters, the length is dozens of meters or even hundreds of meters, the traditional manual method cannot meet the demand, the traditional manual or semi-automatic bending method and winding method have the problems of low efficiency, poor precision and difficult to guarantee consistency, which cannot meet the demand of modern industry for high precision and high efficiency, and it is urgent to optimize the process by automatic method, based on this, the present application designs the automatic pipe winding machine solution. SUMMARY

[0004] The present application aims to provide a winding pipe heat exchanger automatic pipe winding machine to solve the problems in the background.

[0005] To achieve the above-mentioned purpose, the present application provides the following technical scheme: a winding pipe heat exchanger automatic pipe winding machine, comprising a base, a pipe winding assembly for winding the heat exchanger pipe is arranged on the base, a ground rail is arranged on one side of the base of the pipe winding assembly, a pipe line assembly capable of reciprocating is arranged on the ground rail, the pipe line assembly comprises a bottom plate matched with the ground rail, a pipe laying and tensioning unit for laying the heat exchanger pipe and tensioning the heat exchanger pipe during laying is arranged on one side of the top of the bottom plate, a multi-angle pipe winding guide unit matched with the pipe laying and tensioning unit is arranged on the other side of the top of the bottom plate; the pipe winding assembly comprises a pipe winding shaft and a fixing seat arranged on the pipe winding shaft and capable of supporting and rotating the pipe winding shaft.

[0006] Preferably, the pipe laying and tensioning unit comprises a lifting rotary support column, a pipe line material wheel arranged on the lifting rotary support column, and an intermediate guide tool matched with the pipe line material wheel.

[0007] Preferably, the pipe laying wheel is fixed on the lifting rotary support column through a support mounting plate mounted on the lifting rotary support column, and the pipe laying wheel comprises a wheel base and a detachable cover plate, and the wheel base and the detachable cover plate are fixed through a fixing knob.

[0008] Preferably, the lifting rotary support column comprises a lead screw, the lead screw drives the up-down movement through a first motor, a support mounting plate is mounted on the lifting rotary support column, and a rotary support is arranged at the bottom of the lifting rotary support column, the rotary support is driven by a servo motor to adjust the deflection angle to adapt to different pipe winding angles.

[0009] Preferably, the intermediate guiding tool is mounted at the end of the support mounting plate, and comprises a shell, a heat exchange pipe to be cut is arranged in the shell, the heat exchange pipe to be cut is provided with guiding wheels allowing the heat exchange pipe to pass through above and below the heat exchange pipe to be cut, a permanent magnet damper is correspondingly mounted on the lateral side of the guiding wheels, the permanent magnet damper is connected with the guiding wheels, a rodless cylinder is arranged at the upper portion of the permanent magnet damper, a pneumatic clamping jaw is arranged on the longitudinal side of the guiding wheels, a second motor is arranged on the outer side of the shell, the main shaft of the second motor is connected with a secondary shaft through a belt, the secondary shaft drives the steel pipe to be cut to rotate, a rotary pipe cutting mechanism is arranged on the outer side of the secondary shaft, the rotary pipe cutting mechanism comprises two symmetrical cutting knives in contact with the heat exchange pipe to be cut, and the movement of the two cutting knives is controlled through respective cylinders.

[0010] Preferably, the multi-angle pipe winding guiding unit comprises a six-axis mechanical arm mounted on a base plate, and a pipe winding guiding tool is arranged at the top end of the six-axis mechanical arm, the pipe winding guiding tool comprises a flange base, a pipe winding guiding tool shell is arranged on the flange base, a pipe winding guiding visual camera is arranged at the top portion of the pipe winding guiding tool shell, the heat exchange pipe to be cut passes through the inside of the pipe winding guiding tool shell, the heat exchange pipe to be cut is arranged between an upper guiding wheel and a lower guiding wheel, a variable-distance linear module is arranged at the upper portion of the upper guiding wheel, a lifting cylinder is arranged at the lower portion of the lower guiding wheel, parallel pressure rails are arranged on the heat exchange pipe to be cut outside the pipe winding guiding tool shell to apply pressure to the heat exchange pipe to be cut, a pressure plate is arranged on the pressure rails, a pressure block is arranged on the pressure plate, and a pressure cylinder is arranged on the pressure block.

[0011] Preferably, one side of the permanent magnet damper is provided with a dynamic torque sensor.

[0012] Preferably, a rubber sleeve is arranged on the guiding wheel.

[0013] Preferably, a plurality of pipe laying wheels are arranged on the lifting rotary support column.

[0014] Preferably, the plurality of pipe laying wheels and the intermediate guiding tool have a one-to-one corresponding relationship.

[0015] The advantages of the present application are as follows:

[0016] (1) The rotary pipe cutting mechanism can realize automatic pipe cutting, improve pipe cutting efficiency and overall winding efficiency.

[0017] (2) Multiple pipe feeding line wheels are arranged to realize simultaneous feeding of multiple heat exchange pipes and simultaneous winding, thereby improving overall winding efficiency.

[0018] (3) The pneumatic clamping jaw and permanent magnet damper realize tensioning of the heat exchange pipe to avoid rebound of the heat exchange pipe after winding.

[0019] In summary, the present application can realize accurate bending of the heat exchange pipe, simultaneous winding of multiple heat exchange pipes and control of winding pressure by integrating mechanical design, automation control, sensor technology and visual recognition system, and has the advantages of significantly improving production efficiency and product quality. BRIEF DESCRIPTION OF DRAWINGS

[0020] Figure 1 It is a schematic diagram of the overall structure of the present application.

[0021] Figure 2 It is a schematic diagram of the pipe feeding line assembly structure of the present application.

[0022] Figure 3 It is a schematic diagram of the structure of the pipe feeding line wheel of the present application.

[0023] Figure 4 It is a schematic diagram of the structure of the lifting rotary support column of the present application.

[0024] Figure 5 It is a schematic diagram of the structure of the intermediate guide tool of the present application.

[0025] Figure 6 It is a schematic diagram of the local structure of the intermediate guide tool of the present application.

[0026] Figure 7 It is a schematic diagram of the structure of the pipe winding guide tool of the present application. DETAILED DESCRIPTION

[0027] The technical solutions in the embodiments of the present application will be described clearly and completely below with reference to the drawings in the embodiments of the present application.

[0028] Please refer to Figure 1As shown in FIG. 7, the application provides an embodiment of an automatic pipe winding machine for a wound pipe heat exchanger, which comprises a base 1, wherein a pipe winding assembly for winding heat exchanger pipes is arranged on the base 1, a ground rail 2 is arranged on one side of the base 1, and a pipe laying assembly that can move back and forth is arranged on the ground rail 2. The pipe laying assembly comprises a bottom plate 7 that is matched with the ground rail 2, a pipe laying and tensioning unit is arranged on one side of the top of the bottom plate 7 for winding and tensioning the heat exchanger pipes during the winding process, and a multi-angle pipe winding guide unit that is matched with the pipe laying and tensioning unit is arranged on the other side of the top of the bottom plate 7.

[0029] Further, the pipe laying and tensioning unit comprises a lifting rotary support column 5, a pipe laying line wheel 4 arranged on the lifting rotary support column 5, and an intermediate guide tool 6 matched with the pipe laying line wheel 4.

[0030] Further, the pipe laying line wheel 4 is fixed on the lifting rotary support column 5 through a support mounting plate 8 arranged on the lifting rotary support column 5. The pipe laying line wheel 4 comprises a wheel base 12 and a detachable cover plate 13 that are fixed through a fixing knob 14. During the feeding process, the detachable cover plate 13 is detached manually, the pipe line coil is placed on the base, and then the detachable cover plate 13 is installed to fix the pipe line coil. The detachable cover plate 13 is made of light material, which is convenient, safe and reliable to operate.

[0031] Further, the lifting rotary support column 5 comprises a lead screw 15 that is driven to move up and down by a first motor 16. The lifting rotary support column 5 is installed with a support mounting plate 8, and the bottom of the lifting rotary support column 5 is provided with a rotary support 17 that is driven to adjust the deflection angle by a servo motor 18 to adapt to different pipe winding angles. The lifting rotary support column 5 is the main structure for supporting the pipe laying line wheel 4. The support mounting plate 8 can be installed with at least two pipe laying line wheels 4. The lifting structure is driven by the first motor 16 to drive the lead screw 15, and the rotary support 17 is installed on the bottom of the base and is driven by the servo motor 18 to adjust the deflection angle to adapt to different pipe winding angles.

[0032] Further, the intermediate guide tool 6 is installed at the end of the support mounting plate 8, including a shell 19, the heat exchange pipe 20 to be cut is installed in the shell 19, the upper and lower parts of the heat exchange pipe 20 to be cut are provided with guide wheels 21 for passing through, the transverse side of the guide wheel 21 is provided with a permanent magnet damper 22, the permanent magnet damper 22 is connected with the guide wheel 21, the upper part of the permanent magnet damper 22 is provided with a rodless cylinder 23, the longitudinal side of the guide wheel 21 is provided with a pneumatic clamp jaw 24, the outer side of the shell 19 is provided with a second motor 25, the main shaft 26 of the second motor 25 is connected with a secondary shaft 28 through a belt 27, the secondary shaft 28 drives the steel pipe 20 to be cut to rotate, the outer side of the secondary shaft 28 is provided with a rotary pipe cutting mechanism, the rotary pipe cutting mechanism includes two symmetrical cutting knives 29 which are in contact with the heat exchange pipe 20 to be cut, the movement of the two cutting knives 29 is controlled by the respective cylinders 30; the rotary pipe cutting mechanism realizes automatic cutting of the super-long heat exchange pipe 20, and improves the cutting efficiency of the heat exchange pipe 20.

[0033] The intermediate guide tool 6 is a mechanism for supporting and guiding the heat exchange pipe 20 to be cut, and the permanent magnet damper 22 is installed in the intermediate guide tool 6 and connected with the guide wheel 21, so that the heat exchange pipe 20 to be cut can be provided with damping friction force, so that the winding is tighter and prevents loosening; the rotary pipe cutting mechanism can cut the heat exchange pipe 20 to be cut, and the pneumatic clamp jaw 24 is used to clamp the pipe line when cutting the pipe.

[0034] Further, the multi-angle pipe winding guide unit includes a six-axis mechanical arm 9 installed on the bottom plate 7, and the top end of the six-axis mechanical arm 9 is provided with a pipe winding guide tool 10, the pipe winding guide tool 10 includes a flange base 31, the flange base 31 is provided with a pipe winding guide tool shell 32, the top of the pipe winding guide tool shell 32 is provided with a pipe winding guide visual camera, the heat exchange pipe 20 to be cut passes through the inside of the pipe winding guide tool shell 32, and the heat exchange pipe 20 to be cut is installed between the upper guide wheel 33 and the lower guide wheel 34, the upper part of the upper guide wheel 33 is provided with a variable-distance linear module 35, and the lower part of the lower guide wheel 34 is provided with a lifting cylinder 36, the heat exchange pipe 20 to be cut outside the pipe winding guide tool shell 32 is provided with a parallelly arranged pressure rail 37 for applying pressure to the heat exchange pipe 20 to be cut, the pressure rail 37 is provided with a pressure plate 38, the pressure plate 38 is provided with a pressure block 39, and the pressure block 39 is provided with a pressure cylinder 40; the upper guide wheel 33, the lower guide wheel 34 and the lifting cylinder 36 can keep the position accuracy of the winding pipe, clamp the material pipe for winding guide, and ensure the winding position accuracy, the variable-distance linear module 35 can adjust the linear distance, which is used for adjusting the winding distance of the heat exchange pipe 20 to be cut, the pressure cylinder 40 and the pressure tightening mechanism composed of the pressure rail 37, the pressure plate 38 and the pressure block 39 can ensure that the heat exchange pipe 20 to be cut has a pre-pressure when winding, so as to prevent the heat exchange pipe 20 to be cut from being dislocated, and the six-axis mechanical arm 9 can adjust the pipe winding guide tool 10 at multiple angles.

[0035] Further, one side of the permanent magnet damper 22 is provided with a dynamic torque sensor 41; the dynamic torque sensor 41 is used for monitoring the torque generated by the guide wheel 21 in real time, and when the torque is abnormal due to abnormal working conditions caused by the wear of the leather sleeve or the improper placement of the steel pipe or other reasons, the winding machine is closed through alarm interlocking, and the abnormality is checked and handled manually.

[0036] Further, the guide wheel 21 is provided with a rubber sleeve; the rubber sleeve is used for protecting the pipeline and increasing the friction.

[0037] Further, a plurality of pipe laying wheels 4 are arranged on the lifting rotary support column 5; the plurality of pipe laying wheels 4 are used for realizing the winding of a plurality of heat exchange pipes at the same time, improving the heat exchange pipe winding efficiency as a whole, and reducing the processing cost.

[0038] Further, the plurality of pipe laying wheels 4 and the intermediate guide tool 6 have a one-to-one correspondence.

[0039] Further, one side of the permanent magnet damper 22 is provided with a dynamic torque sensor 41; the dynamic torque sensor 41 is used for monitoring the torque generated by the guide wheel 21 in real time, and when the torque is abnormal due to abnormal working conditions caused by the wear of the leather sleeve or the improper placement of the steel pipe or other reasons, the winding machine is closed through alarm interlocking, and the abnormality is checked and handled manually.

[0040] Further, the guide wheel 21 is provided with a rubber sleeve; the rubber sleeve is used for protecting the pipeline and increasing the friction.

[0041] Further, the pipe winding guide tool shell 32 is provided with a pipe winding guide visual camera at the top.

[0042] The application is also provided with an electrical control system, which controls the whole system by adopting the mode of PLC equipped with a touch screen, and integrates the start-stop control of the pipe winding shaft into the control system, so that the automatic control of the pipe winding action and the feeding angle and position is realized. The formula production mode is adopted, the pipe winding related parameters are set in the formula system in advance, and the corresponding formula is selected according to the model during production, so that the production can be realized. The formula system supports common functions such as adding, deleting and modifying, and meets the needs of customized production of customers. The system adopts a modern bus control mode to control the robot, the visual system and the pipe winding shaft, ensures the stability and real-time performance of the system, cooperates with safety components, performs safety linkage on emergency states, and ensures production safety.

[0043] Working principle: During operation, the operator does not use the developed device when winding the first pipe of each layer, and the operator uses the hand-operated device to wind the first pipe, while the light guiding system needs to provide light indication or guidance at the position of the first bending or welding point, and the manual control force and spacing during manual pipe receiving and pipe placing ensure that the device requirements are met. The developed device starts winding from the second pipe of each layer, and the personnel perform pipe bending and end plate pipe insertion during winding, and the device completes the straight section winding. The developed device can meet the functional requirements of winding two heat pipes at the same time, in order to facilitate the pipe insertion and pipe bending of the end part, the two heat pipes need to be staggered by one pitch when winding at the same time, and the pitch of the two heat pipes is maximally reserved to 1 meter, which can also provide sufficient space for welding. The personnel need to communicate with the device in real time during winding to ensure the stable operation of the device, and stop and start the device at the welding position.

[0044] When using the device, the parameters of the electrical control system are set in advance, the ground rail 2 and the robot 9 are in place, the manual winding of the first heat pipe of each layer plays a positioning role, then the device is started, the steel pipe 20 to be cut is placed on the material wheel base 12, the direction and angle are adjusted through the lifting rotary support column 5, then the intermediate guide tool 6 and the multi-angle pipe winding guide unit guide the pipe winding position, and the heat exchange pipe 20 to be cut is wound on the pipe winding shaft.

[0045] The application adopts a six-axis mechanical arm plus an extended seventh-axis ground rail, and is equipped with a light guiding system to guide and indicate the pipe winding position, ensure high-precision and high-flexibility control of the feeding position and angle of the heat pipe, and realize automatic and accurate feeding and winding of the wound pipe. The front end of the robot is equipped with a heat pipe guide tool to ensure that the heat pipe does not appear excessive bending, deformation and other abnormal conditions during the feeding process, and the guide tool is equipped with a pressing mechanism to ensure the pressing force during winding. The feeding mechanism is integrated on the robot platform, which is convenient to install and remove, simple in structure and free in direction. The existing pipe winding device is transformed to meet the automatic winding function. The control system of the scheme adopts a control mode of PLC combined with a touch screen to centrally control the whole system, realizes dynamic adjustment of the tensioning force through collection of the winding device speed, and produces through formula setting to meet the diversity of products.

[0046] The device can be compatible with a wound pipe heat exchanger with a length of not more than 30 meters and a diameter of not more than 4.5 meters; the heat exchange pipe has a diameter range of Φ10mm-Φ25mm, a wall thickness range of 0.8mm-2.0mm, and a heat exchange pipe material of stainless steel.

[0047] The light guiding system refers to a light projection system for positioning, which provides a reference after the pipe is bent, which can guide the operator to perform welding positioning or pipe positioning. The guiding system needs to project a light line on the outermost layer of the pipe, about ±20CM around the operator positioning range. The photoelectric guiding system is directly purchased on the market, and the model is BSRG-03.

[0048] It will be apparent to those skilled in the art that the application is not limited to the details of the above-exemplified embodiments and that the present application can be implemented in other particular forms without departing from the spirit or essential characteristics thereof. The embodiments should therefore be considered in all respects as illustrative and not restrictive, the scope of the application being indicated by the appended claims rather than by the above description, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein. No reference signs in the claims should be considered as limiting the scope of the claims.

Claims

1. Automatic coiling machine for coiled pipe heat exchangers, comprising a base (1), characterized in that: The base (1) is provided with a pipe winding assembly for realizing heat exchange pipe winding of the heat exchanger, and a ground rail (2) is arranged on one side of the base (1) of the pipe winding assembly, and a pipe laying assembly capable of reciprocating is arranged on the ground rail (2), the pipe laying assembly comprises a base plate (7) matched with the ground rail (2), a pipe laying and tensioning unit for realizing pipe laying and tensioning of the heat exchange pipe during pipe laying is arranged on one side of the top of the base plate (7), and a multi-angle pipe winding guide unit matched with the pipe laying and tensioning unit is arranged on the other side of the top of the base plate (7); the pipe winding assembly comprises a pipe winding shaft (42) and a fixing seat (3) arranged on the pipe winding shaft (42) and capable of supporting and rotating the pipe winding shaft (42).

2. The spiral wound heat exchanger automatic winding machine of claim 1, wherein: The pipe laying and tensioning unit comprises a lifting rotary support column (5), a pipe laying line wheel (4) arranged on the lifting rotary support column (5), and an intermediate guide tool (6) matched with the pipe laying line wheel (4).

3. The spiral wound heat exchanger automatic winding machine of claim 2, wherein: The pipe laying line wheel (4) is fixed on the lifting rotary support column (5) through a support mounting plate (8) arranged on the lifting rotary support column (5), and the pipe laying line wheel (4) comprises a wheel base (12) and a detachable cover plate (13), and the wheel base (12) and the detachable cover plate (13) are fixed through a fixing knob (14).

4. The spiral wound heat exchanger automatic winding machine of claim 2, wherein: The lifting rotary support column (5) comprises a lead screw (15), the lead screw (15) is driven to move up and down through a first motor (16), a support mounting plate (8) is arranged on the lifting rotary support column (5), a rotary support (17) is arranged at the bottom of the lifting rotary support column (5), and the rotary support (17) is driven to adjust the deflection angle through a servo motor (18) so as to adapt to different pipe winding angles.

5. The spiral wound heat exchanger automatic winding machine of claim 2, wherein: The intermediate guide tool (6) is arranged at the end of the support mounting plate (8) and comprises a shell (19), the heat exchange pipe (20) to be cut is arranged in the shell (19), guide wheels (21) for passing the heat exchange pipe (20) to be cut are arranged above and below the heat exchange pipe (20) to be cut, permanent magnet dampers (22) are arranged on the transverse side of the guide wheels (21) in correspondence, the permanent magnet dampers (22) are connected with the guide wheels (21), rodless cylinders (23) are arranged on the upper part of the permanent magnet dampers (22), pneumatic clamping jaws (24) are arranged on the longitudinal side of the guide wheels (21), a second motor (25) is arranged on the outside of the shell (19), the main shaft (26) of the second motor (25) is connected with a secondary shaft (28) through a belt (27), the secondary shaft (28) drives the steel pipe (20) to be cut to rotate, a rotary pipe cutting mechanism is arranged on the outside of the secondary shaft (28), the rotary pipe cutting mechanism comprises two symmetrical cutting knives (29) in contact with the heat exchange pipe (20) to be cut, and the movement of the two cutting knives (29) is controlled through respective cylinders (30).

6. The spiral wound heat exchanger automatic winding machine of claim 1, wherein: The multi-angle pipe winding guide unit comprises a six-axis mechanical arm (9) mounted on a base plate (7), and a pipe winding guide tool (10) is arranged at the top end of the six-axis mechanical arm (9); the pipe winding guide tool (10) comprises a flange base (31), a pipe winding guide tool shell (32) is arranged on the flange base (31), a pipe winding guide visual camera is arranged at the top of the pipe winding guide tool shell (32), a heat exchange pipe (20) to be cut is arranged in the pipe winding guide tool shell (32), the heat exchange pipe (20) to be cut is arranged between an upper guide wheel (33) and a lower guide wheel (34), a variable-pitch linear module (35) is arranged on the upper portion of the upper guide wheel (33), a lifting cylinder (36) is arranged on the lower portion of the lower guide wheel (34), a pressure rail (37) is arranged on the heat exchange pipe (20) to be cut outside the pipe winding guide tool shell (32) to apply pressure to the heat exchange pipe (20) to be cut, a pressure plate (38) is arranged on the pressure rail (37), a pressure block (39) is arranged on the pressure plate (38), and a pressure cylinder (40) is arranged on the pressure block (39).

7. The spiral wound heat exchanger automatic winding machine of claim 5, wherein: The permanent magnet damper (22) is provided with a dynamic torque sensor (41) on one side.

8. The spiral pipe heat exchanger automatic coiling machine according to claim 5, characterized in that: The guide wheel (21) is provided with a rubber sleeve.

9. The spiral wound heat exchanger automatic winding machine of claim 2, wherein: The lifting rotary support column (5) is provided with a plurality of pipe unwinding wheels (4).

10. The spiral pipe heat exchanger automatic coiling machine according to claim 2, characterized in that: The plurality of pipe unwinding wheels (4) and the intermediate guide tool (6) have a one-to-one corresponding relationship.

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