Full-automatic shell-and-tube heat exchanger cleaning machine

Abstract

The utility model discloses a full-automatic shell-and-tube heat exchanger cleaning machine, which belongs to the technical field of high-pressure water cleaning and comprises a tube feeding machine, a washing gun, a mechanical arm component and an upper computer control system. The washing gun comprises a hose and a spray head arranged at the tail end of the hose, and the two ends of the washing gun are connected to the mechanical arm assembly and the pipe conveying machine respectively. The mechanical arm assembly comprises a base detachably connected to the tubular heat exchanger, one end of the base is fixedly connected with a first rotating shaft, a first mechanical arm is rotationally connected to the first rotating shaft, the tail end of the first mechanical arm is fixedly connected with a second rotating shaft, and a second mechanical arm is rotationally connected to the second rotating shaft. The first rotating shaft and the second rotating shaft are both provided with motors, the two motors are both in circuit connection with the upper computer control system and used for controlling the first mechanical arm and the second mechanical arm to rotate, and a connector is arranged at the tail end of the second mechanical arm and used for being detachably connected with a guide pipe. The end, provided with the spray head, of the washing gun is inserted into the guide pipe, and a support is further arranged at the tail end of the second mechanical arm and used for being detachably connected with an industrial camera. The automatic cleaning device enters an initialized state through self-inspection, the mechanical arm drives the industrial camera to scan and image, the upper computer control system processes an image and then automatically performs a cleaning procedure, automatic and accurate positioning cleaning is achieved, manual intervention is not needed, the cleaning efficiency is greatly improved, personal danger caused by manual cleaning is avoided, and the working efficiency is improved. And the horizontal shell-and-tube heat exchanger is simple in structure and low in assembly difficulty, reduces the working difficulty of operators, and is suitable for horizontal shell-and-tube heat exchangers of different specifications and models.

Description

Technical Field

[0001] This utility model belongs to the field of high-pressure water cleaning technology, and in particular relates to a fully automatic shell and tube heat exchanger cleaning machine. Background Technology

[0002] Shell and tube heat exchangers are commonly used heat exchange equipment in industrial production. Their tube sheets have numerous perforations, and over long-term use, scale often accumulates inside these perforations, requiring regular cleaning to maintain heat exchange efficiency. Currently, high-pressure water is primarily used for cleaning horizontal heat exchangers. Existing cleaning equipment is typically a pneumatically driven truss structure, which has the following drawbacks:

[0003] 1. Inconvenient to assemble and complex in structure;

[0004] 2. Poor positioning accuracy, making it difficult to accurately align with the pipe hole;

[0005] 3. Manual cleaning is required, which is labor-intensive;

[0006] 4. Low cleaning efficiency, unable to achieve fully automatic operation;

[0007] 5. The cleaning quality depends on the operator's experience and skills, resulting in poor consistency.

[0008] Therefore, a fully automatic shell and tube heat exchanger cleaning machine is needed to solve the above problems. Summary of the Invention

[0009] The purpose of this invention is to provide a fully automatic shell and tube heat exchanger cleaning machine. After entering the initialization state through self-test, the robotic arm drives the industrial camera to scan and image. The host computer control system processes the image and automatically performs the cleaning program, realizing automatic and precise positioning cleaning without manual intervention, which greatly improves cleaning efficiency and avoids the personal dangers caused by manual cleaning. In addition, this invention has a simple structure and low assembly difficulty, reducing the work difficulty for operators. It is suitable for horizontal shell and tube heat exchangers of different specifications and models.

[0010] To achieve the above objectives, the technical solution of this utility model is to provide a fully automatic tube heat exchanger cleaning machine, including a tube feeder, a rinsing gun, a robotic arm assembly, and a host computer control system; the rinsing gun includes a hose and a nozzle disposed at the end of the hose, with both ends of the rinsing gun connected to the robotic arm assembly and the tube feeder respectively; the robotic arm assembly includes a base detachably connected to the tube heat exchanger, one end of the base being fixedly connected to a first rotating shaft, a first robotic arm being rotatably connected to the first rotating shaft, the end of the first robotic arm being fixedly connected to a second rotating shaft, a second robotic arm being rotatably connected to the second rotating shaft, and motors being provided on both the first and second rotating shafts, both motors being electrically connected to the host computer control system for controlling the rotation of the first and second robotic arms, the end of the second robotic arm having an interface for detachably connecting a guide tube, the end of the rinsing gun equipped with the nozzle being inserted into the guide tube, and the end of the second robotic arm also having a bracket for detachably connecting an industrial camera.

[0011] As a further improvement of this utility model, a magnetic ring is provided at the end of the nozzle, and a magnetic ring sensor is provided on the outer surface of the guide tube. The magnetic ring sensor circuit is connected to the host computer control system and is used to provide feedback on the zeroing signal of the nozzle.

[0012] As a further improvement of this utility model, the outer surface of the magnet ring is provided with a magnet ring protective sleeve.

[0013] As a further improvement of this utility model, the pipe feeding machine includes a frame, and a coiling mechanism and a pipe feeding mechanism respectively fixed on both sides of the inner wall of the frame. The coiling mechanism is provided with a high-pressure water interface, and the hose is coiled on the coiling mechanism with its end connected to the high-pressure water interface. The pipe feeding mechanism is provided with two opposing pressure rollers, and the hose is clamped between the two pressure rollers for driving the hose to extend or retract when the pressure rollers rotate.

[0014] As a further improvement of this utility model, the base is provided with a connection hole for detachable connection between the base and the flange hole of the tube heat exchanger via bolts.

[0015] Compared with the prior art, the beneficial effects of this utility model are:

[0016] 1. Simple structure and easy assembly: It adopts standard robotic arm components, which reduces the number of customized parts and lowers the assembly difficulty;

[0017] 2. High positioning accuracy: Servo motor drive combined with vision guidance enables precise positioning of the pipe hole;

[0018] 3. Fully automatic cleaning: The system can automatically complete the cleaning process after identifying the pipe hole, without the need for manual intervention;

[0019] 4. Significantly improved efficiency: Compared to traditional manual cleaning, efficiency is increased by more than 300%;

[0020] 5. Ensure cleaning integrity: A vision system ensures that all pipe holes are identified and cleaned;

[0021] 6. High adaptability: Suitable for horizontal shell and tube heat exchangers of different specifications and models. Attached Figure Description

[0022] Figure 1 This is a schematic diagram of the fully automatic shell and tube heat exchanger cleaning machine of this utility model;

[0023] Figure 2 This is a schematic diagram of the robotic arm assembly of the fully automatic shell and tube heat exchanger cleaning machine of this utility model;

[0024] Figure 3 This is a cross-sectional view of the high-pressure nozzle inserted into the guide tube of the fully automatic shell and tube heat exchanger cleaning machine of this utility model;

[0025] Figure 4 This is a schematic diagram of the tube feeding machine of the fully automatic shell and tube heat exchanger cleaning machine of this utility model.

[0026] The following are the definitions of the reference numerals: 1 is the pipe feeder, 11 is the frame, 12 is the coil mechanism, 121 is the high-pressure water interface, 13 is the pipe feed mechanism, 131 is the pressure roller, 2 is the flushing gun, 21 is the nozzle, 211 is the magnetic ring, 212 is the magnetic ring protective sleeve, 213 is the magnetic ring sensor, 22 is the hose, 3 is the robotic arm assembly, 31 is the base, 32 is the first rotating shaft, 33 is the first robotic arm, 34 is the second rotating shaft, 35 is the second robotic arm, 36 is the interface, 37 is the guide tube, 38 is the support, and 4 is the shell and tube heat exchanger. Detailed Implementation

[0027] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those skilled in the art without creative effort are within the protection scope of the present utility model.

[0028] like Figures 1 to 4As shown, this utility model discloses a fully automatic tube heat exchanger cleaning machine, including a tube feeder 1, a flushing gun 2, a robotic arm assembly 3, and a host computer control system. The flushing gun 2 includes a flexible hose 22 and a nozzle 21 disposed at the end of the flexible hose 22. The two ends of the flushing gun 2 are respectively connected to the robotic arm assembly 3 and the tube feeder 1. The robotic arm assembly 3 includes a base 31 detachably connected to the tube heat exchanger 4. One end of the base 31 is fixedly connected to a first rotating shaft 32, and a first robotic arm 33 is rotatably connected to the first rotating shaft 32. The end of the first robotic arm 33 is fixedly connected to... The second rotating shaft 34 and the second robotic arm 35 are rotatably connected to the second rotating shaft 34. Both the first rotating shaft 32 and the second rotating shaft 34 are equipped with motors. Both motors are electrically connected to the host computer control system to control the rotation of the first robotic arm 33 and the second robotic arm 35. The end of the second robotic arm 35 is provided with an interface 36 for detachably connecting to a guide tube 37. One end of the rinsing gun 2, which is equipped with the nozzle 21, is inserted into the guide tube 37. The end of the second robotic arm 35 is also provided with a bracket 38 for detachably connecting to an industrial camera.

[0029] Furthermore, such as Figure 3 As shown, the nozzle 21 is provided with a magnetic ring 211 at its end, and the guide tube 37 is provided with a magnetic ring sensor 213 on its outer surface. The magnetic ring sensor 213 is connected to the host computer control system and is used to provide feedback on the zeroing signal of the nozzle 21. The design of the magnetic ring 211 and the magnetic ring sensor 213 improves the accuracy of signal capture.

[0030] Furthermore, such as Figure 3 As shown, the magnet ring 211 is provided with a magnet ring protective sleeve 212 on its outer surface, which can effectively ensure that the magnet ring 211 is not damaged by the waste residue inside the tube.

[0031] Furthermore, such as Figure 1 and Figure 4 As shown, the pipe feeding machine 1 includes a frame 11, and a coiling mechanism 12 and a pipe feeding mechanism 13 respectively fixed on both sides of the inner wall of the frame 11. The coiling mechanism 12 is connected to the host computer control system through a motor circuit to control the rotation of the coiling mechanism 12. The coiling mechanism 12 is provided with a high-pressure water interface 121. The hose 22 is coiled on the coiling mechanism 12, and its end is connected to the high-pressure water interface 121. The pipe feeding mechanism 13 is provided with two opposing pressure rollers 131. The hose 22 is clamped between the two pressure rollers 131 and is used to drive the hose 22 to extend or retract when the pressure rollers 131 rotate. The pipe feeding mechanism 13 is connected to the host computer control system through a motor circuit to control the rotation of the pressure rollers 131.

[0032] Furthermore, such as Figure 1 and Figure 2As shown, the base 31 is provided with a connection hole for the base 31 to be detachably connected to the flange hole of the tube heat exchanger 4 by bolts.

[0033] In the above technical solution, during operation, the pipe feeder 1, flushing gun 2, robotic arm assembly 3, and upper computer control system are connected accordingly. The pipe feeder 1 is externally connected to a pressure regulating device and a high-pressure water pump. After power is turned on, the system first performs self-test and initialization. The robotic arm assembly 3 moves to the initial position, and the operator installs the robotic arm assembly 3 on the flange of the tube heat exchanger 4 to be cleaned. The robotic arm assembly 3 drives the industrial camera to scan the tube holes of the tube heat exchanger 4. The upper computer control system processes the acquired images, identifies the position coordinates of all tube holes, and automatically plans the optimal cleaning path based on the identification results. Then, the industrial camera is removed, and the guide tube 37 is installed. After the rinsing gun 2 is inserted into the guide tube 37, the cleaning program is started, and the system automatically begins the cleaning steps. The robotic arm assembly 3 drives the guide tube 37 to precisely guide the cleaning gun 2 to the front of the first pipe hole to be cleaned. The pipe delivery mechanism 13 controls the hose 22 to enter the pipe at a preset speed and depth. At the same time, the high-pressure water pump starts, and the cleaning gun 2 reciprocates in the pipe to complete the cleaning. After the cleaning is completed, the cleaning gun 2 is automatically withdrawn, and the robotic arm automatically moves to the next pipe hole position. After all pipe holes are cleaned, the cleaning gun 2 is automatically withdrawn, the nozzle 21 is zeroed, and the magnetic ring sensor 213 receives the zeroing signal and sends it to the host computer control system. The system automatically stops and generates a cleaning report.

[0034] In summary, this invention enters the initialization state through self-testing, the robotic arm drives the industrial camera to scan and image, and the host computer control system processes the image and automatically performs the cleaning program, realizing automatic and precise positioning cleaning without manual intervention, greatly improving cleaning efficiency, avoiding personal dangers caused by manual cleaning, and the invention has a simple structure and low assembly difficulty, reducing the work difficulty of operators, and is suitable for horizontal shell and tube heat exchangers of different specifications and models.

[0035] The above embodiments describe the present invention, but the present invention is not limited to the embodiments disclosed above, but should cover various modifications and equivalent combinations made in accordance with the essence of the present invention.

Claims

1. A fully automatic shell and tube heat exchanger cleaning machine, comprising a tube feeder (1) and a flushing gun (2), characterized in that: It also includes a robotic arm assembly (3) and a host computer control system; the flushing gun (2) includes a hose (22) and a nozzle (21) disposed at the end of the hose (22), and the two ends of the flushing gun (2) are respectively connected to the robotic arm assembly (3) and the pipe feeder (1); the robotic arm assembly (3) includes a base (31) detachably connected to the tube heat exchanger (4), one end of the base (31) is fixedly connected to a first rotating shaft (32), a first robotic arm (33) is rotatably connected to the first rotating shaft (32), and the end of the first robotic arm (33) is fixedly connected to a second rotating shaft (34), and the second robotic arm... (35) Rotatably connected to the second rotating shaft (34), both the first rotating shaft (32) and the second rotating shaft (34) are equipped with motors, both of which are electrically connected to the host computer control system to control the rotation of the first robotic arm (33) and the second robotic arm (35). The end of the second robotic arm (35) is provided with an interface (36) for detachably connecting to the guide tube (37). One end of the washing gun (2) equipped with the nozzle (21) is inserted into the guide tube (37). The end of the second robotic arm (35) is also provided with a bracket (38) for detachably connecting to an industrial camera.

2. The fully automatic shell and tube heat exchanger cleaning machine according to claim 1, characterized in that: The nozzle (21) is provided with a magnetic ring (211) at its end, and a magnetic ring sensor (213) is provided on the outer surface of the guide tube (37). The magnetic ring sensor (213) is connected to the host computer control system and is used to provide feedback on the zeroing signal of the nozzle (21).

3. The fully automatic shell and tube heat exchanger cleaning machine according to claim 2, characterized in that: The magnet ring (211) is provided with a magnet ring protective sleeve (212) on its outer surface.

4. The fully automatic shell and tube heat exchanger cleaning machine according to claim 3, characterized in that: The pipe feeding machine (1) includes a frame (11), and a coiling mechanism (12) and a pipe feeding mechanism (13) respectively fixed on both sides of the inner wall of the frame (11). The coiling mechanism (12) is provided with a high-pressure water interface (121). The hose (22) is coiled on the coiling mechanism (12) and its end is connected to the high-pressure water interface (121). The tube feeding mechanism (13) is provided with two opposing pressure rollers (131), and the hose (22) is clamped between the two pressure rollers (131) for driving the hose (22) to extend or retract when the pressure rollers (131) rotate.

5. The fully automatic shell and tube heat exchanger cleaning machine according to claim 4, characterized in that: The base (31) is provided with a connection hole for the base (31) to be detachably connected to the flange hole of the tube heat exchanger (4) by bolts.

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