Tube plate positioning, clamping and cleaning device

Abstract

The utility model provides a tube plate positioning, clamping and cleaning device. The tube plate positioning, clamping and cleaning device comprises a bottom plate, an X-direction clamping mechanism, a Y-direction clamping mechanism, a Z-direction clamping mechanism, a first height-adjustable supporting mechanism, a second height-adjustable supporting mechanism and a cleaning execution device. A first height-adjustable supporting mechanism and a second height-adjustable supporting mechanism are mounted in the center of the bottom plate, and the first height-adjustable supporting mechanism or the second height-adjustable supporting mechanism is used for supporting a to-be-cleaned tube plate; the cleaning execution device stretches across the Z-direction clamping mechanism, the Y-direction clamping mechanism, the first height-adjustable supporting mechanism and the second height-adjustable supporting mechanism. The tube plate positioning, clamping and cleaning device can meet the cleaning requirements of tube plates of different sizes and shapes, the universality of the device is effectively improved, and the application range of the device is effectively widened. Meanwhile, the clamping mechanisms in the X direction, the Y direction and the Z direction work cooperatively, the tube plate can be accurately positioned and clamped, and the stability and safety of the tube plate in the cleaning process are guaranteed.

Description

Technical Field

[0001] This utility model relates to a cleaning device, specifically a tube sheet positioning and clamping cleaning device. Background Technology

[0002] In the industrial manufacturing sector, automated cleaning of tube sheets is required, thus necessitating sheet cleaning equipment.

[0003] Chinese patent discloses a board cleaning device with application number CN201922288220.X. The board cleaning device includes a support frame, support rollers arranged side by side on the support frame, a board driving device for driving the board to move along the arrangement direction of the support rollers, a spray assembly for spraying the board, a roller brush assembly for brushing off stains on the surface of the board, and a water storage tank for recycling wastewater and providing spray water source. The nozzles of the spray assembly and the roller brushes of the roller brush assembly are distributed on the upper and lower sides of the cleaning station.

[0004] Although the above-mentioned board cleaning device can clean the board, it still has the following drawbacks: since the tube sheets have different thicknesses, and the height of the roller brush assembly in the board cleaning device is fixed, the roller brush assembly cannot contact boards of different thicknesses and cannot clean tube sheets of different thicknesses. Utility Model Content

[0005] This utility model provides a tube sheet positioning, clamping, and cleaning device, which solves the problem in the prior art that tube sheets of different thicknesses cannot be cleaned because the height of the roller brush assembly in the tube sheet cleaning device is fixed.

[0006] To achieve the above objectives, the present invention adopts the following technical solution: The present invention provides a tube sheet positioning, clamping, and cleaning device, comprising: a base plate, an X-direction clamping mechanism, a Y-direction clamping mechanism, a Z-direction clamping mechanism, a first height-adjustable support mechanism, a second height-adjustable support mechanism, and a cleaning execution device.

[0007] A first height-adjustable support mechanism and a second height-adjustable support mechanism are installed at the center of the base plate. The first height-adjustable support mechanism or the second height-adjustable support mechanism is used to support the tube sheet to be cleaned.

[0008] An X-direction clamping mechanism and a Y-direction clamping mechanism are installed on the base plate. The X-direction clamping mechanism is used to clamp the middle part of the tube sheet to be cleaned from the X direction, and the Y-direction clamping mechanism is used to clamp the middle part of the tube sheet to be cleaned from the Y direction.

[0009] The cleaning actuator spans a Z-direction clamping mechanism, a Y-direction clamping mechanism, a first height-adjustable support mechanism, and a second height-adjustable support mechanism.

[0010] Preferably, there are at least three first height adjustable support mechanisms, each of which includes a first telescopic cylinder and a first support head. The output end of the first telescopic cylinder is connected to the first support head. The top surface of the first support head in all the first height adjustable support mechanisms constitutes a first support surface, which is used to support the tube sheet to be cleaned.

[0011] Preferably, there are at least three second height adjustable support mechanisms, with one second height adjustable support mechanism provided next to each first height adjustable support structure. The second height adjustable support mechanism includes a second telescopic cylinder and a second support head. The output end of the second telescopic cylinder is connected to the second support head. The top surface of the second support head in all the second height adjustable support mechanisms constitutes a second support surface, which is used to support the tube sheet to be cleaned.

[0012] Preferably, both the X-direction clamping mechanism and the Z-direction clamping mechanism include: a first movable seat, a first movable arm, a second movable seat, a second movable arm, and a linear drive mechanism. The first movable seat is fixed on the base plate, and the first movable arm is fixed on the first movable seat. A second movable seat that can move in the Z-direction is installed on the base plate, and the second movable arm is fixed on the second movable seat. A linear drive device is installed on the base plate, and the output end of the linear drive device is connected to the second movable seat. The linear drive device is used to drive the second movable seat and the second movable arm to move in the X-direction or the Z-direction.

[0013] Preferably, the linear drive device includes: a rotary drive motor, a gearbox, a gear ring, a screw, and a threaded sleeve. The rotary drive motor is mounted on the base plate, and the output shaft of the rotary drive motor is connected to the input end of the gearbox. The output gear of the gearbox meshes with the gear ring, the gear ring is fixed on the screw, the screw is rotatably mounted on the base plate, and the screw is covered with a threaded sleeve. The threaded sleeve is threadedly connected to the screw and is fixed on a second movable seat.

[0014] Preferably, the second movable seat has a "door" shaped structure, with sliding seats fixed at both ends of the bottom of the second movable seat. The sliding seats are slidably mounted on the guide rail, which is mounted on the base plate.

[0015] Preferably, a Y-direction clamping mechanism is installed on both the first movable seat and the second movable seat;

[0016] The Y-direction clamping mechanism includes a vertical cylinder and a clamping block. The output end of the vertical cylinder is fixed to the clamping block, and the clamping block clamps the tube sheet to be cleaned.

[0017] Preferably, in the X-direction clamping mechanism and the Z-direction clamping mechanism, the rotary drive motor, the gearbox, and the gear ring are all installed at the center of the base plate. A center cover plate is installed at the center of the base plate, covering the rotary drive motor, the gearbox, and the gear ring. The screw passes through the center cover plate, and the first height adjustable support mechanism and the second height adjustable support mechanism surround the center cover plate.

[0018] Preferably, the cleaning actuator includes a transmission device and a cleaning mechanism. The transmission device is mounted on the base plate, and the output end of the transmission device is connected to the cleaning mechanism. The transmission device is used to drive the cleaning mechanism to move in the X direction, and the cleaning mechanism is used to clean the tube sheet to be cleaned.

[0019] Preferably, the transmission device includes: a mounting frame, a transmission plate, a servo motor, a chain, a main sprocket, and a driven sprocket. The mounting frame is fixed on the base plate. The first height-adjustable support mechanism of the mounting frame is connected to the transmission plate. The servo motor is mounted on the transmission plate. The output end of the servo motor is equipped with a main sprocket. The transmission plate is equipped with a rotatable driven sprocket. Both the main sprocket and the driven sprocket are surrounded by a chain. The chain is connected to the cleaning mechanism.

[0020] The cleaning mechanism includes: a gantry frame, a roller brush, and a sweeping rotation drive assembly;

[0021] There are two pairs of mounting brackets and transmission plates. Support rails are fixed on the transmission plates, and the support rails guide the gantry to slide. Rotatable roller brushes are installed on the gantry, and the output end of the roller brush is connected to the cleaning rotation drive assembly. The roller brush is used to clean the tube sheet to be cleaned.

[0022] Compared to existing technologies, this utility model offers the following advantages: This tube sheet positioning, clamping, and cleaning device, through the installation of multiple height-adjustable support mechanisms and multi-directional clamping mechanisms, can adapt to the cleaning needs of tube sheets of different sizes and shapes, effectively improving the device's versatility and applicability. Simultaneously, the X, Y, and Z-direction clamping mechanisms work together to accurately position and clamp the tube sheet, ensuring its stability and safety during cleaning. Furthermore, the transverse design of the cleaning actuator allows the cleaning mechanism to flexibly clean various parts of the tube sheet, improving cleaning efficiency and quality. The device employs a linear drive mechanism and rotary drive components, ensuring the accuracy and reliability of clamping and cleaning actions. Simultaneously, the servo motor-driven chain transmission enables stable movement of the cleaning mechanism, further enhancing the cleaning effect. The reasonable and compact layout of each component facilitates installation, maintenance, and adjustment, reducing equipment operating costs. Overall, this device possesses high flexibility, precision, and practicality, playing a vital role in the field of tube sheet cleaning, effectively meeting cleaning needs under different working conditions, and improving the efficiency and quality of cleaning work.

[0023] Other advantages, objectives and features of this invention will be partly apparent from the following description, and partly understood by those skilled in the art through study and practice of this invention. Attached Figure Description

[0024] Figure 1 Schematic diagram of the tube sheet positioning, clamping, and cleaning device.

[0025] Figure 2 Schematic diagram of the tube sheet positioning, clamping, and cleaning device.

[0026] Reference numerals: Base plate 1, Center cover plate 11, X-direction clamping mechanism 2, First moving seat 21, First moving arm 22, Second moving seat 23, Second moving arm 24, Linear drive mechanism 25, Rotary drive motor 251, Gearbox 252, Screw 254, Threaded sleeve 255, Sliding seat 26, Guide rail 27, Y-direction clamping mechanism 3, Vertical cylinder 31, Clamping block 32, Z-direction clamping mechanism 4, First height adjustable support mechanism 5, First telescopic cylinder Cylinder 51, first support head 52, first support surface 53, second height adjustable support mechanism 6, second telescopic cylinder 61, second support head 62, second support surface 63, cleaning execution device 7, transmission device 71, mounting bracket 711, transmission plate 712, support rail 7121, servo motor 713, chain 714, main sprocket 715, driven sprocket 716, cleaning mechanism 72, gantry frame 721, roller brush 722, cleaning rotation drive assembly 723. Detailed Implementation

[0027] To make the technical means, creative features, achieved objectives and functions of this utility model clearer and easier to understand, the utility model will be further described below with reference to the accompanying drawings and specific embodiments:

[0028] like Figures 1 to 2 As shown, this utility model proposes a tube sheet positioning, clamping, and cleaning device, including: a base plate 1, an X-direction clamping mechanism 2, a Y-direction clamping mechanism 3, a Z-direction clamping mechanism 4, a first height-adjustable support mechanism 5, a second height-adjustable support mechanism 6, and a cleaning execution device 7. The first height-adjustable support mechanism 5 and the second height-adjustable support mechanism 6 are installed at the center of the base plate 1, and the first height-adjustable support mechanism 5 or the second height-adjustable support mechanism 6 is used to support the tube sheet to be cleaned. The X-direction clamping mechanism 2 and the Y-direction clamping mechanism 3 are installed on the base plate 1. The X-direction clamping mechanism 2 is used to clamp the middle part of the tube sheet to be cleaned from the X direction, and the Y-direction clamping mechanism 3 is used to clamp the middle part of the tube sheet to be cleaned from the Y direction. The cleaning execution device 7 spans the Z-direction clamping mechanism 4, the Y-direction clamping mechanism 3, the first height-adjustable support mechanism 5, and the second height-adjustable support mechanism 6.

[0029] The first and second height-adjustable support mechanisms 6 are located at the center of the base plate 1. By adjusting the height of the telescopic cylinder, the support head can adapt to tube sheets of different thicknesses and shapes, providing stable support. The X-direction clamping mechanism 2 and the Y-direction clamping mechanism 3 are respectively installed on the base plate 1. The second moving arm 24 is driven to move in the corresponding direction by the linear drive mechanism 25, clamping the middle of the tube sheet from the X and Y directions to ensure that the tube sheet does not shift during the cleaning process. The Z-direction clamping mechanism 4 controls the pressing block 32 to move in the Z direction through the linear drive device to press and fix the tube sheet from top to bottom. The cleaning execution device 7 spans above the other mechanisms. The cleaning mechanism 72 is driven to move along the X direction by the transmission device 71. At the same time, the roller brush 722 rotates under the drive of the cleaning rotation drive assembly 723 to thoroughly clean the surface of the tube sheet.

[0030] At least three first height-adjustable support mechanisms 5 are provided. Each first height-adjustable support mechanism 5 includes a first telescopic cylinder 51 and a first support head 52. The output end of the first telescopic cylinder 51 is connected to the first support head 52. The top surface of the first support head 52 in all first height-adjustable support mechanisms 5 forms a first support surface 53, which is used to support the tube sheet to be cleaned. The first telescopic cylinder 51 receives a control signal, and its output end drives the first support head 52 to move up and down. By precisely adjusting the telescopic amount of each first telescopic cylinder 51, the top surfaces of all first support heads 52 are made to be on the same plane, forming a stable first support surface 53. This adapts to tube sheets of different thicknesses and shapes to be cleaned, ensuring that the tube sheet can be placed stably on the support surface during the cleaning process.

[0031] At least three second-height adjustable support mechanisms 6 are provided, with one second-height support mechanism located next to each first-height adjustable support structure. Each second-height adjustable support mechanism 6 includes a second telescopic cylinder 61 and a second support head 62. The output end of the second telescopic cylinder 61 is connected to the second support head 62. The top surface of the second support head 62 in all the second-height adjustable support mechanisms 6 forms a second support surface 63, which is used to support the tube sheet to be cleaned. The second telescopic cylinder 61 can drive the second support head 62 to extend and retract vertically. Multiple second support heads 62 together form the second support surface 63. By precisely controlling the extension and retraction of each second telescopic cylinder 61, the second support surface 63 can adapt to tube sheets of different thicknesses and shapes.

[0032] Both the X-direction clamping mechanism 2 and the Z-direction clamping mechanism 4 include: a first movable seat 21, a first movable arm 22, a second movable seat 23, a second movable arm 24, and a linear drive mechanism 25. The first movable seat 21 is fixed to the base plate 1, and the first movable arm 22 is fixed to the first movable seat 21. The second movable seat 23, which can move in the Z-direction, is mounted on the base plate 1, and the second movable arm 24 is fixed to the second movable seat 23. A linear drive device is mounted on the base plate 1, and the output end of the linear drive device is connected to the second movable seat 23. The linear drive device is used to drive the second movable seat 23 and the second movable arm 24 to move in the X-direction or Z-direction. In use, the first movable seat 21 is fixed to the base plate 1, and the first movable arm 22 on it provides a stable reference. The output end of the linear drive device is connected to the second movable seat 23, driving it to move along the Z-direction on the base plate 1. When it is necessary to adjust the position of the tube sheet in the X or Z direction, the linear drive device is activated, driving the second movable seat 23 and the second movable arm 24 mounted on it to move in the corresponding direction. The second moving arm 24 then adjusts its position to clamp or position the tube sheet.

[0033] The linear drive device includes a rotary drive motor 251, a gearbox 252, a gear ring (not shown), a screw 254, and a threaded sleeve 255. The rotary drive motor 251 is mounted on a base plate 1. The output shaft of the rotary drive motor 251 is connected to the input end of the gearbox 252. The output gear of the gearbox 252 meshes with the gear ring (not shown). The gear ring (not shown) is fixed to the screw 254. The screw 254 is rotatably mounted on the base plate 1. The threaded sleeve 255 is sleeved on the screw 254 and is threadedly connected to the screw 254. The threaded sleeve 255 is fixed to a second movable seat 23. The output shaft of the rotary drive motor 251 drives the input end of the gearbox 252 to rotate, and the output gear of the gearbox 252 meshes with the gear ring (not shown). The gear ring (not shown) is fixed to the screw 254. When the output gear of the gearbox 252 rotates, the screw 254 rotates accordingly. The screw 254 is fitted with a threaded sleeve 255, which is threadedly connected to the screw 254 and fixed to the second movable seat 23. The rotation of the screw 254 causes the threaded sleeve 255 to move along its axial direction, thereby driving the second movable seat 23 to move along the X or Z direction on the base plate 1.

[0034] The second movable seat 23 has a "gate" shaped structure. Sliding seats 26 are fixed at both ends of the bottom of the second movable seat 23. The sliding seats 26 are slidably mounted on the guide rail 27, which is mounted on the base plate 1. The linear drive device drives the screw 254 to rotate, and the threaded sleeve 255 drives the second movable seat 23 to slide along the guide rail 27, ensuring that the second movable seat 23 moves smoothly.

[0035] A Y-direction clamping mechanism 3 is installed on both the first movable seat 21 and the second movable seat 23. Each Y-direction clamping mechanism 3 includes a vertical cylinder 31 and a clamping block 32. The output end of the vertical cylinder 31 is fixed to the clamping block 32, which clamps the tube sheet to be cleaned. When the vertical cylinder 31 is activated, its output end drives the clamping block 32 downwards, pressing the tube sheet against the support surface to achieve clamping and fixing in the Y direction. When it is necessary to release the tube sheet, the vertical cylinder 31 drives the clamping block 32 upwards, releasing the clamping force on the tube sheet.

[0036] In both the X-direction clamping mechanism 2 and the Z-direction clamping mechanism 4, the rotary drive motor 251, the gearbox 252, and the gear ring (not shown) are mounted at the center of the base plate 1. A center cover plate 11 is mounted at the center of the base plate 1, covering the rotary drive motor 251, the gearbox 252, and the gear ring (not shown). The screw 254 passes through the center cover plate 11. The first height-adjustable support mechanism 5 and the second height-adjustable support mechanism 6 surround the center cover plate 11. When the rotary drive motor 251 starts, it drives the gear ring (not shown) and the screw 254 to rotate. The threaded sleeve 255 converts the rotational motion of the screw 254 into linear motion, driving the second moving seat 23 to move in the X or Z direction, realizing the reciprocating motion of the X-direction clamping mechanism 2 and the Z-direction clamping mechanism 4. The first and second height-adjustable support mechanisms 6 are mounted around the center cover plate 11, providing height-adjustable support and working with the clamping mechanisms to complete the positioning and clamping of the tube sheet. In this layout, the first and second height-adjustable support mechanisms are positioned in the middle, with the first and second height-adjustable support mechanisms 5 and 6 surrounding the central cover plate 11. This avoids the first and second height-adjustable support mechanisms 5 and 6 affecting the installation of the rotary drive motor 251 and gearbox 252. This reasonable layout avoids increasing the area occupied by placing the rotary drive motor 251 and gearbox 252 externally.

[0037] The cleaning actuator 7 includes a transmission device 71 and a cleaning mechanism 72. The transmission device 71 is mounted on the base plate 1, and its output end is connected to the cleaning mechanism 72. The transmission device 71 drives the cleaning mechanism 72 to move in the X direction. The cleaning mechanism 72 is used to clean the tube sheet to be cleaned. A servo motor 713 drives the main sprocket 715 to rotate, which in turn drives the secondary sprocket 716 to rotate synchronously via a chain 714, thereby driving the cleaning mechanism 72 to move stably in the X direction. The roller brush 722 in the cleaning mechanism 72 rotates at high speed under the action of the cleaning rotation drive assembly 723 to clean the surface of the tube sheet.

[0038] The transmission device 71 includes: a mounting frame 711, a transmission plate 712, a servo motor 713, a chain 714, a main sprocket 715, and a driven sprocket 716. The mounting frame 711 is fixed on the base plate 1. The first height-adjustable support mechanism of the mounting frame 711 is connected to the transmission plate 712. The servo motor 713 is mounted on the transmission plate 712. The output end of the servo motor 713 is provided with the main sprocket 715. The rotatable driven sprocket 716 is mounted on the transmission plate 712. Both the main sprocket 715 and the driven sprocket 716 are connected by the chain 714. A chain 714 is connected to a cleaning mechanism 72. The cleaning mechanism 72 includes a gantry frame 721, a roller brush 722, and a cleaning rotation drive assembly 723. There are two pairs of mounting brackets 711 and transmission plates 712. Support rails 7121 are fixed on the transmission plates 712, guiding the gantry frame 721 to slide. A rotatable roller brush 722 is mounted on the gantry frame 721. The output end of the roller brush 722 is connected to the cleaning rotation drive assembly 723. The roller brush 722 is used to clean the tube sheet to be cleaned. When the servo motor 713 starts, its output end drives the main sprocket 715 to rotate, which, through the chain 714, causes the slave sprocket 716 to rotate synchronously. The movement of the chain 714 drives the cleaning mechanism 72 to move stably in the X direction. The mounting bracket 711 and transmission plate 712 provide support and guidance for the entire transmission system, ensuring the smooth movement of the cleaning mechanism 72. The cleaning rotation drive assembly 723 in the cleaning mechanism 72 drives the roller brush 722 to rotate. During the rotation, the roller brush 722 contacts the surface of the tube sheet and removes dirt through friction, achieving efficient cleaning of the tube sheet.

[0039] The working principle of this device is as follows: First, the tube sheet to be cleaned is placed on the first height-adjustable support mechanism 5 and the second height-adjustable support mechanism 6 at the center of the base plate 1. The height of the support mechanism is adjusted to adapt to the thickness and shape of the tube sheet, ensuring stable support. Next, the X-direction clamping mechanism 2 and the Y-direction clamping mechanism 3 clamp the middle of the tube sheet from the X and Y directions respectively. The driving device of the clamping mechanism moves the clamping components closer to the tube sheet, firmly clamping the tube sheet and preventing displacement or shaking during the cleaning process. Finally, driven by the driving mechanism, the cleaning execution device 7 spans above the Z-direction clamping mechanism 4, the Y-direction clamping mechanism 3, and the first and second height-adjustable support mechanisms 6, and performs a comprehensive cleaning operation on the tube sheet according to the preset cleaning program and trajectory, removing dirt and impurities from the surface of the tube sheet, completing the entire cleaning process.

[0040] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of this utility model and are not intended to limit it. Although this utility model has been described in detail with reference to preferred embodiments, those skilled in the art should understand that modifications or equivalent substitutions can be made to the technical solutions of this utility model without departing from the spirit and scope of the technical solutions of this utility model, and all such modifications or substitutions should be covered within the scope of the claims of this utility model.

Claims

1. A tube sheet positioning, clamping, and cleaning device, characterized in that, include: The system includes a base plate (1), an X-direction clamping mechanism (2), a Y-direction clamping mechanism (3), a Z-direction clamping mechanism (4), a first height adjustable support mechanism (5), a second height adjustable support mechanism (6), and a cleaning actuator (7). A first height-adjustable support mechanism (5) and a second height-adjustable support mechanism (6) are installed at the center of the base plate (1). The first height-adjustable support mechanism (5) or the second height-adjustable support mechanism (6) is used to support the tube sheet to be cleaned. An X-direction clamping mechanism (2) and a Y-direction clamping mechanism (3) are installed on the base plate (1). The X-direction clamping mechanism (2) is used to clamp the middle part of the tube sheet to be cleaned from the X direction, and the Y-direction clamping mechanism (3) is used to clamp the middle part of the tube sheet to be cleaned from the Y direction. The cleaning actuator (7) spans the Z-direction clamping mechanism (4), the Y-direction clamping mechanism (3), the first height adjustable support mechanism (5), and the second height adjustable support mechanism (6).

2. The tube sheet positioning, clamping, and cleaning device according to claim 1, characterized in that, There are at least three first height adjustable support mechanisms (5). Each first height adjustable support mechanism (5) includes: a first telescopic cylinder (51) and a first support head (52). The output end of the first telescopic cylinder (51) is connected to the first support head (52). The top surface of the first support head (52) in all first height adjustable support mechanisms (5) forms a first support surface (53). The first support surface (53) is used to support the tube sheet to be cleaned.

3. The tube sheet positioning, clamping, and cleaning device according to claim 2, characterized in that, There are at least three second height adjustable support mechanisms (6). Each first height adjustable support structure is provided with a second height support mechanism. The second height adjustable support mechanism (6) includes a second telescopic cylinder (61) and a second support head (62). The output end of the second telescopic cylinder (61) is connected to the second support head (62). The top surface of the second support head (62) in all the second height adjustable support mechanisms (6) forms a second support surface (63). The second support surface (63) is used to support the tube sheet to be cleaned.

4. The tube sheet positioning, clamping, and cleaning device according to claim 3, characterized in that, Both the X-direction clamping mechanism (2) and the Z-direction clamping mechanism (4) include: a first movable seat (21), a first movable arm (22), a second movable seat (23), a second movable arm (24), and a linear drive mechanism (25). The first movable seat (21) is fixed on the base plate (1), and the first movable arm (22) is fixed on the first movable seat (21). The second movable seat (23) that can move in the Z direction is installed on the base plate (1), and the second movable arm (24) is fixed on the second movable seat (23). A linear drive device is installed on the base plate (1), and the output end of the linear drive device is connected to the second movable seat (23). The linear drive device is used to drive the second movable seat (23) and the second movable arm (24) to move in the X direction or the Z direction.

5. The tube sheet positioning, clamping, and cleaning device according to claim 4, characterized in that, The linear drive device includes: a rotary drive motor (251), a gearbox (252), a gear ring, a screw (254), and a threaded sleeve (255). The rotary drive motor (251) is mounted on the base plate (1). The output shaft of the rotary drive motor (251) is connected to the input end of the gearbox (252). The output gear of the gearbox (252) meshes with the gear ring. The gear ring is fixed on the screw (254). The screw (254) is rotatably mounted on the base plate (1). The screw (254) is sleeved with a threaded sleeve (255). The threaded sleeve (255) is threadedly connected to the screw (254). The threaded sleeve (255) is fixed on the second movable seat (23).

6. The tube sheet positioning, clamping, and cleaning device according to claim 5, characterized in that, The second movable seat (23) has a "door" shaped structure. The bottom ends of the second movable seat (23) are fixed with sliding seats (26). The sliding seats (26) can be slidably installed on the guide rail (27). The guide rail (27) is installed on the base plate (1).

7. The tube sheet positioning, clamping, and cleaning device according to any one of claims 4 to 6, characterized in that, A Y-direction clamping mechanism (3) is installed on both the first movable seat (21) and the second movable seat (23); The Y-direction clamping mechanism (3) includes a vertical cylinder (31) and a clamping block (32). The output end of the vertical cylinder (31) is fixed to the clamping block (32), and the clamping block (32) clamps the tube sheet to be cleaned.

8. The tube sheet positioning, clamping, and cleaning device according to claim 7, characterized in that, In the X-direction clamping mechanism (2) and the Z-direction clamping mechanism (4), the rotary drive motor (251), the gearbox (252) and the gear ring are all installed at the center of the base plate (1). A center cover plate (11) is installed at the center of the base plate (1). The center cover plate (11) covers the rotary drive motor (251), the gearbox (252) and the gear ring. The screw (254) passes through the center cover plate (11). The first height adjustable support mechanism (5) and the second height adjustable support mechanism (6) surround the center cover plate (11).

9. The tube sheet positioning, clamping, and cleaning device according to claim 8, characterized in that, The cleaning actuator (7) includes a transmission device (71) and a cleaning mechanism (72). The transmission device (71) is mounted on the base plate (1). The output end of the transmission device (71) is connected to the cleaning mechanism (72). The transmission device (71) is used to drive the cleaning mechanism (72) to move in the X direction. The cleaning mechanism (72) is used to clean the tube sheet to be cleaned.

10. The tube sheet positioning, clamping, and cleaning device according to claim 9, characterized in that, The transmission device (71) includes: a mounting frame (711), a transmission plate (712), a servo motor (713), a chain (714), a main sprocket (715), and a driven sprocket (716). The mounting frame (711) is fixed on the base plate (1). The first height adjustable support mechanism of the mounting frame (711) is connected to the transmission plate (712). The servo motor (713) is mounted on the transmission plate (712). The output end of the servo motor (713) is provided with a main sprocket (715). The transmission plate (712) is mounted with a rotatable driven sprocket (716). Both the main sprocket (715) and the driven sprocket (716) are surrounded by the chain (714). The chain (714) is connected to the cleaning mechanism (72).

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