CN217800097U - Intelligent automatic pipe penetrating production line for heat exchanger - Google Patents

Abstract

The utility model discloses an automatic poling production line of heat exchanger intelligence, include be used for placing and drive the rotatory gyro wheel frame that shifts of heat exchanger before this poling equipment, and be arranged in rapid Assembly tube sheet and baffling board and the leading-in assembly fixture of barrel with the heat exchanger tube core fast, the servo horizontal migration mechanism of symmetric distribution around two is installed in heat exchanger front end tube sheet the place ahead, install servo vertical migration mechanism on its horizontal sliding plate, install between two servo vertical migration mechanisms and get a tub and force-feed device, install gyro wheel drive poling and ejector sleeve device on the servo vertical migration mechanism who is close to the heat exchanger end, visual sensor and light source are installed to its front end, under visual system's assistance, can realize the automatic material loading of pipe, automatically carry several pipes, automatically, seek the tube sheet hole site, automatically, the several pipes that will carry turn into the raceway one by one, penetrate the tube sheet downthehole through the drive of force-feed device, automatically, put the pipe propelling movement in place one by one, realize intelligent automatic poling process.

Description

Intelligent automatic pipe penetrating production line for heat exchanger

Technical Field

The application belongs to the technical field of shell and tube heat exchanger manufacturing, and particularly relates to an intelligent automatic pipe penetrating production line for a heat exchanger.

Background

The shell and tube heat exchanger is a common device in petroleum, chemical, nuclear power, special boiler system, light industry, food and other industries. The shell is generally circular, the tube bundle is few, hundreds of tubes are arranged, more tubes are thousands of tubes, two ends of the tube bundle are fixed on the tube plate, and the middle of the tube bundle penetrates through small holes in a plurality of baffle plates. The resistance is large when the pipe penetrates due to the fact that the pipe is long and thin, the number of the pipes is large, multiple operators are needed to lift one pipe and align the end of the pipe to the pipe plate hole, then the pipe is pushed manually, large physical force is needed to be consumed, the labor intensity of the operators is high, the production efficiency is low, the manufacturing speed of the heat exchanger is severely limited, and pipe penetrating of the pipe bundle is an important process which influences the production efficiency in the manufacturing of the fixed pipe plate tubular heat exchanger.

In the prior art, a plurality of simple mechanical devices are generally adopted to assist in pipe penetration, and the automatic pipe penetrating machine in the prior art is not suitable for pipe penetration of large-diameter and large-length large tubular heat exchangers.

In the prior art, a laser sensor is adopted for auxiliary control, and a vision system is adopted for replacing a laser scanning sensor for auxiliary control, so that higher precision and use convenience can be obtained.

In the prior art, the pipe grabbing and pipe penetrating driving device can only grab one pipe at a time, the reciprocating times between the pipe grabbing and the pipe penetrating are more, and the pipe penetrating efficiency can be improved by reducing the reciprocating times through optimized design.

In the prior art, the feeding of the pipes is inconvenient, the pipes need to be manually taken out of a packing box, a travelling crane lifts the whole bundle of pipes onto an automatic pipe feeding device, and the pipes are manually pushed onto an inclined plane of the automatic pipe feeding device.

The tube penetrating of the heat exchanger tube core has two modes of 'open penetration' and 'blind penetration', when the heat exchanger tube core adopts the 'open penetration' mode before the tube penetrating machine, the heat exchanger tube core is prevented from being assembled at other places, and then the tube core is lifted to the front of the tube penetrating machine by a travelling crane, so that the tube core is easy to deform, the labor and the time are wasted, and the heat exchanger tube core after the tube penetrating is not convenient to be lifted by the travelling crane and penetrate into a cylinder body.

SUMMERY OF THE UTILITY MODEL

The utility model aims to overcome the defects and provide an intelligent automatic pipe penetrating production line for heat exchangers, which is suitable for heat exchangers with different lengths, different diameters and different pipe hole distribution states and pipe penetrating of heat exchange pipes with different pipe diameters, different wall thicknesses and different materials, and can realize the automatic feeding, automatic pipe turning, automatic grabbing of a plurality of pipes, automatic searching of pipe hole holes, automatic pushing of a plurality of pipes in place and the automation of the pipe penetrating process; aiming at the 'open-end penetration' mode of tube penetration of the tube core of the heat exchanger, in order to avoid assembling the tube core of the heat exchanger at other places, and then before the tube core of the heat exchanger is lifted to the tube penetrating machine by a travelling crane, and the tube core of the heat exchanger after the tube penetration is not convenient to be lifted and penetrated into a cylinder by the travelling crane, the front end of an intelligent automatic tube penetrating production line of the heat exchanger is provided with a tube type heat exchanger tube core rapid assembling tool.

In order to achieve the purpose, the intelligent automatic tube penetrating production line for the heat exchanger comprises the heat exchanger, a shifting roller carrier, a heat exchanger tube core rapid assembly tool, a heat exchanger front end tube plate, a servo horizontal moving mechanism, a servo vertical moving mechanism, a roller driving tube penetrating and pushing device, a tube taking and forced conveying device, an automatic tube feeding device, a visual system, a guide head and a heat exchange tube;

the deflection roller frame comprises a mounting frame, wherein two driving rollers and two driving roller driving mechanisms are connected to the mounting frame, and the driving rollers are driven to rotate by the driving roller driving mechanisms to drive the heat exchanger to rotate;

a heat exchanger front-end tube plate is mounted at the front end of the surface of the heat exchanger tube core rapid assembly tool, a plurality of heat exchanger baffle plates are mounted behind the heat exchanger front-end tube plate, the heat exchanger front-end tube plate and the plurality of heat exchanger baffle plates are fixed through distance tubes and pull rods, a small number of heat exchange tubes penetrate through the heat exchanger front-end tube plate and the plurality of heat exchanger baffle plates, and holes in the heat exchanger front-end tube plate and the plurality of heat exchanger baffle plates are kept in a basically concentric structure;

the heat exchanger comprises a heat exchanger or a heat exchanger tube core, and is characterized in that two bases and two servo horizontal moving mechanisms which are symmetrically distributed in a front-back manner are installed at the front end of the heat exchanger or the heat exchanger tube core, a servo vertical moving mechanism is installed on a horizontal sliding plate of the servo horizontal moving mechanism, a tube taking and forced feeding device is installed between the two servo vertical moving mechanisms which are positioned at the same side, a roller driving tube penetrating and pushing device is installed on the servo vertical moving mechanism which is close to one end of the heat exchanger or the heat exchanger tube core, a visual system is installed on the side face of the front end of the roller driving tube penetrating and pushing device, an automatic tube feeding device is symmetrically installed on one side of the two bases and one side of the servo horizontal moving mechanism, the servo horizontal moving mechanism and the servo vertical moving mechanism move the tube taking and forced feeding device and the roller driving tube penetrating and pushing device to the lower portion of the front end of the automatic tube feeding device, a tube taking support on the tube taking and forced feeding device is inserted to the lower portion of the front end of the automatic tube feeding device in a translational manner, when the vertical moving mechanism rises, a plurality of heat exchange tubes positioned at the front end of the automatic tube feeding device are taken away, the heat exchange tubes positioned at the front end of the automatic tube feeding device, the heat exchanger and the forced tube taking tube driving tube and the tube plate, and the heat exchanger are sequentially started by the roller driving tube driving device, and the tube plate, and the tube driving device, and the tube plate, and the tube driving device are started by the servo horizontal moving mechanism.

Furthermore, the servo horizontal moving mechanism is provided with two bases which are symmetrically distributed front and back, the bases are installed on the ground through supporting legs, two first linear guide rails are installed on the bases, a first rack is installed between the two first linear guide rails, a first sliding block is installed on the first linear guide rails, a horizontal sliding plate is installed on the first sliding block, a speed reducer installing seat is arranged on the horizontal sliding plate, and the speed reducer is fixedly connected with the installing seat through bolts; a first servo motor is installed above the speed reducer, the first servo motor is connected with the speed reducer, a driving gear is installed at the front end of the speed reducer, the driving gear is connected with a first rack in a meshed mode, a servo vertical moving mechanism is installed on the horizontal sliding plate, limiting blocks are installed at two ends of the base, and a first drag chain is installed on the side face of the base.

Furthermore, a vertical upright post is arranged on the servo vertical moving mechanism, the vertical upright post is arranged on the upper surface of the horizontal sliding plate, two second linear guide rails are arranged on the side surface of the vertical upright post, a second rack is arranged between the two second linear guide rails, a second sliding block is arranged on the second linear guide rails, a vertical sliding plate is arranged on the surface of the second sliding block, and an installation support is connected to the vertical sliding plate; the upper surface of the mounting support is provided with a worm and gear speed reducer and a driving gear, a second servo motor is arranged above the worm and gear speed reducer and the driving gear, the second servo motor is connected with the worm and gear speed reducer and the driving gear, and the worm and gear speed reducer is meshed with the driving gear and a second rack; the limiting blocks are installed at two ends of the vertical stand column, the second drag chain is installed on the side face of the vertical stand column, the front end of the mounting support is fixedly connected with the roller driving through pipe and a first connecting flange on the pipe pushing device through bolts, and the rear end of the mounting support is fixedly connected with second connecting flanges at two ends of the pipe taking and forced conveying device through bolts.

Furthermore, the vision system is mounted at the front end of the roller driving pipe penetrating and pushing device and comprises a vision sensor, a light source and a vision system mounting support, the vision sensor and the light source are mounted on the vision system mounting support, and the light source is mounted outside the vision sensor.

Furthermore, the roller driving pipe penetrating and pushing device comprises a driving mechanism mounting frame, a first connecting flange is arranged at the rear end of the driving mechanism mounting frame, two third linear guide rails are arranged at the lower end in front of the driving mechanism mounting frame, a third slider is symmetrically mounted between the two third linear guide rails, two sliding plates are symmetrically mounted on the third slider symmetrically mounted between the two third linear guide rails, two lug plates are arranged on two sides of the upper end of each sliding plate, a lifting plate is mounted between the lug plates on two sides, two symmetrical lug plates are arranged on two sides of the lifting plate, a chain plate is mounted between the lifting plate and the lug plates on the sliding plates, the lifting plate is connected with a piston rod end push plate of the two first guide rod cylinders, the two first guide rod cylinders are connected with a middle guide rod cylinder mounting plate, the guide rod cylinder mounting plate is connected with the driving mechanism mounting frame, arc-shaped driving wheels are symmetrically mounted below the sliding plates, the brushless direct current motor is connected with the arc-shaped driving wheels, the heat exchange tubes are mounted above the sliding plates, the two first guide rod cylinders move up and down, the sliding plates drive the sliding plates to symmetrically move, the arc-shaped driving wheels to move forwards, and clamp the heat exchange tubes; the sliding plate is provided with a bearing mounting hole, a flange which is in contact with an outer ring of a radial thrust ball bearing is arranged below the bearing mounting hole, two radial thrust ball bearings are placed from the upper part of the bearing mounting hole and are in contact with the flange at the lower end of the bearing mounting hole, a transmission shaft is arranged on inner rings of the two radial thrust ball bearings, a shaft shoulder is arranged at the upper end of the transmission shaft and is in contact with the inner ring of the radial thrust ball bearing at the upper end, a key groove and a key are formed in the lower end of the transmission shaft, a hole and a key groove which are matched with the transmission shaft are formed in the middle of the arc-shaped driving wheel, the arc-shaped driving wheel penetrates from the lower end of the transmission shaft and is fixed by a nut, a circular ring bulge is arranged at the upper end of the arc-shaped driving wheel hole and is in contact with the inner ring of the radial thrust ball bearing at the lower end of the arc-shaped driving wheel, a bearing gland is arranged above the sliding plate bearing hole, the bearing gland presses the outer ring of the radial thrust ball bearing at the upper end, the bearing gland is connected with the sliding plate by a bolt, a hole is formed in the middle of the bearing gland, the upper end of the transmission shaft penetrates through the hole of the bearing gland, a key groove and is provided with a key groove, the transmission shaft, the upper end of the transmission shaft, the brushless direct current motor, the brushless direct current reducer, and drives the brushless direct current reducer;

roller drive poling and ejector sleeve device still includes in the middle of the actuating mechanism mounting bracket top, installs and takes guide arm lift cylinder, take guide arm lift cylinder tailpiece of the piston rod portion push pedal on install ejector sleeve cylinder mount ejector sleeve cylinder is installed to ejector sleeve cylinder mount upper level, ejector sleeve cylinder piston rod and push pedal are installed to ejector sleeve cylinder's tailpiece of the piston rod portion ejector sleeve cylinder mount lower extreme is the C-shaped structure and installs first V-arrangement driven gyro wheel and support.

Furthermore, the tube taking and forced delivery device comprises a beam, second connecting flanges are arranged at two ends of the beam, a plurality of forced delivery device C-shaped supports and driven roller C-shaped supports are arranged below the beam, a forced delivery device brushless motor and a speed reducer are arranged at the rear end below the forced delivery device C-shaped supports, a V-shaped driving roller and a support are arranged below the forced delivery device C-shaped supports, a third cylinder with a guide rod is arranged above the forced delivery device C-shaped supports 7d, a push plate at the end part of a piston rod of the third cylinder with the guide rod penetrates through the top of the forced delivery device C-shaped supports and is connected with the second V-shaped driven roller and the support, the third cylinder with the guide rod drives the second V-shaped driven roller and the support to move up and down in the forced delivery device C-shaped supports, and the lower part of the inner parts of the driven roller C-shaped supports, the pipe taking device is characterized in that a third V-shaped driven roller and a support are installed, the V-shaped driving roller, the support, the third V-shaped driven roller and the support are kept at the same height and form a raceway, an inclined pipe taking support is installed on the V-shaped driving roller, the side face of the support, the side face of the third V-shaped driven roller and the side face of the support, an adjustable baffle is installed on the upper surface of the inclined pipe taking support close to the raceway, a circular hole is formed below the adjustable baffle and is connected with the upper surface of the inclined pipe taking support through a bolt, a second cylinder with a guide rod is installed on the side face of the inclined pipe taking support, a top plate is installed on a push plate at the end of a piston rod of the second cylinder with the guide rod, the second cylinder with the guide rod drives the top plate to move up and down, and the lower surfaces of the forced conveying device C-shaped support and the driven roller C-shaped support are provided with a forced conveying device.

Furthermore, the automatic pipe feeding device comprises a framework with an inclined plane and a framework with a plane, the framework with the inclined plane is used for arranging the heat exchange pipes on the inclined plane and automatically rolling downwards, the framework with the plane is used for storing whole bundles of the heat exchange pipes, a material baffle is mounted at the lower end of the inclined plane of the framework with the inclined plane and used for preventing the heat exchange pipes which are orderly arranged on the inclined plane from sliding downwards, a rotating pin shaft is arranged below a corner of the framework with the inclined plane and the framework with the plane, the rotating pin shaft is hinged to one end of a material turning plate, the material turning plate can rotate around the rotating pin shaft, the rear end of the material turning plate is connected with a fork joint of a piston rod of an air cylinder, the material turning plate is connected through section steel, an air cylinder support is arranged below a column of the framework with the plane, the air cylinder support is hinged to the rear end of a material turning cylinder, and the fork joint of the piston rod of the air cylinder drives the material turning plate to rotate in a telescopic mode.

Furthermore, the roller driving pipe penetrating and pushing device is mounted on a mounting support of the servo vertical moving mechanism in a turnover mode of 180 degrees, the bottom of the C-shaped support of the forced conveying device and the C-shaped support of the driven roller are fixed to the upper surface of a cross beam through bolts respectively, the V-shaped driving roller, the support, the third V-shaped driven roller and the support are kept at the same height above the cross beam to form a roller path, the roller path and an arc-shaped driving wheel on the roller driving pipe penetrating and pushing device are kept concentric, and the roller path and the arc-shaped driving wheel on the C-shaped support of the forced conveying device and the upper surface of the C-shaped support of the driven roller are arranged on the upper surface of the C-shaped support of the forced conveying device and the upper surface of the C-shaped support of the driven roller.

Furthermore, the roller drives the tube penetrating and forced conveying device at the front end of the tube penetrating and pushing device, a plurality of forced conveying device C-shaped supports are arranged below the driving mechanism mounting frame, forced conveying device brushless motors and speed reducers are arranged at the rear ends below the forced conveying device C-shaped supports, V-shaped driving rollers and supports are arranged below the forced conveying device C-shaped supports, third guide rod-provided cylinders are arranged above the forced conveying device C-shaped supports, piston rod end push plates of the third guide rod-provided cylinders penetrate through the tops of the forced conveying device C-shaped supports and are connected with second V-shaped driven rollers and the supports, the third guide rod-provided cylinders drive the second V-shaped driven rollers and the supports to move up and down in the forced conveying device C-shaped supports, the third guide rod-provided cylinders are started, the second V-shaped driven rollers and the supports are driven to move downwards to press heat exchange tubes, and the forced conveying device brushless motors and the speed reducers are started to enable the heat exchange tubes to move forwards.

Compared with the prior art, the utility model provides an automatic poling production line of heat exchanger intelligence possesses following beneficial effect:

1. the utility model discloses poling equipment adopts vision system auxiliary control poling, can obtain the convenience of higher accuracy and use, and the work piece does not need the fine adjustment work piece position after putting, and the size of the hole on the tube sheet is arranged and can be changed wantonly, does not need 2D or the 3D drawing of leading-in work piece, need not program to the work piece of difference, does not need the range law of input a large amount of holes, and accessible intelligent mode realizes continuous poling.

2. The utility model discloses poling equipment is applicable to the heat exchanger of different length, different diameters, different tube hole distribution state to and the poling of the heat exchange tube of different pipe diameters, different wall thicknesses, different materials, can realize from the pipe material loading-turn over the pipe automatically-snatch the pipe automatically-look for the tube sheet hole automatically-target in place the pipe propelling movement, realize poling process automation, increase substantially poling efficiency, save manufacturing cost.

3. The utility model discloses with two front and back symmetric distributions's base and servo horizontal migration mechanism direct mount subaerial, install servo vertical movement mechanism on servo horizontal migration mechanism slide, two servo vertical movement mechanisms that are located the homonymy install same pipe snatch and poling drive arrangement, can simplify the structure like this, are convenient for make, install and debug, reduce equipment investment cost.

4. The utility model discloses can snatch several pipes, look for the tube sheet hole site automatically, the pipe that will snatch is gradually turned into the raceway and is penetrated the tube sheet downthehole, is gradually the root automatically and puts in place the pipe propelling movement, realizes the continuous poling process of numerical control automatically.

5. The utility model discloses install at pipe automatic feed device rear end and turn over a tub device, after removing roof and one side curb plate with whole case heat exchange tube, then hang whole case heat exchange tube to pipe automatic feed device rear end with the driving, start and turn over a tub device, can pour the heat exchange tube in the packing box, glide along pipe automatic feed device's inclined plane.

6. The utility model discloses being applicable to heat exchanger tube core poling "openly wear" and "blind two kinds of modes of wearing", before this poling machine, can realize with the help of "a shell and tube heat exchanger tube core rapid Assembly frock and assembly method" that the rapid positioning of tube sheet and baffling board is fixed, accomplish the rapid Assembly of heat exchanger tube core, then directly utilize this poling machine poling.

7. After accomplishing the heat exchanger tube core poling, arrange the gyro wheel frame with adjustable hydraulic pressure group to behind a shell and tube heat exchanger tube core rapid Assembly frock, put the heat exchanger barrel on the gyro wheel frame with adjustable hydraulic pressure group, make the heat exchanger barrel concentric with the heat exchanger tube core to adjustable gyro wheel frame through hydraulic pressure group, the heat exchanger tube core is located portable support and can slide along the raceway level, pulls or the hoist engine through chain block, and portable support holds in the palm the translation of heat exchanger tube core and progressively inserts in the heat exchanger barrel, the utility model discloses can increase substantially assembly efficiency, reduce intensity of labour, avoid auxiliary material and welding material extravagant, avoid using the overhead traveling crane as power device, avoid the potential safety hazard.

Drawings

FIG. 1 is a schematic structural view of a pipe penetrating device in embodiment 1 of the present invention;

FIG. 2 is a schematic view of a partial structure of a servo horizontal moving mechanism of the pipe penetrating device in embodiment 1 of the present invention;

fig. 3 is a schematic view of a partial structure of a servo vertical moving mechanism of the pipe penetrating device in embodiment 1 of the present invention;

FIG. 4 is a schematic view of a partial structure of a roller-driven pipe penetrating and pushing device of the pipe penetrating equipment in embodiment 1 of the present invention;

FIG. 5 is a schematic structural view of a tube taking and forced feeding device in the tube penetrating equipment in embodiment 1 of the present invention;

FIG. 6 is a schematic structural view of an automatic feeding device for tubes in a tube penetrating device according to embodiment 1 of the present invention;

fig. 7 is a schematic view of the structure of a visual system in the pipe penetrating device in embodiment 1 of the present invention;

fig. 8 is a schematic structural view of a pipe penetrating device in embodiment 2 of the present invention;

fig. 9 is a schematic structural view of the tube taking and feeding device in the tube penetrating equipment in embodiment 2 of the present invention.

In the figure: wherein: 1. a heat exchanger; 2. a position-changing roller frame; 3. a heat exchanger tube core; 3a, a heat exchanger baffle plate; 3b, a front end tube plate of the heat exchanger; 4. a servo horizontal movement mechanism; 4a, a base; 4b, a first linear guide rail; 4c, a first rack; 4d, a limiting block; 4e, a horizontal sliding plate; 4f, a first sliding block; 4g, a first servo motor; 4h, a speed reducer; 4i, a driving gear; 4j, a first drag chain; 4k, supporting legs; 5. a servo vertical movement mechanism; 5a, vertical columns; 5b, a second sliding block; 5c, vertical sliding plate; 5d, a second linear guide rail; 5e, a second rack; 5f, a second servo motor; 5g, a worm gear speed reducer and a driving gear; 5h, mounting a support; 5i, a second drag chain; 6. the roller drives the pipe penetrating and pushing device; 6a, a driving mechanism mounting frame; 6b, a third linear guide rail; 6c, a third slide block; 6d, arc-shaped driving wheels; 6e, a sliding plate; 6f, a speed reducer and a brushless direct current motor; 6g, ear plates; 6h, link plates; 6i, mounting a cylinder with a guide rod; 6j, a first cylinder with a guide rod; 6k, a lifting plate; 6l, a piston rod of a push pipe cylinder and a push plate; 6m, a pipe pushing cylinder; 6n, a lifting cylinder with a guide rod; 6o, pushing a pipe cylinder fixing frame; 6p, a first V-shaped driven roller and a support; 6q, a first connecting flange; 7. taking a pipe and forcibly conveying the pipe; 7a, a cross beam; 7b, a second connecting flange; 7c, forcibly sending the brushless motor and the speed reducer of the device; 7d, forcibly conveying the C-shaped bracket of the device; 7e, a second V-shaped driven roller and a support; 7f, a V-shaped driving roller and a support; 7g, a passive roller C-shaped bracket; 7h, a third V-shaped driven roller and a support; 7i, a second cylinder with a guide rod; 7j, a top plate; 7k, taking a tube bracket; 7l of adjustable baffle; 7m, connecting profile steel; 7n, a third cylinder with a guide rod; 8. an automatic pipe feeding device; 8a, a striker plate; 8b, a framework with an inclined plane; 8c, rotating the pin shaft; 8d, a framework with a plane; 8e, a material turning plate; 8f, a fork joint of a piston rod of the air cylinder; 8g, a material turning cylinder; 8h, a cylinder support; 8i, profile steel; 8j, heightening the support; 9. a vision system; 9a, a vision sensor; 9b, a light source; 9c, mounting a support of a visual system; 10. a seeker; 11. a heat exchange pipe; 12. quick assembly fixture of heat exchanger tube core.

Detailed Description

The preferred embodiments of the present invention will be described in conjunction with the accompanying drawings, and it is to be understood that the preferred embodiments described herein are merely for purposes of illustration and explanation, and are not intended to limit the present invention, and that the features of the embodiments and examples may be combined without conflict.

Example 1:

as shown in fig. 1-7, an intelligent automatic tube penetrating production line for a heat exchanger comprises a heat exchanger 1, a deflection roller carrier 2, a heat exchanger tube core rapid assembly tool 12, a heat exchanger front end tube plate 3b, a servo horizontal moving mechanism 4, a servo vertical moving mechanism 5, a roller driving tube penetrating and pushing device 6, a tube taking and forced conveying device 7, an automatic tube feeding device 8, a vision system 9, a guide head 10 and a heat exchange tube 11;

the position-changing roller frame 2 comprises a mounting frame, wherein two driving rollers and two driving roller driving mechanisms are hinged on the mounting frame, and the driving rollers are driven to rotate by the driving roller driving mechanisms to drive the heat exchanger 1 to rotate;

a heat exchanger front-end tube plate 3b is mounted at the front end of the surface of the heat exchanger tube core rapid assembly tool 12, a plurality of heat exchanger baffle plates 3a are mounted behind the heat exchanger front-end tube plate 3b, the heat exchanger front-end tube plate 3b and the plurality of heat exchanger baffle plates 3a are fixed through distance tubes and pull rods, a small number of heat exchange tubes 11 penetrate through the heat exchanger front-end tube plate 3b and the plurality of heat exchanger baffle plates 3a, and holes in the heat exchanger front-end tube plate 3b and the plurality of heat exchanger baffle plates 3a are kept in a basically concentric structure;

two bases 4a and two servo horizontal moving mechanisms 4 which are symmetrically distributed from front to back are arranged at the front end of the heat exchanger 1 or the heat exchanger tube core 3, a servo vertical moving mechanism 5 is arranged on a horizontal sliding plate 4e of the servo horizontal moving mechanism 4, a tube taking and forced delivery device 7 is arranged between the two servo vertical moving mechanisms 5 which are positioned at the same side, a roller driving tube penetrating and pushing device 6 is arranged on the servo vertical moving mechanism 5 which is close to one end of the heat exchanger 1 or the heat exchanger tube core 3, a visual system 9 is arranged at the front end side of the roller driving tube penetrating and pushing device 6, automatic tube feeding devices 8 are symmetrically arranged at one sides of the two bases 4a and the servo horizontal moving mechanisms 4, the servo horizontal moving mechanism 4 and the servo vertical moving mechanism 5 move the tube taking and forced delivery device 7 and the roller driving tube penetrating and pushing device 6 to the lower part of the front end of the automatic tube feeding device 8, and translating to insert a tube taking support 7k on the tube taking and forced delivery device 7 below the front end of the automatic tube feeding device 8, taking away a plurality of heat exchange tubes 11 positioned at the front end of the automatic tube feeding device 8 when the vertical moving mechanism 5 ascends, and under the assistance of the visual system 9, driving the rollers by the servo horizontal moving mechanism 4 and the servo vertical moving mechanism 5 to drive the tube penetrating and pushing device 6 and the tube taking and forced delivery device 7 to reach any specified hole site of the tube plate 3b at the front end of the heat exchanger, so that the grasped heat exchange tubes 11 are concentric with the hole site of the tube plate 3b at the front end of the heat exchanger, and sequentially starting the tube taking and forced delivery device 7 and the rollers to drive the tube penetrating and pushing device 6 to complete the automatic tube penetrating process.

The servo horizontal moving mechanism 4 is provided with two bases 4a which are symmetrically distributed front and back, the bases 4a are mounted on the ground through supporting legs 4k, two first linear guide rails 4b are mounted on the bases 4a, a first rack 4c is mounted between the two first linear guide rails 4b, a first sliding block 4f is mounted on the first linear guide rails 4b, a horizontal sliding plate 4e is mounted on the first sliding block 4f, a speed reducer 4h mounting seat is arranged on the horizontal sliding plate 4e, and the speed reducer 4h is fixedly connected with the mounting seat through bolts; first servo motor 4g is installed to speed reducer 4 h's top, first servo motor 4g is connected with speed reducer 4h, driving gear 4i is installed to 4 front ends of speed reducer, driving gear 4i is connected with the meshing of first rack 4c, install servo vertical migration mechanism 5 on the horizontal sliding plate 4e, stopper 4d is installed at base 4a both ends, base 4a side-mounting has first tow chain 4j.

The servo vertical moving mechanism 5 is provided with a vertical upright post 5a, the vertical upright post 5a is arranged on the upper surface of a horizontal sliding plate 4e and fixedly connected with the horizontal sliding plate by bolts, two second linear guide rails 5d are arranged on the side surface of the vertical upright post 5a, a second rack 5e is arranged between the two second linear guide rails 5d, a second sliding block 5b is arranged on the second linear guide rails 5d, a vertical sliding plate 5c is arranged on the surface of the second sliding block 5b, and a mounting support 5h is connected to the vertical sliding plate 5 c; the upper surface of the mounting support 5h is provided with a worm and gear speed reducer and a driving gear 5g, a second servo motor 5f is arranged above the worm and gear speed reducer and the driving gear 5g, the second servo motor 5f is connected with the worm and gear speed reducer and the driving gear 5g, and the worm and gear speed reducer is meshed with the driving gear 5g and a second rack 5 e; stopper 4d is installed at vertical stand 5a both ends, vertical stand 5a side-mounting has second tow chain 5i, mount support 5h front end and gyro wheel drive poling are connected with bolt fixed connection with first flange 6q on the ejector sleeve device 6, mount support 5h rear end and get the pipe and send device 7 second flange 7b at both ends with forcing to use bolt fixed connection.

The visual system 9 is installed at the front end of the roller driving pipe penetrating and pushing device 6, the visual system 9 comprises a visual sensor 9a, a light source 9b and a visual system installation support 9c, the visual sensor 9a and the light source 9b are installed on the visual system installation support 9c, the light source 9b is installed outside the visual sensor 9a, the visual sensor 9a scans along a planned path, the spatial position information of the heat exchanger baffle plate 3a and the spatial position and hole feature information of a target pipe hole in the heat exchanger front end pipe plate 3b are read, a computer processes the information through software, the coordinate information of the target hole in the heat exchanger front end pipe plate 3b is automatically generated, and the servo horizontal moving mechanism 4 and the servo vertical moving mechanism 5 are controlled to drive the roller driving pipe penetrating and pushing device 6 and the pipe taking and conveying device 7 to run to a position concentric with the target hole position of the heat exchanger front end pipe plate 3 b.

The roller driving pipe penetrating and pushing device 6 comprises a driving mechanism mounting frame 6a, a first connecting flange 6q is arranged at the rear end of the driving mechanism mounting frame 6a, two third linear guide rails 6b are arranged at the lower end in front of the driving mechanism mounting frame 6a, third slide blocks 6c are symmetrically arranged between the two third linear guide rails 6b, two slide plates 6e are symmetrically arranged on the third slide blocks 6c symmetrically arranged between the two third linear guide rails 6b, ear plates 6g are arranged on two sides of the upper ends of the two slide plates 6e, lifting plates 6k are arranged between the ear plates 6g on two sides, symmetrical ear plates 6g are arranged on two sides of the lifting plate 6k, a chain plate 6h is arranged between the lifting plate 6k and the ear plate 6g on the slide plate 6e, the lifting plates 6k of the driving wheel are connected with push plates at the end parts of piston rods of two first guide rod cylinders 6j, the two first guide rod mounting frames 6j are connected with the middle guide rod mounting plate 6i with the guide rod, the guide rod mounting plate 6i with the driving wheel guide rods is connected with a belt guide rod mounting plate 6i, the arc-shaped slide plates 6d are symmetrically arranged below the driving wheel slide plates 6e, the arc-shaped slide plates 6d and are connected with the arc-shaped guide rod mounting frame 6d symmetrically arranged above the arc-shaped slide plates 6e, and the heat exchange tube mounting plate 6e, and the heat exchange tube 6e and the heat exchange tube mounting plate 6e and are connected with the heat exchange tube 6e in a horizontal motion motor for horizontally moving horizontally and capable of the heat exchange tube, and capable of horizontally moving through the heat exchange tube, and capable of horizontally moving; the automatic transmission device is characterized in that a bearing mounting hole is formed in the sliding plate 6e, a flange which is in contact with an outer ring of the radial thrust ball bearing is arranged below the bearing mounting hole, two radial thrust ball bearings are placed from the upper side of the bearing mounting hole and are in contact with a flange at the lower end of the bearing mounting hole, a transmission shaft is arranged on inner rings of the two radial thrust ball bearings, a shaft shoulder is arranged at the upper end of the transmission shaft and is in contact with an inner ring of the radial thrust ball bearing at the upper end, a key groove is formed in the lower end of the transmission shaft, a key is arranged at the lower end of the transmission shaft, a hole and a key groove are formed in the middle of the arc driving wheel 6d, a bearing gland is arranged above the bearing hole of the sliding plate 6e, the outer ring of the radial thrust ball bearing at the upper end of the bearing gland is pressed by the hole, the bearing gland is connected with the sliding plate 6e through a bolt, a hole is formed in the middle of the bearing gland, the upper end of the transmission shaft penetrates through the key groove and is provided with a key reducer, the upper end of the sliding plate penetrates through the brushless direct current motor 6f, the brushless direct current motor 6f and is connected with a brushless direct current motor 6f, and a brushless direct current motor 6f is connected with a brushless direct current motor;

the roller driving pipe penetrating and pushing device 6 further comprises a lifting cylinder 6n with a guide rod, a pipe pushing cylinder fixing frame 6o is installed above the middle of a driving mechanism installing frame 6a, a pipe pushing cylinder 6m is horizontally installed on the pipe pushing cylinder fixing frame 6o, a pipe pushing cylinder piston rod and a pushing plate 6l are installed at the end portion of a piston rod of the pipe pushing cylinder 6m, the lower end of the pipe pushing cylinder fixing frame 6o is of a C-shaped structure and is provided with a first V-shaped driven roller and a support 6p, the first V-shaped driven roller and the support 6p, the V-shaped driving roller, the support 7f, the third V-shaped driven roller and the support 7h are kept as equal heights to form a part of a roller path, the pipe pushing cylinder 6n with the guide rod can drive the pipe pushing cylinder 6m to descend, the pipe pushing cylinder 6m is started to push the heat exchange pipe 11 to advance, a compressed air hole is formed in the middle of the pushing plate 6l, a contact portion with the heat exchange pipe 11 is a conical surface, the center of the conical surface is aligned with the push plate 6l, a compressed air hole is formed in the middle of the push plate 6l, the heat exchange pipe is blown out, the compressed air hole, the compressed air collecting head is led in the heat exchange pipe, the heat exchange head, the heat exchange pipe is led in the heat exchange head, and the heat exchange head is led into the heat exchange head, and the heat exchange head is used for collecting head, and the heat exchange head is led out, and the heat exchanger 10 is led out, and the heat exchange head is used for collecting head, and the heat exchanger is led out.

The tube taking and forced delivery device 7 comprises a beam 7a, second connecting flanges 7b are arranged at two ends of the beam 7a, a plurality of forced delivery device C-shaped supports 7d and driven roller C-shaped supports 7g are arranged below the beam 7a, a forced delivery device brushless motor and a speed reducer 7C are arranged at the rear end below the forced delivery device C-shaped supports 7d, V-shaped driving rollers and supports 7f are arranged below the forced delivery device C-shaped supports 7d, a third cylinder with guide rods 7n is arranged above the forced delivery device C-shaped supports 7d, a push plate at the end part of a piston rod of the third cylinder with guide rods 7n penetrates through the top of the forced delivery device C-shaped supports 7d and is connected with second V-shaped driven rollers and supports 7e, the third cylinder with guide rods 7n drives the second V-shaped driven rollers and the supports 7e to move up and down in the forced delivery device C-shaped supports 7d, and the driven roller C-shaped supports 7g are arranged below the inner part of the driven roller C-shaped supports 7g, a third V-shaped driven roller and a support 7h are arranged, the V-shaped driving roller, the support 7f, the third V-shaped driven roller and the support 7h are kept at the same height and form a roller path, the side surfaces of the V-shaped driving roller and the support 7f, the side surfaces of the third V-shaped driven roller and the support 7h are provided with an inclined tube taking support 7k, the upper surface of the inclined tube taking support 7k close to the roller path is provided with an adjustable baffle 7l, a circular hole is arranged below the adjustable baffle 7l and is connected with the upper surface of the inclined tube taking support 7k through a bolt, a second guide rod cylinder 7i is arranged on the side surface of the inclined tube taking support 7k, a top plate 7j is arranged on a push plate at the piston rod end of the second guide rod cylinder 7i, the second guide rod cylinder 7i drives the top plate 7j to move up and down, and under the forced feeding device C-shaped support 7d and the driven roller C-shaped support 7g, the connecting section steels 7m are connected in series and connected by bolts, so that the bending resistance of the cross beam 7a is improved.

The automatic pipe feeding device 8 comprises a framework 8b with an inclined plane and a framework 8d with a plane, the framework 8b with the inclined plane is used for arranging the heat exchange tubes 11 on the inclined plane and automatically rolling downwards, the framework 8d with the plane is used for storing and bundling the heat exchange tubes 11, a material baffle plate 8a is installed at the lower end of the inclined plane of the framework 8b with the inclined plane and used for preventing the heat exchange tubes 11 arranged in order on the inclined plane from sliding downwards, a rotating pin shaft 8c is arranged below a corner of the framework 8b with the inclined plane and a corner of the framework 8d with the plane, the rotating pin shaft 8c is hinged to one end of a material turning plate 8e, the material turning plate 8e can rotate around the rotating pin shaft 8c, the rear end of the material turning plate 8e is connected with a fork-shaped joint 8f of a cylinder piston rod, the material turning plates 8e are connected through section steel 8i, a cylinder support 8h is arranged below a column with the framework 8d with the plane, the cylinder support 8h is hinged to the rear end of a material turning cylinder support 8g, and the cylinder piston rod joint 8f stretches to drive the material turning plate 8e to rotate.

The automatic pipe penetrating working process comprises the following steps:

s1, mounting at least one heat exchanger 1 on a shifting roller frame 2, adjusting the distance between the heat exchanger 1 and automatic pipe penetrating equipment, adjusting the horizontal and vertical states of a hole system of a front end tube plate 3b of the heat exchanger by using the shifting roller frame 2, and driving a vision system to scan the front end tube plate 3b of the heat exchanger through an automatic program without finely adjusting the position of a workpiece after the workpiece is placed, so as to obtain the spatial position of the front end tube plate 3b of the heat exchanger and the spatial position of a target hole on the front end tube plate 3b of the heat exchanger, or quickly positioning and fixing the front end tube plate 3b of the heat exchanger and a heat exchanger baffle plate 3a of the heat exchanger on a tube type heat exchanger tube core quick assembly tool 12, so as to finish the quick assembly of the tube core 3 of the heat exchanger;

s2, replacing the arc-shaped driving wheel 6d with the same outer diameter as the heat exchange tube 11; the distance between the adjustable baffle 7l on the pipe taking support 7k and the side surface of the top plate 7j is adjusted to be consistent with the pipe diameter of the heat exchange pipe 11;

s3, after a packaging top plate and a side plate on one side of the whole box of heat exchange tubes 11 are removed, the whole box of heat exchange tubes 11 are hung above a framework 8d with a plane at the rear end of an automatic tube feeding device 8 by a crane, a tube turning device is started, the heat exchange tubes 11 can be poured out of the packaging box, slide down to a position of a material baffle plate 8a along the inclined plane of the automatic tube feeding device 8 and stop, the heat exchange tubes 11 are made to be fully paved on the inclined plane of the automatic tube feeding device 8, and a guide head 10 is placed at the tube ends of the heat exchange tubes 11;

s4: starting a pipe penetrating program, driving the pipe penetrating and pushing device 6 to move below the front end of the automatic pipe feeding device 8 by the servo horizontal moving mechanism 4 and the servo vertical moving mechanism 5 and the pipe taking and forced feeding device 7 and the roller wheel, then the tube taking bracket 7k on the tube taking and forced delivery device 7 is inserted below the front end of the automatic tube feeding device 8 by translation, when the vertical moving mechanism 5 ascends, a plurality of heat exchange tubes 11 positioned at the front end of the automatic tube feeding device 8 can be taken away, under the assistance of the visual system 9, the servo horizontal moving mechanism 4 and the servo vertical moving mechanism 5 drive the rollers to drive the tube penetrating and pushing device 6 and the tube taking and forcibly feeding device 7 to reach any specified hole position of the front end tube plate 3b of the heat exchanger, so that the grasped heat exchange tube 11 is concentric with the hole position of the front end tube plate 3b of the heat exchanger, the second air cylinder with guide rods 7i is sequentially started to enable the top plate 7j to ascend, the heat exchange tube 11 in contact with the adjustable baffle 7l is jacked up, the heat exchange tube 11 rolls into the V-shaped driving roller and the support 7f as well as the third V-shaped driven roller and the roller path formed by the support 7h along the inclined surface of the top plate 7j and the inclined surface of the adjustable baffle 7l, the third air cylinder with guide rods 7n is started to drive the second V-shaped driven roller and the support 7e to move downwards to press the heat exchange tube 11, the brushless motor and the speed changer 7c of the forcibly feeding device are started to enable the heat exchange tube 11 to move forwards, the front end of the heat exchange tube 11 is detected and confirmed to be provided with the guide head 10 through the light curtain sensor, two first cylinders 6j with guide rods are started to move upwards, the symmetrical chain plates 6h drive the sliding plates 6e to symmetrically move horizontally, the two sliding plates 6e drive the arc-shaped driving wheels 6d to fold to clamp the heat exchange tube 11, and the speed reducer and the brushless direct current motor 6f are started to enable the heat exchange tube 11 to move forwards;

s5, when the tail end of the heat exchange tube 11 reaches an arc-shaped driving wheel 6d, stopping a speed reducer and a brushless direct current motor 6f from rotating, starting two first guide rod-carrying cylinders 6j to move downwards, driving sliding plates 6e to generate symmetrical horizontal movement through symmetrical chain plates 6h, driving the arc-shaped driving wheel 6d to expand by the two sliding plates 6e, starting a guide rod-carrying lifting cylinder 6n to drive a tube pushing cylinder 6m to descend, starting the tube pushing cylinder 6m to push the heat exchange tube 11 to advance, introducing compressed air after tube pushing is finished, starting compressed air in the middle of the pushing plate 6l, introducing the compressed air into the heat exchange tube 11, pushing out a guide head 10 at the front end of the heat exchange tube 11, installing a collecting bag at the end part of the heat exchanger 1, and collecting the blown guide head 10 for recycling;

s6: repeating the S3-S5 cycle;

s7: after the tube penetrating of the heat exchanger tube core 3 is finished, arranging a hydraulic assembly adjustable roller frame right behind a heat exchanger tube core rapid assembly tool 12, placing a heat exchanger tube body on the hydraulic assembly adjustable roller frame, enabling the heat exchanger tube body and the heat exchanger tube core 3 to be concentric through the hydraulic assembly adjustable roller frame, enabling the heat exchanger tube core 3 to be located on a movable support and to horizontally slide along a roller path, and enabling the movable support to support the heat exchanger tube core 3 to horizontally move and to be gradually inserted into the heat exchanger tube body through the traction of a chain block or a winch;

example 2:

as shown in fig. 8-9: the roller driving pipe penetrating and pushing device 6 is installed on an installation support 5h of the servo vertical moving mechanism 5 in a turned 180-degree mode, the bottom of a C-shaped support 7d of the forced conveying device and the driven roller C-shaped support 7g are fixed with the upper surface of a cross beam 7a through bolts respectively, the V-shaped driving roller, the support 7f, a third V-shaped driven roller and the support 7h above the cross beam 7a are kept equal in height to form a roller path, the roller path and an arc-shaped driving wheel 6d on the roller driving pipe penetrating and pushing device 6 are kept concentric, connecting section steel 7m is adopted to be connected in series and connected through bolts on the upper surfaces of the C-shaped support 7d of the forced conveying device and the driven roller C-shaped support 7g to increase the bending resistance of the cross beam 7a, and the rest are completely the same as in embodiment 1.

Example 3:

the servo horizontal moving mechanism 4 adopts a ball screw transmission mode to replace a rack and pinion transmission mode, and the rest is completely the same as the embodiment 1 and the embodiment 2.

Example 4:

the servo vertical moving mechanism 5 adopts a screw-nut pair transmission mode to replace a gear-rack transmission mode, and the rest is completely the same as the embodiment 1-3.

Example 5:

the roller-driven tube penetrating and pushing device 6 comprises a plurality of strong conveying device C-shaped supports 7d arranged below a driving mechanism mounting frame 6a, a strong conveying device brushless motor and a speed reducer 7C arranged at the rear ends below the strong conveying device C-shaped supports 7d, a V-shaped driving roller and a support 7f are arranged below the strong conveying device C-shaped supports 7d, a third guide rod-provided cylinder 7n is arranged above the strong conveying device C-shaped supports 7d, a piston rod end push plate of the third guide rod-provided cylinder 7n penetrates through the tops of the strong conveying device C-shaped supports 7d and is connected with a second V-shaped driven roller and a support 7e, the third guide rod-provided cylinder 7n drives the second V-shaped driven roller and the support 7e to move up and down in the strong conveying device C-shaped supports 7d, the third guide rod-provided cylinder 7n is started, the second V-shaped driven roller and the support 7e drive the second V-shaped driven roller and the support 7e to move down, the strong conveying device C-shaped supports 7d and the brushless motor and the heat exchange tube 4-speed reducer.

Having thus described the basic concept, it will be apparent to those skilled in the art that the foregoing detailed disclosure is to be considered as illustrative only and not limiting, of the present invention. Various modifications, improvements, and offset processing may occur to those skilled in the art, though not expressly stated herein. Such modifications, improvements, and offset processing are suggested in this specification and still fall within the spirit and scope of the exemplary embodiments of this specification.

Moreover, those skilled in the art will appreciate that aspects of the present description may be illustrated and described in terms of several patentable species or contexts, including any new and useful combination of processes, machines, manufacture, or materials, or any new and useful improvement thereof. Accordingly, aspects of this description may be performed entirely by hardware, entirely by software, including firmware, resident software, micro-code, etc., or by a combination of hardware and software. The above hardware or software may be referred to as "data block," module, "" engine, "" unit, "" component, "or" system. Furthermore, aspects of the present description may be represented as a computer product, including computer readable program code, embodied in one or more computer readable media.

It is to be understood that the descriptions, definitions and/or uses of terms in the accompanying materials of this specification shall control if they are inconsistent or contrary to the descriptions and/or uses of terms in this specification.

Finally, it should be understood that the embodiments described herein are merely illustrative of the principles of the embodiments described herein. Other variations are also possible within the scope of this description. Thus, by way of example, and not limitation, alternative configurations of the embodiments of the specification can be considered consistent with the teachings of the specification. Accordingly, the embodiments of the present description are not limited to the implementations specifically illustrated and described herein.

Claims (9)

1. The utility model provides an automatic poling production line of heat exchanger intelligence which characterized in that: the device comprises a heat exchanger (1), a deflection roller carrier (2), a heat exchanger tube core rapid assembly tool (12), a heat exchanger front end tube plate (3 b), a servo horizontal moving mechanism (4), a servo vertical moving mechanism (5), a roller driving tube penetrating and pushing device (6), a tube taking and forced conveying device (7), a tube automatic feeding device (8), a visual system (9), a guide head (10) and a heat exchange tube (11);

the deflection roller frame (2) comprises a mounting frame, wherein two driving rollers and two driving roller driving mechanisms are connected to the mounting frame, and the driving rollers are driven to rotate by the driving roller driving mechanisms to drive the heat exchanger (1) to rotate;

a heat exchanger front end tube plate (3 b) is installed at the front end of the surface of the heat exchanger tube core rapid assembly tool (12), a plurality of heat exchanger baffle plates (3 a) are installed behind the heat exchanger front end tube plate (3 b), the heat exchanger front end tube plate (3 b) and the heat exchanger baffle plates (3 a) are fixed through spacing tubes and pull rods, a small number of heat exchange tubes (11) penetrate through the heat exchanger front end tube plate (3 b) and the heat exchanger baffle plates (3 a), and holes in the heat exchanger front end tube plate (3 b) and the heat exchanger baffle plates (3 a) are kept in a basically concentric structure;

the front end of the heat exchanger (1) or the heat exchanger tube core (3) is provided with two bases (4 a) and two servo horizontal moving mechanisms (4) which are symmetrically distributed in the front-back direction, a servo vertical moving mechanism (5) is arranged on a horizontal sliding plate (4 e) of the servo horizontal moving mechanism (4), a tube taking and forced delivery device (7) is arranged between the two servo vertical moving mechanisms (5) which are positioned at the same side, a roller driving tube penetrating and pushing device (6) is arranged on the servo vertical moving mechanism (5) which is close to one end of the heat exchanger (1) or the heat exchanger tube core (3), a visual system (9) is arranged on the front end side of the roller driving tube penetrating and pushing device (6), automatic tube feeding devices (8) are symmetrically arranged on one sides of the two bases (4 a) and the servo horizontal moving mechanisms (4), the servo horizontal moving mechanisms (4) and the servo vertical moving mechanisms (5) move the tube taking and forced delivery device (7) and the roller driving tube penetrating and pushing device (6) to the lower part of the automatic tube feeding devices (8), the automatic tube feeding devices (8) are used for inserting the tube taking and the strong tube feeding devices (7) into the heat exchange tube (7) which are positioned at the front end of the automatic tube feeding devices (8), and the heat exchange tube feeding devices (8) which are positioned below the heat exchange tube (7) and the heat exchange tube feeding devices (7) are positioned below the automatic tube feeding devices (8) which are positioned at the front end of the automatic tube feeding devices (8) and the heat exchange tube feeding devices (7) and the heat exchange tube (k), under the assistance of the visual system (9), the servo horizontal moving mechanism (4) and the servo vertical moving mechanism (5) drive the rollers to drive the pipe penetrating and pushing device (6) and the pipe taking and pushing device (7) to reach any specified hole site of the heat exchanger front end pipe plate (3 b), so that the grabbed heat exchange pipe (11) is concentric with the hole site of the heat exchanger front end pipe plate (3 b), and the pipe taking and pushing device (7) and the roller drive pipe penetrating and pushing device (6) are sequentially started to complete the automatic pipe penetrating process.

2. The intelligent automatic pipe penetrating production line of the heat exchanger as claimed in claim 1, wherein: the servo horizontal moving mechanism (4) is provided with two bases (4 a) which are symmetrically distributed front and back, the bases (4 a) are mounted on the ground through supporting legs (4 k), two first linear guide rails (4 b) are mounted on the bases (4 a), a first rack (4 c) is mounted between the two first linear guide rails (4 b), a first sliding block (4 f) is mounted on the first linear guide rail (4 b), a horizontal sliding plate (4 e) is mounted on the first sliding block (4 f), a speed reducer (4 h) mounting seat is arranged on the horizontal sliding plate (4 e), and the speed reducer (4 h) is fixedly connected with the mounting seat through bolts; first servo motor (4 g) are installed to the top of speed reducer, first servo motor (4 g) are connected with speed reducer (4 h), driving gear (4 i) are installed to speed reducer (4 h) front end, driving gear (4 i) are connected with first rack (4 c) meshing, install servo vertical migration mechanism (5) on horizontal sliding plate (4 e), stopper (4 d) are installed at base (4 a) both ends, base (4 a) side-mounting has first tow chain (4 j).

3. The intelligent automatic pipe penetrating production line of the heat exchanger as claimed in claim 1, wherein: the servo vertical moving mechanism (5) is provided with a vertical upright post (5 a), the vertical upright post (5 a) is installed on the upper surface of a horizontal sliding plate (4 e), two second linear guide rails (5 d) are installed on the side surface of the vertical upright post (5 a), a second rack (5 e) is installed between the two second linear guide rails (5 d), a second sliding block (5 b) is installed on the second linear guide rails (5 d), a vertical sliding plate (5 c) is installed on the surface of the second sliding block (5 b), and the vertical sliding plate (5 c) is connected with an installation support (5 h); a worm and gear speed reducer and a driving gear (5 g) are mounted on the upper surface of the mounting support (5 h), a second servo motor (5 f) is mounted above the worm and gear speed reducer and the driving gear (5 g), the second servo motor (5 f) is connected with the worm and gear speed reducer and the driving gear (5 g), and the worm and gear speed reducer is meshed with the driving gear (5 g) and a second rack (5 e); stopper (4 d) are installed at vertical column (5 a) both ends, vertical column (5 a) side-mounting has second tow chain (5 i), installing support (5 h) front end and gyro wheel drive poling and push away for first flange (6 q) on pipe device (6) bolt fixed connection, installing support (5 h) rear end and second flange (7 b) of getting the pipe and sending device (7) both ends by force are with bolt fixed connection.

4. The intelligent automatic pipe penetrating production line of the heat exchanger as claimed in claim 1, wherein: the visual system (9) is installed at the front end of the roller driving pipe penetrating and pushing device (6), the visual system (9) comprises a visual sensor (9 a), a light source (9 b) and a visual system installing support (9 c), the visual sensor (9 a) and the light source (9 b) are installed on the visual system installing support (9 c), and the light source (9 b) is installed outside the visual sensor (9 a).

5. The intelligent automatic pipe penetrating production line of the heat exchanger as claimed in claim 1, wherein: the roller driving pipe penetrating and pushing device (6) comprises a driving mechanism mounting frame (6 a), a first connecting flange (6 q) is arranged at the rear end of the driving mechanism mounting frame (6 a), two third linear guide rails (6 b) are symmetrically arranged at the lower end in front of the driving mechanism mounting frame (6 a), a third slider (6 c) is symmetrically arranged in the middle of the two third linear guide rails (6 b), two sliding plates (6 e) are symmetrically arranged on the third slider (6 c) symmetrically arranged in the middle of the two third linear guide rails (6 b), two upper end two sides of each sliding plate (6 e) are provided with lug plates (6 g), two lifting plates (6 k) are arranged between the lug plates (6 g), two lifting plates (6 k) are provided with symmetrical lug plate driving wheels (6 g), the lifting plates (6 k) are provided with arc-shaped sliding plate driving wheels (6 h) between the lug plates (6 g) on the sliding plates (6 e), the lifting plates (6 k) are connected with piston rod end push plates of two first guide rod-in-band cylinders (6 j), two arc-shaped sliding plates (6 j) are connected with arc-shaped sliding plate driving wheels (6 j), and a motor driving mechanism (6 d) is connected with a motor driving mechanism (6 d), the two first air cylinders (6 j) with guide rods move up and down, the sliding plates (6 e) are driven by the symmetrical chain plates (6 h) to generate symmetrical horizontal movement, the two sliding plates (6 e) drive the arc-shaped driving wheels (6 d) to generate symmetrical horizontal movement, and the arc-shaped driving wheels (6 d) clamp the heat exchange tubes (11) and drive the heat exchange tubes (11) to move forward; the brushless direct current motor speed reducer is characterized in that a bearing mounting hole is formed in the sliding plate (6 e), a flange which is in contact with an outer ring of a radial thrust ball bearing is arranged below the bearing mounting hole, the two radial thrust ball bearings are placed above the bearing mounting hole and are in contact with a flange at the lower end of the bearing mounting hole, transmission shafts are mounted on inner rings of the two radial thrust ball bearings, a shaft shoulder is arranged at the upper end of each transmission shaft and is in contact with an inner ring of the radial thrust ball bearing at the upper end, a key groove is formed in the lower end of each transmission shaft, a hole and a key groove which are matched with the transmission shafts are formed in the middle of each arc-shaped driving wheel (6 d), each arc-shaped driving wheel (6 d) penetrates through the lower end of each transmission shaft and is fixed by a nut, a circular ring bulge is arranged at the upper end of each arc-shaped driving wheel (6 d), the circular ring bulge is in contact with an inner ring of the radial thrust ball bearing at the lower end of each sliding plate (6 e), a bearing gland is arranged above the bearing hole, the bearing pressing the outer ring of the radial thrust ball bearing at the upper end of each gland, the bearing gland is connected with the sliding plate (6 e) by a bolt, the upper end of the bearing gland penetrates through the middle of the transmission shaft, the upper end of the bearing gland, the brushless direct current motor speed reducer (6 e) and is connected with the brushless direct current motor (6 d), and a brushless direct current motor (6 d) and a brushless direct current speed reducer) which is connected with a brushless direct current speed reducer which is connected with a brushless direct current motor;

roller drive poling and ejector sleeve device (6) still include in actuating mechanism mounting bracket (6 a) middle top, install and take guide arm lift cylinder (6 n), install ejector sleeve cylinder mount (6 o) in the push pedal of guide arm lift cylinder (6 n) tailpiece of the piston rod portion ejector sleeve cylinder mount (6 o) horizontal installation has ejector sleeve cylinder (6 m), ejector sleeve cylinder piston rod and push pedal (6 l) are installed to the tailpiece of the piston rod portion of ejector sleeve cylinder (6 m) ejector sleeve cylinder mount (6 o) lower extreme is C shape structure and installs first V-arrangement passive gyro wheel and support (6 p).

6. The intelligent automatic pipe penetrating production line of the heat exchanger as claimed in claim 5, wherein: the tube taking and forced delivery device (7) comprises a cross beam (7 a), second connecting flanges (7 b) are arranged at two ends of the cross beam (7 a), a plurality of forced delivery device C-shaped supports (7 d) and passive roller C-shaped supports (7 g) are arranged below the cross beam (7 a), a forced delivery device brushless motor and a speed reducer (7C) are arranged at the rear end below the forced delivery device C-shaped support (7 d), a V-shaped driving roller and a support (7 f) are arranged below the forced delivery device C-shaped support (7 d), a third cylinder (7 n) with a guide rod is arranged above the forced delivery device C-shaped support (7 d), the push plate at the end part of the piston rod of the third cylinder with the guide rod (7 n) penetrates through the top of the C-shaped bracket (7 d) of the forced conveying device and is connected with the second V-shaped driven roller and the support (7 e), the third cylinder with the guide rod (7 n) drives the second V-shaped driven roller and the support (7 e) to move up and down in the C-shaped bracket (7 d) of the forced conveying device, the third V-shaped driven roller and the support (7 h) are installed below the inner part of the C-shaped bracket (7 g) of the driven roller, the V-shaped driving roller, the support (7 f), the third V-shaped driven roller and the support (7 h) keep equal height and form a roller path, and an inclined pipe taking bracket (7 k) is installed on the side surfaces of the V-shaped driving roller and the support (7 f) and the third V-shaped driven roller and the support (7 h), pipe support (7 k) upper surface is got to the slope form and is close to raceway department and install adjustable baffle (7 l), but adjustable baffle (7 l) below is opened has the round hole of wanting, gets through bolt and slope form and manage support (7 k) upper surface connection pipe support (7 k) side-mounting is got to the slope form has the second to take guide arm cylinder (7 i), install roof (7 j) in the second area guide arm cylinder (7 i) tailpiece of the piston rod push pedal, the second takes guide arm cylinder (7 i) drive roof (7 j) up-and-down motion send the lower surface of device C type support (7 d) and passive gyro wheel C type support (7 g) by force.

7. The intelligent automatic pipe penetrating production line for the heat exchanger as claimed in claim 1, wherein: the automatic pipe feeding device (8) comprises a framework (8 b) with an inclined plane and a framework (8 d) with a plane, the framework (8 b) with the inclined plane is used for arranging and automatically rolling the heat exchange pipes (11) downwards on the inclined plane, the framework (8 d) with the plane is used for storing and bundling the heat exchange pipes (11), a material baffle (8 a) is installed at the lower end of the inclined plane of the framework (8 b) with the inclined plane and used for preventing the heat exchange pipes (11) from sliding downwards in the inclined plane in order, a rotating pin shaft (8 c) is arranged below a corner of the framework (8 b) with the inclined plane and the framework (8 d) with the plane and hinged to one end of a material turning plate (8 e), the material turning plate (8 e) can rotate around the rotating pin shaft (8 c), the rear end of the material turning plate (8 e) is connected with a fork-shaped joint (8 f) of an air cylinder piston rod, the material turning plate (8 e) is connected with one end of a steel turning plate (8 i), the framework (8 d) with the plane is provided with a support (8 d), and a column support (8 h) is arranged below a fork-shaped steel cylinder piston rod hinged to drive a steel cylinder (8 f) and a telescopic cylinder (8 h) hinged to drive a steel cylinder (8 g) end connector (8 h).

8. The intelligent automatic pipe penetrating production line of the heat exchanger as claimed in claim 6, wherein: the roller driving pipe penetrating and pushing device (6) is arranged on an installation support (5 h) of the servo vertical moving mechanism (5) in a turnover mode of 180 degrees, the bottom of a C-shaped support (7 d) of the forced conveying device and a C-shaped support (7 g) of a driven roller are fixed with the upper surface of a cross beam (7 a) through bolts respectively, the V-shaped driving roller, the support (7 f), the third V-shaped driven roller and the support (7 h) above the cross beam (7 a) are kept to be equal in height and form a roller path, the roller path is kept to be concentric with an arc driving wheel (6 d) on the roller driving pipe penetrating and pushing device (6), and the roller driving pipe penetrating and pushing device and the driven roller C-shaped support (7 g) are arranged on the upper surfaces of the C-shaped support (7 d) of the forced conveying device and the driven roller C-shaped support (7 g).

9. The intelligent automatic pipe penetrating production line for the heat exchanger as claimed in claim 1, wherein: the tube penetrating and forced conveying device is characterized in that a plurality of forced conveying device C-shaped supports (7 d) are mounted below a driving mechanism mounting frame (6 a), a forced conveying device brushless motor and a speed reducer (7C) are mounted at the rear end below the forced conveying device C-shaped supports (7 d), a V-shaped driving roller and a support (7 f) are mounted below the forced conveying device C-shaped supports (7 d), a third cylinder with a guide rod (7 n) is mounted above the forced conveying device C-shaped supports (7 d), a piston rod end push plate of the third cylinder with the guide rod (7 n) penetrates through the top of the forced conveying device C-shaped supports (7 d) and is connected with a second V-shaped driven roller and the support (7 e), the third cylinder with the guide rod (7 n) drives the second V-shaped driven roller and the support (7 e) to move up and down in the forced conveying device C-shaped supports (7 d), the third cylinder with the guide rod (7 n) is started, the second roller with the guide rod (7 n) drives the second V-shaped driven roller and the support (7 e) to move towards the heat exchange tube (11), and the heat exchange tube device C-shaped supports (7C) and the brushless motor (11) and the heat exchange tube device (11) and the driven motor.

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