The invention relates to the technical field of
heat exchanger manufacturing, in particular to a tube penetrating
robot for a tube bundle type
heat exchanger, which comprises a tube penetrating
workbench, a tube placing
assembly is arranged at the rear part of the table top of the tube penetrating
workbench, a heat exchange tube to be penetrated is placed on the tube placing
assembly, and a
robot body is arranged in the middle of the tube penetrating
workbench. The end of a mechanical arm of the
robot body is provided with a tube grabbing and conveying
assembly used for grabbing and conveying a heat exchange tube, and the end of the heat exchange tube is provided with a detection assembly used for detecting the tube penetrating state when the heat exchange tube passes through a tube plate hole. Through the arrangement of the detection assembly, in the
pipe penetrating process, when the guiding inclined face of the detection assembly corresponds to a
pipe plate hole, the heat exchange
pipe can be corrected through guiding of the inclined face, control over the tolerance skewness degree is achieved, and when the pipe opening of the heat exchange pipe excessively deflects, shutdown of the robot body can be controlled through a
signal so that deflection correction can be carried out, and the working efficiency is improved. Damage to the robot body, the heat exchange tube and the tube plate caused by continuous tube penetrating is avoided, and the stability, safety and efficiency of tube penetrating operation are improved.