Automatic tube threading machine for tubular heat exchanger and tube threading method thereof

Abstract

The present invention provides an automatic tube threading machine for a tubular heat exchanger and a tube threading method thereof, which realizes the automatic threading of tube bundles of long length, heavy weight, and various diameters, and is compatible with tubular heat exchange tubes of different sizes and models. A guide arm bracket is fixed on a horizontal traveling trolley; the guide arm is mounted on the guide arm bracket by sliding up and down; a guide arm height adjustment mechanism is connected to the guide arm; a guide arm mounting plate is mounted on the guide arm bracket by sliding up and down; a guide arm movable plate is mounted on the guide arm mounting plate by sliding horizontally; a guide arm telescopic drive mechanism is connected to the guide arm movable plate; a chuck is mounted on the guide arm movable plate, and a chuck drive mechanism is connected to the chuck; a push plate is mounted on the longitudinal traveling trolley by sliding up and down, and a push plate drive mechanism is connected to the push plate; a support arm fixing plate is mounted on the longitudinal traveling trolley by sliding up and down; a support arm height adjustment mechanism is connected to the support arm fixing plate; and the support arm is mounted on the support arm fixing plate by rotating horizontally.

Description

Technical Field

[0001] The invention relates to an automatic tube threading machine for a tubular heat exchanger and a tube threading method thereof. Background Art

[0002] Common tubular heat exchangers, such as condensers, evaporators, and radiators, typically consist of a tube sheet, shell, tube bundle, and header. Heat is exchanged between the cooling and heating media through the tube bundle walls. These heat exchangers are very large, accounting for over 90% of the total weight.

[0003] In the production of tubular heat exchangers, the installation of heat exchange tubes is often done manually, which is time-consuming and often leads to injuries. However, due to the slender structure of the heat exchange tubes, the large number of baffles and their dense distribution, the small deviation between the outer diameter and the tubesheet aperture (<0.65mm), and the coaxial deviation between the tubesheet holes and the corresponding baffle holes caused by machining errors, the tube installation process of tubular heat exchangers is difficult to automate.

[0004] Chinese patent ZL201510765348.4 discloses a fixed tube sheet tube threading machine, which uses two angled rubber rollers to move the heat exchange tubes for threading. The compatible pipe diameter range is small, and the roller clamping force easily causes deformation of round tubes. Longer pipes are also prone to longitudinal deformation when driven by multiple sets of rollers, and are only suitable for inserting straight tubes. Chinese patent CN202210623407.4 discloses an automatic tube threading system and method for tubular heat exchanger tubes. This system uses a mobile robot equipped with a tube threading machine head to grasp and thread the heat exchange tubes. However, if the tubes are long and bend downward, the drive mechanism will jam, and the system is only suitable for U-shaped tubes with a small bend radius. The automatic pipe threading machines disclosed in Chinese patent ZL202111039482.8 and Chinese patent CN202220216782.2 respectively realize the threading of long straight pipe bundles through belt conveying and pipe pushing mechanisms, but both are not suitable for U-shaped pipes.

[0005] Based on the existing technologies, it can be seen that how to simultaneously realize the automatic threading of pipe bundles with long length, heavy weight and various diameters is a problem that needs to be solved urgently. Summary of the Invention

[0006] The purpose of the present invention is to overcome the above-mentioned shortcomings of the prior art and to provide a tubular heat exchanger automatic tube threading machine and a tube threading method with a rational structural design, which realizes the automatic threading of tube bundles with long length, heavy weight and various diameters, and is compatible with tubular heat exchange tubes of different sizes and models.

[0007] The technical solution adopted by the present invention to solve the above problems is: an automatic tube threading machine for a tubular heat exchanger, characterized by comprising a longitudinal traveling trolley, a guide mechanism, a push plate, a push plate driving mechanism, a tube threading support arm mechanism, a transverse traveling trolley, a transverse moving track and a longitudinal moving track;

[0008] The lateral moving track is arranged horizontally, and the lateral walking trolley is installed on the lateral moving track; the guide mechanism is fixedly installed on the lateral walking trolley, which includes a guide arm bracket, a guide arm height adjustment mechanism and a guide arm; the guide arm bracket is fixed on the lateral walking trolley; the guide arm is mounted on the guide arm bracket for sliding up and down; the guide arm height adjustment mechanism is connected to the guide arm; the guide arm includes a chuck, a chuck driving mechanism, a guide arm mounting plate, a guide arm telescopic driving mechanism and a guide arm moving plate; the guide arm mounting plate is mounted on the guide arm bracket for sliding up and down; the guide arm moving plate is mounted on the guide arm mounting plate for horizontal sliding; the guide arm telescopic driving mechanism is connected to the guide arm The chuck is installed on the guide arm moving plate, and the chuck driving mechanism is connected to the chuck; the longitudinal moving track is fixedly installed on the transverse traveling trolley, the longitudinal moving track is arranged longitudinally, and the longitudinal traveling trolley is installed on the longitudinal moving track; the push plate is installed on the longitudinal traveling trolley for sliding up and down, and the push plate driving mechanism is connected to the push plate; the pipe-through support arm mechanism is installed on the longitudinal traveling trolley, and includes a support arm height adjustment mechanism, a support arm fixing plate and a support arm; the support arm fixing plate is installed on the longitudinal traveling trolley for sliding up and down; the support arm height adjustment mechanism is connected to the support arm fixing plate; the support arm is installed on the support arm fixing plate for horizontal rotation.

[0009] The guide mechanisms described in the present invention are provided in plurality and are fixedly installed on the transverse traveling trolley in sequence along the longitudinal direction.

[0010] The chuck of the present invention comprises a pressing plate and a supporting plate. The supporting plate is fixedly mounted on the guide arm movable plate. The pressing plate is slidably mounted on the guide arm movable plate. The chuck driving mechanism is connected to the pressing plate.

[0011] The pressing plate and the supporting plate of the present invention are both equipped with positioning strips.

[0012] The push plate of the present invention is provided with a plurality of push heads in sequence from top to bottom, the front end of the middle push head is set as a plane, and the front ends of the other push heads are set as arc surfaces.

[0013] A force sensor is installed on the front end of the pusher head of the present invention.

[0014] The longitudinal traveling trolley of the present invention comprises a longitudinal trolley frame, a transverse driving mechanism and a transverse wheel set; the transverse driving mechanism and the transverse wheel set are both mounted on the longitudinal trolley frame; and the transverse wheel set is connected to the longitudinal moving track.

[0015] The support arm of the present invention is horizontally rotated and mounted on the support arm fixing plate through a support arm rotating mechanism.

[0016] The pipe-penetrating support arm mechanism of the present invention further comprises a support arm angle adjustment mechanism, which is mounted on a support arm fixing plate and connected to the support arm.

[0017] A tube threading method for an automatic tube threading machine for a tubular heat exchanger, characterized in that it comprises the following steps:

[0018] (1) The chuck drive mechanism drives the chuck to open and sends the tube bundle to be installed into the chuck;

[0019] (2) The chuck drive mechanism drives the chuck to close, and the horizontal traveling trolley transports the tube bundle to the front of the tube sheet of the tubular heat exchanger;

[0020] (3) The guide arm height adjustment mechanism drives the guide arm to move up and down to achieve the height positioning of the tube bundle;

[0021] (4) The longitudinal trolley moves to the end of the tube bundle to be installed; the support arm height adjustment mechanism drives the support arm fixing plate to move upward, and the support arm fixing plate drives the support arm to move upward to support the tube bundle; the push plate driving mechanism drives the push plate to move up and down so that the push plate is aligned with the tube bundle; the longitudinal trolley drives the push plate to move longitudinally until the push plate contacts the end of the tube bundle;

[0022] (5) When the tube is threaded, the chuck drive mechanism drives the chuck to open and loosen the tube bundle, and the longitudinal travel trolley moves forward along the longitudinal moving track, driving the push plate to move forward and thread the tube bundle into the tubular heat exchanger; when the longitudinal travel trolley moves to the position of the guide mechanism, the guide arm telescopic drive mechanism controls the guide arm moving plate to slide horizontally and retract, and the guide arm moving plate drives the chuck and the chuck drive mechanism to retract;

[0023] (6) When the longitudinal walking trolley drives the push plate to insert the tube bundle and reaches the end close to the tube sheet position, the support arm height adjustment mechanism drives the support arm fixing plate to move down, the support arm rotates and moves away, and the push plate inserts the last section of the tube bundle into the tube heat exchanger.

[0024] Compared with the prior art, the present invention has the following advantages and effects:

[0025] 1) It realizes the automatic threading of U-shaped tubes and straight tubes with long length, heavy weight and various diameters. It is compatible with heat exchange tubes of different sizes and models and can thread multiple heat exchange tubes at the same time;

[0026] 2) Stable clamping and high-precision linear transportation of heat exchange tubes are achieved, avoiding top plate and wear during tube bundle installation. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] Figure 1Schematic diagram of the structure of an embodiment of the present invention.

[0028] Figure 2 for Figure 1 Schematic diagram of the top view structure.

[0029] Figure 3 It is a schematic diagram of the local structure of an embodiment of the present invention.

[0030] Figure 4 Schematic diagram of the structure of the guide arm according to an embodiment of the present invention.

[0031] Figure 5 Schematic diagram of the structure of the pipe-penetrating support arm mechanism according to an embodiment of the present invention.

[0032] Figure 6 Schematic diagram of the structure of the push plate according to an embodiment of the present invention.

[0033] Figure 7 This is a schematic structural diagram of a longitudinal traveling trolley according to an embodiment of the present invention.

[0034] Figure 8 4 is a flowchart of an embodiment of the present invention. DETAILED DESCRIPTION

[0035] The present invention will be further described in detail below with reference to the accompanying drawings and through examples. The following examples are intended to explain the present invention but the present invention is not limited to the following examples.

[0036] The embodiment of the present invention includes a longitudinal traveling trolley 1, a guide mechanism 2, a guide bridge 3, a longitudinal bridge 4, a push plate 5, a pipe threading support arm mechanism 6, a transverse traveling trolley 7, a push plate driving mechanism 8, a transverse moving rail 9 and a longitudinal moving rail 10.

[0037] The transverse moving track 9 is fixedly installed on the factory ground foundation, and the transverse moving track 9 is arranged transversely. The transverse walking trolley 7 is installed on the transverse moving track 9, and the transverse movement is synchronously driven by a servo motor through a ball screw.

[0038] Seven guide mechanisms 2 are installed, fixedly mounted on the transverse trolley 7 in the longitudinal direction. From the end of the tube bundle 11 toward the tube sheet 12, the first, second, third, fourth, fifth, sixth, and seventh guide mechanisms 2 are arranged in order, spaced 2500 mm apart. The guide mechanisms 2 are located adjacent to the longitudinal track 10 and comprise a guide arm bracket 21, a guide arm height adjustment mechanism 22, and a guide arm 24. The guide arm bracket 21 is fixed to the transverse trolley 7; the guide arm 24 is mounted on the guide arm bracket 21 for vertical sliding movement; the guide arm height adjustment mechanism 22 is mounted on the guide arm bracket 21 and connected to the guide arm 24, driving the guide arm 24 up and down to adjust its height. The guide arm height adjustment mechanism 22 utilizes a motor-screw mechanism.

[0039] The guide arm 24 includes a chuck, a chuck driving mechanism 242 , a guide arm mounting plate 243 , a guide arm telescopic driving mechanism 244 , a positioning bar 246 and a guide arm moving plate 247 .

[0040] The guide arm mounting plate 243 is mounted on the guide arm bracket 21 for sliding up and down movement; the guide arm movable plate 247 is mounted on the guide arm mounting plate 243 for horizontal sliding movement via a guide rail; the guide arm telescopic drive mechanism 244 is mounted on the guide arm mounting plate 243 and is connected to the guide arm movable plate 247 to drive the guide arm movable plate 247 to slide horizontally, thereby realizing horizontal telescopic movement of the guide arm; the guide arm telescopic drive mechanism 244 adopts a cylinder.

[0041] The chuck and chuck drive mechanism 242 are mounted on a guide arm movable plate 247. The chuck drive mechanism 242 is connected to the chuck and drives the chuck to open and close. The chuck includes a pressure plate 241 and a support plate 245. The support plate 245 is fixedly mounted on the guide arm movable plate 247, while the pressure plate 241 is mounted on the guide arm movable plate 247 for vertical sliding. The chuck drive mechanism 242 is connected to the pressure plate 241, driving the pressure plate 241 up and down to open and close the chuck.

[0042] Positioning bars 246 are installed on both the pressing plate 241 and the supporting plate 245. The positioning bars 246 are made of nylon and are provided with V-shaped grooves. The positioning bars 246 press and position the tube bundle 11 to ensure that the tube bundle 11 is effectively aligned and transported while reducing friction damage.

[0043] During the pipe threading process, when the longitudinal walking trolley 1 moves along the longitudinal moving track 10 to the position of the guide mechanism 2, the chuck driving mechanism 242 controls the chuck to release the tube bundle 11, and the guide arm telescopic driving mechanism 244 controls the guide arm moving plate 247 and other guide arm structures to retract.

[0044] The guide bridge 3 is fixed to the top of the guide arm bracket 21, connecting the seven guide mechanisms 2 together to improve stability. The longitudinal bridge 4 is fixed to the guide bridge 3 and is set above the pipe threading device to support the cables 25.

[0045] The longitudinal track 10 is fixedly mounted on the transverse trolley 7 and is arranged longitudinally. The longitudinal trolley 1 is mounted on the longitudinal track 10 and includes a longitudinal trolley frame 27, transverse guide wheels 28, a transverse drive mechanism 29, and a transverse wheel assembly 30. The transverse drive mechanism 29, transverse wheel assembly 30, and transverse guide wheels 28 are all mounted on the longitudinal trolley frame 27. The transverse wheel assembly 30 is connected to the longitudinal track 10. The transverse guide wheels 28 serve as a guide for movement. The transverse drive mechanism 29 drives the longitudinal trolley 1.

[0046] The push plate 5 is mounted on the longitudinal trolley frame 27 of the longitudinal traveling trolley 1, and is slid up and down. Seven pusher heads 51 are arranged on the push plate 5 from top to bottom. The push plate 5 pushes the tube bundle 1 through the pusher heads 51. The front end of the middle pusher head 51 is configured as a flat surface, while the front ends of the other pusher heads 51 are configured as curved surfaces. This allows the middle pusher head 51 to be used to install straight tubes and U-shaped tubes with different bend radii. A force sensor 52 is mounted on the front end of each pusher head 51 to detect the force between the push plate 55 and the tube bundle 11 in real time, preventing the tube bundle 11 from being pushed or worn. The push plate drive mechanism 8 is mounted on the longitudinal trolley frame 27 of the longitudinal traveling trolley 1 and is connected to the push plate 5 to drive the push plate 5 to move up and down.

[0047] The pipe threading support arm mechanism 6 is installed on the longitudinal walking trolley 1, and includes a support arm height adjustment mechanism 61, a support arm fixing plate 62, a support arm angle adjustment mechanism 63, a support arm rotation mechanism 64, a support pad 65 and a support arm 66.

[0048] The support arm fixing plate 62 is mounted on the longitudinal trolley frame 27 of the longitudinal traveling trolley 1 for sliding movement up and down. The support arm height adjustment mechanism 61 is mounted on the longitudinal trolley frame 27 of the longitudinal traveling trolley 1 and is connected to the support arm fixing plate 62. It drives the support arm fixing plate 62 up and down to adjust the height. The support arm height adjustment mechanism 61 can adopt a motor screw mechanism. The support arm 66 is mounted on the support arm fixing plate 62 for horizontal rotation via the support arm rotation mechanism 64. The support arm angle adjustment mechanism 63 is mounted on the support arm fixing plate 62 and is connected to the support arm 66 to drive the support arm 66 for rotation. The support pad 65 is mounted on the support arm 66. The support arm height adjustment mechanism 61 adopts a motor screw mechanism with two upper and lower screw drive adjustments, which can achieve the lifting and lowering of the two pipe-through support arm mechanisms 6.

[0049] A tube threading method for an automatic tube threading machine for a tubular heat exchanger comprises the following steps:

[0050] (1) The chuck drive mechanism 242 drives the chuck to open, and the tube bundle 11 (U-shaped tube or straight tube) to be loaded is sent to the support plate 245 of the chuck by a workshop crane, forklift, etc., and the initial positioning of the tube bundle 11 after loading is achieved by the positioning bar 246.

[0051] (2) The clamp driving mechanism 242 drives the clamp to close, and after the pressing plate 241 presses the tube bundle 11, the transverse traveling trolley 7 transports the tube bundle 11 to the front of the tube sheet 12 to achieve transverse positioning of the tube bundle.

[0052] (3) The guide arm height adjustment mechanism 22 drives the guide arm 24 to move up and down to achieve the height direction positioning of the tube bundle 11.

[0053] (4) The longitudinal traveling trolley 1 moves to the end of the tube bundle 11 to be installed; the support arm height adjustment mechanism 61 drives the support arm fixing plate 62 to move upward, and the support arm fixing plate 62 drives the support arm 66 to move upward, and the support pad 65 on the support arm 66 supports the tube bundle 11; the push plate driving mechanism 8 drives the push plate 5 to move up and down, so that the push head 51 on the push plate 5 is aligned with the end of the tube bundle 11; the longitudinal traveling trolley 1 drives the push head 51 on the push plate 5 to move slowly longitudinally until the push head is completely in contact with the end of the tube bundle 11, thereby realizing the longitudinal positioning of the tube bundle 11 and assisting in height positioning.

[0054] (5) The pipe threading starts. The chuck driving mechanism 242 drives the chuck to open and release the tube bundle 11. The longitudinal traveling trolley 1 moves forward along the longitudinal moving track 10, driving the push plate 5 to move forward, and simultaneously threading 1 to 5 tube bundles 11 into the tube holes in the tube sheet 12 and the baffle 13 of the heat exchanger; when the longitudinal traveling trolley 1 moves to the positions of the 1st, 2nd, 3rd, 4th, 5th, 6th and 7th guide mechanisms 2 in sequence, the guide arm telescopic driving mechanism 244 of the 1st, 2nd, 3rd, 4th, 5th, 6th and 7th guide mechanisms 2 in sequence controls the guide arm moving plate 247 to slide horizontally and retract. The guide arm moving plate 247 drives the chuck and the chuck driving mechanism 242 to retract, making way for the forward movement route of the longitudinal traveling trolley 1.

[0055] (6) When the guide arms 24 of the first, second, third, fourth, fifth, sixth, and seventh guide mechanisms 2 have all retracted, and the longitudinal trolley 1 drives the push plate 5 to insert the tube bundle 11 until it reaches the end of the tube bundle 11 near the tube sheet 12, the support arm height adjustment mechanism 61 drives the support arm fixing plate 62 to move downward, and the support arm angle adjustment mechanism 63 drives the support arm 65 to rotate 90°, moving the support arm 66 away to make room for the push plate 5 to continue moving forward. Finally, the push plate 5 inserts the last section of the tube bundle into the tube holes in the tube sheet 12 and baffle 13 of the heat exchanger.

[0056] (7) To prevent the tube bundle 11 from being pushed or worn, the force sensor 52 of the push head 51 on the push plate 5 detects the force F between the push plate 55 and the tube bundle 11 in real time. When F suddenly changes or exceeds the set normal range, the control system automatically stops the longitudinal travel trolley 1. At this time, after the staff recognizes the problem, they operate the equipment to re-position the height, longitudinal positioning or lateral positioning until the force F meets the requirements and continue to install the tube bundle 11. The work process is as follows: Figure 8 .

[0057] In addition, it should be noted that the shapes and names of the parts and components of the specific embodiments described in this specification may be different, and the above content described in this specification is only an example of the structure of the present invention. Any equivalent changes or simple changes made based on the structure, features and principles described in the patent concept of the present invention are included in the protection scope of the patent of the present invention. Those skilled in the art of the technology to which the present invention belongs can make various modifications or additions to the specific embodiments described or replace them in a similar manner. As long as they do not deviate from the structure of the present invention or exceed the scope defined by the claims, they should all fall within the protection scope of the present invention.

Claims

1. An automatic tube threading machine for a tubular heat exchanger, characterized by: It includes a longitudinal traveling trolley, a guide mechanism, a push plate, a push plate driving mechanism, a pipe threading support arm mechanism, a transverse traveling trolley, a transverse moving track and a longitudinal moving track; The lateral moving track is arranged horizontally, and the lateral walking trolley is installed on the lateral moving track; the guide mechanism is fixedly installed on the lateral walking trolley, which includes a guide arm bracket, a guide arm height adjustment mechanism and a guide arm; the guide arm bracket is fixed on the lateral walking trolley; the guide arm is installed on the guide arm bracket for sliding up and down; the guide arm height adjustment mechanism is connected to the guide arm; the guide arm includes a chuck, a chuck driving mechanism, a guide arm mounting plate, a guide arm telescopic driving mechanism and a guide arm moving plate; the guide arm mounting plate is installed on the guide arm bracket for sliding up and down; the guide arm moving plate is installed on the guide arm mounting plate for horizontal sliding; the guide The arm telescopic drive mechanism is connected to the guide arm moving plate; the chuck is installed on the guide arm moving plate, and the chuck drive mechanism is connected to the chuck; the longitudinal moving track is fixedly installed on the transverse traveling trolley, the longitudinal moving track is longitudinally arranged, and the longitudinal traveling trolley is installed on the longitudinal moving track; the push plate is installed on the longitudinal traveling trolley for sliding up and down, and the push plate drive mechanism is connected to the push plate; the pipe-through support arm mechanism is installed on the longitudinal traveling trolley, and includes a support arm height adjustment mechanism, a support arm fixing plate and a support arm; the support arm fixing plate is installed on the longitudinal traveling trolley for sliding up and down; the support arm height adjustment mechanism is connected to the support arm fixing plate; The support arm is horizontally rotatably mounted on the support arm fixing plate.

2. The automatic tube threading machine for tubular heat exchangers according to claim 1, characterized in that: There are multiple guide mechanisms, which are fixedly installed on the transverse walking trolley in sequence along the longitudinal direction.

3. The automatic tube threading machine for tubular heat exchangers according to claim 1, characterized in that: The chuck includes a pressing plate and a supporting plate. The supporting plate is fixedly mounted on the guide arm movable plate. The pressing plate is slidably mounted on the guide arm movable plate. The chuck driving mechanism is connected to the pressing plate.

4. The automatic tube threading machine for tubular heat exchangers according to claim 3, characterized in that: Positioning strips are installed on both the pressing plate and the supporting plate.

5. The automatic tube threading machine for tubular heat exchangers according to claim 1, characterized in that: The push plate is provided with a plurality of push heads in sequence from top to bottom, the front end of the middle push head is provided as a plane, and the front ends of the other push heads are provided as arc surfaces.

6. The automatic tube threading machine for tubular heat exchangers according to claim 5, characterized in that: A force sensor is installed on the front end of the push head.

7. The automatic tube threading machine for tubular heat exchangers according to claim 1, characterized in that: The longitudinal traveling trolley comprises a longitudinal trolley frame, a transverse driving mechanism and a transverse wheel set; the transverse driving mechanism and the transverse wheel set are both mounted on the longitudinal trolley frame; and the transverse wheel set is connected to the longitudinal moving track.

8. The automatic tube threading machine for tubular heat exchangers according to claim 1, characterized in that: The support arm is horizontally rotated and mounted on the support arm fixing plate through a support arm rotating mechanism.

9. The automatic tube threading machine for tubular heat exchangers according to claim 1, characterized in that: The pipe-penetrating support arm mechanism further comprises a support arm angle adjustment mechanism, which is mounted on the support arm fixing plate and connected to the support arm.

10. A tube threading method for a tubular heat exchanger automatic tube threading machine according to any one of claims 1 to 9, characterized in that: The steps include: (1) The chuck drive mechanism drives the chuck to open and sends the tube bundle to be installed into the chuck; (2) The chuck drive mechanism drives the chuck to close, and the horizontal traveling trolley transports the tube bundle to the front of the tube sheet of the tubular heat exchanger; (3) The guide arm height adjustment mechanism drives the guide arm to move up and down to achieve the height positioning of the tube bundle; (4) The longitudinal trolley moves to the end of the tube bundle to be installed; the support arm height adjustment mechanism drives the support arm fixing plate to move upward, and the support arm fixing plate drives the support arm to move upward to support the tube bundle; the push plate driving mechanism drives the push plate to move up and down so that the push plate is aligned with the tube bundle; the longitudinal trolley drives the push plate to move longitudinally until the push plate contacts the end of the tube bundle; (5) When the tube is threaded, the chuck drive mechanism drives the chuck to open and loosen the tube bundle, and the longitudinal travel trolley moves forward along the longitudinal moving track, driving the push plate to move forward and thread the tube bundle into the tubular heat exchanger; when the longitudinal travel trolley moves to the position of the guide mechanism, the guide arm telescopic drive mechanism controls the guide arm moving plate to slide horizontally and retract, and the guide arm moving plate drives the chuck and the chuck drive mechanism to retract; (6) When the longitudinal walking trolley drives the push plate to insert the tube bundle and reaches the end close to the tube sheet position, the support arm height adjustment mechanism drives the support arm fixing plate to move down, the support arm rotates and moves away, and the push plate inserts the last section of the tube bundle into the tube heat exchanger.

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