Tube plate unmanned production line

Abstract

The unmanned production line comprises a feeding main line, a feeding channel, feeding jacking and transplanting equipment, a discharging main line, a discharging channel, discharging jacking and transplanting equipment, a machining tool, a first transfer truss manipulator, a second transfer truss manipulator, tube plate recognition equipment and control equipment. The feeding main line, the feeding channel, the discharging main line and the discharging channel are all of an automatic linear conveying structure. The feeding main line is located above the discharging main line, and the feeding main line and the discharging main line are overlapped. The output end of the feeding main line is located beside the input end of the discharging main line, and the input end of the discharging main line extends out of the output end of the feeding main line. The first side of the feeding main line communicates with a plurality of feeding channels, and a machining tool is installed beside each feeding channel. The tube plate unmanned production line solves the problem that tube plates of different models are difficult to convey to a specified processing machine tool due to the fact that the tube plate models cannot be automatically recognized in the prior art.

Description

Technical Field

[0001] The invention relates to the field of tube sheet production, and in particular to an unmanned production line for tube sheets. Background Art

[0002] In the tube sheet production process, since the tube sheets have different models, they need to be processed by different processing machines. After production, the different models of tube sheets are output to different locations.

[0003] The Chinese patent discloses a board discharging device in a glass magnesium board production line with an application number of CN201120374472.5, and the board discharging device in the glass magnesium board production line comprises: a board conveying device connected to the tail end of the production line, a pit capable of accommodating three lifting mechanisms is arranged at the tail end of the board conveying device, and the board conveying device is directly opposite to the middle of the pit; the characteristics are: a flat trolley mechanism whose running direction is perpendicular to the conveying direction of the glass magnesium board is arranged in the pit, two lifting frame mechanisms are fixedly installed on the flat trolley in the flat trolley mechanism, each lifting frame mechanism is provided with a cage transport trolley, and a cage loaded with glass magnesium board is placed on the cage transport trolley; two pairs of ground tracks are arranged on the ground on the other side of the pit opposite to the board conveying device for facilitating the operation of the cage transport trolley when changing cages.

[0004] Although the plate discharging device in the glass magnesium board production line can output the tube sheet after positioning, the plate discharging device in the glass magnesium board production line still has the disadvantage that it cannot automatically identify the tube sheet model and can not be transported to the designated processing machine tool for processing, resulting in low production efficiency. Summary of the invention

[0005] The present invention aims to provide an unmanned production line for tube sheets, so as to solve the problem in the prior art that the tube sheet model cannot be automatically identified, resulting in difficulty in transporting tube sheets of different models to designated processing machines.

[0006] To achieve the above object, the present invention adopts the following technical solutions:

[0007] The invention discloses an unmanned production line for tube sheets, comprising: a feeding main line, a feeding channel, a feeding jacking and transplanting device, a discharging main line, a discharging channel, a discharging jacking and transplanting device, a processing machine tool, a first transfer truss manipulator, a second transfer truss manipulator, a tube sheet identification device and a control device;

[0008] The feeding main line, feeding channel, discharging main line and discharging channel are all automatic linear conveying structures; the feeding main line is located above the discharging main line, and the feeding main line overlaps with the discharging main line; the output end of the feeding main line is located next to the input end of the discharging main line, and the input end of the discharging main line emerges from the output end of the feeding main line;

[0009] The first side of the feeding main line is connected to a plurality of feeding channels, and a processing machine is installed next to each feeding channel. A feeding lifting and transplanting device is installed at the feeding main line and the feeding channel. The feeding lifting and transplanting device is used to lift the tube sheet so that the tube sheet can be transferred between the feeding main line and the feeding channel.

[0010] The main discharge line is connected with several discharge channels, the discharge channels are located on the second side of the main feeding line, and the end of the discharge channel away from the main discharge line is a buffer station; a discharge lifting and transplanting device is installed at the connection between the main discharge line and the discharge channel, and the discharge lifting and transplanting device is used to lift the tube sheet so that the tube sheet can be transferred from the main discharge line to the discharge channel;

[0011] A mounting frame is installed beside the feeding main line and the discharging main line, and a first transfer truss manipulator and a second transfer truss manipulator are installed on the mounting frame. The first transfer truss manipulator and the second transfer truss manipulator are both installed above the feeding main line. The first transfer truss manipulator is located beside the output end of the feeding channel, and the first transfer truss manipulator is used to transfer the tube sheet at the output end of the feeding channel to the processing machine tool; the second transfer truss manipulator is located beside the input end of the discharging channel, and the second transfer truss manipulator is used to transfer the tube sheet at the output end of the feeding main line to the input end of the discharging channel;

[0012] A tube sheet identification device is installed at the input end of the loading main line. The tube sheet identification device is used to identify the length and width of the tube sheet. The output end of the tube sheet identification device is connected to the input end of the control device. The loading main line, the loading jacking and transplanting device, the unloading main line, the unloading jacking and transplanting device, the processing machine tool, the first transfer truss manipulator and the second transfer truss manipulator are all connected to the output end of the control device.

[0013] Preferably, the main feeding line and the main discharging line both include: at least two conveying sections, there is a transfer gap between two adjacent conveying sections, the transfer gap is aligned to the feeding channel or the discharging channel, and the feeding jacking and transplanting equipment or the discharging jacking and transplanting equipment is installed at the transfer gap.

[0014] Preferably, the loading lifting and transplanting equipment and the discharging lifting and transplanting equipment both include: a linear conveying mechanism, a lifting seat, a lifting mechanism, a rotating seat, a rotating drive mechanism and a base frame, the top surface of the linear conveying mechanism is a transfer support surface, the transfer support surface can be on the same plane with the top surface of the conveying section, the transfer support surface can be higher than the loading support surface at the top of the loading channel and the discharging support surface at the top of the discharging channel, the linear conveying mechanism is installed on the lifting seat, the lifting seat is installed on the rotating seat, the lifting seat can be lifted and lowered relative to the rotating seat, a lifting mechanism is installed between the lifting seat and the rotating seat, the lifting mechanism is used to drive the lifting seat to lift and lower relative to the rotating seat, the rotating seat can be rotatably installed on the base frame, a rotating drive mechanism is installed on the base frame, the output end of the rotating drive mechanism is connected to the rotating seat, and the rotating drive mechanism is used to drive the rotating seat to rotate relative to the base frame.

[0015] Preferably, the lifting mechanism includes: an eccentric wheel, a lifting shaft and a lifting rotary drive assembly, the lifting rotary drive assembly is mounted on a rotating seat, the output end of the lifting rotary drive assembly is connected to the lifting shaft, the lifting shaft is rotatably mounted on the rotating seat, an eccentric wheel is fixed on the lifting shaft, there are at least two eccentric wheels, and the eccentric wheels support the lifting seat.

[0016] Preferably, the lifting rotation drive assembly includes: a first bevel gear, a second bevel gear, a matching shaft, a first gear, a second gear and a lifting motor, the first bevel gear is fixed to the lifting shaft, the first bevel gear is meshed with the second bevel gear, the second bevel gear and the first gear are fixed to the matching shaft, the matching shaft is rotatably mounted on the rotating seat, the first gear is meshed with the second gear, the second gear is mounted on the output shaft of the lifting motor, and the lifting motor is mounted on the rotating shaft.

[0017] Preferably, a supporting step is formed on the base frame, a rotatable seat is mounted on the supporting step, and a through hole is provided on the base frame, through which a lifting motor on the rotatable seat emerges from the base frame.

[0018] Preferably, the control device control operation comprises the following steps:

[0019] S1. The control device identifies the tube sheet model through the tube sheet identification device located at the input end of the feeding main line;

[0020] S2. The control device controls the operation of the feeding main line according to the tube sheet model, so that the tube sheet is transported to the feeding lifting and transplanting equipment next to the designated feeding channel;

[0021] S3, the loading lifting and transplanting equipment receiving the tube sheet operates under the control of the control device to transfer the tube sheet to the designated loading channel;

[0022] S4, the feeding channel transports the tube sheet to the designated processing machine tool;

[0023] S5, the first transfer truss manipulator transfers the tube sheet at the output end of the feeding channel to the designated processing machine tool;

[0024] S6. Designate a processing machine to process the tube sheet;

[0025] S7, the first transfer truss manipulator transfers the tube sheet on the designated processing machine tool to the output end of the loading channel;

[0026] S8, the feeding channel runs in the reverse direction to transport the tube sheet to the feeding lifting and transplanting equipment, at which time the feeding lifting and transplanting equipment is in a lower position;

[0027] S9, the loading lifting and transplanting equipment transports the tube sheet to the loading main line;

[0028] S10, the feeding main line transports the tube sheet to the output end of the feeding main line;

[0029] S11, the second transfer truss manipulator transfers the tube sheet from the input end of the discharge main line;

[0030] S12, the main discharge line, the discharge lifting and transplanting equipment and the discharge channel transport the tube sheet to the designated buffer station.

[0031] Compared with the prior art, the present invention has the following beneficial effects:

[0032] In the present application, firstly, a loading main line is adopted to realize the transportation of tube sheets of different models to designated processing machine tools, and the automatic transportation of tube sheets of different models to designated processing machine tools, so that different processing machine tools can process tube sheets of different models, realize automatic loading of different tube sheets, and improve the loading efficiency of tube sheets of different models; then, a discharging main line is adopted to realize the transportation of tube sheets of different models to designated buffer tables, and the automatic transportation of tube sheets of different models to designated buffer tables, so that different buffer tables can cache tube sheets of different models, realize automatic output of different tube sheets to designated positions, and improve the discharge efficiency of tube sheets of different models; then, the loading main line and the discharging main line are arranged in an overlapping manner, and only the input end of the discharging main line is not covered, which reduces the floor space, saves processing space, and saves processing costs; then, the input end of the discharging main line emerges from the output end of the loading main line, which lays the foundation for the subsequent second transfer truss manipulator to transfer the tube sheet from the output end of the loading main line to the input end of the discharging main line, and also realizes the transfer of the tube sheet from the output end of the loading main line to the input end of the discharging main line Move to the input end of the discharging main line. Of course, the premise of this operation is "the overlapping setting of the loading main line and the discharging main line", that is: under the premise of overlapping setting, the subsequent two conditions are needed, and the subsequent two conditions are: the first condition, the input end of the discharging main line emerges from the output end of the loading main line; the second condition, set the second transfer truss manipulator; then, in order to realize the transfer of the tube sheet to the designated processing machine tool, the loading channel, the loading jacking and transplanting equipment and the first transfer truss manipulator are designed. The loading jacking and transplanting equipment transfers the tube sheet from the loading main line to the loading channel. The loading channel realizes the distance transmission between the loading main line and the processing machine tool, and the first transfer truss manipulator realizes the transfer of the tube sheet from the loading channel to the designated processing machine tool; finally, in order to realize the tube sheet being transported to the designated cache table, the discharging channel and the discharging jacking and transplanting equipment are designed. The discharging jacking and transplanting equipment transfers the tube sheet from the discharging main line to the discharging channel, and the discharging channel realizes the distance transmission between the discharging main line and the designated cache table. In summary, the following problems have been solved: 1) How to automatically load materials to different processing machines; 2) How to automatically discharge materials to different buffer tables; 3) How to reduce the floor space occupied by the main loading line and the main unloading line; 4) How to realize the tube sheet transmission between the main loading line and the main unloading line after overlapping; 5) How to realize the tube sheet transmission between the main loading line and the designated processing machine tool; 6) How to realize the tube sheet transmission between the main unloading line and the designated buffer table.

[0033] Other advantages, objectives and features of the present invention will be embodied in part through the following description, and in part will be understood by those skilled in the art through study and practice of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0034] Figure 1 This is a top view of the unmanned production line for tube sheets in this application.

[0035] Figure 2 This is a schematic diagram of the structure of the unmanned production line for tube sheets in this application.

[0036] Figure 3 It is a structural schematic diagram of a loading jacking and transplanting device or a discharging jacking and transplanting device.

[0037] Figure 4 It is a cross-sectional view of a loading lifting and transplanting device or a discharging lifting and transplanting device without a linear conveying mechanism.

[0038] Figure 5 This is a schematic diagram of the tube sheet edge obtained in step S15.

[0039] Figure numerals: loading main line 1, loading channel 2, loading jacking and transplanting equipment 3, linear conveying mechanism 31, lifting seat 32, jacking mechanism 33, eccentric wheel 331, jacking shaft 332, jacking rotation drive assembly 333, first bevel gear 334, second bevel gear 335, matching shaft 336, first gear 337, second gear 338, jacking motor 339, rotating seat 34, rotating drive mechanism 35, base frame 36, discharging main line 4, discharging channel 5. DETAILED DESCRIPTION

[0040] In order to make the technical means, creative features, objectives and functions of the present invention clearer and easier to understand, the present invention is further described below in conjunction with the accompanying drawings and specific embodiments:

[0041] like Figure 1 as well as Figure 2 As shown, the present invention discloses an unmanned production line for tube sheets, comprising: a feeding main line 1, a feeding channel 2, a feeding jacking and transplanting device 3, a discharging main line 4, a discharging channel 5, a discharging jacking and transplanting device (not shown in the figure), a processing machine tool (not shown in the figure), a first transfer truss manipulator (not shown in the figure), a second transfer truss manipulator (not shown in the figure), a tube sheet identification device (not shown in the figure) and a control device (not shown in the figure);

[0042] The feeding main line 1, the feeding channel 2, the discharging main line 4 and the discharging channel 5 are all automatic linear conveying structures; the feeding main line 1 is located above the discharging main line 4, and the feeding main line 1 overlaps with the discharging main line 4; the output end of the feeding main line 1 is located next to the input end of the discharging main line 4, and the input end of the discharging main line 4 emerges from the output end of the feeding main line 1;

[0043] The first side of the feeding main line 1 is connected to a plurality of feeding channels 2, and a processing machine tool is installed next to each feeding channel 2. A feeding lifting and transplanting device 3 is installed at the feeding main line 1 and the feeding channel 2. The feeding lifting and transplanting device 3 is used to lift the tube sheet so that the tube sheet can be transferred between the feeding main line 1 and the feeding channel 2;

[0044] The main discharge line 4 is connected to a plurality of discharge channels 5, and the discharge channels 5 are located on the second side of the main feed line 1, and the end of the discharge channel 5 away from the main discharge line 4 is a buffering table; a discharge lifting and transplanting device is installed at the connection between the main discharge line 4 and the discharge channel 5, and the discharge lifting and transplanting device is used to lift the tube sheet so that the tube sheet is transferred from the main discharge line 4 to the discharge channel 5;

[0045] A mounting frame is installed beside the feeding main line 1 and the discharging main line 4, and a first transfer truss manipulator and a second transfer truss manipulator are installed on the mounting frame. The first transfer truss manipulator and the second transfer truss manipulator are both installed above the feeding main line 1. The first transfer truss manipulator is located beside the output end of the feeding channel 2. The first transfer truss manipulator is used to transfer the tube sheet at the output end of the feeding channel 2 to the processing machine tool; the second transfer truss manipulator is located beside the input end of the discharging channel 5. The second transfer truss manipulator is used to transfer the tube sheet at the output end of the feeding main line 1 to the input end of the discharging channel 5;

[0046] A tube sheet identification device is installed at the input end of the loading main line 1, and the tube sheet identification device is used to identify the length and width of the tube sheet. The output end of the tube sheet identification device is connected to the input end of the control device. The loading main line 1, the loading jacking and transplanting device 3, the unloading main line 4, the unloading jacking and transplanting device, the processing machine tool, the first transfer truss manipulator and the second transfer truss manipulator are all connected to the output end of the control device.

[0047] The main feeding line 1 and the main discharging line 4 both include: at least two conveying sections, a transfer gap is provided between two adjacent conveying sections, the transfer gap is aligned with the feeding channel 2 or the discharging channel 5, and a feeding lifting and transplanting device 3 or a discharging lifting and transplanting device is installed at the transfer gap. The transfer gap between two adjacent conveying sections enables the installation of the feeding lifting and transplanting device 3 or the discharging lifting and transplanting device.

[0048] like Figure 3 as well as Figure 4As shown, the loading lifting and transplanting equipment 3 and the discharging lifting and transplanting equipment both include: a linear conveying mechanism 31, a lifting seat 32, a lifting mechanism 33, a rotating seat 34, a rotating drive mechanism 35 and a base frame 36. The top surface of the linear conveying mechanism 31 is a transfer support surface, and the transfer support surface can be on the same plane as the top surface of the conveying section. The transfer support surface can be higher than the loading support surface at the top of the loading channel 2 and the discharging support surface at the top of the discharging channel 5. The linear conveying mechanism 31 is installed on the lifting seat 32, and the lifting seat 32 is installed on the rotating seat 34. The lifting seat 32 can be lifted and lowered relative to the rotating seat 34. A lifting mechanism 33 is installed between the lifting seat 32 and the rotating seat 34. The lifting mechanism 33 is used to drive the lifting seat 32 to lift and lower relative to the rotating seat 34. The rotating seat 34 can be rotatably installed on the base frame 36. A rotating drive mechanism 35 is installed on the base frame 36. The output end of the rotating drive mechanism 35 is connected to the rotating seat 34. The rotating drive mechanism 35 is used to drive the rotating seat 34 to rotate relative to the base frame 36. It is achieved that when the tube sheet is received, the discharge support surface of the linear conveying mechanism 31 is in a lower position, and at this time, the discharge support surface and the top surface of the conveying section are on the same plane, so it can receive the tube sheet; then, after receiving the tube sheet, the lifting mechanism 33 lifts the lifting seat 32 and the linear conveying mechanism 31, and the linear conveying mechanism 31 is in a higher position. The linear conveying mechanism 31 will not contact the two adjacent conveying sections, and there is a gap between the lifting seat 32 and the two adjacent conveying sections, which lays the foundation for subsequent rotation; then, the rotary drive mechanism 35 drives the linear conveying mechanism 31, the lifting seat 32, the lifting mechanism 33 and the rotating seat 34 to rotate 90°, so that the tube sheet rotates 90°, so as to facilitate the processing of the tube sheet; finally, the linear conveying mechanism 31 conveys the tube sheet to the loading channel 2 or the discharging channel 5 to realize the transfer and transportation of the tube sheet.

[0049] The lifting mechanism 33 includes: an eccentric wheel 331, a lifting shaft 332 and a lifting rotation drive assembly 333. The lifting rotation drive assembly 333 is installed on the rotating seat 34. The output end of the lifting rotation drive assembly 333 is connected to the lifting shaft 332. The lifting shaft 332 is rotatably installed on the rotating seat 34. An eccentric wheel 331 is fixed on the lifting shaft 332. There are at least two eccentric wheels 331, and the eccentric wheels 331 support the lifting seat 32. When the narrower side of the eccentric wheel 331 is in close contact with the lifting seat 32, the linear conveying mechanism 31 and the lifting seat 32 can be in a lower position under their own gravity. When the lifting rotation drive mechanism 35 drives the lifting shaft 332 to rotate, the wider side of the eccentric wheel 331 becomes close to the lifting seat 32. The multiple eccentric wheels 331 have multiple supporting points, thereby fully supporting the lifting seat 32, and being able to lift the lifting seat 32 and the linear conveying mechanism 31 to a higher position, so that the linear conveying mechanism 31 can drive the tube sheet to rotate 90°.

[0050] The lifting rotation drive assembly 333 includes: a first bevel gear 334, a second bevel gear 335, a matching shaft 336, a first gear 337, a second gear 338 and a lifting motor 339, wherein the first bevel gear 334 is fixed to the lifting shaft 332, the first bevel gear 334 is meshed with the second bevel gear 335, the second bevel gear 335 and the first gear 337 are fixed to the matching shaft 336, the matching shaft 336 is rotatably mounted on the rotating seat 34, the first gear 337 is meshed with the second gear 338, the second gear 338 is mounted on the output shaft of the lifting motor 339, and the lifting motor 339 is mounted on the rotating shaft. The lifting motor 339 in a lower position can drive the lifting shaft 332 to rotate through the first bevel gear 334, the second bevel gear 335, the matching shaft 336, the first gear 337 and the second gear 338, and then drive the eccentric wheel 331 to rotate.

[0051] A support step is formed on the base frame 36, and a rotatable rotating seat 34 is installed on the support step. A through hole is opened on the base frame 36, and the through hole allows the lifting motor 339 on the rotating seat 34 to emerge from the base frame 36. The rotatable rotating seat 34 is installed. At the same time, the lifting motor 339 emerges from the base frame 36, so as to avoid the lifting motor 339 being built-in and unable to dissipate heat.

[0052] The control equipment control operation includes the following steps:

[0053] S1. The control device identifies the tube sheet model through the tube sheet identification device located at the input end of the feeding main line;

[0054] S2. The control device controls the operation of the feeding main line according to the tube sheet model, so that the tube sheet is transported to the feeding lifting and transplanting equipment next to the designated feeding channel;

[0055] S3, the loading lifting and transplanting equipment receiving the tube sheet operates under the control of the control device to transfer the tube sheet to the designated loading channel;

[0056] S4, the feeding channel transports the tube sheet to the designated processing machine tool;

[0057] S5, the first transfer truss manipulator transfers the tube sheet at the output end of the feeding channel to the designated processing machine tool;

[0058] S6. Designate a processing machine to process the tube sheet;

[0059] S7, the first transfer truss manipulator transfers the tube sheet on the designated processing machine tool to the output end of the loading channel;

[0060] S8, the feeding channel runs in the reverse direction to transport the tube sheet to the feeding lifting and transplanting equipment, at which time the feeding lifting and transplanting equipment is in a lower position;

[0061] S9, the loading lifting and transplanting equipment transports the tube sheet to the loading main line;

[0062] S10, the feeding main line transports the tube sheet to the output end of the feeding main line;

[0063] S11, the second transfer truss manipulator transfers the tube sheet from the input end of the discharge main line;

[0064] S12, the main discharge line, the discharge lifting and transplanting equipment and the discharge channel transport the tube sheet to the designated buffer station.

[0065] like Figure 5 As shown, the tube sheet identification device in step S1 is a camera device, and step S1 includes the following steps:

[0066] S11. The tube sheet identification device takes real-time photos of the input end of the feeding main line;

[0067] S12, converting the real-time photo into a grayscale photo;

[0068] S13, adding the grayscale values ​​of all pixels in the grayscale photo to obtain a real-time total grayscale value, assuming the real-time total grayscale value to be W1, and the original total grayscale value to be obtained by adding the grayscale values ​​of all pixels in the photo of the input end of the feeding main line when there is no tube sheet, assuming the original total grayscale value to be W2;

[0069] S14, determine whether W1 is within the range (W2-ΔW, W2+ΔW), if so, determine that there is no tube sheet and proceed to step S19; otherwise, determine that there is a tube sheet and proceed to step S15;

[0070] S15, using an image edge recognition model to identify the edge of the tube sheet in the grayscale photo;

[0071] S16, find the coordinates of the four vertices of the tube sheet edge (x1, y1), (x2, y2), (x3, y3) and (x4, y4);

[0072] S17. Calculation

[0073] S18. Calculate L 21 =k1×L 11 , L 22 =k2×L 12 , k1 and k2 are both constants; (k1 and k2 are obtained by: when testing, knowing the length L of the tube sheet 01 and L 02 , through L 01 Compared with the L obtained by real-time detection 11 Get k1, By L 02 Compared with the L obtained by real-time detection 12 Get k2, );

[0074] S19, through L 21 and L 22 Determine the type of tube sheet. The tube sheet type can be determined based on the size of the tube sheet, and the determination method is simple and reliable.

[0075] Finally, it should be noted that the above embodiments are only used to illustrate the technical solution of the present invention rather than to limit it. Although the present invention has been described in detail with reference to the preferred embodiments, those skilled in the art should understand that the technical solution of the present invention can be modified or replaced by equivalents without departing from the purpose and scope of the technical solution of the present invention, which should be included in the scope of the claims of the present invention.

Claims

1. Unmanned tube sheet production line, characterized by: include: Main feeding line, feeding channel, feeding lifting and transplanting equipment, main discharging line, discharging channel, discharging lifting and transplanting equipment, processing machine tools, first transfer truss manipulator, second transfer truss manipulator, tube sheet identification equipment and control equipment; The feeding main line, feeding channel, discharging main line and discharging channel are all automatic linear conveying structures; the feeding main line is located above the discharging main line, and the feeding main line overlaps with the discharging main line; the output end of the feeding main line is located next to the input end of the discharging main line, and the input end of the discharging main line emerges from the output end of the feeding main line; The first side of the feeding main line is connected to a plurality of feeding channels, and a processing machine is installed next to each feeding channel. A feeding lifting and transplanting device is installed at the feeding main line and the feeding channel. The feeding lifting and transplanting device is used to lift the tube sheet so that the tube sheet can be transferred between the feeding main line and the feeding channel. The main discharge line is connected with several discharge channels, the discharge channels are located on the second side of the main feeding line, and the end of the discharge channel away from the main discharge line is a buffer station; a discharge lifting and transplanting device is installed at the connection between the main discharge line and the discharge channel, and the discharge lifting and transplanting device is used to lift the tube sheet so that the tube sheet can be transferred from the main discharge line to the discharge channel; A mounting frame is installed beside the feeding main line and the discharging main line, and a first transfer truss manipulator and a second transfer truss manipulator are installed on the mounting frame. The first transfer truss manipulator and the second transfer truss manipulator are both installed above the feeding main line. The first transfer truss manipulator is located beside the output end of the feeding channel, and the first transfer truss manipulator is used to transfer the tube sheet at the output end of the feeding channel to the processing machine tool; the second transfer truss manipulator is located beside the input end of the discharging channel, and the second transfer truss manipulator is used to transfer the tube sheet at the output end of the feeding main line to the input end of the discharging channel; A tube sheet identification device is installed at the input end of the loading main line. The tube sheet identification device is used to identify the length and width of the tube sheet. The output end of the tube sheet identification device is connected to the input end of the control device. The loading main line, the loading jacking and transplanting equipment, the unloading main line, the unloading jacking and transplanting equipment, the processing machine tool, the first transfer truss manipulator and the second transfer truss manipulator are all connected to the output end of the control device.

2. The unmanned tube sheet production line according to claim 1 is characterized in that: The main feeding line and the main discharging line both include: at least two conveying sections, there is a transfer gap between two adjacent conveying sections, the transfer gap is aligned to the feeding channel or the discharging channel, and the feeding jacking and transplanting equipment or the discharging jacking and transplanting equipment is installed at the transfer gap.

3. The unmanned tube sheet production line according to claim 2 is characterized in that: The loading jacking and transplanting equipment and the discharging jacking and transplanting equipment both include: a linear conveying mechanism, a lifting seat, a lifting mechanism, a rotating seat, a rotating drive mechanism and a base frame. The top surface of the linear conveying mechanism is a transfer support surface. The transfer support surface can be on the same plane as the top surface of the conveying section. The transfer support surface can be higher than the loading support surface at the top of the loading channel and the discharging support surface at the top of the discharging channel. The linear conveying mechanism is installed on the lifting seat, and the lifting seat is installed on the rotating seat. The lifting seat can be lifted and lowered relative to the rotating seat. A lifting mechanism is installed between the lifting seat and the rotating seat. The lifting mechanism is used to drive the lifting seat to lift and lower relative to the rotating seat. The rotating seat can be rotatably installed on the base frame. A rotating drive mechanism is installed on the base frame. The output end of the rotating drive mechanism is connected to the rotating seat. The rotating drive mechanism is used to drive the rotating seat to rotate relative to the base frame.

4. The unmanned tube sheet production line according to claim 3 is characterized in that: The jacking mechanism includes: an eccentric wheel, a jacking shaft and a jacking rotary drive assembly. The jacking rotary drive assembly is installed on a rotating seat. The output end of the jacking rotary drive assembly is connected to the jacking shaft. The jacking shaft is rotatably installed on the rotating seat. An eccentric wheel is fixed on the jacking shaft. There are at least two eccentric wheels. The eccentric wheels support the lifting seat.

5. The unmanned tube sheet production line according to claim 4 is characterized in that: The lifting rotation drive assembly includes: a first bevel gear, a second bevel gear, a matching shaft, a first gear, a second gear and a lifting motor, the first bevel gear is fixed to the lifting shaft, the first bevel gear is meshed with the second bevel gear, the second bevel gear and the first gear are fixed to the matching shaft, the matching shaft is rotatably mounted on the rotating seat, the first gear is meshed with the second gear, the second gear is mounted on the output shaft of the lifting motor, and the lifting motor is mounted on the rotating shaft.

6. The unmanned tube sheet production line according to claim 5 is characterized in that: A supporting step is formed on the base frame, a rotatable rotating seat is installed on the supporting step, and a through hole is opened on the base frame, and a lifting motor on the rotating seat is allowed to emerge from the base frame through the through hole.

7. The unmanned tube sheet production line according to any one of claims 1 to 6, characterized in that: The control equipment control operation includes the following steps: S1. The control device identifies the tube sheet model through the tube sheet identification device located at the input end of the feeding main line; S2. The control device controls the operation of the feeding main line according to the tube sheet model, so that the tube sheet is transported to the feeding lifting and transplanting equipment next to the designated feeding channel; S3, the loading lifting and transplanting equipment receiving the tube sheet operates under the control of the control device to transfer the tube sheet to the designated loading channel; S4, the feeding channel transports the tube sheet to the designated processing machine tool; S5, the first transfer truss manipulator transfers the tube sheet at the output end of the feeding channel to the designated processing machine tool; S6. Designate a processing machine to process the tube sheet; S7, the first transfer truss manipulator transfers the tube sheet on the designated processing machine tool to the output end of the loading channel; S8, the feeding channel runs in the reverse direction to transport the tube sheet to the feeding lifting and transplanting equipment, at which time the feeding lifting and transplanting equipment is in a lower position; S9, the loading lifting and transplanting equipment transports the tube sheet to the loading main line; S10, the feeding main line transports the tube sheet to the output end of the feeding main line; S11, the second transfer truss manipulator transfers the tube sheet from the input end of the discharge main line; S12, the main discharge line, the discharge lifting and transplanting equipment and the discharge channel transport the tube sheet to the designated buffer station.

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