Assembly production line and assembly method for boiler waste heat recovery equipment

Abstract

The invention relates to the technical field of assembling equipment, and discloses an assembling production line and an assembling method for boiler waste heat recovery equipment. Through the arrangement of a stacking assembly, after a set of fins are stacked on a containing frame at one end of an objective table, the objective table turns the stacked fins to a fixing assembly; the stacked fins enter the next assembling procedure, meanwhile, the vacant containing frame at the other end of the objective table starts to stack the next set of fins, after the last set of fins are assembled, the fins at the other end of the objective table are stacked, the objective table rotates again, the next set of stacked fins are turned to the fixing assembly, and the next set of stacked fins enter the next assembling procedure. And therefore, the stacking work of the fins is conducted in a connected mode, and the assembling efficiency of the equipment is improved.

Description

Technical Field

[0001] This invention relates to the field of assembly equipment technology, specifically to an assembly production line and an assembly method for boiler waste heat recovery equipment. Background Technology

[0002] Boiler waste heat recovery equipment is used to recover unused waste heat from boiler flue gas or waste heat, converting it into usable steam or hot water through heat exchange technology, thereby improving energy utilization and reducing energy consumption. Waste heat recovery equipment is usually a finned tube heat exchanger, whose core structure is usually composed of copper or stainless steel tubes (including fins). In the production of this heat exchanger, the factory uses automatic assembly equipment to assemble the fins and copper tubes. However, due to mechanical structure limitations, when using automated equipment such as servo motor linear modules to move the grippers, although the motion accuracy is high, the single motion stroke is limited. If multiple rows of copper tubes need to be gripped, it will lead to excessively long equipment stroke or insufficient positioning accuracy. As a result, only one row of copper tubes can be gripped at a time during assembly. Only after the first row of copper tubes is inserted into the fins can the assembly of the second row of fins begin, thus reducing the assembly efficiency of fins and copper tubes. Summary of the Invention

[0003] To address the shortcomings of existing technologies, this invention provides an assembly production line and an assembly method for boiler waste heat recovery equipment, thereby overcoming the aforementioned technical problems in existing related technologies.

[0004] To solve the above-mentioned technical problems, the present invention provides the following technical solution: an assembly production line, comprising a base, characterized in that: a stacking assembly, a fixing assembly, and an insertion assembly are sequentially arranged on the base; a conveying assembly is arranged on the fixing assembly and the insertion assembly; the stacking assembly includes a platform, with placement racks installed at both ends of the platform; each placement rack holds a container rack for holding stacked fins; the fixing assembly includes a support frame and a lifting block; the support frame has a lifting groove; the lifting block is installed in the lifting groove and can move up and down within the lifting groove; the lifting block has a side... A support frame is connected to a pallet, the end of which is L-shaped and faces the holding rack. This pallet is used to support the holding rack and the stacked fins on it, placing them onto the conveying assembly. A robotic arm is also installed on the support frame. The robotic arm is used to grasp the fixing frame and insert it into the stacked fins to fix it in place. The tube insertion assembly includes a mounting frame with several pneumatic rotary grippers. The pneumatic rotary grippers are used to grip the copper tubes and insert them into the fins for assembly. The base is also equipped with a hanging rod and an electric conveyor belt. The hanging rod is used to place the copper tubes, and the electric conveyor belt is used to transport the fixing frame.

[0005] Preferably, the base has a plurality of motor slots, which are located below the platform and the support frame, respectively. A drive motor is fixedly installed in the motor slot located below the platform, and a spur gear is installed on the output shaft of the drive motor.

[0006] Preferably, a rotating shaft is fixedly connected to the bottom of the platform, the rotating shaft is rotatably mounted on the base, a gear ring is coaxially fixedly connected to the outside of the rotating shaft, the gear ring on the rotating shaft meshes with a spur gear on the drive motor, the placement frame is fixedly connected to the platform, limit rods are fixedly connected to both sides of the placement frame, a plurality of fixed insert rods are evenly arranged between the two limit rods, the plurality of fixed insert rods are fixedly connected to the placement frame, and the outer diameter of the fixed insert rod matches the inner diameter of the hole on the fin for installing copper tubes.

[0007] Preferably, a first motor is fixedly installed in the motor slot below the support frame. A drive rod is coaxially fixedly connected to the output shaft of the first motor. The drive rod is rotatably installed in the lifting slot. The drive rod is a threaded rod. The lifting block is slidably installed in the lifting slot and is threadedly assembled onto the drive rod. A sliding groove is provided on the lifting block. The support plate is slidably installed in the sliding groove. A drive rack is fixedly connected to the side of the support plate near the lifting slot. A second motor is fixedly installed in the lifting block. A drive gear is coaxially fixedly connected to the output shaft of the second motor. The drive gear extends into the sliding groove and meshes with the drive rack.

[0008] Preferably, a support plate is fixedly connected to the top of the support frame, an electric guide rail is fixedly installed on the upper end of the support plate, the robot arm is slidably installed on the electric guide rail, a rodless cylinder is fixedly installed on the side of the support plate near the placement frame, a sliding block is fixedly connected to the rodless cylinder, a rotating rod is rotatably connected in the sliding block, a positioning rod is fixedly connected to the lower end of the rotating rod, the positioning rod has several holes corresponding to the limiting rod and the fixing rod, a spur gear is coaxially fixedly connected to the rotating rod, a third motor is also fixedly installed in the sliding block, and the output shaft of the third motor is coaxially fixedly connected to...

[0009] Preferably, the conveying assembly includes a conveying track and a conveying trolley. The conveying track is fixedly installed below the support frame and the mounting frame. The conveying trolley is slidably connected to the conveying track and is driven by a motor to move linearly on the conveying track.

[0010] Preferably, the mounting bracket has a displacement groove at its upper end, and linear motors are fixedly connected to both sides of the displacement groove. A sliding plate is slidably mounted on the linear motor, and a long rod cylinder is fixedly mounted on the upper side of the sliding plate. The long rod cylinder is located in the displacement groove, and the lower end of the output shaft of the long rod cylinder passes through the sliding plate and is rotatably connected to the upper side of the clamping bracket. A connecting plate is fixedly connected to the lower end of the output shaft of the long rod cylinder. The connecting plate is located above the clamping bracket, and a fourth motor is fixedly mounted on the connecting plate. The output shaft of the fourth motor passes through the connecting plate and extends to the upper side of the clamping bracket. A spur gear is coaxially fixedly connected to the output shaft of the fourth motor.

[0011] Preferably, a transmission gear ring is fixedly connected to the upper end of the clamping bracket, the transmission gear ring meshing with a spur gear on the fourth motor. Slide rods are fixedly connected to both ends of the clamping bracket. Two motor seats are symmetrically arranged on one side of the clamping bracket, and both motor seats are fixedly connected to the clamping bracket. A fifth motor is fixedly installed on the motor seat. A transmission rod is coaxially fixedly connected to the output shaft of the fifth motor. The transmission rod is rotatably connected to the clamping bracket, and the transmission rod is a threaded rod.

[0012] Preferably, two movable plates are sequentially mounted on the clamping bracket. The two ends of the movable plates are slidably connected to the two slide rods, and the two movable plates are respectively mounted on the two transmission rods. Each of the two movable plates has a sliding groove, and the movable plate located between the clamping bracket and the other movable plate also has a slot. A push rod is slidably mounted in the sliding groove. Several mounting blocks are fixedly mounted on the push rod and the side wall of the clamping bracket. The mounting blocks on the two movable plates are staggered. A pneumatic rotating gripper is rotatably mounted on the bottom of each mounting block. A linear cylinder is fixedly connected to one end of the movable plate, and the output end of the linear cylinder is fixedly connected to the end of the push rod.

[0013] This invention also provides an assembly method for boiler waste heat recovery equipment, using an assembly production line, the specific steps of which are as follows: First, fins are stacked on the end of the stage away from the fixing component. After the fins are stacked, the stage is rotated 180 degrees to face the stacked fins toward the fixing component. The fixing component uses a robotic arm to insert two fixing brackets into both sides of the fins to fix the stacked fins. Then, the lifting block drives the pallet to transport the fixed fins on the stage to the conveying component. The conveying component then transports the fixed fins to the tube insertion component for assembly. During assembly, the tube insertion component uses pneumatic rotating grippers to insert multiple rows of copper tubes into the holes of the fins. When the fins are filled with copper tubes, the assembly is complete.

[0014] Compared with the prior art, the present invention provides an assembly production line and an assembly method for boiler waste heat recovery equipment, which has the following beneficial effects: 1. The assembly line and assembly method for boiler waste heat recovery equipment, through the setting of stacking components, after a set of fins is stacked on the holding rack at one end of the platform, the platform turns the stacked fins toward the fixed component, so that the stacked fins enter the next assembly process. At the same time, the empty holding rack at the other end of the platform begins to stack the next set of fins. After the previous set of fins is assembled, the fins at the other end of the platform are also stacked. The platform then rotates again, turning the next set of stacked fins toward the fixed component, thereby continuously carrying out the fin stacking work, which improves the assembly efficiency of the equipment.

[0015] 2. The assembly line and assembly method for boiler waste heat recovery equipment, through the setting of the fixing component, after the fins are stacked, the fixing component fixes the fins on the holding seat through the cooperation of positioning rod, limiting rod and fixing insertion rod, which facilitates the robot to insert the fixing frame into the stacked fins. Then the robot inserts two fixing frames into both sides of the fins to fix the stacked fins, so that the holes of several fins can be aligned in a consistent manner, so that the copper tube can be accurately inserted into the corresponding hole of the fin, thereby improving the accuracy of the equipment in assembling fins and copper tubes.

[0016] 3. The assembly line and assembly method for boiler waste heat recovery equipment, through the setting of the tube insertion assembly, when clamping copper tubes, the three rows of mounting blocks on the clamping bracket will merge together, so that several pneumatic rotating jaws are arranged in a row. After clamping the copper tube, the two moving plates on the clamping bracket will move again, thereby pulling the several pneumatic rotating jaws that were merged into a row apart and arranged into three rows. Under the drive of the linear cylinder, the pneumatic rotating jaws that are misaligned on the two moving plates are aligned with several pneumatic rotating jaws on the side of the clamping bracket. This allows three rows of copper tubes to be accurately inserted into the stacked fins at one time. This enables the equipment to clamp multiple rows of copper tubes at one time within a limited stroke, ensuring the positioning accuracy of the equipment and thus improving the assembly efficiency of fins and copper tubes. Attached Figure Description

[0017] Figure 1 This is a schematic diagram of the main structure of the present invention; Figure 2 This is a side view of the drive motor structure of the present invention; Figure 3 This is a schematic diagram showing the positional relationship of the stage and other components of the present invention; Figure 4 This is a side view of the fixing component of the present invention; Figure 5 for Figure 4 A magnified schematic diagram of the structure at point A; Figure 6 This is a schematic diagram of the internal structure of the lifting groove of the present invention; Figure 7 for Figure 6 A magnified schematic diagram of the structure at point B; Figure 8 This is a schematic diagram of the internal structure of the sliding block of the present invention; Figure 9 for Figure 8 A magnified schematic diagram of the structure at point C; Figure 10 This is a side view of the cannulation assembly of the present invention; Figure 11 for Figure 10 A magnified schematic diagram of the structure at point D; Figure 12 This is a side view of the hanging rod structure of the present invention.

[0018] In the diagram: 1. Base; 11. Motor slot; 12. Drive motor; 2. Stacking assembly; 21. Platform; 22. Rotating shaft; 23. Placement rack; 231. Limiting rod; 232. Fixing rod; 3. Container rack; 4. Fixing assembly; 41. Support frame; 411. Lifting slot; 42. Lifting block; 421. First motor; 422. Drive rod; 43. Sliding slot; 44. Pallet; 441. Drive rack; 45. Second motor; 451. Drive gear; 46. Support plate; 47. Electric guide rail; 48. Rodless cylinder; 481. Sliding block; 49. Rotating rod; 491. Positioning rod; 492. Third motor; 5. Robotic arm; 6. 61. Conveying assembly; 62. Conveying track; 7. Conveying trolley; 7. Insertion assembly; 71. Mounting frame; 711. Displacement groove; 72. Linear motor; 73. Sliding plate; 74. Long rod cylinder; 741. Connecting plate; 742. Fourth motor; 75. Clamping bracket; 751. Transmission gear ring; 752. Slide rod; 753. Motor base; 754. Fifth motor; 755. Transmission rod; 76. Moving plate; 761. Slide groove; 762. Groove opening; 77. Push rod; 78. Mounting block; 781. Pneumatic rotary gripper; 79. Linear cylinder; 8. Hanging rod; 9. Electric conveyor belt; 10. Fixed frame; 101. Copper pipe; 102. Fin. Detailed Implementation

[0019] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0020] Please see Figures 1-12An assembly line includes a base 1, on which stacking components 2, fixing components 4, and insertion components 7 are sequentially arranged. Conveying components 6 are mounted on the fixing components 4 and insertion components 7. The stacking components 2 include a platform 21, with placement racks 23 installed at both ends. Each placement rack 23 holds a container rack 3 for holding stacked fins 102. The fixing components 4 include a support frame 41 and a lifting block 42. The support frame 41 has a lifting groove 411, and the lifting block 42 is installed within the lifting groove 411, allowing it to move up and down within the groove. A pallet 44 is connected to the side of the lifting block 42, facing the container rack. One end of 3 is L-shaped and is used to support the holding rack 3 and the stacked fins 102 on it, and place them on the conveying assembly 6. The support frame 41 is also equipped with a robot arm 5, which is used to grab the fixing frame 10 and insert the fixing frame 10 into the stacked fins 102 to fix it. The tube insertion assembly 7 includes a mounting frame 71, which is equipped with several pneumatic rotating grippers 781. The pneumatic rotating grippers 781 are used to clamp the copper tube 101 and insert the clamped copper tube 101 into the fins 102 for assembly. The base 1 is also equipped with a hanging rod 8 and an electric conveyor belt 9. The hanging rod 8 is used to place the copper tube 101, and the electric conveyor belt 9 is used to transport the fixing frame 10.

[0021] In operation, several fins 102 are first stacked sequentially on the holding rack 3 away from the fixed component 4 on the platform 21. After stacking the fins 102, the platform 21 rotates 180 degrees on the base 1, so that the end with the stacked fins 102 is next to the fixed component 4, while the other end of the platform 21 is moved to the position where the fins 102 are stacked, and the next stack of fins 102 is started. At this time, the pallet 44 on the lifting block 42 located at the lower end of the lifting groove 411 moves towards the platform 21, so that the "L"-shaped end of the pallet 44 moves to the bottom of the holding rack 3. At the same time, the electric conveyor belt 9 on the side of the fixed component 4 transports the fixed frame 10 to the bottom of the robot arm 5. The robot arm 5 picks up the fixed frame 10 on the electric conveyor belt 9 and inserts it into the fins. On one side of 102, the electric conveyor belt 9 then transports another fixing frame 10 to the area below the robot arm 5. The robot arm 5 then picks up the other fixing frame 10 and inserts it into the other side of the fin 102, thereby fixing the stacked fins 102 and preventing them from scattering during subsequent assembly. The fixing frame 10 consists of several fixing rods 232. The upper ends of these fixing rods 232 are fixedly connected to a plate, and their lower ends slide through another plate. When the fixing frame 10 is inserted into the fin 102, the robot arm 5 aligns the fixing rods 232 on the fixing frame 10 with the holes in the fin 102, so that the fixing rods 232 are inserted into the holes in the fin 102. At this time, the movable plate at the lower end of the fixing frame 10 will abut against the fin 102. On the surface, as the fixing rod 232 is inserted, it finally abuts against the fixed plate at the upper end of the fixing rod 232. After the fixing component 4 is inserted into the fixing frame 10, the lifting block 42 drives the tray 44 to move upward, so that the "L"-shaped end of the tray 44 lifts the holding rack 3, removing the stacked fins 102 from the placement rack 23. After the tray 44 removes the stacked fins 102, the tray 44 drives the stacked fins 102 to move towards the support frame 41. At this time, the worker places the new holding rack 3 onto the empty placement rack 23. After the stacked fins 102 leave the platform 21, the lifting block 42 drives the tray 44 to move downward, thus placing the holding rack 3 onto the conveying component 6. Subsequently, the conveying component 6 drives the holding rack 3 towards the insertion tube component 7, placing... The stacked fins 102 are conveyed to the underside of the insertion assembly 7. The insertion assembly 7 drives its pneumatic rotary gripper 781 to move above the hanging rod 8, grabbing several copper tubes 101 from the hanging rod 8. Then, it moves these copper tubes 101 above the fins 102, aligning them with the holes on the fins 102. The pneumatic rotary gripper 781 then inserts the copper tubes 101 into the fins 102. Afterward, the pneumatic rotary gripper 781 releases the copper tubes 101 and moves back above the hanging rod 8 to grab the next batch of copper tubes 101. Simultaneously, the conveying assembly 6 moves the stacked fins 102 a further distance, aligning the portions of the fins 102 not yet inserted with copper tubes 101 under the insertion assembly 7. This process is repeated multiple times.The stacked fins 102 are filled with copper tubes 101, thus completing the assembly of the fins 102 and copper tubes 101. At this point, the conveyor assembly 6 transports the assembled fins 102 to the end of the base 1 away from the platform 21 for unloading. Workers remove the fixing frames 10 inserted on both sides of the fins 102 and place them sequentially on the electric conveyor belt 9. The electric conveyor belt 9 transports the fixing frames 10 back below the robot arm 5. The assembled fins 102 are then removed from the holding rack 3, and the holding rack 3 is retrieved. At this point, the next stack of fins 102 on the holding rack 3 at the other end of the platform 21 is completed. The platform 21 then rotates 180 degrees again, repeating the above steps to assemble one fin 102.

[0022] Furthermore, the base 1 is provided with a plurality of motor slots 11, which are located below the platform 21 and below the support frame 41 respectively. A drive motor 12 is fixedly installed in the motor slot 11 located below the platform 21, and a spur gear is installed on the output shaft of the drive motor 12.

[0023] Furthermore, a rotating shaft 22 is fixedly connected to the bottom of the platform 21. The rotating shaft 22 is rotatably mounted on the base 1. A gear ring is coaxially fixedly connected to the outside of the rotating shaft 22. The gear ring on the rotating shaft 22 meshes with the spur gear on the drive motor 12. The placement frame 23 is fixedly connected to the platform 21. Limiting rods 231 are fixedly connected to both sides of the placement frame 23. Several fixing rods 232 are evenly arranged between the two limiting rods 231. The several fixing rods 232 are fixedly connected to the placement frame 23. The outer diameter of the fixing rods 232 matches the inner diameter of the hole on the fin 102 for installing the copper tube 101.

[0024] When stacking fins 102 onto the placement rack 23, the holes on the fins 102 are aligned with the fixing rods 232 on the placement rack 23, so that the fins 102 are located between the limiting rods 231 at both ends of the placement rack 23. After the fins 102 are stacked, the drive motor 12 drives its output shaft to rotate, and through the cooperation of the gear ring and spur gear, the platform 21 is driven to rotate 180 degrees on the base 1. When the tray 44 lifts the container rack 3, the fins 102 stacked on the container rack 3 will move upward along the fixing rods 232 on the placement rack 23, and finally separate from the fixing rods 232, so that the tray 44 can drive the lifted container rack 3 away from the platform 21 and move towards the support frame 41.

[0025] Furthermore, a first motor 421 is fixedly installed in the motor slot 11 below the support frame 41. A drive rod 422 is coaxially fixedly connected to the output shaft of the first motor 421. The drive rod 422 is rotatably installed in the lifting slot 411. The drive rod 422 is a threaded rod. The lifting block 42 is slidably installed in the lifting slot 411 and is threadedly assembled onto the drive rod 422. A sliding slot 43 is provided on the lifting block 42. A support plate 44 is slidably installed in the sliding slot 43. A drive rack 441 is fixedly connected to the side of the support plate 44 near the lifting slot 411. A second motor 45 is fixedly installed in the lifting block 42. A drive gear 451 is coaxially fixedly connected to the output shaft of the second motor 45. The drive gear 451 extends into the sliding slot 43 and meshes with the drive rack 441.

[0026] Both the first motor 421 and the second motor 45 are servo motors. When the lifting block 42 needs to move upward, the first motor 421 drives the drive rod 422 to rotate in the opposite direction, causing the lifting block 42 to move upward under the engagement of the threads. When the lifting block 42 needs to move downward, the first motor 421 drives the drive rod 422 to rotate in the forward direction, causing the lifting block 42 to move downward under the engagement of the threads. Initially, one end of the "L"-shaped support plate 44 is located inside the support frame 41, away from the platform 21. When the end of the platform 21 carrying the fins 102 turns towards the support frame 41, the second motor 45 drives the drive gear 451 on its output shaft to rotate counterclockwise. With the cooperation of the drive gear 451 and the drive rack 441, the drive pallet 44 moves towards the platform 21 in the sliding groove 43, so that one end of the pallet 44 in the "L" shape moves to the bottom of the holding rack 3. After the stacked fins 102 are fixed by the fixing frame 10, the lifting block 42 drives the pallet 44 to move upward, lifting the holding rack 3. Then, the second motor 45 drives the drive gear 451 to rotate clockwise, and the drive pallet 44 moves towards the tube insertion assembly 7 in the sliding groove 43. After the "L" shaped end of the pallet 44 moves back to the initial position, the lifting block 42 moves downward again, placing the holding rack 3 carrying the fins 102 onto the conveying assembly 6.

[0027] Furthermore, a support plate 46 is fixedly connected to the top of the support frame 41, and an electric guide rail 47 is fixedly installed on the upper end of the support plate 46. The robot arm 5 is slidably installed on the electric guide rail 47. A rodless cylinder 48 is fixedly installed on the side of the support plate 46 near the placement frame 23. A sliding block 481 is fixedly connected to the rodless cylinder 48. A rotating rod 49 is rotatably connected in the sliding block 481. A positioning rod 491 is fixedly connected to the lower end of the rotating rod 49. Several holes are opened on the positioning rod 491, which correspond to the limiting rod 231 and the fixing rod 232 respectively. A spur gear is coaxially fixedly connected to the rotating rod 49. A third motor 492 is also fixedly installed in the sliding block 481. A spur gear is coaxially fixedly connected to the output shaft of the third motor 492. The spur gear on the third motor 492 meshes with the spur gear on the rotating rod 49.

[0028] Among them, the third motor 492 is a servo motor. During the process of inserting the fixing frame 10 into the stacked fins 102, the robot arm 5 is initially located at the end of the support plate 46 near the electric conveyor belt 9. When the robot arm 5 picks up the first fixing frame 10, the third motor 492 drives the spur gear on it to rotate the rotating rod 49 clockwise by 90 degrees, so that the positioning rod 491 at the lower end of the rotating rod 49 is horizontal on the fin 102. At this time, several holes on the positioning rod 491 are aligned with the limiting rod 231 and the fixing insertion rod 232 on one side of the placement frame 23. Then, the rodless cylinder 48 drives the sliding block 481 to move downward, so that the limiting rod 231 and the fixing insertion rod 232 pass through the holes of the positioning rod 491, pressing the positioning rod 491 on the upper end of the stacked fins 102, thereby fixing the stacked fins 102 and facilitating the insertion of the fixing frame 10. After the stacked fins 102 are fixed, the electric guide rail 47 drives the robot arm 5, which holds the fixing frame 10, to move towards the end of the support plate 46 near the platform 21, so that the robot arm 5 inserts the first fixing frame 10 into one side of the fin 102. Then, the electric guide rail 47 drives the robot arm 5 to move to the end of the support plate 46 near the electric conveyor belt 9, and picks up the second fixing frame 10. The above steps are repeated to insert the second fixing frame 10 into the other side of the fin 102. After the two fixing frames 10 fix the stacked fins 102, the rodless cylinder 48 drives the sliding block 481 to move upward, pulling the positioning rod 491 out from the limit rod 231 and the fixing insertion rod 232. Then, the third motor 492 drives the spur gear on it to drive the rotating rod 49 to rotate 90 degrees counterclockwise, parallel to the support plate 46, so that the support plate 44 can lift the stacked fins 102.

[0029] Furthermore, the conveying assembly 6 includes a conveying track 61 and a conveying trolley 62. The conveying track 61 is fixedly installed below the support frame 41 and the mounting frame 71. The conveying trolley 62 is slidably connected to the conveying track 61 and is driven by a motor to move linearly on the conveying track 61.

[0030] Initially, the conveyor trolley 62 is parked at the bottom of the support frame 41. After the pallet 44 lifts the rack 3 carrying the fins 102 and moves it onto the support frame 41, the pallet 44 eventually places the rack 3 carrying the fins 102 onto the conveyor trolley 62 as the lifting block 42 descends. Then, the conveyor trolley 62 moves the rack 3 toward the tube insertion assembly 7. After the copper tube 101 is installed on the fins 102, the conveyor trolley 62 moves the assembled fins 102 to the unloading point for unloading. After unloading, the conveyor trolley 62 moves back to the initial position to prepare to convey the next rack 3 carrying the fins 102.

[0031] Furthermore, the mounting bracket 71 has a displacement groove 711 at its upper end. Linear motors 72 are fixedly connected to both sides of the displacement groove 711. A sliding plate 73 is slidably mounted on the linear motor 72. A long rod cylinder 74 is fixedly mounted on the upper side of the sliding plate 73. The long rod cylinder 74 is located in the displacement groove 711. The lower end of the output shaft of the long rod cylinder 74 passes through the sliding plate 73 and is rotatably connected to the upper side of the clamping bracket 75. A connecting plate 741 is fixedly connected to the lower end of the output shaft of the long rod cylinder 74. The connecting plate 741 is located above the clamping bracket 75. A fourth motor 742 is fixedly mounted on the connecting plate 741. The output shaft of the fourth motor 742 passes through the connecting plate 741 and extends to the upper side of the clamping bracket 75. A spur gear is coaxially fixedly connected to the output shaft of the fourth motor 742.

[0032] The fourth motor 742 is a servo motor. Initially, the clamping bracket 75 is perpendicular to the hanging rod 8 and lies horizontally on the conveying track 61. The long rod cylinder 74 retracts its output shaft, positioning the clamping bracket 75 at the top of the mounting frame 71. When the conveying trolley 62 transports the stacked fins 102 below the clamping bracket 75, the linear motor 72 drives the sliding plate 73 to move the clamping bracket 75 towards the hanging rod 8. After the clamping bracket 75 moves above the hanging rod 8, the fourth motor 742 drives the clamping bracket 75 to rotate 90 degrees, making the clamping bracket 75 parallel to the hanging rod 8. Then, the long rod cylinder 74 extends its output shaft, pushing the clamping bracket 75 downwards. After the pneumatic rotating gripper 781 clamps the copper tubes 101 arranged on the hanging rod 8, the long rod cylinder 74 retracts its output shaft. Returning to the output shaft, the clamping bracket 75 is lifted, and the copper tube 101 held by the pneumatic rotary gripper 781 is removed from the hanging rod 8. The fourth motor 742 then drives the clamping bracket 75 to rotate 90 degrees in the opposite direction, so that the clamping bracket 75 is perpendicular to the hanging rod 8 again. Then, the linear motor 72 drives the clamping bracket 75 away from the hanging rod 8 and moves it above the fin 102. After the copper tube 101 is aligned with the hole on the fin 102, the long rod cylinder 74 extends its output shaft again, causing the clamping bracket to move down, thereby inserting the copper tube 101 into the fin 102. After the copper tube 101 is inserted, the pneumatic rotary gripper 781 releases the clamped copper tube 101, and the long rod cylinder 74 retracts its output shaft to lift the clamping bracket 75. The above steps are then repeated until the fin 102 is full of copper tubes 101.

[0033] Furthermore, a transmission gear ring 751 is fixedly connected to the upper end of the clamping bracket 75. The transmission gear ring 751 meshes with the spur gear on the fourth motor 742. Slide rods 752 are fixedly connected to both ends of the clamping bracket 75. Two motor seats 753 are symmetrically arranged on one side of the clamping bracket 75. Both motor seats 753 are fixedly connected to the clamping bracket 75. A fifth motor 754 is fixedly installed on the motor seat 753. A transmission rod 755 is coaxially fixedly connected to the output shaft of the fifth motor 754. The transmission rod 755 is rotatably connected to the clamping bracket 75. The transmission rod 755 is a threaded rod.

[0034] Among them, the fifth motor 754 is a servo motor. When clamping the copper tube 101 on the hanging rod 8, the fifth motor 754 will drive the transmission rod 755 to rotate in the forward direction. When inserting the copper tube 101 into the fin 102, the fifth motor 754 will drive the transmission rod 755 to rotate in the reverse direction. When it is necessary to rotate the clamping bracket 75, the fourth motor 742 drives the transmission gear ring 751 through the spur gear on its output shaft, so that the transmission gear ring 751 drives the clamping bracket 75 to rotate.

[0035] Furthermore, two movable plates 76 are sequentially installed on the clamping bracket 75. The two ends of the movable plates 76 are slidably connected to two slide rods 752, and the two movable plates 76 are respectively mounted on two transmission rods 755. Both movable plates 76 are provided with slide grooves 761. The movable plate 76 located between the clamping bracket 75 and the other movable plate 76 is also provided with a slot 762. A push rod 77 is slidably installed in the slide groove 761. Several mounting blocks 78 are fixedly installed on the side wall of the push rod 77 and the clamping bracket 75. The mounting blocks 78 on the two movable plates 76 are staggered. A pneumatic rotating gripper 781 is rotatably installed at the bottom of each mounting block 78. A linear cylinder 79 is fixedly connected to one end of the movable plate 76. The output end of the linear cylinder 79 is fixedly connected to the end of the push rod 77.

[0036] Among them, the pneumatic rotary gripper 781 is a clamping device driven by compressed air, which can drive the workpiece to rotate after clamping it (such as the pneumatic rotary gripper mechanism disclosed in CN220128811U). In this device, the linear cylinder 79 on the moving plate 76 with the slot 762 is located at the end of the moving plate 76 near the hanging rod 8, and the sliding groove 761 on the moving plate 76 is located on the upper side of the moving plate 76. The linear cylinder 79 on the moving plate 76 without the slot 762 is located at the end of the moving plate 76 away from the hanging rod 8, and the sliding groove 761 on the moving plate 76 is formed on the side of the moving plate 76. Initially, the linear cylinders 79 on both moving plates 76 retract their output shafts, causing the two moving plates... The push rods 77 on the 76 move to the end of their respective slide grooves 761 near the linear cylinder 79, thus causing the mounting blocks 78 on the two moving plates 76 to be staggered and located on both sides of the mounting blocks 78 on the moving clamping plate. Initially, the two moving plates 76 are in contact, with the mounting block 78 on the moving plate 76 without the slot 762 passing through the slot 762 of the other moving plate 76, making the mounting blocks 78 on the two moving plates 76 flush. The moving plate 76 with the slot 762 pushes the mounting block 78 against the clamping bracket 75, thus causing the mounting block 78 on the clamping bracket 75, the mounting block 78 on the moving plate 76 with the slot 762, and the mounting block 78 on the moving plate 76 without the slot 762 to merge together. Together, they form a straight line, so that the pneumatic rotating grippers 781 on each mounting block 78 are on the same horizontal line. This ensures that when the clamping bracket 75 and the pneumatic rotating grippers 781 on the two moving plates 76 move to the hanging rod 8, they can each grip a copper tube 101. When the clamping bracket 75 moves the gripped copper tube 101 above the fin 102, the two fifth motors 754 synchronously drive the transmission rod 755 to rotate in opposite directions, causing the two moving plates 76 to slide on the slide rod 752, widening the gap between the mounting blocks 78. This results in the mounting blocks 78 on the clamping bracket 75, the mounting blocks 78 on the moving plates 76 with slots 762, and the mounting blocks 78 on the moving plates 76 without slots 762 forming three rows. The linear cylinders 79 on the two rear movable plates 76 extend their output shafts, pushing the push rods 77 on the two movable plates 76 towards the other end of the slide groove 761, so that the mounting blocks 78 on the two movable plates 76 are aligned with the mounting blocks 78 on the clamping bracket 75. At the same time, the pneumatic rotary grippers 781 drive the clamped copper tubes 101 to rotate 90 degrees, thereby aligning them with the holes on the fins 102. Then, the clamping bracket 75 moves downward, inserting the three rows of copper tubes 101 into the fins 102. After the copper tubes 101 are inserted, all the pneumatic rotary grippers 781 simultaneously release the clamped copper tubes 101, the clamping bracket 75 moves upward, and the linear cylinders 79 on the two movable plates 76 retract their output shafts again, causing the mounting blocks 78 on the two movable plates 76 to stagger again.Subsequently, the two fifth motors 754 drive the transmission rod 755 to rotate forward, causing the mounting blocks 78 on the clamping bracket 75, the mounting blocks 78 on the moving plate 76 with slots 762, and the mounting blocks 78 on the moving plate 76 without slots 762 to merge together again. Simultaneously, all pneumatic rotary grippers 781 rotate 90 degrees in the opposite direction, preparing to clamp the next batch of copper tubes 101. This process is repeated until the fins 102 are filled with copper tubes 101, completing the assembly.

[0037] This invention also provides an assembly method for boiler waste heat recovery equipment, using an assembly production line, the specific steps of which are as follows: First, fins 102 are stacked on the end of the platform 21 away from the fixing component 4. After the fins 102 are stacked, the platform 21 is rotated 180 degrees to turn the stacked fins 102 toward the fixing component 4. The fixing component 4 uses a robot arm 5 to insert two fixing brackets 10 into both sides of the fins 102 to fix the stacked fins 102. Then, the lifting block 42 drives the pallet 44 to transport the fixed fins 102 on the platform 21 to the conveying component 6. The conveying component 6 then transports the fixed fins 102 to the tube insertion component 7 for assembly. During assembly, the tube insertion component 7 uses a pneumatic rotating gripper 781 to insert multiple rows of copper tubes 101 into the holes of the fins 102. When the fins 102 are filled with copper tubes 101, the assembly is complete.

[0038] Although embodiments of the invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the appended claims and their equivalents.

Claims

1. An assembly line, comprising a base, characterized in that: A stacking assembly, a fixing assembly, and an insertion assembly are sequentially arranged on the base. Conveying assemblies are mounted on the fixing assembly and the insertion assembly. The stacking assembly includes a platform with placement racks at both ends. Each placement rack holds a container rack for holding the stacked fins. The fixing assembly includes a support frame and a lifting block. The support frame has a lifting groove, and the lifting block is installed within the lifting groove, allowing it to move up and down within the groove. A tray is connected to the side of the lifting block, with the tray facing the container rack. The support frame is L-shaped and is used to support the holding rack and the stacked fins thereon, placing them onto the conveying assembly. A robotic arm is also installed on the support frame, which is used to grasp the fixing frame and insert it into the stacked fins to fix it in place. The tube insertion assembly includes a mounting frame with several pneumatic rotary grippers installed on it. The pneumatic rotary grippers are used to grip the copper tubes and insert the gripped copper tubes into the fins for assembly. The base is also equipped with a hanging rod and an electric conveyor belt. The hanging rod is used to place the copper tubes, and the electric conveyor belt is used to transport the fixing frame.

2. The assembly production line according to claim 1, characterized in that: The base has several motor slots, which are located below the platform and the support frame, respectively. A drive motor is fixedly installed in the motor slot located below the platform, and a spur gear is installed on the output shaft of the drive motor.

3. The assembly production line according to claim 2, characterized in that: A rotating shaft is fixedly connected to the bottom of the platform. The rotating shaft is rotatably mounted on the base. A gear ring is coaxially fixedly connected to the outside of the rotating shaft. The gear ring on the rotating shaft meshes with a spur gear on the drive motor. The placement frame is fixedly connected to the platform. Limiting rods are fixedly connected to both sides of the placement frame. Several fixing rods are evenly arranged between the two limiting rods. Several fixing rods are fixedly connected to the placement frame. The outer diameter of the fixing rods matches the inner diameter of the holes on the fins used to install copper tubes.

4. An assembly production line according to claim 3, characterized in that: A first motor is fixedly installed in the motor slot below the support frame. A drive rod is coaxially fixedly connected to the output shaft of the first motor. The drive rod is rotatably installed in the lifting slot. The drive rod is a threaded rod. The lifting block is slidably installed in the lifting slot and is threadedly assembled onto the drive rod. A sliding groove is provided on the lifting block. A support plate is slidably installed in the sliding groove. A drive rack is fixedly connected to the side of the support plate near the lifting slot. A second motor is fixedly installed in the lifting block. A drive gear is coaxially fixedly connected to the output shaft of the second motor. The drive gear extends into the sliding groove and meshes with the drive rack.

5. An assembly production line according to claim 4, characterized in that: A support plate is fixedly connected to the top of the support frame, and an electric guide rail is fixedly installed on the upper end of the support plate. The robotic arm is slidably installed on the electric guide rail. A rodless cylinder is fixedly installed on the side of the support plate near the placement frame. A sliding block is fixedly connected to the rodless cylinder. A rotating rod is rotatably connected to the sliding block. A positioning rod is fixedly connected to the lower end of the rotating rod. The positioning rod has several holes, which correspond to the limiting rod and the fixing rod, respectively. A spur gear is coaxially fixedly connected to the rotating rod. A third motor is also fixedly installed inside the sliding block. The output shaft of the third motor is coaxially fixedly connected to...

6. An assembly production line according to claim 1, characterized in that: The conveying assembly includes a conveying track and a conveying trolley. The conveying track is fixedly installed below the support frame and the mounting frame. The conveying trolley is slidably connected to the conveying track and is driven by a motor to move linearly on the conveying track.

7. An assembly production line according to claim 1, characterized in that: The mounting bracket has a displacement groove at its upper end. Linear motors are fixedly connected to both sides of the displacement groove. A sliding plate is slidably mounted on the linear motor. A long rod cylinder is fixedly mounted on the upper side of the sliding plate. The long rod cylinder is located in the displacement groove. The lower end of the output shaft of the long rod cylinder passes through the sliding plate and is rotatably connected to the upper side of the clamping bracket. A connecting plate is fixedly connected to the lower end of the output shaft of the long rod cylinder. The connecting plate is located above the clamping bracket. A fourth motor is fixedly mounted on the connecting plate. The output shaft of the fourth motor passes through the connecting plate and extends to the upper side of the clamping bracket. A spur gear is coaxially fixedly connected to the output shaft of the fourth motor.

8. An assembly production line according to claim 7, characterized in that: A transmission gear ring is fixedly connected to the upper end of the clamping bracket, and the transmission gear ring meshes with a spur gear on the fourth motor. Slide rods are fixedly connected to both ends of the clamping bracket. Two motor seats are symmetrically arranged on one side of the clamping bracket, and both motor seats are fixedly connected to the clamping bracket. A fifth motor is fixedly installed on the motor seat. A transmission rod is coaxially fixedly connected to the output shaft of the fifth motor. The transmission rod is rotatably connected to the clamping bracket, and the transmission rod is a threaded rod.

9. An assembly production line according to claim 8, characterized in that: Two movable plates are sequentially mounted on the clamping bracket. The two ends of each movable plate are slidably connected to two slide rods, and the two movable plates are respectively mounted on two transmission rods. Each movable plate has a sliding groove, and the movable plate located between the clamping bracket and the other movable plate also has a slot. A push rod is slidably mounted in the sliding groove. Several mounting blocks are fixedly mounted on the side wall of the push rod and the clamping bracket. The mounting blocks on the two movable plates are staggered. A pneumatic rotating gripper is rotatably mounted on the bottom of each mounting block. A linear cylinder is fixedly connected to one end of each movable plate, and the output end of the linear cylinder is fixedly connected to the end of the push rod.

10. An assembly method for boiler waste heat recovery equipment, characterized in that: The assembly production line according to any one of claims 1-9 is used, and the specific steps are as follows: First, fins are stacked on the end of the stage away from the fixing component. After the fins are stacked, the stage is rotated 180 degrees to face the stacked fins toward the fixing component. The fixing component uses a robotic arm to insert two fixing brackets into both sides of the fins to fix the stacked fins. Then, the lifting block drives the pallet to transport the fixed fins on the stage to the conveying component. The conveying component then transports the fixed fins to the tube insertion component for assembly. During assembly, the tube insertion component uses pneumatic rotating grippers to insert multiple rows of copper tubes into the holes of the fins. When the fins are filled with copper tubes, the assembly is complete.

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