CN208146700U - Around effective flexible whirling arm mechanism - Google Patents

Abstract

A telescopic rotating arm mechanism for winding pipes, comprising a base capable of moving axially along the core and a rotating arm hinged on the base, the rotating arm can rotate horizontally relative to the base through a first driving mechanism, its features In that: it also includes a telescopic arm, the telescopic arm is mated with the other end of the rotating arm, and the telescopic arm can perform axial telescopic movement relative to the rotating arm under the drive of the second driving mechanism, and the A tube coil for winding the heat exchange tube to be wound is installed on the rotating arm, and a pressing and positioning device is provided on the telescopic arm so that the heat exchange tube to be wound has a suitable pre-tightening force. The utility model is convenient to adjust the distance between the outlet port of the heat exchange tube and the core body. While ensuring that the output direction of the heat exchange tube is consistent with the spiral angle of the core body, it can also be applied to core bodies with different diameters, improving The quality of the tube winding; and the utility model has a simple structure, and the pressing and positioning device can meet the synchronous winding of two or more heat exchange tubes, thereby improving the tube winding efficiency.

Description

Around effective flexible whirling arm mechanism

Technical field

The utility model belongs to heat exchanger around Manifold technology field, and in particular to a kind of around effective flexible whirling arm mechanism.

Background technique

Wound tube heat exchanger generally comprises shell and core, and core is by alternately winding heat exchanger tube by helix shape It is made on core cylinder.The winding process of traditional core is that core cylinder turns under the drive of the turning rolls of both ends tube sheet supported underneath It is dynamic, operator haul single heat exchange tube from one end tube sheet along core cylinder by certain screw pitch, speed coiling to other end tube sheet, The winding method is by the screw pitch between manual control heat exchanger tube and around tube angulation and speed, and the degree of automation is low, the core turned to Weight depends on the level of operator more, therefore, it is difficult to guarantee around pipe quality, and then influences whether the heat exchange effect of heat exchanger Fruit；And this method needs several operators to carry out cooperation coiling, personnel labor intensity is big, low efficiency, needs higher artificial Cost and time cost.

To overcome drawbacks described above, application publication number is the application for a patent for invention of CN106734439A《A kind of spiral semicanal from Dynamic coiling System Utilization Procedure》Disclose a kind of automatic winding system, including half pipe forming machine, turning rolls, half pipe forming machine row Mechanism and control system are walked, when around pipe, cylinder is placed on turning rolls, drives cylinder to rotate around own axes by motor, It is come up simultaneously using half pipe forming machine in half pipe forming machine walking mechanism uplink and cooperates the automatic winding for completing spiral semicanal, and In winding process, the screw pitch of spiral semicanal can be controlled by tilt angle of the half pipe forming machine on supporting plate, so that spiral The coiling of semicanal is more simple accurate, decreases the human error generated in traditional coiling to a certain extent, reduces labour Intensity.

But as wound tube heat exchanger equipment develops to enlargement, the weight of equipment inner core-body increased with it, need around The heat exchanger tube radical of system also increases with it, and above-mentioned coiling system can only carry out coiling, and then core coiling to single heat exchange tube Turnning circle and fatigue strength increase；And with the continuous increase of core coiling diameter, above-mentioned coiling system can be increasingly closer to Half pipe forming machine in system can be influenced around pipe matter to a certain extent at a distance from the outlet spout of half pipe forming machine and core are too short Amount.

Utility model content

It stretches for the current state of the art, the technical problem to be solved by the utility model is to provide a kind of around effective Whirling arm mechanism, with it is easily controllable around tube angulation while, moreover it is possible to facilitate and adjust distance between outlet spout and core, improve around pipe matter Amount.

The utility model solves technical solution used by above-mentioned technical problem：It is a kind of around effective flexible pivoted arm machine Structure, includes the matrix that can be axially moved along core and the pivoted arm being hinged on matrix, and the pivoted arm passes through the first driving mechanism It can horizontally rotate relative to described matrix, it is characterised in that：It further include having telescopic arm, the other end of the telescopic arm and the pivoted arm Phase inserting connection, and the opposite pivoted arm of telescopic arm energy under the driving of the second driving mechanism does axial stretching movement, and described Pivoted arm on be equipped with for winding to the pipe winding disk around heat exchanger tube, the telescopic arm be equipped with make it is suitable to have around heat exchanger tube The pressing positioner of pretightning force.

Can also be equipped on certain above-mentioned telescopic arm can align to the straightener around heat exchanger tube.

In the above scheme, second driving mechanism includes the second motor and the second feed screw nut pair, second electricity Machine is fixed on pivoted arm, and the output shaft of the second motor is connected with the screw rod in the second feed screw nut pair, the second feed screw nut pair In nut be connected with the telescopic arm and telescopic arm can be driven to move in a straight line along screw rod.

For the connective stability for improving telescopic arm and pivoted arm, as an improvement, the telescopic arm inserting is in the pivoted arm, And the section squarely structure of the contact surface of the two.

It improves, first driving mechanism includes the transmission gear of the output axis connection of first motor and first motor, Described pivoted arm one end passes through first bearing hingedly on the matrix, and the outer of the first bearing is put on then equipped with circumferentially distributed The tooth being meshed with the transmission gear.

In the above embodiments, the pressing positioner includes：

Pedestal has the bottom plate and top plate that can be opened and closed relatively, and the bottom plate is fixed on the telescopic arm；

Pinch roller is arranged in the pedestal and can rotate around the first rotating shaft at pinch roller center, and the first rotating shaft is supported on On the top plate；

Locating wheel is arranged in the pedestal and can rotate around second shaft at locating wheel center, the second shaft branch It holds on the bottom plate, which is located at the lower section of the pinch roller, it is provided with circumferential positioning groove in the locating wheel, The space passed through for heat exchanger tube is formed between the pinch roller and the positioning groove of the locating wheel；By on locating wheel circumferential surface Positioning groove, while the coiling screw pitch of heat exchanger tube is accurately positioned, and convenient for according to the screw pitch of the heat exchanger tube of coiling need with Meaning replacement locating wheel, to be applicable in various screw pitch coiling requirements, and can by be arranged positioning groove that multiple axially spaced-aparts are distributed into The synchronization coiling of row double joint or more heat exchanger tubes, so that coiling efficiency is improved significantly；

Tension is connected between the top plate and bottom plate, is used for for adjusting the pinch roller and long-term crop rotation Pressure on heat exchanger tube overcomes the problems, such as the abrasion due to pinch roller and locating wheel and pressing force is caused to reduce.

As an improvement, uprightly there is a support base in one end of the bottom plate, one end of the top plate is articulated on the support base, The tension is between top plate and the other end of bottom plate.This structure is simple, it is convenient to adjust pressure, and drawing When apparatus for adjusting force unclamps, it can support top plate and the pinch roller being connected with top plate, kept pinch roller separated by a distance with locating wheel, In order to place heat exchanger tube.

For the compression and locating effect for improving exchange heat pipe, improve, the pinch roller and locating wheel have multiple, Duo Gesuo respectively The pinch roller stated mutually interval setting side by side, the also mutually interval setting side by side of multiple locating wheels, and each locating wheel is set to adjacent two Lower section between a pinch roller；The first rotating shaft of the multiple pinch roller passes through respective bearing respectively and is pivotally set to On one bearing block, which is fixed on the bottom surface of the top plate；Second shaft of the multiple locating wheel is led to respectively It crosses respective bearing to be pivotally set in second bearing seat, which is fixed on the top surface of the bottom plate.

In use, pinch roller and locating wheel have slight abrasion, and lead to the inadequate of heat exchanging pipe pressure, are The defect is eliminated, it is further improved to be, it further include having the damping of force the pinch roller, locating wheel relatively close two first Piece and two the second damping fins, two first damping fins are located at the two sides of the pinch roller, the same side of adjacent pinch roller Upper surface, lower surface of the first rotating shaft respectively with the first damping fin of the side offset；Two second damping fins distinguish position In the two sides of locating wheel, second shaft of the same side of adjacent positioned wheel respectively with the upper surface of the second damping fin of the side, under Surface offsets；The both ends of each first damping fin pass through the first damping fin support respectively and are fixed on the top plate, each described The both ends of second damping fin pass through the second damping fin support respectively and are fixed on the bottom plate.

The tension is adjustable reverse drawing spring, which includes to be fixed on top plate bottom Connecting rod, the reverse drawing spring being set in connecting rod, the upper bush and lower sleeve that are set in outside the reverse drawing spring, wherein upper set The lower part of cylinder is mutually threadedly coupled with the top of lower sleeve, and the lower part of the lower sleeve is fixed on the bottom plate, the reverse drawing bullet The upper end of spring offsets with the step for being set to upper bush inner wall, and the lower end of the reverse drawing spring and the lower part of connecting rod offset and make described Connecting rod has the trend moved down always.Therefore adjustable reverse drawing spring can tense pinch roller and locating wheel, and by adjusting Sleeve between lower sleeve at a distance from, to guarantee suitable pulling force, for compressing heat exchanger tube.

Finally, realizing the coiling simultaneously of more heat exchanger tubes to improve around tube efficiency, it is preferred that the pipe winding disk have it is multiple, It is respectively arranged on the two sides of pivoted arm, the positioning groove also has multiple, is evenly spaced on respectively along the axial direction of locating wheel.

Compared with prior art, the utility model has the advantage of：Axis is done by being provided with the opposite pivoted arm of energy on pivoted arm To the telescopic arm of stretching motion, the pressing positioner of heat exchanger tube is installed on telescopic arm, heat exchanger tube is defeated from pressing positioner After out in coiling to core, so that the utility model, which facilitates, adjusts the distance between heat exchanger tube outlet spout and core, and then protecting While card heat exchanger tube outbound course is consistent with the spiral angle of core coiling, moreover it is possible to suitable for the core of different-diameter, improve Around pipe quality；And the utility model structure is simple, pressing positioner is able to satisfy the synchronization coiling of double joint or more heat exchanger tubes, mentions Height is around tube efficiency.

Detailed description of the invention

Fig. 1 is the structural schematic diagram in the utility model embodiment around pipe vehicle；

Fig. 2 is the structural schematic diagram in the utility model embodiment around another visual angle of pipe vehicle；

Fig. 3 is the structural schematic diagram in the utility model embodiment under pipe vehicle working condition；

Around the partial structural diagram of pipe vehicle in Fig. 4 the utility model embodiment；

Fig. 5 is the enlarged drawing in the portion C in Fig. 1；

Fig. 6 is the enlarged drawing in the portion B in Fig. 1；

Fig. 7 is the enlarged drawing in the portion D in Fig. 4；

Fig. 8 is the structural schematic diagram of the utility model embodiment central post installation in a mobile system；

Fig. 9 is the structural schematic diagram of electric bicycle in the utility model embodiment；

Figure 10 is the main view of pressing positioner in the utility model embodiment；

Figure 11 is the left view of Fig. 9；

Figure 12 is the partial sectional view of Figure 10；

Figure 13 is the first bearing seat of pressing positioner and cuing open for the first damping fin support in the utility model embodiment View.

Specific embodiment

The utility model is described in further detail below in conjunction with figure embodiment.

The flexible whirling arm mechanism of the utility model is mainly used in respectively on pipe vehicle, is adjusted between outlet spout and core with facilitating Distance, be more intuitively to embody the flexible whirling arm mechanism of the utility model in the mounting structure and function on pipe vehicle, this Embodiment combines the overall structure around pipe vehicle to be described, specific as follows：

As shown in figs. 1-13, a kind of around pipe vehicle, it include that matrix (matrix is a column 1), electric bicycle 2, lifting are defeated Platform mechanism 3, scaling platform mechanism 4, flexible whirling arm mechanism 5 and control system 6 out.

Wherein, 1 bottom end of column is supported on electric bicycle 2 and can move axially along core 7, which includes Drive servo motor 21, the driven sprocket 22 set on driving 21 two sides of servo motor, connection driven sprocket 22 and driving servo electricity The transmission chain 23 of the drive sprocket 24 of 21 output shaft of machine and with the coaxial mounted rolling steel wheel 25 of driven sprocket 22, roll steel wheel 25 It is supported on the lower railway 100 for being installed on ground, correspondingly, 1 top of column is snapped on upper rail 200 by movable pulley, should Upper rail 200 is fixed in workshop the upper end of the column, to keep the vertical, steady of column 1.When 7 coiling of core, column 1 is in electric walking Drive lower edge upper rail 200, the lower railway 100 of vehicle 2 are walked, i.e., do axial traveling along core 7 and move.Specifically referring to Figure 1,3, 8、9。

To simplify structure, safety in utilization is improved, above-mentioned lifting output stage mechanism 3 includes hoistable platform 31, for driving The third driving mechanism 32 and falling proof device 33 that dynamic hoistable platform 31 moves up and down, wherein be arranged with and be only capable of on above-mentioned column 1 Along the casing 11 that column moves up and down, (to enable casing 11 swimmingly to slide up and down on column 1, reduction rubs, this implementation The fixed pulley 12 contacted with rolling with column 1 is installed on the upper and lower end face of casing 11), one end of hoistable platform 31 is fixed on The lower part of casing 11；As shown in fig. 6, third driving mechanism 32 includes third motor 321, is fixed on 321 output shaft of third motor On sprocket wheel 322 and upper end be fixed and the chain 323 that can be wound around on sprocket wheel 322, wherein third motor 321 is fixed on column 1 Top, the lower end of chain 323 is connected by falling proof device 33 with casing 11；As seen in figures 3-5, falling proof device 33 wraps It includes and is arranged by column 1, there is the grab Y that can be snapped onto the card slot X being distributed from top to bottom on column 1, driven in third In the state that mechanism 32 is connected with falling proof device 33, grab Y is detached from card slot X；In third driving mechanism 32 and falling proof device In the state that 33 disconnect, grab Y is caught in card slot X, so that casing 11, hoistable platform 31 are located on column 1；This implementation In example, card slot X is the tooth socket for the rack gear being fixed on 1 side wall of column, and the specific structure of the falling proof device 33 is：It include bottom The upper end of seat 331, clamping seat 332 and elastic component 333, clamping seat 332 is connected with the lower end of chain 323 in third driving mechanism, The lower end for being clamped seat 332 has above-mentioned grab Y, and clamping seat 332 is connected to the upper end of pedestal 331, bottom by shaft with being able to rotate Seat 331 is fixed on the upper end cover 111 of casing 11；Elastic component 333 is the spring being compressed in spring base 334, and spring base 334 is solid It is scheduled on pedestal 331, which offsets after passing through the through-hole on pedestal 331 with clamping seat 332, so that on clamping seat 332 Grab Y there is the trend of card slot X of being caught in always, for convenience of the restoring force of adjustment spring, the bottom of spring base 334 also screw thread connects It is connected to adjusting rod 335, the end which extend into spring base 334 offsets with spring rear end.

As shown in figures 1-4, for convenience of operator hoistable platform 31 and between the operating platform 8 on the side of core 7 back and forth Walking, and ensure safety, above-mentioned scaling platform mechanism 4 includes chain-wales 41 and flexible fence 42, and there are two chain-wales 41, point It is not mounted on the two sides of above-mentioned 31 other end of hoistable platform, and each chain-wales 41 can OQ t under the driving of power source 43 Platform 31 slides laterally, and there are two the fence 42 of stretching is same, is respectively arranged on the top two sides of each chain-wales 41, and each flexible fence 42 both ends respectively with the up-and-down rod 411 at 41 overhanging end of fixed link 311 and corresponding chain-wales on 31 other end of hoistable platform It is connected, synchro-draw or shortening with the sliding with chain-wales 41.Wherein above-mentioned power source 43 includes driving motor 431 and the One feed screw nut pair 432, driving motor 431 are fixed on casing 11, the output shaft of driving motor 431 and the first feed screw nut pair Screw rod 432a in 432 is connected, and the nut 432b in the first feed screw nut pair 432 is connected with chain-wales 41 and can drive small flat Platform 41 is moved in a straight line along screw rod 432a.To enable each chain-wales 41 swimmingly to slide on hoistable platform 31 in the present embodiment, Hoistable platform 31 is equipped with two sliding slots 312 extended along 41 glide direction of chain-wales, and each chain-wales 41 pass through respective idler wheel 44 are slidably mounted on respectively in each sliding slot 312.

The flexible whirling arm mechanism 5 of the present embodiment includes pivoted arm 51 and telescopic arm 52, and one end of pivoted arm 51 passes through first axle 53 tops for being supported on casing 11 are held, and the pivoted arm 51 is horizontally rotated by the opposite column 1 of 54 energy of the first driving mechanism, angle of rotation Degree is positive and negative 30 degree；52 inserting of telescopic arm is in 51 other end of pivoted arm, and the section squarely structure of the contact surface of the two, this is stretched Contracting arm 52 under the driving of the second driving mechanism 55 can opposite pivoted arm 51 do axial stretching movement, in the present embodiment, the first driving Mechanism 54 includes first motor 541, the transmission gear 542 with the output axis connection of first motor 541, above-mentioned first bearing 53 It is outer put on, be equipped with the circumferentially distributed tooth 531 being meshed with transmission gear 542；Second driving mechanism 55 includes the second electricity Machine 551 and the second feed screw nut pair 552, the second motor 551 are fixed on pivoted arm 51, the output shaft and second of the second motor 551 Screw rod 552a in feed screw nut pair 552 is connected, and the nut 552b in the second feed screw nut pair 552 is connected simultaneously with telescopic arm 52 Telescopic arm 52 can be driven to move in a straight line along screw rod 552a, control pivoted arm to pass through first motor 541 and the second motor 551 respectively 51 rotation and the stretching motion of telescopic arm 52, facilitate operation.Specifically referring to Figure 1~4 and Fig. 7.

To further facilitate manipulation, above-mentioned control system 6 is made of walking, lifting, rotation and stretching structure control section, The output end of control system 6 is separately connected above-mentioned driving servo motor 21, third motor 321, first motor 541, the second motor 551 and driving motor 431, with control driving servo motor 21, third motor 321, first motor 541, the second motor 551 and drive The work of dynamic motor 431.

In the present embodiment, to improve around tube efficiency, realizes two-tube while coiling, be equipped with two on above-mentioned 51 two sides of pivoted arm It is a to be used to wind to the pipe winding disk 10 (certainly also mountable multiple pipe winding disks to realize multitube coiling) around heat exchanger tube H, telescopic arm 52 are equipped with the pressing positioner 9 made to have suitable pretightning force around heat exchanger tube H, which includes pedestal 91, pinch roller 92, locating wheel 93 and tension 94.

Wherein, pedestal 91 has the bottom plate 911 and top plate 912 that can be opened and closed relatively, and uprightly there is a support in one end of bottom plate 911 Seat 913, one end of top plate 912 is articulated on support base 913.Upper end is additionally provided on bottom plate 911 to stretch with what top plate 912 was connected Contracting supporting element 95, there are two the telescopic supports 95, is located at the both sides of support base 913, the preferably piston rod of hydraulic cylinder. When telescopic support 95 does work, one end of top plate 912 can be rotated relative to support base 913, so that be connected with top plate Pinch roller 92 is separate or close to locating wheel 93.

In the present embodiment, above-mentioned pinch roller 92 and locating wheel 93 have multiple respectively, and each locating wheel 93 is set to adjacent two Lower section between a pinch roller 92.Plurality of pinch roller 92 is arranged at intervals in pedestal 91 side by side and can be rotating around in respective pinch roller 92 The first rotating shaft 921 of the heart rotates, and the first rotating shaft 921 of multiple pinch rollers 92 is pivotally set to by respective bearing A respectively On first bearing seat 96a, first bearing seat 96a is fixed on the bottom surface of top plate 912；Also interval is set multiple locating wheels 93 side by side It sets in pedestal 91 and can be rotated rotating around second shaft 931 at respective 93 center of locating wheel, the second of multiple locating wheels 93 Shaft 931 is pivotally set on second bearing seat 96b by respective bearing A respectively, and second bearing seat 96b is fixed on On the top surface of bottom plate 911.For screw pitch when heat exchanger tube H coiling is accurately positioned, along the axial direction of locating wheel 93 in locating wheel 93 Multiple circumferential positioning grooves 932 are equidistantly provided with, are formed between pinch roller 92 and the positioning groove 932 of locating wheel 93 for changing The space that heat pipe H is passed through, specifically referring to Figure 10,11.The frictional force of heat pipe H is exchanged to increase pinch roller 92 and locating wheel 93, also It include to force pinch roller 92 and relatively close two the first damping fin 97a of locating wheel 93 and two the second damping fin 97b, two First damping fin 97a is located at the two sides of pinch roller 92, and each first damping fin 97a wave bypasses the first rotating shaft of each pinch roller 92 It is connected to after 921 on first damping fin support 98a, i.e., the first resistance with the side respectively of the first rotating shaft of the same side of adjacent pinch roller Upper surface, the lower surface of Buddhist nun's piece offset；Equally, two the second damping fin 97b are located at the two sides of locating wheel 93, each second resistance Buddhist nun's piece 97b wave after the second shaft 931 of each locating wheel 93 around being connected on the second damping fin support 98b, it is, phase Upper surface, lower surface of second shaft of the same side of adjacent locating wheel respectively with the second damping fin of the side offset, the first damping Piece support 98a is connected by first bearing seat 96a with top plate 912, the second damping fin support 98b pass through second bearing seat 96b and Bottom plate 911 is connected, and specifically referring to Figure 10,12,13.Pinch roller 92 and locating wheel 93 are all made of flexible material (such as in the present embodiment Nylon material), whole process protection heat exchanger tube is injury-free, and increases frictional force.

The pressure on heat exchanger tube H is acted on to adjust pinch roller 92 and locating wheel 93, above-mentioned tension 94 is connected to Between top plate 912 and the other end of bottom plate 911.Tension 94 selects adjustable reverse drawing spring, the adjustable reverse drawing bullet Spring includes the connecting rod 941 for being fixed on 912 bottom of top plate, the reverse drawing spring 942 being set in connecting rod 941, is set in instead The upper bush 943 and lower sleeve 944 outside spring 942 are drawn, wherein the top phase screw thread of the lower part of upper bush 943 and lower sleeve 944 Connection, the lower part of lower sleeve 944 are fixed on bottom plate 911, the upper end of reverse drawing spring 942 and the platform for being set to 943 inner wall of upper bush Rank 9431 offsets, the lower end of reverse drawing spring 942 and the flange of 941 lower part of connecting rod offset and under there is connecting rod 941 always The trend of shifting.When need to increase pinch roller 92 exchange heat pipe H pressing force when, it is only necessary to by upper bush 943 be rotated down it is certain away from From the step 9431 on 943 inner wall of upper bush also moves down therewith, keeps the reverse drawing spring 942 to offset with step 9431 further Compression, and then increase the power that connecting rod 941 moves down, so that the pressure that pinch roller 92 acts on heat exchanger tube H increases；It is pressed when needing to reduce When the pressing force of 92 exchange heat pipe H of wheel, it is only necessary to upper bush 943 be rotated a certain distance upwards, so that reverse drawing spring 942 is slightly It unclamps, reduces the active force to connecting rod 941, and then reduction pinch roller 92 and locating wheel 93 act on the pressure on heat exchanger tube H.

When around pipe, as shown in figure 3, be moved to by pipe vehicle by operating platform 31 and to coiling core 7, it will be on pipe vehicle Pivoted arm 51 is adjusted to required height and angle, and adjusts telescopic arm 52, makes pressing positioner 9 and core on telescopic arm 52 The distance between 7 meet around pipe requirement, and the heat exchanger tube H on each pipe winding disk 10 is then passed through pressing positioner 9, concrete operations Step is：Tension 94 is first unclamped, telescopic support 95 is made to support top plate 912 and the pinch roller being connected with top plate 92, Heat exchanger tube H is placed into the positioning groove 932 of locating wheel 93 further according to coiling screw pitch, then receives again telescopic support 95 Pinch roller 92 is placed into 93 top of locating wheel and compresses heat exchanger tube, according to required pressing force, adjusts tension 94 by contracting It can carry out the coiling of heat exchanger tube.

With the progress around pipe, under the control of control system 6, electric bicycle 2 is according to the speed around pipe in upper lower railway 200, it is walked on 100 along the axial direction of core 7, with becoming larger for 7 diameter of core, passes through control system 6 and control third electricity Machine 321 and the operating of the second motor 551, so that the height of the pressing positioner 9 on telescopic arm 52 increases and still keeps with core 7 It is certain around pipe distance, to guarantee around tube efficiency and quality.And during around pipe, operator can be controlled by control system 6 Driving motor 431 processed operates, and the first feed screw nut pair 432 being connected with driving motor 431 drives chain-wales 41 to after-contraction, side Just the progress around pipe is not interfered with while operator walks between operating platform 8 and hoistable platform 31 also.

Claims (10)

1. a kind of around effective flexible whirling arm mechanism, include the matrix that can be axially moved along core (7) and be hinged on matrix Pivoted arm (51), the pivoted arm (51) can be horizontally rotated by the first driving mechanism (54) relative to described matrix, and feature exists In：It further include having telescopic arm (52), which connect with the other end phase inserting of the pivoted arm (51), and the telescopic arm (52) pivoted arm (51) axial stretching movement can be done relatively under the driving of the second driving mechanism (55), and in the pivoted arm (51) On be equipped with for winding to the pipe winding disk (10) around heat exchanger tube (H), the telescopic arm (52), which is equipped with, to be made to around heat exchanger tube (H) Pressing positioner (9) with suitable pretightning force.

2. according to claim 1 around effective flexible whirling arm mechanism, it is characterised in that：Second driving mechanism (55) Including the second motor (551) and the second feed screw nut pair (552), second motor (551) is fixed on pivoted arm (51), and second The output shaft of motor (551) is connected with the screw rod (552a) in the second feed screw nut pair (552), the second feed screw nut pair (552) nut (552b) in is connected with the telescopic arm (52) and telescopic arm (52) can be driven to move in a straight line along screw rod.

3. according to claim 1 around effective flexible whirling arm mechanism, it is characterised in that：Telescopic arm (52) inserting exists In the pivoted arm (51), and the section squarely structure of the contact surface of the two.

4. according to claim 1 around effective flexible whirling arm mechanism, it is characterised in that：First driving mechanism (54) It include first motor (541), the transmission gear (542) with the output axis connection of first motor (541), the pivoted arm (51) one End is hinged on the matrix by first bearing (53), and the outer of the first bearing (53) is put on then equipped with circumferentially distributed The tooth (531) being meshed with the transmission gear (542).

5. according to claim 1~4 around effective flexible whirling arm mechanism described in any claim, it is characterised in that：The compression Positioning device (9) includes：

Pedestal (91) has the bottom plate (911) and top plate (912) that can be opened and closed relatively, and the bottom plate (911) is fixed on described stretch On arm (52)；

Pinch roller (92), setting is in the pedestal (91) and can rotate around the first rotating shaft (921) at pinch roller (92) center, and described the One shaft (921) is supported on the top plate (912)；

Locating wheel (93), setting is in the pedestal (91) and can rotate around second shaft (931) at locating wheel (93) center, institute It states the second shaft (931) to be supported on the bottom plate (911), which is located at the lower section of the pinch roller (92), institute It states and is provided on locating wheel (93) circumferential positioning groove (932), the positioning of the pinch roller (92) and the locating wheel (93) is recessed The space passed through for heat exchanger tube (H) is formed between slot (932)；

Tension (94) is connected between the top plate (912) and bottom plate (911), for adjusting the pinch roller (92) The pressure on heat exchanger tube (H) is acted on locating wheel (93).

6. according to claim 5 around effective flexible whirling arm mechanism, it is characterised in that：One end of the bottom plate (911) Uprightly have a support base (913), one end of the top plate (912) is articulated on the support base (913), and the pulling force adjusts dress (94) are set to be located between top plate (912) and the other end of bottom plate (911).

7. according to claim 6 around effective flexible whirling arm mechanism, it is characterised in that：The pinch roller (92) and locating wheel (93) have respectively multiple, the mutually interval setting side by side of multiple pinch rollers (92), also mutually interval is set multiple locating wheels (93) side by side It sets, and each locating wheel (93) is set to the lower section between the two neighboring pinch roller (92)；The multiple pinch roller (92) First rotating shaft (921) is pivotally set on first bearing seat (96a) by respective bearing (A) respectively, the first bearing Seat (96a) is fixed on the bottom surface of the top plate (912)；The second shaft (931) of the multiple locating wheel (93) passes through respectively Respective bearing (A) is pivotally set on second bearing seat (96b), which is fixed on the bottom plate (911) on top surface.

8. according to claim 7 around effective flexible whirling arm mechanism, it is characterised in that：It further include forcing the pinch roller (92), locating wheel (93) relatively close two the first damping fins (97a) and two the second damping fins (97b), two described One damping fin (97a) is located at the two sides of the pinch roller (92), the first rotating shaft (921) point of the same side of adjacent pinch roller (92) Upper surface, lower surface not with the first damping fin (97a) of the side offset；Two second damping fins (97b) are located at The two sides of locating wheel (93), second shaft (931) of the same side of adjacent positioned wheel (93) the second damping fin with the side respectively Upper surface, the lower surface of (97b) offset；The both ends of each first damping fin (97a) pass through the first damping fin support respectively (98a) is fixed on the top plate (912), and the both ends of each second damping fin (97b) pass through the second damping fin support respectively (98b) is fixed on the bottom plate (911).

9. according to claim 5 around effective flexible whirling arm mechanism, it is characterised in that：The tension (94) For adjustable reverse drawing spring, which includes the connecting rod (941) for being fixed on top plate (912) bottom, is arranged Reverse drawing spring (942) on connecting rod (941) is set in the upper bush (943) and lower sleeve of the reverse drawing spring (942) outside (944), wherein the lower part of upper bush (943) is mutually threadedly coupled with the top of lower sleeve (944), under the lower sleeve (944) Portion is fixed on the bottom plate (911), the upper end of the reverse drawing spring (942) and the step for being set to upper bush (943) inner wall (9431) it offsets, the lower end of the reverse drawing spring (942) and the lower part of connecting rod (941) offset and the connecting rod (941) made to begin There is the trend moved down eventually.

10. according to claim 5 around effective flexible whirling arm mechanism, it is characterised in that：The pipe winding disk (10) has more It is a, be respectively arranged on the two sides of pivoted arm (51), the positioning groove (932) also have it is multiple, respectively along locating wheel (93) it is axial It is even to be spaced apart.